CN108081238A - A kind of two-freedom closed linkage make-up machinery arm - Google Patents
A kind of two-freedom closed linkage make-up machinery arm Download PDFInfo
- Publication number
- CN108081238A CN108081238A CN201611018636.4A CN201611018636A CN108081238A CN 108081238 A CN108081238 A CN 108081238A CN 201611018636 A CN201611018636 A CN 201611018636A CN 108081238 A CN108081238 A CN 108081238A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- driving lever
- connecting rod
- arm
- pedestal
- 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
-
- 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
-
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of two-freedom closed linkage make-up machinery arm, including pedestal 1, large arm 16, first driving lever 3, underarm 5, second driving lever 13, connecting rod 11, supporting rod 20, upper arm 18, wrist connecting rod 7, paw 22, wrist 21, driving device, 16 one end of large arm is connected by the first revolute pair 15 with pedestal 1, the other end is connected by the second revolute pair 17 with wrist connecting rod 7, described first driving lever, 3 one end is connected by the 3rd revolute pair 2 with pedestal 1, the other end is connected by the 4th revolute pair 4 with underarm 5, driving device is by the first servomotor, second servomotor forms, respectively with the first driving lever 3, second driving lever 13 is connected, to the first driving lever 3, second driving lever 13 is driven.The present invention improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, rigidity is high, large carrying capacity.
Description
Technical field
The present invention relates to machinery field, more particularly to a kind of two-freedom closed linkage make-up machinery arm.
Background technology
Most of currently manufactured industry general assemble mechanical arm is the cascaded structure joint type motor driving machine for open form
Tool hand is mainly characterized in that driving motor all on each joint of manipulator, drives manipulator each by motor
The various actions of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems：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 driving motor, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor all causes the accumulation of manipulator to miss mounted on joint position
Difference is big, bearing capacity is small, complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, by motor-driven multiple freedom parallel mechanism is controlled not only to have work
Space is big, flexible movements, can complete complicated movement locus output, while also has and manufacture at low cost, maintaining is simple etc.
Advantage.
The content of the invention
It is an object of the invention to provide a kind of two-freedom closed linkage make-up machinery arm, so as to overcome Serial manipulator
Accumulated error is big, and precision is relatively low；Rigidity is low, bearing capacity it is small the shortcomings that.To achieve the above object, technology provided by the invention
Scheme is：A kind of two-freedom closed linkage make-up machinery arm, including pedestal, large arm, the first driving lever, underarm, second actively
Bar, connecting rod, supporting rod, upper arm, wrist connecting rod, paw, wrist, driving device；Described large arm one end by the first revolute pair with
Pedestal connects, and the other end is connected by the second revolute pair with wrist connecting rod, and described first driving lever one end passes through the 3rd revolute pair
It is connected with pedestal, the other end is connected by the 4th revolute pair with underarm, and underarm is connected by the 5th revolute pair with wrist connecting rod, institute
Second driving lever one end to be stated to be connected with pedestal by the 6th revolute pair, the other end is connected by the 7th revolute pair with connecting rod one end,
The connecting rod other end is connected by the 8th revolute pair with upper arm, and upper arm is connected by the 9th revolute pair with wrist connecting rod, the support
Bar one end is connected by the tenth revolute pair with pedestal, and the other end is connected by the 11st revolute pair with connecting rod；Driving device is by
One servomotor, the second servomotor composition, are connected respectively with the first driving lever 3, the second driving lever 13, to the first driving lever
3rd, the second driving lever 13 is driven.
A kind of two-freedom closed linkage make-up machinery arm of the present invention is using controllable more bar closed chain mechanisms, with open-chain structure phase
Than improving the stationarity and reliability of arm operation, no accumulated error, precision is higher；Compact-sized, rigidity is high, carries energy
Power is big, inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type make-up machinery arm hydraulic system
The shortcomings of components accuracy requirement is high, complicated, easy oil leakage.
Description of the drawings
Fig. 1 is a kind of two-freedom closed linkage make-up machinery arm schematic diagram of the present invention.
Specific embodiment
A kind of two-freedom closed linkage make-up machinery arm, including pedestal 1, large arm 16, the first driving lever 3, underarm 5,
Two driving levers 13, connecting rod 11, supporting rod 20, upper arm 18, wrist connecting rod 7, paw 22, wrist 21, driving device；The large arm 16
One end is connected by the first revolute pair 15 with pedestal 1, and the other end is connected by the second revolute pair 17 with wrist connecting rod 7, and described
One driving lever, 3 one end is connected by the 3rd revolute pair 2 with pedestal 1, and the other end is connected by the 4th revolute pair 4 with underarm 5, underarm
5 are connected by the 5th revolute pair 6 with wrist connecting rod 7, and described second driving lever, 13 one end is connected by the 6th revolute pair 14 with pedestal 1
It connects, the other end is connected by the 7th revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod passes through the 8th revolute pair 9 and upper arm 18
Connection, upper arm 18 is connected by the 9th revolute pair 8 with wrist connecting rod 7, described 20 one end of supporting rod by the tenth revolute pair 19 and
Pedestal 1 connects, and the other end is connected by the 11st revolute pair 10 with connecting rod 11；Driving device is watched by the first servomotor, second
Take motor form, be connected respectively with the first driving lever 3, the second driving lever 13, to the first driving lever 3, the second driving lever 13 into
Row driving.
The large arm 16, the first driving lever 3, underarm 5 form large arm control subchain, pass through the driving control of the first driving lever 3
System completes lifting or the lowering action of large arm 16, second driving lever 13, connecting rod 11, supporting rod 20, upper arm 18, wrist
Connecting rod 7 forms wrist connecting rod control subchain, by the drive control of the second driving lever 13, completes the pitching operation of wrist connecting rod 7,
It is required according to actual job, by large arm subchain and wrist connecting rod is controlled to control the mutual cooperation of subchain, it is common to complete large arm 16
The assembling work of paw 22 is realized in lifting, decline, the movements such as wrist connecting rod 7,21 pitching of wrist.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made lighter bar by weight, volume and cost, arm of the invention, so that entire mechanism kinematic inertia is small,
Dynamic performance is good, easily controllable, by setting revolving platform, the revolution working space that arm is made to possess 360 degree, and working space
Scope is big.
Claims (1)
1. a kind of two-freedom closed linkage make-up machinery arm, including pedestal 1, large arm 16, the first driving lever 3, underarm 5, second
Driving lever 13, connecting rod 11, supporting rod 20, upper arm 18, wrist connecting rod 7, paw 22, wrist 21, driving device；The large arm 16 1
End is connected by the first revolute pair 15 with pedestal 1, and the other end is connected by the second revolute pair 17 with wrist connecting rod 7, and described first
3 one end of driving lever is connected by the 3rd revolute pair 2 with pedestal 1, and the other end is connected by the 4th revolute pair 4 with underarm 5, underarm 5
It is connected by the 5th revolute pair 6 with wrist connecting rod 7, described second driving lever, 13 one end is connected by the 6th revolute pair 14 with pedestal 1
It connects, the other end is connected by the 7th revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod passes through the 8th revolute pair 9 and upper arm 18
Connection, upper arm 18 is connected by the 9th revolute pair 8 with wrist connecting rod 7, described 20 one end of supporting rod by the tenth revolute pair 19 and
Pedestal 1 connects, and the other end is connected by the 11st revolute pair 10 with connecting rod 11, and driving device is watched by the first servomotor, second
Take motor form, be connected respectively with the first driving lever 3, the second driving lever 13, to the first driving lever 3, the second driving lever 13 into
Row driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018636.4A CN108081238A (en) | 2016-11-21 | 2016-11-21 | A kind of two-freedom closed linkage make-up machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018636.4A CN108081238A (en) | 2016-11-21 | 2016-11-21 | A kind of two-freedom closed linkage make-up machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081238A true CN108081238A (en) | 2018-05-29 |
Family
ID=62168389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018636.4A Pending CN108081238A (en) | 2016-11-21 | 2016-11-21 | A kind of two-freedom closed linkage make-up machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081238A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800562A (en) * | 2022-04-29 | 2022-07-29 | 杭州师范大学 | Automatic assembly robot capable of extending into wing box and working method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103726524A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Large-rigidity multi-connecting-rod controllable mechanical loading mechanism |
| CN103741734A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism |
-
2016
- 2016-11-21 CN CN201611018636.4A patent/CN108081238A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103726524A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Large-rigidity multi-connecting-rod controllable mechanical loading mechanism |
| CN103741734A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800562A (en) * | 2022-04-29 | 2022-07-29 | 杭州师范大学 | Automatic assembly robot capable of extending into wing box and working method thereof |
| CN114800562B (en) * | 2022-04-29 | 2023-06-20 | 杭州师范大学 | Automatic assembly robot capable of extending into wing box and working method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |