CN102528819A - Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive - Google Patents
Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive Download PDFInfo
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- CN102528819A CN102528819A CN2011104442731A CN201110444273A CN102528819A CN 102528819 A CN102528819 A CN 102528819A CN 2011104442731 A CN2011104442731 A CN 2011104442731A CN 201110444273 A CN201110444273 A CN 201110444273A CN 102528819 A CN102528819 A CN 102528819A
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Abstract
Disclosed is a three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive. Four pairs of parallel and symmetric foundations are arranged on a base of the three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm, the foundations at one end of the base are hinged with cylinder liners of small arm cylinders, pistons of the small arm cylinders are hinged with one end of a small arm, the other end of the small arm is an end actuator, the middle of the small arm is hinged with one end of a large arm, the other end of the large arm is hinged with the foundations in the middle of the base, the middle of the large arm is hinged with cylinder liners of large arm cylinders, piston rods of the large arm cylinders are hinged with another pair of foundations, another portion of the middle of the large arm is hinged with cylinder liners of oscillating rod cylinders, piston rods of the oscillating rod cylinders are hinged with the middle of an oscillating rod, one end of the oscillating rod is hinged with the foundations at the other end of the base, the other end of the oscillating rod is hinged with piston rods of end actuator cylinders, and ends of cylinder liners of the end actuator cylinders are hinged with another portion of the end actuator. The three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm is high in carrying capacity and large in working space, and can be conveniently controlled in real time, and direct and reverse problems are solved easily.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly a kind of connection in series-parallel mixing machinery arm.
Background technology
Mechanism is the core of machine equipment, and the innovation of mechanism is the key of machine equipment innovation always, and it is extremely important to the scientific and technological level core competitiveness that improves China's mechanized equipment that exploitation has the mechanism of independent intellectual property right accordingly.Realize function operation devices such as excavation, extracting, carrying, it is comparatively general to use linkage.Series connection manipulator commonly used, working space is big, but bearing capacity is low, can only grasp, carry some lighter objects.On the contrary, it is little that parallel manipulator is done the space by hand, but bearing capacity is high.Because the advantage of series connection and parallel manipulator hand has complementarity, if can effectively combine both advantages to design the series-parallel connection manipulator, or perhaps many loop coupling mechanism, the performance of so this manipulator can be more superior.Chinese patent CN03105161.8 relates to a kind of four-freedom hybrid robot, and it is by the double rotation freedom degrees rotary head structure of two translational freedom degree parallel connection mechanisms, series connection with it and be installed in the structural end effector of said rotary head and constitute.Chinese patent CN200610015114.9 discloses a kind of rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism of realizing, the actuating unit of this mechanism can be realized the complete cycle revolution, and three driving shafts adopt coaxial arrangement, can reduce the quality of moving component.Yet existing series-parallel connection manipulator is not based on mostly that heavy duty task designs.
Summary of the invention
The object of the present invention is to provide that a kind of bearing capacity is high, working space is big, be easy to the Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm with redundant drive of control in real time.Base is provided with the pedestal of four pairs of parallel symmetries; Wherein the pair of base of an end is connected with the cylinder sleeve end of a pair of forearm oil cylinder through hinge; The piston rod end of this forearm oil cylinder is connected with an end of forearm through hinge; Or the cylinder sleeve end and the pedestal of the bigger forearm oil cylinder of specification are hinged, and an end of the piston rod end of this forearm oil cylinder and forearm is hinged; The other end of above-mentioned forearm is connected with a position of end effector through hinge, and the middle part of above-mentioned forearm is connected through the end of hinge with big arm, and the other end of this big arm is connected through the pair of base of hinge with the base middle part; This big arm middle part is connected with the cylinder sleeve end of a pair of big arm oil cylinder through hinge; The piston rod end of this big arm oil cylinder is connected pedestal with another of base middle part respectively through hinge; Another position at above-mentioned big arm middle part is connected with the cylinder sleeve end of pair of swing rod oil cylinder through hinge, and the piston rod end of this swing arm oil cylinder is connected with the middle part of swing arm through hinge; One end of this swing arm is connected through the pair of base of the other end on hinge and the base; Its other end is connected with the piston rod end of a pair of end effector oil cylinder through hinge, and the cylinder sleeve end of this end effector oil cylinder links to each other with another position of above-mentioned end actuator through hinge.
The cylinder sleeve of above-mentioned each oil cylinder and position of piston can be exchanged.
The present invention can be regarded as from the base to the end effector by the plane mechanism of two symmetries and forms; In each plane mechanism; End effector is 3 with respect to the free degree of base, and has used 4 driving hydraulic cylinders to carry out redundant drive in each plane mechanism, and redundant drive has not only improved the bearing capacity and the ability of eliminating unusual position shape of mechanism; And can optimize input power, improve the driving stationarity of mechanism.
From the base to the end effector, form by the plane mechanism of two symmetries; In each plane mechanism; Guaranteeing that the size and dimension and the link position between the rod member of each bar can change according to actual conditions under the constant situation of annexation between rod member number and the rod member.
The present invention compared with prior art has following advantage:
(1) have better rigidity, bearing capacity is high, and it is low to have overcome conventional tandem manipulator bearing capacity, shortcoming that generally can only some light matter bodies of pick-and-place.
(2) can in bigger working space, carry out the pick-and-place operation, or realize heavy duty excavation function, overcome the manual little shortcoming in space of doing of traditional parallel manipulator weight.
(3) redundant drive has not only improved the bearing capacity of mechanism, and can optimize input power, improves the driving stationarity of mechanism.In addition, also strengthened the ability of the mechanism's unusual position of elimination shape.
(4) structure decoupling, motion and dynamic solving are easy, are easy to realize real-time control.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is that the present invention excavates the three-dimensional simplified schematic diagram of user mode.
Fig. 3 is that the present invention grasps the three-dimensional simplified schematic diagram of user mode.
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the invention 2.
Fig. 5 is the three-dimensional simplified schematic diagram that the embodiment of the invention 2 adopts a forearm oil cylinder.
The specific embodiment
A kind ofly have in the three-dimensional simplified schematic diagram of redundant drive Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm shown in Figure 1; Base 1 is provided with the pedestal of four pairs of parallel symmetries; Wherein the pair of base of an end is connected with the cylinder sleeve end of a pair of forearm oil cylinder 2 through hinge R1; The piston rod end of this forearm oil cylinder is connected with an end of forearm 3 through hinge R2; The other end of this forearm is connected with a position of end effector 4 through hinge R3, and the middle part of above-mentioned forearm is connected with the upper end of big arm 9 through hinge R12, and the lower end of this big arm is connected with the pair of base at base middle part through hinge R9; This big arm middle part is connected with the cylinder sleeve end of a pair of big arm oil cylinder 7 through hinge R10; The piston rod end of this big arm oil cylinder is connected pedestal with another of base middle part respectively through hinge R8; Another position at above-mentioned big arm middle part is connected with the cylinder sleeve end of pair of swing rod oil cylinder 8 through hinge R11, and the piston rod end of this swing arm oil cylinder is connected with the middle part of swing arm 6 through hinge R6; One end of this swing arm is connected through the pair of base of the other end on hinge R7 and the base; The other end of above-mentioned swing arm is connected with the piston rod end of a pair of end effector oil cylinder 5 through hinge R5, and the cylinder sleeve end of this end effector oil cylinder links to each other with another position of above-mentioned end actuator through hinge R4.
Excavate in the three-dimensional simplified schematic diagram of user mode in the present invention shown in Figure 2, end effector is the scraper bowl structure, and the annexation of other rod member is identical with Fig. 1.
Grasp in the three-dimensional simplified schematic diagram of user mode in the present invention shown in Figure 3, end effector is the handgrip structure that is installed, and the annexation of other rod member is identical with Fig. 1.
In a kind of three-dimensional simplified schematic diagram with redundant drive Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm embodiment 2 shown in Figure 4; Base 1 is provided with the pedestal of four pairs of parallel symmetries; Wherein lean on the pair of base of an end to be connected by the end of hinge with big arm 9; The other end of this big arm is connected with an end of forearm 3 by hinge; The other end of this forearm is connected with end effector 4 by hinge, and the middle part of above-mentioned forearm is connected by the piston rod end of hinge with a pair of forearm oil cylinder 2, and the cylinder sleeve of this a pair of forearm oil cylinder is connected by the pair of base of hinge with the pedestal middle part; The piston rod end of a pair of big arm oil cylinder 7 by hinge respectively with above-mentioned two pairs of pedestals between pair of base be connected, the cylinder sleeve end of this big arm oil cylinder is connected with above-mentioned big arm middle part by hinge; The cylinder sleeve end of pair of swing rod oil cylinder 8 is connected by hinge another position with above-mentioned big arm middle part; The piston rod end of this swing arm oil cylinder is connected by the middle part of hinge with swing arm 6, and an end of this swing arm is connected by the pair of base of hinge with the base other end; The other end of above-mentioned swing arm is connected by the piston rod end of hinge with end effector oil cylinder 5, and the cylinder sleeve end of this end effector oil cylinder links to each other with end effector by hinge.
As shown in Figure 5, the forearm oil cylinder can be one, and the annexation of other rod member is identical with Fig. 4.
Claims (3)
1. Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm with redundant drive; It is characterized in that: base (1) is provided with the pedestal of four pairs of parallel symmetries; Wherein the pair of base of an end is connected with the cylinder sleeve end of a pair of forearm oil cylinder (2) through hinge, and the piston rod end of this forearm oil cylinder (2) is connected with an end of forearm (3) through hinge; The other end of this forearm (3) is connected with a position of end effector (4) through hinge; The middle part of above-mentioned forearm (3) is connected through the end of hinge with big arm (9); The other end of this big arm (9) is connected through the pair of base of hinge with base (1) middle part; One position at this big arm (9) middle part is connected with the cylinder sleeve end of a pair of big arm oil cylinder (7) through hinge; The piston rod end of this big arm oil cylinder (7) is connected pedestal with another of base (1) middle part respectively through hinge; Another position at above-mentioned big arm (9) middle part is connected with the cylinder sleeve end of pair of swing rod oil cylinder (8) through hinge; The piston rod end of this swing arm oil cylinder (8) is connected with the middle part of swing arm (6) through hinge; The pair of base that one end of this swing arm (6) is gone up the other end through hinge and base (1) is connected, and the other end of above-mentioned swing arm (6) is connected with the piston rod end of a pair of end effector oil cylinder (5) respectively through hinge, and the cylinder sleeve end of this end effector oil cylinder (5) links to each other with another position of above-mentioned end actuator (4) through hinge.
2. a kind of Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm with redundant drive according to claim 1 is characterized in that: above-mentioned a pair of forearm oil cylinder (2) can use a bigger forearm oil cylinder of specification to replace.
3. a kind of Three Degree Of Freedom connection in series-parallel mixing heavy-duty machinery arm with redundant drive according to claim 1 and 2, it is characterized in that: the cylinder sleeve of above-mentioned each oil cylinder and position of piston can be exchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444273.1A CN102528819B (en) | 2011-12-27 | 2011-12-27 | Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444273.1A CN102528819B (en) | 2011-12-27 | 2011-12-27 | Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive |
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| Publication Number | Publication Date |
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| CN102528819A true CN102528819A (en) | 2012-07-04 |
| CN102528819B CN102528819B (en) | 2014-01-22 |
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| CN201110444273.1A Expired - Fee Related CN102528819B (en) | 2011-12-27 | 2011-12-27 | Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN200974239Y (en) * | 2006-07-16 | 2007-11-14 | 王安基 | Manipulator arm |
| CN101844347A (en) * | 2009-03-24 | 2010-09-29 | 张光忍 | Novel cone surface punching feeding mechanical hand |
| CN202428449U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy load mechanical arm with redundant driving function |
-
2011
- 2011-12-27 CN CN201110444273.1A patent/CN102528819B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN200974239Y (en) * | 2006-07-16 | 2007-11-14 | 王安基 | Manipulator arm |
| CN101844347A (en) * | 2009-03-24 | 2010-09-29 | 张光忍 | Novel cone surface punching feeding mechanical hand |
| CN202428449U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy load mechanical arm with redundant driving function |
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| CN102528819B (en) | 2014-01-22 |
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