CN104552235A - Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains - Google Patents
Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains Download PDFInfo
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- CN104552235A CN104552235A CN201410795279.7A CN201410795279A CN104552235A CN 104552235 A CN104552235 A CN 104552235A CN 201410795279 A CN201410795279 A CN 201410795279A CN 104552235 A CN104552235 A CN 104552235A
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- connecting rod
- revolute pair
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- mechanical hand
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Abstract
The invention discloses a multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains. The multi-connecting rod moving mechanical hand comprises two in-parallel controllable fine adjustment four-rod mechanism closed loop sub chains, one in-series execution mechanism sub chain and a movable platform, wherein the four-rod mechanism closed loop sub chains can control a first connecting rod to move in a plane where the four-rod mechanism closed loop sub chains are located, and space motion of a moving platform is realized through the motion of the first connecting rod, a machine body and the movable platform. According to the multi-connecting rod moving mechanical hand disclosed by the invention, control is realized through resultant motion of two closed loop sub chains and the first connecting rod; the first connecting rod and a second connecting rod are connected with the machine body, so that the space motion of an end executor is realized; a moving function is obtained, so that a robot has almost infinite working space and high motion redundancy, the robot has higher maneuverability and higher flexibility when the robot is used for replacing people to work on dangerous operation, operation under a severe environment and an environment operation which cannot be done by people, and the multi-connecting rod moving mechanical hand can be applied to more occasions.
Description
Technical field
The present invention relates to robot field, the multi link mobile manipulator containing parallel closed loop subchain that particularly a kind of space is controlled.
Background technology
Mobile robot is one and integrates multi-functional integrated system such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current scientific technological advance.
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying; Parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing, and the general parallel institution of the Performance Ratio of parallel robot of closed-loop subchain containing symmetrical mechanism formula is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.The manipulator of circular cylindrical coordinate type and joint coordinates type is adopted effectively and efficiently to control tail house, and this mechanism structure good rigidity, machine driving precision are high, working space large, machine driving loss is little, can export larger power without accumulated error, have and have good controlling functions.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.
Summary of the invention
The object of the present invention is to provide the multi link mobile manipulator containing parallel closed loop subchain that a kind of space is controlled, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs:
The multi link mobile manipulator containing parallel closed loop subchain that a kind of space is controlled, comprise moveable platform, fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and end effector
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the first link of first connecting rod by the second revolute pair; First connecting rod second link is provided with the 4th revolute pair, and first connecting rod the 3rd link is provided with the 3rd revolute pair;
Second connecting rod one end is connected in the 3rd revolute pair, and the second connecting rod other end is connected with double leval jib one end by the 5th revolute pair, and the double leval jib other end is connected with third connecting rod one end by the 7th revolute pair, and the third connecting rod other end is connected in the 4th revolute pair;
9th connecting rod one end is connected in the 3rd revolute pair, and the 9th connecting rod other end is connected with the 5th connecting rod one end by the 6th revolute pair, and the 5th connecting rod other end is connected with the tenth connecting rod one end by the 8th revolute pair, and the tenth connecting rod other end is connected in the 4th revolute pair;
Six-bar linkage one end is rigidly attached on the rotating shaft sidewall of the 4th revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 9th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod one end by the tenth revolute pair, and the 8th connecting rod other end is connected with end effector by the 11 revolute pair.
Described first revolute pair is perpendicular to moveable platform; Described second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair and the 8th revolute pair rotation are parallel to each other.
Described third connecting rod and the tenth connecting rod are fixedly connected on the rotating shaft two ends of the 4th revolute pair respectively; Second connecting rod and the 9th connecting rod are fixedly connected on the rotating shaft two ends of the 3rd revolute pair respectively.
Outstanding advantages of the present invention is:
1, robot is installed on a mobile platform, and this structure makes robot have the motion redundancy of almost infinitely-great working space and height, and has mobile and operating function simultaneously, and this is that it is better than mobile robot and traditional robot;
2, by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of closed-loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, and Neng Shi mechanism better keeps balance, and robot mechanism can be made to bear larger force and moment;
3, compared with the industrial robot being mounted in each joint with traditional motor, mechanism is mounted on six-bar linkage by the motor of the robot that two parallel closed loop subchains connect, connect by the 6th and drive closed loop chain movement, thus indirectly drive the 11 connecting rod, make the mobility of end effector and activity space larger, can active moment be reduced;
4, compared with robot mechanism of the same type, under equal-wattage, work is more;
5, motor is arranged on after third connecting rod, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
6, robot mechanism is controlled by mechanism type at end effector, and precision can be made higher;
7, moveable platform 1, fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 11.
Accompanying drawing explanation
Fig. 1 is the controlled structural representation of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 2 is the controlled moveable platform structural representation of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 3 is the controlled airframe structure schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 4 is the controlled first connecting rod schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 5 is the controlled second connecting rod schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 6 is the controlled third connecting rod schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 7 is the controlled seven-link assembly schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 8 is controlled the 8th connecting rod schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Fig. 9 is controlled another visual angle schematic diagram of multi link mobile manipulator containing parallel closed loop subchain in space of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
The multi link mobile manipulator containing parallel closed loop subchain that a kind of space is controlled, comprise moveable platform 1, fuselage 2, first connecting rod 3, second connecting rod 4, third connecting rod 5, double leval jib 6, the 5th connecting rod 7, six-bar linkage 8, seven-link assembly 9, the 8th connecting rod 10, the 9th connecting rod 25, the tenth connecting rod 26 and end effector 11
Fuselage 2 lower end is connected on moveable platform 1 by the first revolute pair 17, and fuselage 2 upper end is connected with the first link 31 of first connecting rod 3 by the second revolute pair 18; First connecting rod 3 second link 32 is provided with the 4th revolute pair 20, and first connecting rod 3 the 3rd link 33 is provided with the 3rd revolute pair 19;
Second connecting rod 4 one end is connected in the 3rd revolute pair 19, second connecting rod 4 other end is connected with double leval jib 6 one end by the 5th revolute pair 13, double leval jib 6 other end is connected with third connecting rod 5 one end by the 7th revolute pair 14, and third connecting rod 5 other end is connected in the 4th revolute pair 20;
9th connecting rod 25 one end is connected in the 3rd revolute pair 19,9th connecting rod 25 other end is connected with the 5th connecting rod 7 one end by the 6th revolute pair 12,5th connecting rod 7 other end is connected with the tenth connecting rod 26 one end by the 8th revolute pair 15, and the tenth connecting rod 26 other end is connected in the 4th revolute pair 20;
Six-bar linkage 8 one end is rigidly attached on the rotating shaft sidewall of the 4th revolute pair 20, six-bar linkage 8 other end is connected with seven-link assembly 9 one end by the 9th revolute pair 22, seven-link assembly 9 other end is connected with the 8th connecting rod 10 one end by the tenth revolute pair 16, and the 8th connecting rod 10 other end is connected with end effector 11 by the 11 revolute pair 23.
Described first revolute pair 17 is perpendicular to moveable platform 1; Described second revolute pair 18, the 3rd revolute pair 19, the 4th revolute pair 20, the 5th revolute pair 13, the 6th revolute pair 12, the 7th revolute pair 14 and the 8th revolute pair 15 rotation are parallel to each other.
Described third connecting rod 5 and the tenth connecting rod 26 are fixedly connected on the rotating shaft two ends of the 4th revolute pair 20 respectively; Second connecting rod 4 and the 9th connecting rod 25 are fixedly connected on the rotating shaft two ends of the 3rd revolute pair 19 respectively.
Claims (3)
1. the multi link mobile manipulator containing parallel closed loop subchain that a space is controlled, comprise moveable platform, fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and end effector, it is characterized in that
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the first link of first connecting rod by the second revolute pair; First connecting rod second link is provided with the 4th revolute pair, and first connecting rod the 3rd link is provided with the 3rd revolute pair;
Second connecting rod one end is connected in the 3rd revolute pair, and the second connecting rod other end is connected with double leval jib one end by the 5th revolute pair, and the double leval jib other end is connected with third connecting rod one end by the 7th revolute pair, and the third connecting rod other end is connected in the 4th revolute pair;
9th connecting rod one end is connected in the 3rd revolute pair, and the 9th connecting rod other end is connected with the 5th connecting rod one end by the 6th revolute pair, and the 5th connecting rod other end is connected with the tenth connecting rod one end by the 8th revolute pair, and the tenth connecting rod other end is connected in the 4th revolute pair;
Six-bar linkage one end is rigidly attached on the rotating shaft sidewall of the 4th revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 9th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod one end by the tenth revolute pair, and the 8th connecting rod other end is connected with end effector by the 11 revolute pair.
2. the multi link mobile manipulator containing parallel closed loop subchain that space as claimed in claim 1 is controlled, it is characterized in that, described first revolute pair is perpendicular to moveable platform; Described second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair and the 8th revolute pair rotation are parallel to each other.
3. the multi link mobile manipulator containing parallel closed loop subchain that space as claimed in claim 1 is controlled, it is characterized in that, described third connecting rod and the tenth connecting rod are fixedly connected on the rotating shaft two ends of the 4th revolute pair respectively; Second connecting rod and the 9th connecting rod are fixedly connected on the rotating shaft two ends of the 3rd revolute pair respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410795279.7A CN104552235A (en) | 2014-12-18 | 2014-12-18 | Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410795279.7A CN104552235A (en) | 2014-12-18 | 2014-12-18 | Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains |
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| CN104552235A true CN104552235A (en) | 2015-04-29 |
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| CN201410795279.7A Pending CN104552235A (en) | 2014-12-18 | 2014-12-18 | Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56122679A (en) * | 1980-03-04 | 1981-09-26 | Dengensha Mfg Co Ltd | Driving mechanism of welding working section |
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN103707288A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Multi-degree-of-freedom palletizing robot |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN104476051A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Space-controllable multi-connecting-rod movable welding robot comprising parallel closed-loop subchains |
-
2014
- 2014-12-18 CN CN201410795279.7A patent/CN104552235A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56122679A (en) * | 1980-03-04 | 1981-09-26 | Dengensha Mfg Co Ltd | Driving mechanism of welding working section |
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103707288A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Multi-degree-of-freedom palletizing robot |
| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN104476051A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Space-controllable multi-connecting-rod movable welding robot comprising parallel closed-loop subchains |
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Application publication date: 20150429 |