CN106945026A - A kind of rod-type and cascaded structure conveying robot - Google Patents
A kind of rod-type and cascaded structure conveying robot Download PDFInfo
- Publication number
- CN106945026A CN106945026A CN201710345215.0A CN201710345215A CN106945026A CN 106945026 A CN106945026 A CN 106945026A CN 201710345215 A CN201710345215 A CN 201710345215A CN 106945026 A CN106945026 A CN 106945026A
- Authority
- CN
- China
- Prior art keywords
- arm
- driving lever
- forearm
- servomotor
- wrist
- 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 rod-type and cascaded structure conveying robot, it is characterised in that：Including base, revolving dial, the first driving lever, the second driving lever, large arm, big arm link, middle arm link, middle arm, forearm, wrist, paw, tilt angle detector, drive device；Described first driving lever one end is connected with revolving dial, the first driving lever other end is connected with big arm link one end, and forearm is connected with wrist, and paw is connected with wrist, tilt angle detector is arranged on forearm, and drive device includes the first servomotor, the second servomotor, the 3rd servomotor.Forearm is connected with wrist, and paw is connected with wrist, and tilt angle detector is arranged on forearm, and drive device includes the first servomotor, the second servomotor, the 3rd servomotor.The motor that original is installed on arm is installed in frame by the present invention, alleviates arm weight.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of rod-type and cascaded structure conveying robot.
Background technology
Conveying robot is widely used in processing and manufacturing production line, six freedom that existing conveying robot is used mostly
Cascaded structure manipulator is spent, this all motors of structure are all arranged at arm joint, manipulator arm needs to carry motor
Weight simultaneously need to meet rigidity requirement, and arm sectional dimension needs to be made larger, can so increase the load of motor, increase hand
The movement inertia of arm so that Robotic Dynamic poor performance, joint cumulative errors are big, and rotary inertia is big, and these factors are directly affected
Conveying robot operating efficiency and precision, add production cost.Motor all causes machine installed in joint position simultaneously
The complex structure of tool hand, the degree of modularity are low.
The content of the invention
It is an object of the invention to provide a kind of rod-type and cascaded structure conveying robot, by the former electricity being installed on arm
Machine is installed in frame to mitigate arm weight, reduces joint cumulative errors, meets it and carries work requirements.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of rod-type and cascaded structure conveying robot, including
Base 1, revolving dial 2, the first driving lever 3, the second driving lever 10, large arm 5, big arm link 4, middle arm link 9, middle arm 8, forearm
7th, wrist 6, paw 12, tilt angle detector 11 and drive device；Described one end of first driving lever 3 is connected with revolving dial 2, and first
The other end of driving lever 3 is connected with big one end of arm link 4, and the big other end of arm link 4 is connected with the one end of large arm 5, the second driving lever 10
One end is connected with revolving dial 2, and the other end of the second driving lever 10 is connected with middle arm link 9, the middle other end of arm link 9 and middle arm 8
One end is connected, and described one end of large arm 5 is connected with revolving dial 2, and the other end of large arm 5 is connected with middle arm 8, described one end of forearm 7 and
The middle one end of arm 8 connection, forearm 7 is connected with wrist 6, and paw 12 is connected with wrist 6, and tilt angle detector 11 is arranged on forearm, is driven
Dynamic device includes the first servomotor, the second servomotor, the 3rd servomotor, the first servomotor, the second servomotor, the
The first driving lever 3, the second driving lever 10, forearm 7 are connected three servomotors respectively, are responsible for driving the first driving lever 3, second master
Lever 10, forearm 7 are rotated.
Present invention mixing make use of serial parallel mechanism, using parallel institution so that the motor peace being installed on originally on middle arm
It is attached in frame, alleviates middle arm own wt, reduce its rotary inertia, improve its dynamic property, improve structure firm
Degree, reduces brought joint cumulative errors, improves carrying accuracy and speed.Using parallel-crank mechanism so that in
The control programming difficulty reduction of arm, forearm can continue to adopt due to the driving moment of its motor, all smaller with bulking value
With cascaded structure, cascaded structure can make that control programming is simple easily to be realized, on the increased influence very little of unitary rotation inertia, because
And small is influenceed on overall performance.The single cascaded structure of original manipulator is replaced using serial parallel mechanism, connection in series-parallel machine is incorporated
Structure respective advantage, it is to avoid the bad dynamic performance of Serial manipulator, joint cumulative errors are big, the problem of rotary inertia is big, together
When it also avoid the problem of parallel-connection structure programming is complicated, reduce the manufacturing cost of manipulator.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of rod-type of the present invention and cascaded structure conveying robot.
Embodiment
A kind of rod-type of the present invention and cascaded structure conveying robot, including base 1, revolving dial 2, first are actively
Bar 3, the second driving lever 10, large arm 5, big arm link 4, middle arm link 9, middle arm 8, forearm 7, wrist 6, paw 12, inclination angle detection
Device 11 and drive device；Described one end of first driving lever 3 is connected with revolving dial 2, the other end of the first driving lever 3 and big arm link
4 one end are connected, and the big other end of arm link 4 is connected with the one end of large arm 5, and the one end of the second driving lever 10 is connected with revolving dial 2, and second
The other end of driving lever 10 is connected with middle arm link 9, and the middle other end of arm link 9 is connected with middle one end of arm 8, described one end of large arm 5 with
Revolving dial 2 is connected, and the other end of large arm 5 is connected with middle arm 8, and described one end of forearm 7 is connected with middle one end of arm 8, forearm 7 and wrist
6 connections, paw 12 is connected with wrist 6, and tilt angle detector 11 is arranged on forearm, and drive device includes the first servomotor, the
Two servomotors, the 3rd servomotor, the first servomotor, the second servomotor, the 3rd servomotor distinguish the first driving lever
3rd, the second driving lever 10, forearm 7 are connected, and are responsible for the first driving lever 3 of driving, the second driving lever 10, forearm 7 and rotate.
Simultaneously cascaded structure conveying robot is in operating mode for a kind of described rod-type, and the first driving lever 3, which is rotated, drives large arm to connect
Bar 4 is rotated, and big arm link 4 drives large arm 5 to rotate, and the second driving lever 10 is rotated and rotated by arm link in drive 9, large arm 5
Arm 8 is moved in being driven jointly with the second driving lever connecting rod 12, then causes paw by the connection between middle arm 8, forearm 7, wrist 6
12 can move up and down, make the horizontal movement of paw 12 by the rotation of revolving dial 2 so that paw 12 can be in certain space model
Enclose interior any movement, tilt angle detector 11 detects the inclination angle size of forearm, detection signal sent at any time to controller, controller with
I.e. control servomotor 3 carries out the Inclination maneuver of forearm, meets carrying with the inclination angle for keeping forearm in real time, it is ensured that carry quality.
Middle arm motor is installed 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, movement inertia, volume and cost, mechanical arm of the invention, so that whole mechanism
Movement inertia is small, and dynamic performance is good, it is easy to control, by setting revolving dial, the revolution work for making mechanical arm possess 360 degree
Space, Work Space Range is big.
Claims (1)
1. a kind of rod-type and cascaded structure conveying robot, it is characterised in that：Including base, revolving dial, the first driving lever,
Two driving levers, large arm, big arm link, middle arm link, middle arm, forearm, wrist, paw, tilt angle detector, drive device；It is described
First driving lever one end is connected with revolving dial, and the first driving lever other end is connected with big arm link one end, and big arm link is another
End is connected with large arm one end, and second driving lever one end is connected with revolving dial, and the second driving lever other end is connected with middle arm link,
The middle arm link other end is connected with middle arm one end, and described large arm one end is connected with revolving dial, and the large arm other end is connected with middle arm,
Described forearm one end is connected with middle arm one end, and forearm is connected with wrist, and paw is connected with wrist, and tilt angle detector is arranged on forearm
On, drive device includes the first servomotor, the second servomotor, the 3rd servomotor, the first servomotor, the second servo electricity
Machine, the 3rd servomotor are connected with the first driving lever, the second driving lever, forearm respectively, are responsible for the first driving lever of driving, second
Driving lever, forearm are rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345215.0A CN106945026A (en) | 2017-05-16 | 2017-05-16 | A kind of rod-type and cascaded structure conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710345215.0A CN106945026A (en) | 2017-05-16 | 2017-05-16 | A kind of rod-type and cascaded structure conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945026A true CN106945026A (en) | 2017-07-14 |
Family
ID=59479123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710345215.0A Pending CN106945026A (en) | 2017-05-16 | 2017-05-16 | A kind of rod-type and cascaded structure conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945026A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655900A (en) * | 2021-08-20 | 2021-11-16 | 合肥移瑞通信技术有限公司 | Computer operating device and system |
-
2017
- 2017-05-16 CN CN201710345215.0A patent/CN106945026A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655900A (en) * | 2021-08-20 | 2021-11-16 | 合肥移瑞通信技术有限公司 | Computer operating device and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170714 |
|
| WD01 | Invention patent application deemed withdrawn after publication |