CN104626108A - Advanced multi-degree of freedom controllable mechanical arm - Google Patents
Advanced multi-degree of freedom controllable mechanical arm Download PDFInfo
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- CN104626108A CN104626108A CN201410826310.9A CN201410826310A CN104626108A CN 104626108 A CN104626108 A CN 104626108A CN 201410826310 A CN201410826310 A CN 201410826310A CN 104626108 A CN104626108 A CN 104626108A
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- connecting rod
- revolute pair
- driving lever
- controllable mechanical
- rod
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Abstract
The invention provides an advanced multi-degree of freedom controllable mechanical arm. The lower end of a second driving rod of the controllable mechanical arm is connected to a revolving platform, the upper end of the second driving rod is connected with one end of a third connecting rod, and the other end of the third connecting rod is connected with a fourth connecting rod; the lower end of a second connecting rod is connected to the revolving platform, and the upper end of the second connecting rod is connected to the fourth connecting rod; one end of the fourth connecting rod is connected to a wrist part, the other end of the fourth connecting rod is connected with one end of a third driving rod, the other end of the third driving rod is connected with one end of a fifth connecting rod, the other end of the fifth connecting rod is connected with one end of the wrist part, and the other end of the wrist part is connected with a paw; the lower end of a first driving rod is connected to the revolving platform, the upper end of the first driving rod is connected with one end of a first connecting rod, and the other end of the first connecting rod is connected to the second connecting rod. The advanced multi-degree of freedom controllable mechanical arm adopts a serial mechanism and a parallel mechanism and has the advantages that the parallel mechanism is large in rigidity and the serial mechanism is large in working space, a driving motor is installed on a machine base position as far as possible, and the loads borne by the rod pieces are reduced.
Description
Technical field
The present invention relates to industrial robot field, especially a kind of advanced multiple degrees of freedom controllable mechanical hand.
Background technology
Manipulator is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, manipulator is applied in automatic assembly line widely, the research and production of robot has become in high-tech neighborhood, one that develops rapidly emerging technology, it facilitates the development of manipulator more, makes the combination that manipulator can realize with mechanization and automation better.Although manipulator is flexible like that not as good as staff, it has energy constantly repeated work and work, does not know fatigue, be fearless of danger, the feature that the strength of snatch weight is larger than people hand-power, therefore, manipulator has been subject to the attention of many departments, and obtains application more and more widely.Along with the lifting of production requirement, people require also more and more higher to the service behaviour of manipulator, conventional robot many employings tandem or parallel structure, although serial mechanism has good kinematics performance, dynamic performance is lower; Comparing parallel institution with serial mechanism has without accumulated error, precision high, drive unit can be placed on platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, compact conformation, bearing capacity are large but limit by structure due to parallel institution, spatial operation range is often very little, therefore how to make manipulator complete large space work, high accuracy, highly reliable job requirements, become the important content that numerous researcher is inquired into.
Summary of the invention
The object of the invention is to provide a kind of advanced multiple degrees of freedom controllable mechanical hand, the motor solving traditional fisher's formula serial machine robot mechanism is arranged on its hinged place, cause that arm weight is large, poor rigidity, inertia large, joint error accumulation, mechanism dynamic poor-performing, load be lighter, difficult installation volume, the equipment that weight is larger, be difficult to ensure card pinpoint accuracy, hydraulic mechanical arm can realize flexible and changeable movement locus, but there is the problem such as hydraulic pressure leakage of oil, parts machining maintenance cost height.
The present invention achieves the above object by the following technical programs:
A kind of advanced multiple degrees of freedom controllable mechanical hand, comprises revolving dial, support, the second driving lever, third connecting rod, double leval jib, second connecting rod, wrist portion, the 3rd driving lever, the 5th connecting rod, paw, first connecting rod and the first driving lever;
Described revolving dial is connected on support by the 15 revolute pair;
Described second driving lever lower end is connected on revolving dial by the 6th revolute pair, and the second driving lever upper end is connected with third connecting rod one end by the 7th revolute pair, and the third connecting rod other end connects on double leval jib by the 8th revolute pair;
Described second connecting rod lower end is connected on revolving dial by the 5th revolute pair, and second connecting rod upper end is connected on double leval jib by the 9th revolute pair;
Described double leval jib one end is connected in wrist portion, the double leval jib other end is connected with the 3rd driving lever one end by the 13 revolute pair, the 3rd driving lever other end is connected with the 5th connecting rod one end by the 12 revolute pair, the 5th connecting rod other end is connected with wrist portion one end by the 11 revolute pair, and the wrist portion other end connects on paw by the 14 revolute pair;
Described first driving lever lower end is connected on rotatable platform by the second revolute pair, and the first driving lever upper end is connected with first connecting rod one end by the 3rd revolute pair, and the first connecting rod other end is connected on second connecting rod by the 4th revolute pair.
Compared with prior art, the present invention has following technological merit:
Adopt serial parallel mechanism, have the advantage that parallel institution rigidity is large and serial mechanism working space is large concurrently, as far as possible drive motors is arranged on support position, reduce the bearing load of rod member, reduce the rotary inertia of complete machine, quality is light, cumulative errors are little, have good dynamic performance.
Carpal motor is transferred to the afterbody of forearm by parallelogram lindage, make each drive motors concentrate on from circumferential rotation type center more close to position, make unitary rotation inertia reduce further, make it that there is better dynamic performance.
By the many increases of parallelogram lindage one carrying pin joint, improve traditional mechanism bearing capacity is poor, precision is low because whole load is all applied to same shoulder motor brings, be not easy to maintaining, the shortcoming of low reliability.
Accompanying drawing explanation
Fig. 1 is the overall schematic of described multiple degrees of freedom controllable mechanical hand.
Fig. 2 is part connecting rod first schematic diagram of described multiple degrees of freedom controllable mechanical hand.
Fig. 3 is part connecting rod second schematic diagram of described multiple degrees of freedom controllable mechanical hand.
Fig. 4 is part connecting rod the 3rd schematic diagram of described multiple degrees of freedom controllable mechanical hand.
Fig. 5 is the first working state schematic representation of described multiple degrees of freedom controllable mechanical hand.
Fig. 6 is the second working state schematic representation of described multiple degrees of freedom controllable mechanical hand.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical solution of the present invention is described further.
A kind of advanced multiple degrees of freedom controllable mechanical hand, comprises revolving dial 2, support 1, second driving lever 6, third connecting rod 7, double leval jib 8, second connecting rod 5, wrist portion 10, the 3rd driving lever 13, the 5th connecting rod 12, paw 11, first connecting rod 4 and the first driving lever 3;
Described revolving dial 2 is connected on support 1 by the 15 revolute pair 9;
Described second driving lever 6 lower end is connected on revolving dial 2 by the 6th revolute pair 18, and the second driving lever 6 upper end is connected with third connecting rod 7 one end by the 7th revolute pair 19, and third connecting rod 7 other end connects on double leval jib 8 by the 8th revolute pair 20;
Described second connecting rod 5 lower end is connected on revolving dial 2 by the 5th revolute pair 17, and second connecting rod 5 upper end is connected on double leval jib 8 by the 9th revolute pair 21;
Described double leval jib 8 one end is connected in wrist portion 10, double leval jib 8 other end is connected with the 3rd driving lever 13 one end by the 13 revolute pair 25,3rd driving lever 13 other end is connected with the 5th connecting rod 12 one end by the 12 revolute pair 24,5th connecting rod 12 other end is connected with wrist portion 10 one end by the 11 revolute pair 23, and wrist portion 10 other end connects on paw 11 by the 14 revolute pair 26;
Described first driving lever 3 lower end is connected on rotatable platform 2 by the second revolute pair 14, and the first driving lever 3 upper end is connected with first connecting rod 4 one end by the 3rd revolute pair 15, and first connecting rod 4 other end is connected on second connecting rod 5 by the 4th revolute pair 16.
The course of work and principle:
The two dimensional motion of plane is realized by linkage, paw 11 is sent to assigned work region, manipulator is made to obtain more working space by the complete cycle motion of revolving dial 2, compact conformation of the present invention, there is good dynamic performance, and this institution staff space is large, can be applicable to more occasions.
Claims (1)
1. an advanced multiple degrees of freedom controllable mechanical hand, it is characterized in that, comprise revolving dial, support, the second driving lever, third connecting rod, double leval jib, second connecting rod, wrist portion, the 3rd driving lever, the 5th connecting rod, paw, first connecting rod and the first driving lever;
Described revolving dial is connected on support by the 15 revolute pair;
Described second driving lever lower end is connected on revolving dial by the 6th revolute pair, and the second driving lever upper end is connected with third connecting rod one end by the 7th revolute pair, and the third connecting rod other end connects on double leval jib by the 8th revolute pair;
Described second connecting rod lower end is connected on revolving dial by the 5th revolute pair, and second connecting rod upper end is connected on double leval jib by the 9th revolute pair;
Described double leval jib one end is connected in wrist portion, the double leval jib other end is connected with the 3rd driving lever one end by the 13 revolute pair, the 3rd driving lever other end is connected with the 5th connecting rod one end by the 12 revolute pair, the 5th connecting rod other end is connected with wrist portion one end by the 11 revolute pair, and the wrist portion other end connects on paw by the 14 revolute pair;
Described first driving lever lower end is connected on rotatable platform by the second revolute pair, and the first driving lever upper end is connected with first connecting rod one end by the 3rd revolute pair, and the first connecting rod other end is connected on second connecting rod by the 4th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826310.9A CN104626108A (en) | 2014-12-25 | 2014-12-25 | Advanced multi-degree of freedom controllable mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826310.9A CN104626108A (en) | 2014-12-25 | 2014-12-25 | Advanced multi-degree of freedom controllable mechanical arm |
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| Publication Number | Publication Date |
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| CN104626108A true CN104626108A (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410826310.9A Pending CN104626108A (en) | 2014-12-25 | 2014-12-25 | Advanced multi-degree of freedom controllable mechanical arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607932A (en) * | 2016-12-09 | 2017-05-03 | 广西大学 | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation |
| CN106607872A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo driving connection rod type variable degree-of-freedom connection rod mechanism for oxygen-acetylene cutting machine |
| CN106608540A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices |
| CN106737716A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of mobility linkage Simple mechanical arm of servo-drive two for assembling work |
| CN106737715A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm |
| CN106737727A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | A kind of servo-drive multi-rod variable freedom mechanical arm for transport operation |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
Citations (4)
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| JP2642047B2 (en) * | 1992-10-30 | 1997-08-20 | インターナショナル・ビジネス・マシーンズ・コーポレイション | Manipulator device |
| US20030066373A1 (en) * | 2001-07-30 | 2003-04-10 | Kawasaki Jukogyo Kabushiki Kaisha | Robot |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
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2014
- 2014-12-25 CN CN201410826310.9A patent/CN104626108A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2642047B2 (en) * | 1992-10-30 | 1997-08-20 | インターナショナル・ビジネス・マシーンズ・コーポレイション | Manipulator device |
| US20030066373A1 (en) * | 2001-07-30 | 2003-04-10 | Kawasaki Jukogyo Kabushiki Kaisha | Robot |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106608540A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices |
| CN106737716A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of mobility linkage Simple mechanical arm of servo-drive two for assembling work |
| CN106737715A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
| CN106737727A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | A kind of servo-drive multi-rod variable freedom mechanical arm for transport operation |
| CN106607872A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo driving connection rod type variable degree-of-freedom connection rod mechanism for oxygen-acetylene cutting machine |
| CN106607932A (en) * | 2016-12-09 | 2017-05-03 | 广西大学 | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation |
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Application publication date: 20150520 |