CN104647334A - Controllable multi-connecting-rod mobile manipulator - Google Patents
Controllable multi-connecting-rod mobile manipulator Download PDFInfo
- Publication number
- CN104647334A CN104647334A CN201410828909.6A CN201410828909A CN104647334A CN 104647334 A CN104647334 A CN 104647334A CN 201410828909 A CN201410828909 A CN 201410828909A CN 104647334 A CN104647334 A CN 104647334A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod
- revolute pair
- bar
- driving lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention relates to a controllable multi-connecting-rod mobile manipulator. One end of a second driving rod of the mobile manipulator is connected with a rotating rack and the other end of the second driving rod is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with one end of a shoulder rod; the other end of the shoulder rod is connected with one end of a toggle rod; the other end of the toggle rod is rigidly connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected with an end effector; one end of a third connecting rod is connected with the rotating rack and the other end of the third connecting rod is connected to the second connecting rod; one end of a waist rod is connected with the rotating rack and the other end of the waist rod is connected to the shoulder rod; one end of a third driving rod is connected with the rotating rack and the other end of the third driving rod is connected with a fourth connecting rod; the other end of the fourth connecting rod is connected with one end of a tenth connecting rod; the other end of the tenth connecting rod is connected to a second compound hinge. The controllable multi-connecting-rod mobile manipulator has high bearing capacity and a large working space, is flexible to operate, is driven and controlled by a servo motor and can implement intelligence and numerical control; most of the servo motor can be installed on the rotating rack.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of controllable multiple-connecting-rod mobile mechanical arm.
Background technology
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 is higher, compact conformation, bearing capacity is large, the feature such as the high and end effector inertia of rigidity is little, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, there is working space large, rigidity is high, bearing capacity is strong, little and the end effector precision advantages of higher of inertia, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effective raises labour efficiency, improve a lot in product quality and stability.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.Piling causes the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that engineering machinery provides wide development space, not only have that working space is large by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of controllable multiple-connecting-rod mobile mechanical arm, major part drive motors is all installed on the rotating gantry, the motor that can solve traditional fisher's formula serial manipulator is arranged on hinge place, the problem such as cause arm heaviness, poor rigidity, inertia is large, joint error is accumulative, robot has good dynamic performance, can meet the requirement of high-speed overload carrying piling preferably.
The present invention achieves the above object by the following technical programs:
A kind of controllable multiple-connecting-rod mobile mechanical arm, comprises frame, mobile platform, the second driving lever, first connecting rod, second connecting rod, shoulder bar, toggle link, six-bar linkage, end effector, third connecting rod, waist bar, the 3rd driving lever, double leval jib and the tenth connecting rod;
Described rotary frame is connected on a mobile platform by the first revolute;
Described second driving lever one end is connected with rotary frame by the second revolute pair, the second driving lever other end is connected with first connecting rod one end by the 3rd revolute pair, the first connecting rod other end is connected with one end of second connecting rod by the 4th revolute pair, the other end of second connecting rod is connected with shoulder bar one end by the 6th revolute pair, the shoulder bar other end is connected with toggle link one end by the second compound hinges, the toggle link other end is rigidly connected by link and six-bar linkage one end, and the six-bar linkage other end is connected with end effector by the 12 revolute pair;
Described third connecting rod one end is connected with rotary frame by the first compound hinges, and the third connecting rod other end is connected on second connecting rod by the 5th revolute pair;
Described waist bar one end is connected with rotary frame by the first compound hinges, and the waist bar other end is connected on shoulder bar by the 7th revolute pair;
Described 3rd driving lever one end is connected with rotary frame by the first compound hinges, the 3rd driving lever other end is connected with double leval jib by the 8th revolute pair, the double leval jib other end is connected with the tenth connecting rod one end by the 9th revolute pair, and the tenth connecting rod other end is connected on the second compound hinges.
Outstanding advantages of the present invention is
1 robot working space is large, and flexibility ratio is high.
2, this mobile mechanical arm selects driven by servomotor, not only environmental protection, and is easy to realize Long-distance Control, reduces labor strength.
3, most of servomotor is installed on rotary frame, and robot motion's inertia is little, and dynamic performance is good, can meet the requirement of carrying at a high speed preferably.
Accompanying drawing explanation
Fig. 1 is controllable multiple-connecting-rod mobile mechanical arm overall structure schematic diagram of the present invention.
Fig. 2 is the waist elevating mechanism structural scheme of mechanism of controllable multiple-connecting-rod mobile mechanical arm of the present invention.
Fig. 3 is controllable multiple-connecting-rod mobile mechanical arm of the present invention shoulder elevating mechanism structural scheme of mechanism.
Fig. 4 is controllable multiple-connecting-rod mechanically moving elbow slew gear schematic diagram of the present invention.
Fig. 5 is the first working state schematic representation of controllable multiple-connecting-rod mobile mechanical arm of the present invention.
Fig. 6 is controllable multiple-connecting-rod mobile mechanical arm the second working state schematic representation of the present invention.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
A kind of controllable multiple-connecting-rod mobile mechanical arm, comprises frame 26, mobile platform 1, second driving lever 3, first connecting rod 4, second connecting rod 8, shoulder bar 14, toggle link 16, six-bar linkage 21, end effector 19, third connecting rod 7, waist bar 12, the 3rd driving lever 10, double leval jib 24 and the tenth connecting rod 29;
Described rotary frame 24 is connected on mobile platform 28 by the first revolute 27;
Described second driving lever 3 one end is connected with rotary frame 26 by the second revolute pair 1, second driving lever 3 other end is connected with first connecting rod 4 one end by the 3rd revolute pair 2, first connecting rod 4 other end is connected with one end 5 of second connecting rod 8 by the 4th revolute pair 5, the other end of second connecting rod 8 is connected with shoulder bar 14 one end by the 6th revolute pair 11, shoulder bar 14 other end is connected with toggle link 16 one end by the second compound hinges 15, toggle link 16 other end is rigidly connected by link 17 and six-bar linkage 21 one end, six-bar linkage 21 other end is connected with end effector 19 by the 12 revolute pair 20,
Described third connecting rod 7 one end is connected with rotary frame 27 by the first compound hinges 9, and third connecting rod 7 other end is connected on second connecting rod 8 by the 5th revolute pair 6;
Described waist bar 12 one end is connected with rotary frame 27 by the first compound hinges 9, and waist bar 12 other end is connected on shoulder bar 14 by the 7th revolute pair 13;
Described 3rd driving lever 10 one end is connected with rotary frame 27 by the first compound hinges 9,3rd driving lever 10 other end is connected with double leval jib 24 by the 8th revolute pair 25, double leval jib 24 other end is connected with the tenth connecting rod 29 one end by the 9th revolute pair 23, and the tenth connecting rod 29 other end is connected on the second compound hinges 15.
Claims (1)
1. a controllable multiple-connecting-rod mobile mechanical arm, it is characterized in that, comprise frame, mobile platform, the second driving lever, first connecting rod, second connecting rod, shoulder bar, toggle link, six-bar linkage, end effector, third connecting rod, waist bar, the 3rd driving lever, double leval jib and the tenth connecting rod;
Described rotary frame is connected on a mobile platform by the first revolute;
Described second driving lever one end is connected with rotary frame by the second revolute pair, the second driving lever other end is connected with first connecting rod one end by the 3rd revolute pair, the first connecting rod other end is connected with one end of second connecting rod by the 4th revolute pair, the other end of second connecting rod is connected with shoulder bar one end by the 6th revolute pair, the shoulder bar other end is connected with toggle link one end by the second compound hinges, the toggle link other end is rigidly connected by link and six-bar linkage one end, and the six-bar linkage other end is connected with end effector by the 12 revolute pair;
Described third connecting rod one end is connected with rotary frame by the first compound hinges, and the third connecting rod other end is connected on second connecting rod by the 5th revolute pair;
Described waist bar one end is connected with rotary frame by the first compound hinges, and the waist bar other end is connected on shoulder bar by the 7th revolute pair;
Described 3rd driving lever one end is connected with rotary frame by the first compound hinges, the 3rd driving lever other end is connected with double leval jib by the 8th revolute pair, the double leval jib other end is connected with the tenth connecting rod one end by the 9th revolute pair, and the tenth connecting rod other end is connected on the second compound hinges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410828909.6A CN104647334A (en) | 2014-12-25 | 2014-12-25 | Controllable multi-connecting-rod mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410828909.6A CN104647334A (en) | 2014-12-25 | 2014-12-25 | Controllable multi-connecting-rod mobile manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104647334A true CN104647334A (en) | 2015-05-27 |
Family
ID=53239232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410828909.6A Pending CN104647334A (en) | 2014-12-25 | 2014-12-25 | Controllable multi-connecting-rod mobile manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104647334A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0911165A (en) * | 1995-06-29 | 1997-01-14 | Mitsubishi Electric Corp | Industrial robot device |
| WO1998053961A1 (en) * | 1997-05-30 | 1998-12-03 | Pellenc (Societe Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| CN203006510U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Transportation stacking mechanism |
| CN103707288A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Multi-degree-of-freedom palletizing robot |
| CN103737588A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-freedom-degree controllable spray painting robot |
-
2014
- 2014-12-25 CN CN201410828909.6A patent/CN104647334A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0911165A (en) * | 1995-06-29 | 1997-01-14 | Mitsubishi Electric Corp | Industrial robot device |
| WO1998053961A1 (en) * | 1997-05-30 | 1998-12-03 | Pellenc (Societe Anonyme) | Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects |
| CN203006510U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Transportation stacking mechanism |
| CN103737588A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-freedom-degree controllable spray painting robot |
| CN103707288A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Multi-degree-of-freedom palletizing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103722552B (en) | A kind of controllable multi-degree-of-freedom manipulator | |
| CN103737581B (en) | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled | |
| CN105313107A (en) | Rotatable manipulation arm with metamorphic function | |
| CN103722553B (en) | A kind of controlled welding robot of multiple freedom parallel mechanism formula | |
| CN105328712A (en) | Multi-freedom-degree industrial machine operation arm mechanism | |
| CN104096998A (en) | Multi-degree of freedom parallel mechanism type spot welding robot | |
| CN103707289A (en) | Controllable multi-degree of freedom welding robot | |
| CN203901283U (en) | Three-freedom-degree parallel-serial stacking mechanical arm with large working space | |
| CN104476535A (en) | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism | |
| CN105328695A (en) | Controllable mechanism type movable mechanical arm | |
| CN104608116A (en) | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism | |
| CN104526677A (en) | Controllable mechanism type movable palletizing robot | |
| CN102990661A (en) | Large-workspace controllable stack device | |
| CN104440867A (en) | Eight-freedom-degree movable robot palletizer | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN104552275A (en) | Simple controllable mechanical mobile manipulator | |
| CN102514001A (en) | Spatial eight-degrees-of-freedom welding robot mechanism | |
| CN202378046U (en) | Robot mechanism with seven ranges of motion in space | |
| CN203901284U (en) | Three-freedom-degree series-parallel stacking mechanical arm | |
| CN202555453U (en) | Two degree-of-freedom parallel spraying robot | |
| CN104626109A (en) | MDOF controllable mechanism type hybrid carrying robot | |
| CN202357162U (en) | 3-3-3 type nine-range-of-motion robot mechanism | |
| CN104647334A (en) | Controllable multi-connecting-rod mobile manipulator | |
| CN104647335A (en) | Controllable multi-connecting-rod transfer robot | |
| CN104647354A (en) | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150527 |