CN106607905A - Mechanical arm with variable degree-of-freedom link mechanism for assembling operation - Google Patents
Mechanical arm with variable degree-of-freedom link mechanism for assembling operation Download PDFInfo
- Publication number
- CN106607905A CN106607905A CN201611062363.3A CN201611062363A CN106607905A CN 106607905 A CN106607905 A CN 106607905A CN 201611062363 A CN201611062363 A CN 201611062363A CN 106607905 A CN106607905 A CN 106607905A
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- China
- Prior art keywords
- connecting rod
- locking device
- link
- rotates
- wrist
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm with a variable degree-of-freedom link mechanism for an assembling operation. The mechanical arm comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, assembly clamping claws 28, a servo driving device, a first locking device 5 and a second locking device 12, wherein the big arm lifting mechanism comprises a big arm 8, a fourth link 3 and a fifth link 6; the wrist link pitch mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are separately arranged on an eleventh revolute pair 4 and an eighth revolute pair 7, and can be locked in due time according to different working conditions of a mechanical arm structure for the assembling operation; the servo driving device comprises a first servo motor which is connected with the driving rod 16, so that the servo motor is driven to rotate; and the first locking device 5 and the second locking device 12 are locked by adopting an electromagnetic mode. According to the mechanical arm disclosed by the invention, the two-degree-of-freedom assembling operation can be realized by only using one driving rod, so that the use amount of motors is reduced and the construction cost of the mechanical arm for the assembling operation is reduced.
Description
Technical field
The present invention relates to mechanical field, it is particularly a kind of for assembling work can variable freedom linkage mechanical hand
Arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes assembling work machinery
Extensive application of the arm in assembling work.Assembling work mechanical arm has mechanical type and fluid pressure type two types, at present assembling
Work machine arm great majority are hydraulic-drivens, due to hydraulic drive using hydraulic oil as transmission power medium, exist with
Lower problem：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking can pollute ring
Border；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires technology
Higher, difficulty is larger.With the increase of assembling work mechanical arm function, its hydraulic system becomes increasingly complex, and breaks down more
With sudden, disguised.Mechanically-assembled Work machine arm is to realize assembling action using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanically-assembled Work machine arm of traditional single-degree-of-freedom can not complete the action of complexity, using model
Enclose extremely limited, the electronic assembling work mechanical arm of mechanical type controllable mechanism instead of hydraulic drive with linkage, when actively
When bar is driven by servomotor, automatization, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but
Existing needs to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled mechanism's weight that complex structure is brought
Big and high cost the problem of amount, movement inertia.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to assembling work mechanical arm.
The content of the invention
It is an object of the invention to provide it is a kind of for assembling work can variable freedom linkage mechanical arm, overcome
The shortcomings of fluid pressure type assembling work mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, open chain is overcome to tie
The motor of structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor to be less than assembling work machine
The degree of freedom of tool arm link mechanism, overcomes the electronic assembling work mechanical arm structure of existing machinery formula to need to be equipped with and linkage
The controlled motor of degree of freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism, fortune come the shortcoming being controlled
Dynamic inertia, volume and cost.For achieving the above object, the invention provides it is a kind of for assembling work can variable freedom connecting rod
Mechanism's mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, watch
Take driving means, the first locking device 5 and the second locking device 12；The base 1 is arranged on removable revolving dial；Institute
Large arm elevating mechanism is stated including large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the one end of the large arm 8 by the 6th rotate secondary 14 with
Base 1 connects, and the other end rotates secondary 9 and is connected with wrist connecting rod 10 by the 9th；The one end of the fourth link 3 rotates by the tenth
Secondary 2 are connected with base 1, and the other end rotates secondary 4 and is connected with the one end of the 5th connecting rod 6 by the 11st, and the other end of the 5th connecting rod 6 passes through
7th rotates secondary 13 is connected with large arm 8；The wrist connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod
21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, the one end of the driving lever 16 rotates secondary 15 with base 1 by first
Connection, the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, and the other end of first connecting rod 18 is rotated by the 3rd
Secondary 19 are connected with the one end of second connecting rod 21, and the other end of second connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, the
The one end of six-bar linkage 23 is connected by the 12nd rotation secondary 24 with the one end of seven-link assembly 25, the other end of six-bar linkage 23 passes through the 13rd
Rotate secondary 26 to be connected with the middle part of first connecting rod 18, the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；Described
The one end of three connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end rotates secondary 20 and connects with second connecting rod 21 by the 4th
Connect；First locking device 5 and the second locking device 12 are separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be by
Locked in good time according to the different operating mode of assembling work mechanical arm structure；Servo drive includes the first servomotor with active
Bar 16 connects to drive it to rotate；First locking device 5 and the second locking device 12 are locked using electromagnetic mode.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than assembling work robotic arm link mechanism
Degree of freedom, using a driving lever two degrees of freedom assembling work is capable of achieving, and overcomes existing assembling work mechanical arm to need to be equipped with
The shortcoming being controlled with the controlled motor of linkage degree of freedom equivalent amount, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Simultaneously
Overcome fluid pressure type assembling work mechanical 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 be it is of the present invention it is a kind of for assembling work can variable freedom linkage mechanical arm schematic diagram.
Specific embodiment
It is a kind of for assembling work can variable freedom linkage mechanical arm, including base 1, large arm elevating mechanism,
Wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive, the first locking device 5 and the second locking dress
Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the
Five connecting rods 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 and wrist by the 9th
Connecting rod 10 connects；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary by the 11st
4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod
Luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly
25, the one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 and first and connects by second
The one end of bar 18 connects, and the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, second connecting rod 21
The other end rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 rotates secondary 24 and the 7th by the 12nd
The connection of the one end of connecting rod 25, the other end of six-bar linkage 23 rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and the 7th connects
The other end of bar 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is by eighth-turn dynamic secondary 7 and large arm 8
Connection, the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking device 12 are distinguished
Rotate on secondary 4 and eighth-turn dynamic secondary 7 installed in the 11st, can be fitted according to the different operating mode of assembling work mechanical arm structure
When lock；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 16；First locking device 5
Locked using electromagnetic mode with the second locking device 12.
At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock
Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses degree of freedom, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10
Individually during pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the 11st
Rotate secondary 4 and lose degree of freedom, the respect thereto 1 of large arm 8 loses degree of freedom, now wrist connecting rod is realized bowing under the driving of driving lever 16
Face upward.During whole assembling work, the first locking device 5 and the second locking device 12 are according to different working conditions, difference
Select tight lock or open, the motions such as large arm lifting and flexible, wrist connecting rod 10 and the pitching of wrist 27 are completed jointly, realize assembling
The assembling work of retaining paw 28.First locking device 5 and the second locking device 12 can be locked using electromagnetic mode, control
Easily realize.
Claims (1)
1. it is a kind of for assembling work can variable freedom linkage mechanical arm, it is characterised in that include：Base 1, large arm
Elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive, the and of the first locking device 5
Second locking device 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism include large arm 8, the
The connecting rod 6 of double leval jib 3 and the 5th, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end passes through the 9th turn
Dynamic secondary 9 are connected with wrist connecting rod 10；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end passes through
11st rotates secondary 4 is connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；
The wrist connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23
With seven-link assembly 25, the one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates pair by second
17 are connected with the one end of first connecting rod 18, and the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd,
The other end of second connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 rotates by the 12nd
Secondary 24 are connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotates secondary 26 and connects with the middle part of first connecting rod 18 by the 13rd
Connect, the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is by the dynamic pair of eighth-turn
7 are connected with large arm 8, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking dress
Put 12 to be separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be according to the different work of assembling work mechanical arm structure
Condition is locked in good time；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First lock
The tight locking device 12 of device 5 and second is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062363.3A CN106607905A (en) | 2016-11-28 | 2016-11-28 | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062363.3A CN106607905A (en) | 2016-11-28 | 2016-11-28 | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607905A true CN106607905A (en) | 2017-05-03 |
Family
ID=58636038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062363.3A Pending CN106607905A (en) | 2016-11-28 | 2016-11-28 | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607905A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609519A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree connecting rod mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003034165A1 (en) * | 2001-10-18 | 2003-04-24 | Cimac Automaton Limited | Auto motion : robot guidance for manufacturing |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN204657779U (en) * | 2015-03-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
-
2016
- 2016-11-28 CN CN201611062363.3A patent/CN106607905A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003034165A1 (en) * | 2001-10-18 | 2003-04-24 | Cimac Automaton Limited | Auto motion : robot guidance for manufacturing |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN204657779U (en) * | 2015-03-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609519A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree connecting rod mechanism |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
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| WD01 | Invention patent application deemed withdrawn after publication |