CN104589301B - A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms - Google Patents
A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms Download PDFInfo
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- CN104589301B CN104589301B CN201410787423.2A CN201410787423A CN104589301B CN 104589301 B CN104589301 B CN 104589301B CN 201410787423 A CN201410787423 A CN 201410787423A CN 104589301 B CN104589301 B CN 104589301B
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Abstract
The invention discloses a kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms, comprise Mobile operating platform, linear actuator, driving lever, bracing frame, connecting rod, motor and handgrip.Linear actuator, first, second, third driving lever are arranged on Mobile operating platform, first support bar one end is connected with linear actuator, the first driving lever, the other end is connected with first connecting rod, the first pull bar, first connecting rod, the first pull bar other end are connected with the second bracing frame, the second bracing frame other end is connected with the second pull bar, third connecting rod, and the second pull bar, the third connecting rod other end are connected with the 3rd bracing frame.The present invention adopts the motor multiple degrees of freedom controllable mechanism be installed on Mobile operating platform to replace original motor to be installed on serial mechanism on mechanical arm, solve original mechanism arm weight large, the features such as bad dynamic performance, and mobile manipulator mechanical arm technology is applied to the present invention, is applicable to manufacture all kinds of mechanical piling and other engineering machinery.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and joint type three kinds of structure types.Wherein joint type robot palletizer is because of advantages such as its mechanism is compact, flexible movements, floor space are little, working space is large, progressively becomes the topmost version of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be arranged on joint, cause the problems such as robot arm weight is large, rotary inertia large, bad dynamic performance, joint error accumulation, and the mechanical arm of original piling is generally fixed in immovable frame, greatly limit its working range, be difficult to the requirement meeting high-speed overload carrying piling.
Along with the development of modern project technology, mechanical & electrical technology and control technology improve greatly, controllable mechanism is that engineering mechanism provides wide development space, not only having that working space is large by controlling motor-driven controllable mechanism, flexible movements, complicated and variable movement locus can be completed export, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.It is large that the piling with multi-freedom-degreecontrollable controllable mechanism type mobile mechanical arm can not only solve traditional piling rotary inertia, the shortcomings such as bad dynamic performance, also by the technology of application mobile manipulator mechanical arm, expand the working space of traditional piling, improve its operating rate, add its operating accuracy.
Summary of the invention
The object of the invention is to design a kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms, it is compact except traditional stacking mechanism must be possessed, the advantages such as flexible movements, overcome traditional piling rotator inertia large, bad dynamic performance, outside the features such as joint error is accumulative, also the former motor be installed on arm should be installed on Mobile operating platform and alleviate arm weight, and make the mechanical arm of original place in irremovable frame become movable type mechanical arm, make it meet multiple work requirements.
The present invention achieves the above object by the following technical programs: a kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms, comprise Mobile operating platform, linear actuator, the first driving lever, the second driving lever, the 3rd driving lever, the first bracing frame, the second bracing frame, the 3rd bracing frame, the first pull bar, the second pull bar, first connecting rod, second connecting rod, third connecting rod, double leval jib, handgrip and three servomotors, concrete structure and connected mode are:
Described first driving lever is connected with Mobile operating platform by the second revolute pair, linear actuator is connected with Mobile operating platform by the first revolute pair, the first driving lever other end is connected with the first bracing frame by the 6th revolute pair, and the linear actuator other end is connected with the first support bar by the 5th revolute pair.
Described first connecting rod one end is connected with the first bracing frame by the 6th revolute pair, and the other end is connected with the second bracing frame by the 13 revolute pair.
Described first pull bar one end is connected with the first bracing frame by ground nine revolute pairs, and the other end is connected with the second bracing frame by the 11 revolute pair.
Described third connecting rod one end is connected with the second bracing frame by the 13 revolute pair, and the other end is connected with the 3rd bracing frame by the 16 revolute pair.
Described second pull bar one end is connected with the second bracing frame by the 12 revolute pair, and the other end is connected with the 3rd bracing frame by the 15 revolute pair.
Described second driving lever one end is connected with Mobile operating platform by the 3rd revolute pair, and the other end is connected with second connecting rod by the 7th revolute pair, and the second connecting rod other end is connected with first connecting rod by the tenth revolute pair.
Described 3rd driving lever one end is connected with Mobile operating platform by the 4th revolute pair, and the other end is connected with double leval jib by the 8th revolute pair, and the double leval jib other end is connected with third connecting rod by the 14 revolute pair.
Described handgrip is connected with the 3rd bracing frame by the 18 revolute pair.
Described first driving lever, the second driving lever, the 3rd driving lever are respectively by driven by servomotor.
Operation principle and process:
The described piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms is in each operating mode, in handgrip inclination operating mode, linear actuator stretches, make the first support bar, the second support bar, the 3rd support bar linear actuator, the first pull bar, second pull bar drive upper/lower positions become from level the inclination having certain angle.Act is fallen in operating mode, by making handgrip lift to fall under the drive of the first driving lever, the second driving lever, the 3rd driving lever with under the acting in conjunction of first connecting rod, second connecting rod, third connecting rod, double leval jib, the first pull bar, the second pull bar.In mobile operating mode, make handgrip can movement arbitrarily in certain plane certain space by Mobile operating platform.
Outstanding advantages of the present invention is:
1. utilize multiple degrees of freedom controllable mechanism to replace original unitary series of operations mechanism, originally the motor be installed on arm can be arranged in frame, alleviate arm own wt, reduce its rotary inertia, improve its dynamic property, decrease the joint cumulative errors that original arm weight is brought, improve precision and the speed of piling.
2., by using linear actuator, the handgrip that originally can only be horizontal can be tilted certain angle, the task much more original piling has been difficult to can be completed.
3. by using mobile operating platform, make originally can to move at the mechanical arm of fixed position work, considerably increase the scope of activities of mechanical arm, achieve the piling task that a machine can complete multiple different cultivars or different flow production line, improve production efficiency, reduce cost.
Accompanying drawing explanation
Fig. 1 is the piling overall perspective view with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention.
Fig. 2 is the piling controller composition with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention.
Fig. 3 is that the piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention lifts descending mechanism figure.
Fig. 4 is the piling decline working condition chart with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention.
Fig. 5 is the piling lifting working condition chart with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention.
Fig. 6 is the piling handgrip inclination working condition chart with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention.
Detailed description of the invention
Contrast Fig. 1, the piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms of the present invention, comprises Mobile operating platform 31, linear actuator 1, first driving lever 2, second driving lever 3, the 3rd driving lever 4, first bracing frame 5, second bracing frame 10, the 3rd bracing frame 13, first pull bar 9, second pull bar 11, first connecting rod 8, second connecting rod 6, third connecting rod 12, double leval jib 7, handgrip 14 and three servomotors.
Contrast Fig. 1 and Fig. 2, described first driving lever 2 is connected with Mobile operating platform 31 by the second revolute pair 16, linear actuator 1 is connected with Mobile operating platform 31 by the first revolute pair 15, first driving lever 2 other end is connected with the first bracing frame 5 by the 6th revolute pair 20, and linear actuator 1 other end is connected with the first support bar 5 by the 5th revolute pair 19.
Contrast Fig. 1 and Fig. 2, described first connecting rod 8 one end is connected with the first bracing frame 5 by the 6th revolute pair 20, and the other end is connected with the second bracing frame 10 by the 13 revolute pair 27.
Contrast Fig. 1 and Fig. 2, described first pull bar 9 one end is connected with the first bracing frame 5 by the 9th revolute pair 22, and the other end is connected with the second bracing frame 10 by the 11 revolute pair 25.
Contrast Fig. 1 and Fig. 2, described third connecting rod 12 one end is connected with the second bracing frame 10 by the 13 revolute pair 27, and the other end is connected with the 3rd bracing frame 13 by the 16 revolute pair 30.
Contrast Fig. 1 and Fig. 2, described second pull bar 11 one end is connected with the second bracing frame 10 by the 12 revolute pair 26, and the other end is connected with the 3rd bracing frame 13 by the 15 revolute pair 29.
Contrast Fig. 1 and Fig. 3, described second driving lever 3 one end is connected with Mobile operating platform 31 by the 3rd revolute pair 17, and the other end is connected with second connecting rod 6 by the 7th revolute pair 21, and second connecting rod 6 other end is connected with first connecting rod 8 by the tenth revolute pair 23.
Contrast Fig. 1 and Fig. 3, described 3rd driving lever 4 one end is connected with Mobile operating platform 31 by the 4th revolute pair 18, and the other end is connected with double leval jib 7 by the 8th revolute pair 24, and double leval jib 7 other end is connected with third connecting rod 12 by the 14 revolute pair 28.
Contrast Fig. 1 and Fig. 2, described handgrip 14 is connected with the 3rd bracing frame 13 by the 18 revolute pair 32.
Contrast Fig. 1, described first driving lever 2, second driving lever 3, the 3rd driving lever 4 are respectively by driven by servomotor.
Contrast Fig. 1,5,6, in each operating mode, in handgrip inclination operating mode, linear actuator 1 stretches, and makes the first bracing frame 5, second bracing frame 10, the 3rd bracing frame 13 become from level the inclination having certain angle in handgrip 14 position under linear actuator 1, first pull bar 9, second pull bar 11 drives.Act is fallen in operating mode, by making handgrip 14 lift to fall under the drive of the first driving lever 2, second driving lever 4, the 3rd driving lever 3 with under the acting in conjunction of first connecting rod 8, second connecting rod 6, third connecting rod 12, double leval jib 7, first pull bar 9, second pull bar 11.In mobile operating mode, by Mobile operating platform 31, make handgrip 14 can movement arbitrarily in certain plane certain space.
Claims (1)
1. one kind has the piling of ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms, it is characterized in that comprising Mobile operating platform, linear actuator, the first driving lever, the second driving lever, the 3rd driving lever, the first bracing frame, the second bracing frame, the 3rd bracing frame, the first pull bar, the second pull bar, first connecting rod, second connecting rod, third connecting rod, double leval jib, handgrip and three servomotors, concrete structure and annexation are:
Described first driving lever is connected with Mobile operating platform by the second revolute pair, linear actuator is connected with Mobile operating platform by the first revolute pair, the first driving lever other end is connected with the first bracing frame by the 6th revolute pair, and the linear actuator other end is connected with the first support bar by the 5th revolute pair;
Described first connecting rod one end is connected with the first bracing frame by the 6th revolute pair, and the other end is connected with the second bracing frame by the 13 revolute pair;
Described first pull bar one end is connected with the first bracing frame by the 9th revolute pair, and the other end is connected with the second bracing frame by the 11 revolute pair;
Described third connecting rod one end is connected with the second bracing frame by the 13 revolute pair, and the other end is connected with the 3rd bracing frame by the 16 revolute pair;
Described second pull bar one end is connected with the second bracing frame by the 12 revolute pair, and the other end is connected with the 3rd bracing frame by the 15 revolute pair;
Described second driving lever one end is connected with Mobile operating platform by the 3rd revolute pair, and the other end is connected with second connecting rod by the 7th revolute pair, and the second connecting rod other end is connected with first connecting rod by the tenth revolute pair;
Described 3rd driving lever one end is connected with Mobile operating platform by the 4th revolute pair, and the other end is connected with double leval jib by the 8th revolute pair, and the double leval jib other end is connected with third connecting rod by the 14 revolute pair;
Described handgrip is connected with the 3rd bracing frame by the 18 revolute pair;
Described first driving lever, the second driving lever, the 3rd driving lever are respectively by driven by servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410787423.2A CN104589301B (en) | 2014-12-17 | 2014-12-17 | A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms |
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| CN201410787423.2A CN104589301B (en) | 2014-12-17 | 2014-12-17 | A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms |
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| CN104589301A CN104589301A (en) | 2015-05-06 |
| CN104589301B true CN104589301B (en) | 2016-03-30 |
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| CN105328695B (en) * | 2015-11-10 | 2017-06-23 | 南宁邃丛赋语科技开发有限责任公司 | A kind of controllable-mechanism type mobile mechanical arm |
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| CN105775771B (en) * | 2016-04-29 | 2018-06-05 | 广西大学 | A kind of multi-activity degree controllable-mechanism type robot palletizer |
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| CN110255341B (en) * | 2019-06-27 | 2020-08-28 | 云南沃克斯电梯有限公司 | A upset freight device for elevator |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN117585453B (en) * | 2024-01-18 | 2024-04-19 | 常州市力烨重型设备科技有限公司 | Self-propelled solar panel erection equipment |
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