CN104552272A - Multi-degree-of-freedom controllable mechanism type connecting rod mechanism - Google Patents
Multi-degree-of-freedom controllable mechanism type connecting rod mechanism Download PDFInfo
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- CN104552272A CN104552272A CN201410817744.2A CN201410817744A CN104552272A CN 104552272 A CN104552272 A CN 104552272A CN 201410817744 A CN201410817744 A CN 201410817744A CN 104552272 A CN104552272 A CN 104552272A
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- connecting rod
- revolute pair
- link
- rocking arm
- arm
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Abstract
The invention discloses a multi-degree-of-freedom controllable mechanism type connecting rod mechanism. A stand column and one end of a main arm are connected with a first connection end of a first rocker arm; the second connection end of the first rocker arm is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with the second connection end of a second rocker arm; the first connection end of the second rocker arm is connected with the other end of the main arm; the third connection end of the second rocker arm is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with the third connection end of the first rocker arm; one end of a third connecting rod is connected with the fourth connection end of the second rocker arm; the other end of the third connecting rod is connected with a fourth connecting rod; one end of a sliding block is connected with the stand column via a moving pair; the other end of the sliding block is connected with a fifth connecting rod; the fifth connecting rod, a sixth connecting rod, a seventh connecting rod and the third connection end of the main arm are successively connected. The multi-degree-of-freedom controllable mechanism type connecting rod mechanism has the advantages of large working space, high rigidity, high bearing capability and high execution precision.
Description
Technical field
The present invention relates to robot field, particularly a kind of multi-freedom-degreecontrollable controllable mechanism type linkage.
Background technology
Serial manipulator rigidity is lower, the occasion that can not be applied at a high speed, carry greatly; And 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 executing agency's 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.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of multi-freedom-degreecontrollable controllable mechanism type linkage, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
It is as follows that the present invention solves the problems of the technologies described above taked technical scheme:
A kind of multi-freedom-degreecontrollable controllable mechanism type linkage, comprises column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage and seven-link assembly,
Described column bottom is connected with the 14 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is for connecting executing agency,
Described slide block one end connects moving sets, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13 revolute pair.
Outstanding advantages of the present invention is:
1, the subchain of executing agency's motion control is formed by column, the 5th connecting rod, six-bar linkage, seven-link assembly and principal arm, improve the rigidity of robot, and the design of rocking arm movable type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, motor is arranged on rocking arm joint, drives closed loop chain movement, thus indirectly drive tail end connecting rod by the revolute pair on four-bar mechanism, makes the mobility of executing agency and activity space larger, can reduce active moment;
3, motor is arranged on after principal arm, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make executing agency can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
4, be connected with a with gemel connecting rod between linkage with executing agency, make actuator flexibility ratio higher, working space is larger than robot in the past, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and be easy to control, executing agency can also be made among a small circle to rotate 360 degree of round angles, and make mechanism can be applicable to more occasions, precision is higher;
5, lighter bar made by connecting rod, and make mechanism kinematic inertia little, dynamic performance is good;
6, compared with robot mechanism of the same type, under equal-wattage, work is more.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 2 is the first rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 3 is the second rocker structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 4 is the main arm structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 5 is the third connecting rod structural representation of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 6 is the slide block structure schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 7 is the pillar construction schematic diagram of a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention.
Fig. 8 is the operating diagram that a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention is applied to weld job.
Fig. 9 is the operating diagram that a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention is applied to transport operation.
Figure 10 is the operating diagram that a kind of multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention is applied to spraying operation.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As shown in Fig. 1-Fig. 7, a kind of multi-freedom-degreecontrollable controllable mechanism type linkage, comprises column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9, slide block 23, the 5th connecting rod 25, six-bar linkage 12 and seven-link assembly 11.
Described column 2 bottom connects the 14 revolute pair 29, column 2 top is connected with principal arm 4 first links and the first rocking arm 3 first links respectively by the first revolute pair 13, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the 4th revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 5th revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 6th revolute pair 18, second connecting rod 6 other end is connected by the 3rd revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 7th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 8th revolute pair 20, double leval jib 9 other end is for connecting executing agency 10.
Described column 2 side is provided with moving sets 22, slide block 23 one end is connected with column 2 by moving sets 22, the other end is connected with the 5th connecting rod 25 one end by the tenth revolute pair 24,5th connecting rod 25 other end is connected with six-bar linkage 12 one end by the 11 revolute pair 26, six-bar linkage 12 other end is connected with seven-link assembly 11 one end by the 12 revolute pair 27, and seven-link assembly 11 other end is connected with the 3rd link of principal arm 4 by the 13 revolute pair 28.
The rotation of described principal arm 4, second rocking bar 7, third connecting rod 8 and double leval jib 9 is driven by motor.
As Figure 8-Figure 10, multi-freedom-degreecontrollable controllable mechanism type linkage of the present invention is applied to respectively welding, carrying and spraying operation time, only need column 2 the 14 revolute pair 29 to couple together with walking mechanism 1, and the other end of double leval jib 9 the 9th revolute pair 21 couples together with the executing agency 10 for welding, carrying or spray.
Claims (1)
1. a multi-freedom-degreecontrollable controllable mechanism type linkage, is characterized in that, comprises column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod, six-bar linkage and seven-link assembly,
Described column bottom is connected with the 14 revolute pair, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is for connecting executing agency,
Described slide block one end connects moving sets, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410817744.2A CN104552272A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom controllable mechanism type connecting rod mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410817744.2A CN104552272A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom controllable mechanism type connecting rod mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552272A true CN104552272A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410817744.2A Pending CN104552272A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom controllable mechanism type connecting rod mechanism |
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| CN (1) | CN104552272A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| 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 |
-
2014
- 2014-12-23 CN CN201410817744.2A patent/CN104552272A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| 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 |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
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Application publication date: 20150429 |
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