CN106607895A - Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation - Google Patents

Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation Download PDF

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Publication number
CN106607895A
CN106607895A CN201611105627.9A CN201611105627A CN106607895A CN 106607895 A CN106607895 A CN 106607895A CN 201611105627 A CN201611105627 A CN 201611105627A CN 106607895 A CN106607895 A CN 106607895A
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CN
China
Prior art keywords
rod
arm
rotates
wrist
driving
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
Application number
CN201611105627.9A
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Chinese (zh)
Inventor
不公告发明人
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Guangxi University
Original Assignee
Guangxi University
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Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201611105627.9A priority Critical patent/CN106607895A/en
Publication of CN106607895A publication Critical patent/CN106607895A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention discloses a two-degree-of-motion connection rod mechanism maniacal arm for carrying operation. The two-degree-of-motion connection rod mechanism maniacal arm comprises a pedestal 1, a first driving rod 3, a first connection piece 5, a first connection rod 19, a large arm 16, a second connection piece 7, a wrist connection rod 9, a vacuum suction disk 22, a wrist 21, a drive device, a second driving rod 13 and a second connection rod 11, wherein one end of the first driving rod 3 is connected with the pedestal 1 through a first rotating pair 2; one end of the second driving rod 13 is connected with the pedestal 1 through a ninth rotating pair 14, and the other end of the second driving rod 13 is connected with the second connection rod 11 through a tenth rotating pair 12; the second connection rod 11 is connected with the wrist connection rod 9 through an eleventh rotating pair 10; and the drive device consists of a first servo motor and a second servo motor which are respectively connected with the first driving rod 3 and the second driving rod 13 to drive the first driving rod 3 and the second driving rod 13. The two-degree-of-motion connection rod mechanism maniacal arm overcomes the shortcomings that a hydraulic system element of a hydraulic type carrying mechanical arm is high in requirement for precision, complicated in structure, prone to spill, low in reliability, low in transmission efficiency and the like.

Description

One kind is used for the mobility linkage mechanical arm of transport operation two
Technical field
The present invention relates to mechanical field, particularly a kind of to be used for the mobility linkage mechanical arm of transport operation two.
Background technology
The general handling machinery arm great majority of currently manufactured industry are the cascaded structure joint type Motor drive machines for open form Tool handss, it is mainly characterized in that motor is all arranged on each joint of mechanical hand, each by motor driving mechanical handss The rotation in individual joint, realizes the various actions of mechanical hand.Due to the driving electricity of the cascaded structure articulated robot of open form All installed in the position in joint, there is problems with this frame mode with machine:Manipulator arm needs the weight of carrying motor simultaneously Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of motor, increases the fortune of arm Dynamic inertia, causes mechanical hand dynamic property to decline, while motor all causes the accumulation of mechanical hand to miss installed in joint position Poor big, little bearing capacity, complex structure, the degree of modularity are low.It is in parallel with the development and the raising of control technology of motor technology Mechanism provides extensive development space for mechanical hand, and the multiple freedom parallel mechanism driven by controlled motor not only has work Space is big, flexible movements, can complete the movement locus output of complexity, while also have low cost of manufacture, maintaining simple etc. Advantage.
The content of the invention
It is an object of the invention to provide a kind of be used for the mobility linkage mechanical arm of transport operation two, so as to overcome string Connection mechanical hand cumulative error is big, and precision is relatively low;Rigidity is low, the little shortcoming of bearing capacity.For achieving the above object, the present invention is carried For technical scheme be:One kind be used for the mobility linkage mechanical arm of transport operation two, including base 1, the first driving lever 3, First connector 5, first connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, vacuum cup 22, wrist 21, driving dress Put, the second driving lever 13, second connecting rod 11;Described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by first, another End rotates secondary 4 and is connected with the first connector 5 by second, and the first connector 5 rotates secondary 17 and connects with first connecting rod 19 by the 3rd Connect, first connecting rod 19 rotates secondary 18 and is connected with large arm 16 by the 4th, large arm 16 rotates secondary 15 and is connected with base 1 by the 5th, Described one end of second connector 7 rotates secondary 20 and is connected with large arm 16 by the 6th, and the other end rotates secondary 8 and connects with wrist by the 7th Bar 9 connects, and second connector 7 is connected by eighth-turn dynamic secondary 6 with the first connector 5;Described one end of second driving lever 13 Secondary 14 are rotated by the 9th to be connected with base 1, the other end rotates secondary 12 and is connected with second connecting rod 11 by the tenth, second connecting rod 11 Secondary 10 are rotated by the 11st to be connected with wrist connecting rod 9;Driving means are made up of the first servomotor, the second servomotor, point It is not connected with the first driving lever 3, the second driving lever 13, the first driving lever 3, the second driving lever 13 is driven.
It is of the invention a kind of to adopt controllable many bar closed chain mechanisms for the mobility linkage mechanical arm of transport operation two, and open Chain structure is compared, and improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher;Compact conformation, rigidity Height, large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type handling machinery arm Hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is of the present invention a kind of for the mobility linkage mechanical arm schematic diagram of transport operation two.
Specific embodiment
One kind is used for the mobility linkage mechanical arm of transport operation two, including base 1, the first driving lever 3, first connect Part 5, first connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, vacuum cup 22, wrist 21, driving means, the second master Lever 13, second connecting rod 11;Described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by first, and the other end passes through the Two rotate secondary 4 is connected with the first connector 5, and the first connector 5 rotates secondary 17 and is connected with first connecting rod 19 by the 3rd, and first connects Bar 19 rotates secondary 18 and is connected with large arm 16 by the 4th, and large arm 16 rotates secondary 15 and is connected with base 1 by the 5th, and described second connects The one end of fitting 7 rotates secondary 20 and is connected with large arm 16 by the 6th, and the other end rotates secondary 8 and is connected with wrist connecting rod 9 by the 7th, institute State the second connector 7 to be connected with the first connector 5 by eighth-turn dynamic secondary 6;Described one end of second driving lever 13 passes through the 9th turn Dynamic secondary 14 are connected with base 1, and the other end rotates secondary 12 and is connected with second connecting rod 11 by the tenth, and second connecting rod 11 passes through the 11st Rotate secondary 10 to be connected with wrist connecting rod 9;Driving means are made up of the first servomotor, the second servomotor, respectively with the first master Lever 3, the second driving lever 13 are connected, and the first driving lever 3, the second driving lever 13 are driven.
First driving lever 3, the first connector 5, first connecting rod 19, large arm 16, the second connector 7,9 groups of wrist connecting rod Subchain is controlled into large arm, by the drive control of the first driving lever 3, lifting or the down maneuver of large arm 16 is completed, described the Two driving levers 13, the composition wrist connecting rod control subchain of second connecting rod 11, by the drive control of the second driving lever 13, complete wrist The pitching operation of connecting rod 9, requires according to actual job, controls subchain by large arm and wrist connecting rod controls the phase interworking of subchain Close, the lifting of large arm 16 is completed jointly, is declined, the motion such as wrist connecting rod 7, the pitching of wrist 21, the carrying for realizing vacuum cup 22 is made Industry.
The present invention is arranged on controllable drive motor on revolving dial, simplifies the complexity of structure, reducing mechanism Each connecting rod rod member is made lighter bar by weight, volume and cost, the arm of the present invention, so that whole mechanism kinematic inertia is little, Dynamic performance is good, it is easy to control, and by arranging revolving dial, makes the revolution work space that arm possesses 360 degree, work space Scope is big.

Claims (1)

  1. It is 1. a kind of to be used for the mobility linkage mechanical arm of transport operation two, it is characterised in that:Including base 1, the first driving lever 3rd, the first connector 5, first connecting rod 19, large arm 16, the second connector 7, wrist connecting rod 9, vacuum cup 22, wrist 21, driving Device, the second driving lever 13, second connecting rod 11;Described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by first, separately One end rotates secondary 4 and is connected with the first connector 5 by second, and the first connector 5 rotates secondary 17 with first connecting rod 19 by the 3rd Connection, first connecting rod 19 rotates secondary 18 and is connected with large arm 16 by the 4th, and large arm 16 rotates secondary 15 and connects with base 1 by the 5th Connect, described one end of second connector 7 rotates secondary 20 and is connected with large arm 16 by the 6th, and the other end rotates secondary 8 and handss by the 7th Wrist connecting rod 9 connects, and second connector 7 is connected by eighth-turn dynamic secondary 6 with the first connector 5;Second driving lever 13 One end rotates secondary 14 and is connected with base 1 by the 9th, and the other end rotates secondary 12 and is connected with second connecting rod 11 by the tenth, and second connects Bar 11 rotates secondary 10 and is connected with wrist connecting rod 9 by the 11st;Driving means are by the first servomotor, the second servomotor group Into, it is connected with the first driving lever 3, the second driving lever 13 respectively, the first driving lever 3, the second driving lever 13 are driven.
CN201611105627.9A 2016-12-05 2016-12-05 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation Pending CN106607895A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611105627.9A CN106607895A (en) 2016-12-05 2016-12-05 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611105627.9A CN106607895A (en) 2016-12-05 2016-12-05 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation

Publications (1)

Publication Number Publication Date
CN106607895A true CN106607895A (en) 2017-05-03

Family

ID=58636158

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611105627.9A Pending CN106607895A (en) 2016-12-05 2016-12-05 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation

Country Status (1)

Country Link
CN (1) CN106607895A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202163919U (en) * 2011-07-01 2012-03-14 广西大学 Metamorphic stacking robot mechanism
CN102493505A (en) * 2011-12-07 2012-06-13 广西大学 Spatial hydraulic loader with two-range-of-motion swing arm and three-range-of-motion bucket
CN202359587U (en) * 2011-12-07 2012-08-01 广西大学 Spatial hydraulic loader with two-activity moving arm and two-activity bucket
CN102825600A (en) * 2012-03-28 2012-12-19 广西大学 Parallel mechanism containing RRRR closed-loop subchain
CN103711158A (en) * 2013-12-16 2014-04-09 广西大学 Reverse turning bucket two-freedom degree mechanical loading mechanism
CN103741737A (en) * 2013-12-16 2014-04-23 广西大学 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism
JP2014208387A (en) * 2013-04-16 2014-11-06 トヨタ自動車株式会社 Robot hand
JP2015188945A (en) * 2014-03-27 2015-11-02 Ntn株式会社 Coating applicator

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202163919U (en) * 2011-07-01 2012-03-14 广西大学 Metamorphic stacking robot mechanism
CN102493505A (en) * 2011-12-07 2012-06-13 广西大学 Spatial hydraulic loader with two-range-of-motion swing arm and three-range-of-motion bucket
CN202359587U (en) * 2011-12-07 2012-08-01 广西大学 Spatial hydraulic loader with two-activity moving arm and two-activity bucket
CN102825600A (en) * 2012-03-28 2012-12-19 广西大学 Parallel mechanism containing RRRR closed-loop subchain
JP2014208387A (en) * 2013-04-16 2014-11-06 トヨタ自動車株式会社 Robot hand
CN103711158A (en) * 2013-12-16 2014-04-09 广西大学 Reverse turning bucket two-freedom degree mechanical loading mechanism
CN103741737A (en) * 2013-12-16 2014-04-23 广西大学 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism
JP2015188945A (en) * 2014-03-27 2015-11-02 Ntn株式会社 Coating applicator

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Application publication date: 20170503