CN106985135A - A kind of combination drive assembly manipulator in parallel - Google Patents
A kind of combination drive assembly manipulator in parallel Download PDFInfo
- Publication number
- CN106985135A CN106985135A CN201710344620.0A CN201710344620A CN106985135A CN 106985135 A CN106985135 A CN 106985135A CN 201710344620 A CN201710344620 A CN 201710344620A CN 106985135 A CN106985135 A CN 106985135A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- connecting rod
- large arm
- arm link
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of combination drive assembly manipulator in parallel, it is characterised in that：Including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting 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, small arm link is connected with forearm drive rod one end, the forearm drive rod other end is connected on base, wrist connecting rod one end is connected on forearm, 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, the large arm drive rod other end is connected on rotatable platform, two motors are arranged on workbench by the present invention, overcome cascaded structure articulated robot rotary inertia big, dynamic performance is poor, baroque shortcoming, combine the advantage of constant speed motor and servomotor, with being easily controlled, it is quick on the draw, manufacture the low advantage of maintenance cost.
Description
Technical field
The invention belongs to mechanical engineering field, particularly a kind of combination drive assembly manipulator in parallel.
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 motor all causes the accumulation of manipulator to miss installed in joint position
Difference is big, bearing capacity is small, accumulated error is big, bearing capacity is small, the complicated, degree of modularity is low.With the hair of motor technology
Exhibition and the raising of control technology, parallel institution provides extensive development space for manipulator, by controlled motor drive it is many oneself
Not only there are big working space, flexible movements by degree parallel institution, the movement locus output of complexity can be completed, while also having system
Cause the advantages of low, maintaining is simple.
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 overcome existing assembly manipulator motor to be all arranged on the position in joint, cause machinery
Hand rotary inertia is big, dynamic property declines, and accumulated error is big, bearing capacity is small, it is complicated the problem of.
The invention discloses a kind of combination drive Multi-freedom-degreemanipulator manipulator, two motors are arranged on workbench, adopted
It is used for the angular dimension for controlling wrist pitching with an electric pushrod, two motors is arranged on workbench, overcome
Cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, the low shortcoming of the complicated, degree of modularity, with reference to
The advantage of constant speed motor and servomotor, has the advantages that to be easily controlled, is quick on the draw, to manufacture maintenance cost low.The present invention
It is achieved through the following technical solutions function above：A kind of combination drive Multi-freedom-degreemanipulator manipulator, it is characterised in that：Including large arm,
Big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, hand
Pawl, base, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end connects with forearm
Bar 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, connecting rod one end
It is connected with small arm link one end, the other end and large arm middle part are connected, electric pushrod one end is connected on forearm, and electric pushrod is another
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, greatly
The 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, servo-drive
Device includes the first servomotor and the second servomotor, and the first servomotor is connected with large arm drive rod, the second servomotor
It is connected with forearm drive rod.
Brief description of the drawings
Fig. 1 is a kind of structural scheme of mechanism of combination drive parallel connection assembly manipulator of the present invention
Embodiment
A kind of combination drive Multi-freedom-degreemanipulator manipulator, including large arm 6, big arm link 4, large arm drive rod 5, forearm 7, forearm
Connecting rod 8, forearm drive rod 9, connecting rod 13, electric pushrod 3, wrist connecting rod 11, wrist 12, paw 10, base 2, rotatable platform 1
And servo drive, the 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, small
Arm link 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, the one end of connecting rod 13 and forearm
The connection of the one end of connecting rod 8, the other end and the middle part of large arm 6 are connected, and the one end of electric pushrod 3 is connected on forearm 7, and electric pushrod 3 is another
End is connected on wrist connecting rod 11, and the one end of wrist connecting rod 11 is connected on forearm 7, and described big one end of arm link 4 is connected to large arm 6
Middle part, the big other end of arm link 4 is connected with the middle part of large arm drive rod 5, and the other end of large arm drive rod 5 is connected to rotatable platform 1
On, servo drive includes the first servomotor and the second servomotor, and the first servomotor is connected with large arm drive rod 5,
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
It is dynamic, direct current constant-seed motor control of the electric pushrod 3 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 assembly manipulator in parallel, it is characterised in that：Including large arm, big arm link, large arm drive rod, small
Arm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, paw, base, rotatable platform and servo
Drive device；Forearm one end is connected on wrist connecting rod, and the forearm other end is connected with small arm link one end, small arm link and forearm
Drive rod one end is connected, and the forearm drive rod other end is connected on base, and connecting rod one end is connected with small arm link one end, the other end
With being connected in the middle part of large arm, electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, and wrist connects
Bar 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 and large arm drive rod
One end is connected, and the large arm drive rod other end is connected on rotatable platform, and servo drive includes the first servomotor and the
Two servomotors, the first servomotor is connected with large arm drive rod, and the second servomotor is connected with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344620.0A CN106985135A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive assembly manipulator in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710344620.0A CN106985135A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive assembly manipulator in parallel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985135A true CN106985135A (en) | 2017-07-28 |
Family
ID=59421165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710344620.0A Pending CN106985135A (en) | 2017-05-16 | 2017-05-16 | A kind of combination drive assembly manipulator in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985135A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248365A (en) * | 2017-08-10 | 2017-10-13 | 南通理工学院 | A kind of robot teaching aid of 3D printing |
-
2017
- 2017-05-16 CN CN201710344620.0A patent/CN106985135A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248365A (en) * | 2017-08-10 | 2017-10-13 | 南通理工学院 | A kind of robot teaching aid of 3D printing |
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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: 20170728 |