CN102431031A - Six-mobility grabbing robot mechanism - Google Patents
Six-mobility grabbing robot mechanism Download PDFInfo
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- CN102431031A CN102431031A CN201110445009XA CN201110445009A CN102431031A CN 102431031 A CN102431031 A CN 102431031A CN 201110445009X A CN201110445009X A CN 201110445009XA CN 201110445009 A CN201110445009 A CN 201110445009A CN 102431031 A CN102431031 A CN 102431031A
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- linear actuator
- linear driver
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- spherical pair
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Abstract
The invention relates to a six-mobility grabbing robot, which comprises a large arm, a small arm, a movable platform, a frame, a first linear driver, a second linear driver, a third linear driver, a fourth linear driver, a fifth linear driver and a sixth linear driver, wherein the large arm is driven by the first linear driver and the second linear driver in parallel to realize two-dimensional rotation, the small arm is driven by the third linear driver, and the movable platform is driven by the fourth linear driver, the fifth linear driver and the sixth linear driver in parallel to realize three-dimensional rotation. The six-mobility grabbing robot has the advantages of large working space, agile track output, high rigidity, convenience for error compensation, capability of realizing accurate positioning and the like.
Description
Technical field
The present invention relates to grasp the robot field, particularly a kind of six mobilities grasp robot.
Background technology
Robot is widely used in the middle of the operations such as industrial welding, carrying, piling, assembling, extracting.The robot that is wherein better used all belongs to articulated robot basically, is mostly 6 axles, through 1,2,3 teamwork end-of-arm tooling is delivered to different spatial positions, and is aided with 4,5,6 interlock to satisfy the demands of different of instrument attitude.This robot body frame for movement mainly contains parallelogram sturcutre and two kinds of forms of side located structure, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, exists problems such as mechanism's heaviness, poor rigidity, inertia are big, joint error accumulation, and dynamic performance is relatively poor, is difficult to satisfy the high-speed, high precision job requirements of increasingly stringent.Parallel robot mechanism is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Mechanism has two or more frees degree; And closed loop mechanism with the parallel way driving; Advantage such as have compact conformation, deviation accumulation is little, precision is high, operating speed is high, dynamic response is good, but also have shortcomings such as working space is less, action underaction.
Summary of the invention
The object of the present invention is to provide a kind of six mobilities to grasp robot; Have that working space is big, track output flexibly, rigidity is high, error compensation is convenient; Can realize advantages such as accurate location; Can solve effectively that traditional fisher's formula serial machine human arm weight is big, poor rigidity, big, the joint error accumulation of inertia, and the parallel robot working space is less, the problem separately of action underaction etc., and is specially adapted to forearm and needs two dimension to rotate; forearm needs one dimension to rotate, and moving platform needs the extracting operation of Three dimensional rotation output.
The present invention achieves the above object through following technical scheme:
Six mobilities grasp robot, comprise big arm, forearm, moving platform, frame, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator.
Big arm one end is connected on the frame through universal joint, and the other end is connected with forearm through first revolute pair, and the forearm other end is connected with moving platform through first spherical pair; First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm through the 3rd spherical pair; Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm through the 5th spherical pair; The 3rd linear actuator one end is connected on the big arm through second revolute pair, and the other end is connected on the forearm through the 3rd revolute pair; The 4th linear actuator one end is connected on the forearm through the 6th spherical pair, and the other end is connected on the moving platform through the 7th spherical pair; The 5th linear actuator one end is connected on the forearm through the 8th spherical pair, and the other end is connected on the frame through the 9th spherical pair; The 6th linear actuator one end is connected on the forearm through the tenth spherical pair, and the other end is connected on the frame through the 11 spherical pair.
Outstanding advantage of the present invention is:
1, big arm is driven by two linear actuator parallel connections, can realize the output that two dimension is rotated; Moving platform also drives the output that realizes Three dimensional rotation by three linear actuator parallel connections; Robot have track output flexibly, rigidity is big, bearing capacity is strong, cumulative errors are little, the precision advantages of higher; And being specially adapted to forearm needs two dimension to rotate; forearm needs one dimension to rotate, and moving platform needs the extracting operation of Three dimensional rotation output.
2, big arm, forearm and moving platform are connected in series, and the robot working space is big, track output is flexible.
3, overall structure compact, through the end effector of various different purposes is installed on moving platform, the present invention may be used in the middle of the commercial production such as assembling, cutting.
Description of drawings
Fig. 1 is the front view that six mobilities according to the invention grasp robot.
Fig. 2 is the rearview that six mobilities according to the invention grasp robot.
Fig. 3 is first kind of working state schematic representation that six mobilities according to the invention grasp robot.
Fig. 4 is second kind of working state schematic representation that six mobilities according to the invention grasp robot.
Fig. 5 is the third working state schematic representation that six mobilities according to the invention grasp robot.
Fig. 6 is the 4th kind of working state schematic representation that six mobilities according to the invention grasp robot.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Contrast Fig. 1 and 2; Six mobilities grasp robot; Comprise big arm 2, forearm 3, moving platform 4, frame 1, first linear actuator 8, second linear actuator 9, the 3rd linear actuator 10, the 4th linear actuator 11, the 5th linear actuator 12, the 6th linear actuator 13; Its structure and connected mode are: big arm 2 one ends are connected on the frame 1 through universal joint 5, and the other end is connected with forearm 3 through first revolute pair 6, and forearm 3 one ends are connected with big arm 2 through first revolute pair 6; The other end is connected with moving platform 4 through first spherical pair 7, and electromagnetism clamping device 26 is installed on the moving platform 4.
Contrast Fig. 1 and 2, first linear actuator, 8 one ends are connected on the frame 1 through second spherical pair 14, and the other end is connected to the 3rd spherical pair 15 on the big arm 2.Second linear actuator, 9 one ends are connected on the frame 4 through the 4th spherical pair 16, and the other end is connected to the 5th spherical pair 17 on the big arm 2.The 3rd linear actuator 10 1 ends are connected on the big arm 2 through second revolute pair 18, and the other end is connected on the 3rd revolute pair 19 on the forearm 3.The 4th linear actuator 11 1 ends are connected on the forearm 3 through the 6th spherical pair 20, and the other end is connected to the 7th spherical pair 21 on the moving platform 4.The 5th linear actuator 12 1 ends are connected on the forearm 3 through the 8th spherical pair 22, and the other end is connected to the 9th spherical pair 23 on the moving platform 4.The 6th linear actuator 13 1 ends are connected on the forearm 3 through the tenth spherical pair 24, and the other end is connected to the 11 spherical pair 25 on the moving platform 4.
Claims (1)
1. six mobilities grasp robot; Comprise big arm, forearm, moving platform, frame, first linear actuator, second linear actuator, the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th linear actuator, its structure and connected mode are:
Big arm one end is connected on the frame through universal joint, and the other end is connected with forearm through first revolute pair, and the forearm other end is connected with moving platform through first spherical pair,
First linear actuator, one end is connected on the frame through second spherical pair, and the other end is connected on the big arm through the 3rd spherical pair,
Second linear actuator, one end is connected on the frame through the 4th spherical pair, and the other end is connected on the big arm through the 5th spherical pair,
The 3rd linear actuator one end is connected on the big arm through second revolute pair, and the other end is connected on the forearm through the 3rd revolute pair,
The 4th linear actuator one end is connected on the forearm through the 6th spherical pair, and the other end is connected on the moving platform through the 7th spherical pair,
The 5th linear actuator one end is connected on the forearm through the 8th spherical pair, and the other end is connected on the frame through the 9th spherical pair,
The 6th linear actuator one end is connected on the forearm through the tenth spherical pair, and the other end is connected on the frame through the 11 spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445009XA CN102431031A (en) | 2011-12-28 | 2011-12-28 | Six-mobility grabbing robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445009XA CN102431031A (en) | 2011-12-28 | 2011-12-28 | Six-mobility grabbing robot mechanism |
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| CN102431031A true CN102431031A (en) | 2012-05-02 |
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| CN201110445009XA Pending CN102431031A (en) | 2011-12-28 | 2011-12-28 | Six-mobility grabbing robot mechanism |
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Citations (7)
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| CN1524662A (en) * | 2003-09-16 | 2004-09-01 | 天津大学 | Asymmetric space 5-degree of freedom series-parallel robot |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN1837489A (en) * | 2006-04-06 | 2006-09-27 | 福建龙马专用车辆制造有限公司 | Automatic obstacle-avoiding spray-washing mechanism for cleaning vehicle and automatic obstacle-avoiding method |
| CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
| KR20100097312A (en) * | 2009-02-26 | 2010-09-03 | (주)스맥 | Hybrid manipulator for multi-purpose |
| JP2010247280A (en) * | 2009-04-16 | 2010-11-04 | Yaskawa Electric Corp | Universal robot device |
| CN202378051U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Six-range-of-motion grabbing robot |
-
2011
- 2011-12-28 CN CN201110445009XA patent/CN102431031A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1524662A (en) * | 2003-09-16 | 2004-09-01 | 天津大学 | Asymmetric space 5-degree of freedom series-parallel robot |
| CN1739926A (en) * | 2005-09-15 | 2006-03-01 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN1837489A (en) * | 2006-04-06 | 2006-09-27 | 福建龙马专用车辆制造有限公司 | Automatic obstacle-avoiding spray-washing mechanism for cleaning vehicle and automatic obstacle-avoiding method |
| CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
| KR20100097312A (en) * | 2009-02-26 | 2010-09-03 | (주)스맥 | Hybrid manipulator for multi-purpose |
| JP2010247280A (en) * | 2009-04-16 | 2010-11-04 | Yaskawa Electric Corp | Universal robot device |
| CN202378051U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Six-range-of-motion grabbing robot |
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Application publication date: 20120502 |