CN106945025A - A kind of combination drive multiple degrees of freedom assembly manipulator - Google Patents
A kind of combination drive multiple degrees of freedom assembly manipulator Download PDFInfo
- Publication number
- CN106945025A CN106945025A CN201710344723.7A CN201710344723A CN106945025A CN 106945025 A CN106945025 A CN 106945025A CN 201710344723 A CN201710344723 A CN 201710344723A CN 106945025 A CN106945025 A CN 106945025A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- arm link
- connecting rod
- electric pushrod
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
Abstract
A kind of combination drive multiple degrees of freedom assembly manipulator, it is characterised in that：Including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, paw, base, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod; the forearm other end is connected with small arm link one end, and small arm link is connected with forearm drive rod one end, and the forearm drive rod other end is connected on base; electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod.Two motors are arranged on workbench by the present invention, overcome cascaded structure articulated robot rotary inertia big, dynamic performance is poor, the low shortcoming of complex structure, the degree of modularity, the advantage of constant speed motor and servomotor is combined, has the advantages that to be easily controlled, be quick on the draw, to manufacture maintenance cost low.
Description
Technical field
The present invention relates to mechanical engineering field, more particularly to a kind of combination drive multiple degrees of freedom assembly manipulator.
Background technology
Most of currently manufactured industry general assemble manipulator is the cascaded structure joint type motor driving machine for open form
Tool hand, it is mainly characterized in that motor is all arranged on each joint of manipulator, each by motor driving mechanical hand
The rotation in individual joint, realizes the various actions of manipulator.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all arranged on the position in joint, and this frame mode has problems with：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, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while the accumulation that motor all causes manipulator installed in joint position is missed
Poor big, small 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 manipulator, 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.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servomotor) of different nature, in machinery
There is a good compromise in performance and cost, to adapt to working flexibility feature, be well positioned to meet modern mechanical controllable, adjustable
It is required that, in the epoch of flexible production, combination drive manipulator has very big application space.
The content of the invention
It is an object of the invention to solve the motor of cascaded structure joint type assembly manipulator all installed in joint
Position, causes that manipulator rotary inertia is big, dynamic property declines, and accumulated error is big, bearing capacity is small, complex structure the problem of.
The present invention is achieved through the following technical solutions function above：A kind of combination drive multiple degrees of freedom assembly manipulator, it is characterised in that：
Including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist,
Paw, base, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end and forearm
Connecting rod one end is connected, and small arm link is connected with forearm drive rod one end, and the forearm drive rod other end is connected on base, electronic to push away
Bar one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, institute
State big arm link one end to be connected in the middle part of large arm, the big arm link other end is connected with large arm drive rod one end, and large arm drive rod is another
One end is connected on rotatable platform, and servo drive includes the first servomotor and the second servomotor, the first servo electricity
Machine is connected with large arm drive rod, and the second servomotor is connected with forearm drive rod.
The invention discloses a kind of combination drive multiple degrees of freedom assembly manipulator, two motors are arranged on workbench
On, the angular dimension that an electric pushrod is used to control wrist pitching is employed, two motors are arranged on workbench, gram
Take cascaded structure articulated robot rotary inertia big, dynamic performance is poor, the low shortcoming of complex structure, the degree of modularity,
The advantage of constant speed motor and servomotor is combined, has the advantages that to be easily controlled, be quick on the draw, to manufacture maintenance cost low.
Brief description of the drawings
Fig. 1 is a kind of structural scheme of mechanism of combination drive multiple degrees of freedom assembly manipulator of the present invention.
Embodiment
A kind of combination drive multiple degrees of freedom assembly manipulator, including large arm 6, big arm link 4, large arm drive rod 5, forearm 7,
Small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, wrist 12, paw 10, base 2, rotatable platform 1 and
Servo drive, one end of forearm 7 is connected on wrist connecting rod 11, and the other end of forearm 7 is connected with small one end of arm link 8, forearm
Connecting rod 8 is connected with the one end of forearm drive rod 9, and the other end of forearm drive rod 9 is connected on base 2, and the one end of electric pushrod 3 is connected to
On forearm 7, the other end of electric pushrod 3 is connected on wrist connecting rod 11, and the one end of wrist connecting rod 11 is connected on forearm 7, described big
The one end of arm link 4 is connected in large arm 6, and the big other end of arm link 4 is connected with the one end of large arm drive rod 5, and large arm drive rod 5 is another
End is connected on rotatable platform 1, and servo drive includes the first servomotor and the second servomotor, the first servomotor
It is connected with large arm drive rod 5, the second servomotor is connected with forearm drive rod 9.
In use, the large arm drive rod 5 is by the first Serve Motor Control, forearm drive rod 9 is driven by the second servomotor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
The combination drive of constant speed direct current generator, which coordinates, realizes corresponding action, passes through turning for two servomotors to servo drive
The control of the telescopic displacement of angle control and electric pushrod, realizes the abundant track motion of manipulator claw flexible and diverse.
Controllable drive motor is arranged on revolving dial by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod member is made lighter bar by weight, volume and cost, mechanical arm of the invention, so that whole mechanism kinematic inertia
Small, dynamic performance is good, it is easy to control, by setting revolving dial, the revolution working space for making mechanical arm possess 360 degree, work
Make spatial dimension big.
Claims (1)
1. a kind of combination drive multiple degrees of freedom assembly manipulator, it is characterised in that：Including large arm, big arm link, large arm drive rod,
Forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, paw, base, rotatable platform and servo are driven
Dynamic device；Forearm one end is connected on wrist connecting rod, and the forearm other end is connected with small arm link one end, and small arm link is driven with forearm
Lever one end is connected, and the forearm drive rod other end is connected on base, and electric pushrod one end is connected on forearm, and electric pushrod is another
One end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected in the middle part of large arm,
The big arm link other end is connected with large arm drive rod one end, and the large arm drive rod other end is connected on rotatable platform, and servo is driven
Dynamic device includes the first servomotor and the second servomotor, and the first servomotor is connected with large arm drive rod, the second servo electricity
Machine is connected with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344723.7A CN106945025A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344723.7A CN106945025A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945025A true CN106945025A (en) | 2017-07-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710344723.7A Pending CN106945025A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive multiple degrees of freedom assembly manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945025A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363817A (en) * | 2017-09-12 | 2017-11-21 | 连雪芳 | A kind of six degree of freedom robot palletizer |
-
2017
- 2017-05-16 CN CN201710344723.7A patent/CN106945025A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363817A (en) * | 2017-09-12 | 2017-11-21 | 连雪芳 | A kind of six degree of freedom robot palletizer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170714 |