CN107471197A - A kind of apery both arms multiple degrees of freedom industrial robot - Google Patents

A kind of apery both arms multiple degrees of freedom industrial robot Download PDF

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Publication number
CN107471197A
CN107471197A CN201710689327.8A CN201710689327A CN107471197A CN 107471197 A CN107471197 A CN 107471197A CN 201710689327 A CN201710689327 A CN 201710689327A CN 107471197 A CN107471197 A CN 107471197A
Authority
CN
China
Prior art keywords
joint
elbow
wrist
mechanical arm
push rod
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
CN201710689327.8A
Other languages
Chinese (zh)
Inventor
杨雨生
侯涛
何永义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201710689327.8A priority Critical patent/CN107471197A/en
Publication of CN107471197A publication Critical patent/CN107471197A/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
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • 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

Abstract

A kind of apery both arms multiple degrees of freedom industrial robot,Including trunk system,Mechanical arm system,Support system,The trunk system is fixed on support system,The mechanical arm system is fixedly connected with trunk system,The mechanical arm system includes left mechanical arm system and right mechanical arm system,The left mechanical arm system includes shoulder joint,Upper armed lever,Elbow joint,Preceding armed lever and wrist joint,It is fixedly connected between shoulder joint and elbow joint by upper armed lever,It is fixedly connected between elbow joint and wrist joint by preceding armed lever,Right mechanical arm system is identical with the mechanism and annexation of left mechanical arm system,Compared to existing industrial robot,Parallel institution is incorporated into the design of industrial robot by the present invention,And the physiological structure in each joint of basic act feature and arm with reference to human arm,Design a kind of apery both arms multiple degrees of freedom industrial robot,It is simple and reliable for structure,It can apply in low-load,High-precision different areas of activity,For assembling,The tasks such as welding.

Description

A kind of apery both arms multiple degrees of freedom industrial robot
Technical field
The present invention relates to Robot Design field, particularly a kind of apery both arms multiple degrees of freedom industrial robot.
Background technology
The research of anthropomorphic robot is one of focus of robotics research, and anthropomorphic robot refers to apish muscle structure Make and organ dysfunction, hand, arm, the humanoid robot of such as apery.
Single shaft transmission mode based on industrial robot transmission mechanism generally use motor driven decelerator at present, this mould The robot of formula more using serial mechanism form, although serial mechanism is easier to realize in control, have rigidity it is weak, Close to the defects of pedestal one end joint loads are big, each joint inertia is big in high speed motions, to overcome drawbacks described above, by parallel connection Mechanism is incorporated into the design of industrial robot, and combines the basic act feature of human arm and the physiology knot in each joint of arm Structure, design a kind of apery both arms multiple degrees of freedom industrial robot.
The content of the invention
It is an object of the invention to provide a kind of apery both arms multiple degrees of freedom industrial robot, he can overcome existing industrial machine The defects of weaker, the close pedestal one end joint loads of device people's rigidity are big;A kind of apery both arms multiple degrees of freedom industrial robot Including trunk system, mechanical arm system, support system, the trunk system is fixed on support system, the mechanical arm system It is fixedly connected with trunk system, the mechanical arm system includes left mechanical arm system and right mechanical arm system, the left mechanical arm System includes shoulder joint, upper armed lever, elbow joint, preceding armed lever and wrist joint, is fixed between shoulder joint and elbow joint by upper armed lever Connection, is fixedly connected between elbow joint and wrist joint by preceding armed lever, the mechanism of right mechanical arm system and left mechanical arm system and Annexation is identical;A kind of apery both arms multiple degrees of freedom industrial robot can be applied in low-load, high-precision operation field Close, for the task such as assembling, welding.
The present invention reaches above-mentioned purpose by the following technical programs:A kind of apery both arms multiple degrees of freedom industrial robot, bag Include trunk system, mechanical arm system, support system.
The trunk system includes trunk support, and the support system includes trunk mounting seat, the mechanical arm system bag Left mechanical arm system and right mechanical arm system are included, the left mechanical arm system includes shoulder joint, upper armed lever, elbow joint, preceding armed lever And wrist joint, it is fixedly connected by upper armed lever between shoulder joint and elbow joint, is consolidated between elbow joint and wrist joint by preceding armed lever Fixed connection, the shoulder joint include the motor of shoulder first, the motor of shoulder second, the motor of shoulder the 3rd, shoulder fortune Moving platform, circular arc connecting rod, motion planetary gear, fixed center gear and waling stripe, shoulder motion platform and circular arc connecting rod Be hinged, circular arc connecting rod is hinged with waling stripe, and shoulder motor is fixed on waling stripe, by move planetary gear and Fixed center gear connects.
The elbow joint includes elbow first and drives electric cylinders, elbow second to drive electric cylinders, the first electric cylinders push rod, the second electric cylinders to push away Bar, the first spherical joint, the second spherical joint, the 3rd spherical joint, the 4th spherical joint, elbow motion platform, rotary gemel and Electric cylinders mounting seat, the first driving electric cylinders and the second driving electric cylinders are connected to electric cylinders by the first spherical joint and the second spherical joint In mounting seat, elbow motion platform is connected by rotary gemel with upper armed lever, and the first electric cylinders push rod passes through the 3rd spherical joint and elbow Motion platform is connected, and the second electric cylinders push rod is connected by the 4th spherical joint with elbow motion platform.
The wrist joint includes little gear, gear wheel, the motor of wrist first, the motor of wrist second, hinge, wrist Portion's pedestal, ball-joint, the first arc push rod, the second arc push rod and end effector mounting rod, the motor of wrist first and The motor of wrist second is fixed on wrist pedestal, and the first arc push rod end is fixedly connected with gear wheel, end effector Mounting rod is arranged among the first arc push rod and the second arc push rod, and end effector mounting rod is closed with wrist pedestal by ball Section connection.
The present invention's has the prominent advantages that:
1st, for a kind of apery both arms multiple degrees of freedom industrial robot during motion, mechanical carpal joint has two Rotary freedom, rotated respectively by motor driven little gear, little gear drives semicircle gear wheel to move by engaging, gear wheel The rotation of arc push rod around hinge is driven, in the case where wrist joint is fixed, end effector mounting rod can be moved with multi-angle.
2nd, a kind of apery both arms multiple degrees of freedom industrial robot, original industrial machine is substituted using a variety of parallel institutions The usual series-mode frame of people, the operating characteristics of robot is improved, suitable for high accuracy, complex job.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of apery both arms multiple degrees of freedom industrial robot of the present invention.
Fig. 2 is a kind of mechanical arm structural representation of apery both arms multiple degrees of freedom industrial robot of the present invention.
Fig. 3 is a kind of mechanical arm shoulder joint structural representation of apery both arms multiple degrees of freedom industrial robot of the present invention Figure.
Fig. 4 is that a kind of mechanical arm elbow joint structure of apery both arms multiple degrees of freedom industrial robot of the present invention is illustrated Figure.
Fig. 5 is that a kind of mechanical arm wrist joint structure of apery both arms multiple degrees of freedom industrial robot of the present invention is illustrated Figure.
Representative implication is marked in figure:
1:Trunk support, 2:Left mechanical arm system, 3:Right mechanical arm system, 4:Trunk mounting seat, 5:Left shoulder joint, 501: The motor of shoulder first, 502:The motor of shoulder second, 503:The motor of shoulder the 3rd, 504:Shoulder motion platform, 505:Circular arc connecting rod, 506:Motion planetary gear, 507:Fixed center gear, 508:Waling stripe, 6:Left upper arm, 7:Left elbow Joint, 701:The driving electric cylinders of elbow first, 702:The driving electric cylinders of elbow second, 703:First spherical joint, 704:Second spherical joint, 705:3rd spherical joint, 706:4th spherical joint, 707:Elbow movable joint, 708:Rotary gemel, 709:Electric cylinders mounting seat, 710:First electric cylinders push rod, 711:Second electric cylinders push rod, 8:Left forearm, 9:Left wrist joint, 901:Little gear, 902:Gear wheel, 903:The motor of wrist first, 904:The motor of wrist second, 905:Hinge, 906:Ball-joint, 907:First arc pushes away Bar, 908:Second arc push rod, 909:Wrist pedestal, 910:End effector mounting rod, 10:Right shoulder joint, 11:Right upper arm, 12:Right elbow joint, 13:Right forearm, 14:Right wrist joint.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is completely described to technical scheme, and accompanying drawing is only of the invention A part of embodiment, rather than full implementation.Based on embodiments of the present invention, those skilled in the art are not making wound The every other embodiment that the property made is obtained on the premise of working, belongs to the scope of protection of the invention.
Compares figure 1, a kind of apery both arms multiple degrees of freedom industrial robot of the present invention, including trunk system, machinery Arm system, support system, specific structure and annexation are:
The trunk system includes trunk support 1, and the support system includes trunk mounting seat 4, the mechanical arm system Including left mechanical arm system 2 and right mechanical arm system 3, the left mechanical arm system 2 includes shoulder joint 5, upper armed lever 6, elbow joint 7th, preceding armed lever 8 and wrist joint 9, are fixedly connected between shoulder joint 5 and elbow joint 7 by upper armed lever 6, elbow joint 7 and wrist joint 9 it Between be fixedly connected by preceding armed lever 8, the shoulder joint 5 include the first motor of shoulder 501, the second motor of shoulder 502, The motor 503 of shoulder the 3rd, shoulder motion platform 504, circular arc connecting rod 505, motion planetary gear 506, fixed center gear 507 and waling stripe 508, shoulder motion platform 504 is be hinged with circular arc connecting rod 505, circular arc connecting rod 505 and waling stripe 508 Be hinged, shoulder motor 501 is fixed on waling stripe, is connected by moving planetary gear 506 with fixed center gear 507 Connect.
The elbow joint 7 includes elbow first and drives electric cylinders 701, elbow second to drive electric cylinders 702, the first electric cylinders push rod 710, the Two electric cylinders push rods 711, the first spherical joint 703, the second spherical joint 704, the 3rd spherical joint 705, the 4th spherical joint 706th, elbow motion platform 707, rotary gemel 708 and electric cylinders mounting seat 709, the first driving electric cylinders 701 and second drive electric cylinders 702 It is connected to by the first spherical joint 703 and the second spherical joint 704 in electric cylinders mounting seat 709, elbow motion platform 707 passes through rotation Turning hinge chain 708 is connected with upper armed lever 6, and the first electric cylinders push rod 710 is connected by the 3rd spherical joint 705 with elbow motion platform 707, Second electric cylinders push rod 711 is connected by the 4th spherical joint 706 with elbow motion platform 707, and the He of electric cylinders 701 is driven by elbow first Elbow second drives electric cylinders 702 to promote elbow motion platform 707 to move different angles.
The wrist joint 9 includes little gear 901, gear wheel 902, the first motor of wrist 903, wrist second and drives electricity Machine 904, hinge 905, wrist pedestal 909, ball-joint 906, the first arc push rod 907, the second arc push rod 908 and end perform Device mounting rod 910, the first motor of wrist 903 and the second motor of wrist 904 are fixed on wrist pedestal 909, and first The end of arc push rod 907 is fixedly connected with gear wheel 902, and end effector mounting rod 910 is arranged on the He of the first arc push rod 907 Among second arc push rod 908, end effector mounting rod 910 is connected with wrist pedestal 909 by ball-joint 906.

Claims (6)

1. a kind of apery both arms multiple degrees of freedom industrial robot, it is characterised in that including trunk system, mechanical arm system, base System, concrete structure and annexation are:The mechanical arm system includes left mechanical arm system and right mechanical arm system, the left side Mechanical arm system includes shoulder joint, upper armed lever, elbow joint, preceding armed lever and wrist joint, passes through upper arm between shoulder joint and elbow joint Bar is fixedly connected, and is fixedly connected between elbow joint and wrist joint by preceding armed lever, right mechanical arm system and left mechanical arm system Mechanism and annexation are identical.
A kind of 2. apery both arms multiple degrees of freedom industrial robot according to claim 1, it is characterised in that the shoulder joint Including the motor of shoulder first, the motor of shoulder second, the motor of shoulder the 3rd, shoulder motion platform, circular arc connecting rod, Move planetary gear, fixed center gear and waling stripe, shoulder motion platform and circular arc rod hinge connection, circular arc connecting rod and water Flat rod hinge connection, shoulder motor are fixed on waling stripe, are connected by moving planetary gear with fixed center gear.
A kind of 3. apery both arms multiple degrees of freedom industrial robot according to claim 1, it is characterised in that the elbow joint Electric cylinders, elbow second are driven to drive electric cylinders, the first electric cylinders push rod, the second electric cylinders push rod, the first spherical joint, second including elbow first Spherical joint, the 3rd spherical joint, the 4th spherical joint, elbow motion platform, rotary gemel and electric cylinders mounting seat, elbow first drive Electric cylinders and elbow second drive electric cylinders to be connected to by the first spherical joint and the second spherical joint in electric cylinders mounting seat, and elbow motion is flat Platform is connected by rotary gemel with upper armed lever, and the first electric cylinders push rod is connected by the 3rd spherical joint with elbow motion platform, and second Electric cylinders push rod is connected by the 4th spherical joint with elbow motion platform.
A kind of 4. apery both arms multiple degrees of freedom industrial robot according to claim 1, it is characterised in that the wrist joint Including little gear, gear wheel, the motor of wrist first, the motor of wrist second, hinge, wrist pedestal, ball-joint, first Arc push rod, the second arc push rod and end effector mounting rod, the motor of wrist first and the motor of wrist second are consolidated It is scheduled on wrist pedestal, the first arc push rod end is fixedly connected with gear wheel, and end effector mounting rod is arranged on the first arc Among shape push rod and the second arc push rod, end effector mounting rod is connected with wrist pedestal by ball-joint.
5. a kind of apery both arms multiple degrees of freedom industrial robot according to claim 1, it is characterised in that mechanical wrist closes Section has two rotary freedoms, is rotated respectively by motor driven little gear, and little gear drives semicircle gear wheel to transport by engaging Dynamic, gear wheel drives the rotation of arc push rod around hinge.
6. a kind of apery both arms multiple degrees of freedom industrial robot according to claim 1, it is characterised in that mechanical wrist closes Saving has lubrication groove among the first arc push rod, end effector mounting rod can slide in lubrication groove, the second arc push rod with First arc pusher structure is identical.
CN201710689327.8A 2017-08-11 2017-08-11 A kind of apery both arms multiple degrees of freedom industrial robot Pending CN107471197A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710689327.8A CN107471197A (en) 2017-08-11 2017-08-11 A kind of apery both arms multiple degrees of freedom industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710689327.8A CN107471197A (en) 2017-08-11 2017-08-11 A kind of apery both arms multiple degrees of freedom industrial robot

Publications (1)

Publication Number Publication Date
CN107471197A true CN107471197A (en) 2017-12-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710689327.8A Pending CN107471197A (en) 2017-08-11 2017-08-11 A kind of apery both arms multiple degrees of freedom industrial robot

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109750853A (en) * 2019-03-14 2019-05-14 张子林 A kind of floor tile repair robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109750853A (en) * 2019-03-14 2019-05-14 张子林 A kind of floor tile repair robot

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Application publication date: 20171215