CN102528818B - Multi-loop coupling connecting rod working device with complex hinge - Google Patents
Multi-loop coupling connecting rod working device with complex hinge Download PDFInfo
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- CN102528818B CN102528818B CN201110443771.4A CN201110443771A CN102528818B CN 102528818 B CN102528818 B CN 102528818B CN 201110443771 A CN201110443771 A CN 201110443771A CN 102528818 B CN102528818 B CN 102528818B
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- driving hydraulic
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Abstract
The invention relates to a multi-loop coupling connecting rod working device with a complex hinge. A base is provided with three pairs of parallel and symmetrical substrates; a pair of substrates are hinged with a cylinder sleeve of a driving hydraulic cylinder I; a piston rod of the driving hydraulic cylinder is respectively hinged with a rocking rod hinged at two sides of a small arm; the rocking rod is also respectively hinged with one end of a pull rod; the hinged connection on the rocking rod is in a triangular distribution; the other end of the pull rod is hinged with the middle part of a big arm; the small arm is also hinged with an end actuator; the end actuator is hinged with a cylinder sleeve of a driving hydraulic cylinder II; two sides of the big arm are connected with the end part of the piston rod of the driving hydraulic cylinder II and the end part of the piston rod of a driving hydraulic cylinder III to form a composite hinge chain; the cylinder sleeve of the driving hydraulic cylinder III is hinged with the other pair of substrates on the base; one end of the big arm is hinged with a pair of substrates in the middle of the base; and the other end of the big arm is hinged with the middle part of the small arm. The multi-loop coupling connecting rod working device with the complex hinge, provided by the invention, has the advantages of high bearing capacity, large moving space, multiple functions, easiness in kinematic analysis and easiness in real-time control.
Description
Technical field
The present invention relates to connection rod working device.Be particularly related to a kind of many loop coupling connection rod working device.
Background technology
Connection rod working device is the core skeleton of industrial equipment, and exploitation has the mechanism of autonomous property right by extremely important to the core competitiveness that improves China's industrial equipment.Many loop coupling connection rod working device is gone here and there and series-parallel connection equipment in other words, not only has the advantage that Serial manipulator working space is large, also has the feature that parallel manipulator bearing capacity is high.Chinese patent CN03105161.8 relates to a kind of four-freedom hybrid robot, and it is made up of two translational freedom degree parallel connection mechanisms, the double rotation freedom degrees rotary head structure of series connection with it and the end effector being arranged on described rotary head structure.The one that discloses Chinese patent CN200610015114.9 can realize the rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism, and the actuating unit of this mechanism can be realized complete cycle revolution, and three driving shaft employings are coaxially arranged, can reduce the quality of moving component.But existing similar equipment does not design based on heavy duty, is not suitable for heavy-duty applications occasion.
Summary of the invention
The object of the present invention is to provide a kind of contain multiple hinge, working space large, be easy to the many loop coupling that the contain multiple hinge connection rod working device controlled.Base is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one by hinge, the piston rod end of this pair of driving hydraulic cylinder one is connected with a pair of rocking bar that is hinged on both sides, forearm one end respectively by hinge, this a pair of rocking bar is also connected with one end of a pair of pull bar respectively by hinge, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar is connected with large arm middle part by hinge, the other end of above-mentioned forearm is connected with a position of end effector by hinge, another position of above-mentioned end actuator is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two by hinge, the piston rod end of the piston rod end of one side of large arm and a driving hydraulic cylinder two and a driving hydraulic cylinder three is connected through the hinge and forms a compound hinges, the opposite side of large arm also forms a compound hinges by above-mentioned connected mode, above-mentioned two compound hingeses are arranged symmetrically in the both sides of large arm, the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three is connected with the pair of base of the base other end by hinge, one end of above-mentioned large arm is connected with the pair of base at base middle part by hinge, the other end of this large arm is connected with above-mentioned forearm middle part by hinge.
In many loop coupling connection rod working device that another kind contains multiple hinge, the link position of above-mentioned a pair of driving hydraulic cylinder one and a pair of pull bar can be exchanged, the annexation of other rod members is constant.
In many loop coupling connection rod working device that the third contains multiple hinge, base is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one by hinge, the piston rod end of this pair of driving hydraulic cylinder one is connected with one end of forearm by hinge, the piston rod end of one position of the other end of this forearm and end effector and driving hydraulic cylinder three is connected through the hinge and forms multiple hinge, the cylinder sleeve end of this driving hydraulic cylinder three is connected with the pair of base of the base other end by hinge, another position of above-mentioned end actuator is connected with the piston rod end of a pair of driving hydraulic cylinder two by hinge, the cylinder sleeve end of this driving hydraulic cylinder two is connected with a pair of rocking bar that is hinged on both sides, above-mentioned forearm middle part by hinge, this rocking bar is also connected with one end of a pair of pull bar by hinge, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar is connected with large arm middle part by hinge, one end of this large arm is connected with the pair of base at base middle part by hinge, this large arm other end and forearm middle part are connected through the hinge.
In the 4th kind of many loop coupling that contain multiple hinge connection rod working device, one in many loop coupling connection rod working device that the third is contained to multiple hinge drives the cylinder sleeve end of hydraulic cylinder three to be connected through the hinge at large arm middle part, one end of a pair of pull bar is connected through the hinge respectively on rocking bar, the other end of this pull bar is connected through the hinge on base, and the annexation of other rod members is constant.
In the 5th kind of many loop coupling that contain multiple hinge connection rod working device, the piston rod end of a pair of driving hydraulic cylinder two in the 4th kind of many loop coupling that contain multiple hinge connection rod working device is connected through the hinge at the middle part of large arm; the piston rod end of a position of one end of forearm and end effector and driving hydraulic cylinder three is connected through the hinge and forms multiple hinge; the cylinder sleeve end of this driving hydraulic cylinder three is connected through the hinge on rocking bar, and the annexation of other rod members is constant.
The cylinder sleeve of above-mentioned each driving hydraulic cylinder and piston rod position can be exchanged.
The present invention is made up of the plane mechanism of two symmetrical parallel, each plane mechanism, and end effector is all 3 to the free degree of base.In the situation that ensureing that between rod member number and rod member, interconnected relationship is constant, the shape and size of each rod member can change according to actual conditions.
The present invention compared with prior art, has the following advantages:
(1) have the advantage that serial mechanism working space is large and parallel institution bearing capacity is high concurrently.
(2) a tractor serves several purposes be can realize, can pick-and-place operation or heavy duty excavation be carried out to weight.
(3) motion analysis of mechanism that cut with scissors feature reduction again.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is that excavation of the present invention is used the three-dimensional simplified schematic diagram of state.
Fig. 3 is that crawl of the present invention is used the three-dimensional simplified schematic diagram of state.
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2.
Fig. 5 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3.
Fig. 6 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 4.
Fig. 7 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 5.
In accompanying drawing, 1-base, 2-drive hydraulic cylinder one, 3-rocking bar, 4-forearm, 5-end effector, the large arm of 6-, 7-to drive hydraulic cylinder two, 8-to drive hydraulic cylinder three, 9-pull bar.
Detailed description of the invention
In the three-dimensional simplified schematic diagram of a kind of many loop coupling equipment that contains multiple hinge shown in Fig. 1, base 1 is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 1 by hinge R1, the piston rod end of this pair of driving hydraulic cylinder one is connected with a pair of rocking bar 3 that is hinged on forearm 4 both sides, one end by hinge R3 respectively by hinge R2, this a pair of rocking bar is also connected with one end of a pair of pull bar 9 respectively by hinge R4, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar is connected with large arm 6 middle parts by hinge R10, the other end of above-mentioned forearm is connected with a position of end effector 5 by hinge R5, another position of above-mentioned end actuator is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 27 by hinge R6, the large both sides of arm and the piston rod end of above-mentioned a pair of driving hydraulic cylinder two, the piston rod end of a pair of driving hydraulic cylinder 38 connects by hinge R8 the multiple hinge that forms two Parallel Symmetrics respectively, the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three is connected with the pair of base of the base other end by hinge R7, the lower end of above-mentioned large arm is connected with the pair of base at base middle part by hinge R9, the upper end of this large arm is connected with above-mentioned forearm middle part by hinge R11.
Use in the three-dimensional simplified schematic diagram of state in the excavation of the present invention shown in Fig. 2, end effector is shovel mechanism, the same Fig. 1 of annexation between other rod member.
Use the three-dimensional simplified schematic diagram of state in the excavation of the present invention shown in Fig. 3, end effector is the handgrip mechanism that is installed, the same Fig. 1 of annexation between other rod member.
In a kind of many loop coupling connection rod working device embodiment 2 three-dimensional simplified schematic diagram that contain multiple hinge shown in Fig. 4, the piston rod end of a pair of driving hydraulic cylinder 1 is connected on rocking bar 3 by hinge R4, the cylinder sleeve end of this driving hydraulic cylinder one is connected on large arm 6 by hinge R10, one end of a pair of pull bar 9 is connected on rocking bar by hinge R2, the other end of this pull bar is connected to by hinge R1 in the pair of base of base 1 one end, and the annexation of other rod members is identical with Fig. 1.
In a kind of many loop coupling connection rod working device embodiment 3 three-dimensional simplified schematic diagram that contain multiple hinge shown in Fig. 5, base 1 is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 1 by hinge R1, the piston rod end of this pair of driving hydraulic cylinder one is connected with one end of forearm 4 by hinge R2, the other end of this forearm is connected and is formed multiple hinge by hinge R6 with a position of end effector 5 and the piston rod end of driving hydraulic cylinder 38, the cylinder sleeve end of this driving hydraulic cylinder three is connected with the pair of base of the base other end by hinge R8, another position of above-mentioned end actuator is connected with the piston rod end of a pair of driving hydraulic cylinder 27 by hinge R7, the cylinder sleeve end of this driving hydraulic cylinder two is connected with a pair of rocking bar 3 that is hinged on both sides, forearm middle part by hinge R3 by hinge R4, this rocking bar is also connected with one end of a pair of pull bar 9 by hinge R5, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar is connected with large arm 6 middle parts by hinge R9, the bottom of this large arm is connected with the pair of base at base middle part by hinge R10, this large arm upper end is connected by hinge R11 with forearm middle part.
In a kind of many loop coupling connection rod working device embodiment 4 three-dimensional simplified schematic diagram that contain multiple hinge shown in Fig. 6, one drives the cylinder sleeve end of hydraulic cylinder 38 to be connected to large arm 6 middle parts by hinge R8, one end of a pair of pull bar 9 is connected on rocking bar 3 by hinge R3 respectively, the other end of this pull bar is connected on base 1 by hinge R10, the same Fig. 5 of the annexation of other rod members.
In a kind of many loop coupling connection rod working device embodiment 5 three-dimensional simplified schematic diagram that contain multiple hinge shown in Fig. 7, the piston rod end of a pair of driving hydraulic cylinder 27 is connected to the middle part of large arm 6 by hinge R8; one end of forearm 4 is connected and is formed multiple hinge by hinge R6 with a position of end effector 5 and the piston rod end of a pair of driving hydraulic cylinder 38; the cylinder sleeve end of this driving hydraulic cylinder three is connected on rocking bar 3 by hinge R5, the same Fig. 6 of the annexation of other rod members.
Claims (5)
1. the many loop coupling that contain a multiple hinge connection rod working device, it is characterized in that: base (1) is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) by hinge, the piston rod end of this pair of driving hydraulic cylinder one (2) is connected with a pair of rocking bar (3) that is hinged on forearm (4) both sides, one end respectively by hinge, this a pair of rocking bar (3) is also connected with one end of a pair of pull bar (9) respectively by hinge, distribution hinged triangular in shape on this rocking bar (3), the other end of above-mentioned pull bar (9) is connected with large arm (6) middle part by hinge, the other end of above-mentioned forearm (4) is connected with a position of end effector (5) by hinge, another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) by hinge, the piston rod end of the piston rod end of one side of large arm (6) and a driving hydraulic cylinder two (7) and a driving hydraulic cylinder three (8) is connected through the hinge and forms a compound hinges, the opposite side of large arm (6) also forms a compound hinges by above-mentioned connected mode, above-mentioned two compound hingeses are arranged symmetrically in the both sides of large arm (6), the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three (8) is connected with the pair of base of base (1) other end by hinge, one end of above-mentioned large arm (6) is connected with the pair of base at base (1) middle part by hinge, the other end of this large arm (6) is connected with above-mentioned forearm (4) middle part by hinge.
2. the many loop coupling that contain a multiple hinge connection rod working device, it is characterized in that: base (1) is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with one end of a pair of pull bar (9) by hinge, the other end of this pair of pull bar (9) is connected with a pair of rocking bar (3) that is hinged on forearm (4) both sides, one end respectively by hinge, this a pair of rocking bar (3) is also connected with the piston rod end of a pair of driving hydraulic cylinder one (2) respectively by hinge, distribution hinged triangular in shape on this rocking bar (3), the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder one (2) is connected with the middle part of large arm (6) by hinge, the other end of above-mentioned forearm (4) is connected with a position of end effector (5) by hinge, another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) by hinge, the piston rod end of the piston rod end of one side of large arm (6) and a driving hydraulic cylinder two (7) and a driving hydraulic cylinder three (8) is connected through the hinge and forms a compound hinges, the opposite side of large arm (6) also forms a compound hinges by above-mentioned connected mode, above-mentioned two compound hingeses are arranged symmetrically in the both sides of large arm (6), the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three (8) is connected with the pair of base of base (1) other end by hinge, one end of above-mentioned large arm (6) is connected with the pair of base at base (1) middle part by hinge, the other end of this large arm (6) is connected with above-mentioned forearm (4) middle part by hinge.
3. the many loop coupling that contain a multiple hinge connection rod working device, it is characterized in that: base (1) is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) by hinge, the piston rod end of this pair of driving hydraulic cylinder one (2) is connected with one end of forearm (4) by hinge, the piston rod end of one position of the other end of this forearm (4) and end effector (5) and driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge, the cylinder sleeve end of this driving hydraulic cylinder three (8) is connected with the pair of base of base (1) other end by hinge, another position of above-mentioned end actuator (5) is connected with the piston rod end of a pair of driving hydraulic cylinder two (7) by hinge, the cylinder sleeve end of this pair of driving hydraulic cylinder two (7) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part by hinge respectively, this rocking bar (3) is also connected with one end of a pair of pull bar (9) by hinge, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar (9) is connected with the middle part of large arm (6) by hinge, one end of this large arm (6) is connected with the pair of base at base (1) middle part by hinge, this large arm (6) other end is connected with forearm (4) middle part.
4. the many loop coupling that contain a multiple hinge connection rod working device, it is characterized in that: base (1) is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) by hinge, the piston rod end of this pair of driving hydraulic cylinder one (2) is connected with one end of forearm (4) by hinge, the piston rod end of one position of the other end of this forearm (4) and end effector (5) and driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge, the cylinder sleeve end of this driving hydraulic cylinder three (8) is connected with the middle part of large arm (6) by hinge, one end of this large arm (6) is connected with the pair of base of base (1) other end by hinge, the other end of this large arm (6) is connected with the middle part of forearm (4) by hinge, another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) by hinge, the piston rod end of this driving hydraulic cylinder two (7) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part by hinge, this rocking bar (3) is also connected with one end of a pair of pull bar (9) by hinge, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar (9) is connected with the pair of base at base (1) middle part by hinge.
5. the many loop coupling that contain a multiple hinge connection rod working device, it is characterized in that: base (1) is provided with the pedestal of three pairs of Parallel Symmetrics, the pair of base of its one end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) by hinge, the piston rod end of this pair of driving hydraulic cylinder one (2) is connected with one end of forearm (4) by hinge, the piston rod end of the other end of this forearm (4) and end effector (5) one positions and a pair of driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge, the cylinder sleeve end of this pair of driving hydraulic cylinder three (8) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part by hinge respectively, this rocking bar (3) is also connected with one end of a pair of pull bar (9) by hinge, distribution hinged triangular in shape on this rocking bar, the other end of above-mentioned pull bar (9) is connected with the pair of base at base (1) middle part by hinge, another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) by hinge, the piston rod end of this pair of driving hydraulic cylinder two (7) is connected with large arm (6) by hinge respectively, one end of this large arm (6) and above-mentioned forearm (4) middle part are connected through the hinge, the other end of this large arm (6) is connected with the pair of base of base (1) other end by hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110443771.4A CN102528818B (en) | 2011-12-27 | 2011-12-27 | Multi-loop coupling connecting rod working device with complex hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110443771.4A CN102528818B (en) | 2011-12-27 | 2011-12-27 | Multi-loop coupling connecting rod working device with complex hinge |
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| Publication Number | Publication Date |
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| CN102528818A CN102528818A (en) | 2012-07-04 |
| CN102528818B true CN102528818B (en) | 2014-06-11 |
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| CN201110443771.4A Expired - Fee Related CN102528818B (en) | 2011-12-27 | 2011-12-27 | Multi-loop coupling connecting rod working device with complex hinge |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626183B (en) * | 2015-02-17 | 2016-03-09 | 哈尔滨工程大学 | Flexible manipulator refers to |
| CN108031827B (en) * | 2018-01-08 | 2024-03-22 | 安徽理工大学 | Auxiliary operation robot for casting |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN101899846A (en) * | 2010-08-04 | 2010-12-01 | 广西大学 | Planer multiple degree of freedom controllable loading mechanism |
| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| CN202438999U (en) * | 2011-12-27 | 2012-09-19 | 燕山大学 | Poly-loop coupled connecting rod work apparatus possessing complex hinge |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995002487A1 (en) * | 1993-07-13 | 1995-01-26 | Komatsu Ltd. | Manipulator |
| US6233511B1 (en) * | 1997-11-26 | 2001-05-15 | Case Corporation | Electronic control for a two-axis work implement |
-
2011
- 2011-12-27 CN CN201110443771.4A patent/CN102528818B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN101899846A (en) * | 2010-08-04 | 2010-12-01 | 广西大学 | Planer multiple degree of freedom controllable loading mechanism |
| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| CN202438999U (en) * | 2011-12-27 | 2012-09-19 | 燕山大学 | Poly-loop coupled connecting rod work apparatus possessing complex hinge |
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