CN108081239A - A kind of simple type can variable freedom make-up machinery arm - Google Patents
A kind of simple type can variable freedom make-up machinery arm Download PDFInfo
- Publication number
- CN108081239A CN108081239A CN201611018720.6A CN201611018720A CN108081239A CN 108081239 A CN108081239 A CN 108081239A CN 201611018720 A CN201611018720 A CN 201611018720A CN 108081239 A CN108081239 A CN 108081239A
- Authority
- CN
- China
- Prior art keywords
- locking device
- revolute pair
- driving lever
- arm
- driving
- 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A kind of simple type can variable freedom make-up machinery arm, feature exists：Including rack 1, large arm 13, driving lever 3, upper arm 5, wrist connecting rod 15, paw 9, wrist 8, driving device, the first locking device 6, the second locking device 11, wrist connecting rod 15 is connected to by the 5th revolute pair 14 in large arm 13,3 one end of driving lever is connected to by the first revolute pair 2 in rack 1, first locking device 6, the second locking device 11 are attached separately to the 3rd revolute pair 7, in the 4th revolute pair 12, and driving lever 3 is driven by servomotor.Driving device is made of the first servomotor, is connected with driving lever 3, and driving lever 3 is driven, and the first locking device 6, the second locking device 11 are electromagnetic locking device.The present invention overcomes existing machinery formula make-up machinery arms to need to be equipped with the control motor with linkage degree of freedom equivalent amount come the shortcomings that control.
Description
Technical field
The present invention relates to machinery fields, and a kind of particularly simple type can variable freedom 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 simple type can variable freedom 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 simple type can variable freedom make-up machinery arm, including rack 1, large arm 13, driving lever 3, upper arm 5, wrist connecting rod
15th, paw 9, wrist 8, driving device, the first locking device 6, the second locking device 11；The wrist connecting rod 15 passes through the 5th turn
Dynamic pair 14 is connected in large arm 13, and 3 one end of driving lever is connected to by the first revolute pair 2 in rack 1, and the other end passes through second turn
Dynamic pair 4 is connected with upper arm 5；5 other end of upper arm is connected to by the 3rd revolute pair 7 on wrist connecting rod 15；The first locking dress
It puts the 6, second locking device 11 and is attached separately to the 3rd revolute pair 7, in the 4th revolute pair 12, locked in due course according to different operating modes
Tightly；Driving device is made of the first servomotor, is connected with driving lever 3, and driving lever 3 is driven.First locking device
6th, the second locking device 11 is electromagnetic locking device.
A kind of simple type of the present invention can variable freedom make-up machinery arm 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.The quantity of the controllable drive motor used is less than dress
Degree of freedom with robot linkage mechanism overcomes existing machinery formula make-up machinery arm to need outfit equal with linkage degree of freedom
The control motor of quantity simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body come the shortcomings that control
Product and cost.Overcome high fluid pressure type make-up machinery arm hydraulic system element required precision, complicated, easy oil leakage, reliability
Difference, the shortcomings such as transmission efficiency is low.
Description of the drawings
Fig. 1 can variable freedom make-up machinery arm schematic diagram for a kind of simple type of the present invention.
Specific embodiment
A kind of simple type can variable freedom make-up machinery arm, including rack 1, large arm 13, driving lever 3, upper arm 5, wrist connect
Bar 15, paw 9, wrist 8, driving device, the first locking device 6, the second locking device 11；The wrist connecting rod 15 passes through the 5th
Revolute pair 14 is connected in large arm 13, and 3 one end of driving lever is connected to by the first revolute pair 2 in rack 1, and the other end passes through second
Revolute pair 4 is connected with upper arm 5；5 other end of upper arm is connected to by the 3rd revolute pair 7 on wrist connecting rod 15；First locking
Device 6, the second locking device 11 are attached separately to the 3rd revolute pair 7, in the 4th revolute pair 12, are locked in due course according to different operating modes
Tightly；The driving lever 3 is driven by servomotor.Driving device is made of the first servomotor, is connected with driving lever 3, to master
Lever 3 is driven.First locking device 6, the second locking device 11 are electromagnetic locking device.
In operating mode operation, during 13 lifting of large arm, the second locking device 11 is opened, 12 degree of affranchising of the 4th revolute pair.
First locking device 6 is locked, i.e., the 3rd kinematic pair 7 loses degree of freedom.At this point, large arm 13 rotates under driving link effect around the 4th
Pair 12 rotates lifting.During wrist 15 pitching of connecting rod, the first locking device 6 is opened, 7 degree of affranchising of the 3rd kinematic pair, the second lock
Tight device 11 is locked, and the locking of the 4th kinematic pair 12 loses degree of freedom, and large arm 13 loses degree of freedom with respect to rack 1, at this time actively
Upper arm 5 is moved across under part driving and passes to 15 pitching of the realization wrist of wrist connecting rod 15 connecting rod.It is required according to actual job, passes through
The mutual cooperation of one locking device 6, the second locking device 11, it is common to complete 16 lifting of large arm, decline, wrist connecting rod 15, wrist 8
The assembling work of paw 9 is realized in the movements such as pitching.
Claims (1)
1. a kind of simple type can variable freedom make-up machinery arm, feature exists：Including rack 1, large arm 13, driving lever 3, upper arm 5,
Wrist connecting rod 15, paw 9, wrist 8, driving device, the first locking device 6, the second locking device 11, the wrist connecting rod 15 are logical
It crosses the 5th revolute pair 14 to be connected in large arm 13,3 one end of driving lever is connected to by the first revolute pair 2 in rack 1, and the other end leads to
The second revolute pair 4 is crossed to be connected with upper arm 5；5 other end of upper arm is connected to by the 3rd revolute pair 7 on wrist connecting rod 15；Described
One locking device 6, the second locking device 11 are attached separately to the 3rd revolute pair 7, in the 4th revolute pair 12, are carried out according to different operating modes
Locking, driving device are made of the first servomotor, are connected with driving lever 3, driving lever 3 is driven in due course, the first lock
Tight device 6, the second locking device 11 are electromagnetic locking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018720.6A CN108081239A (en) | 2016-11-21 | 2016-11-21 | A kind of simple type can variable freedom make-up machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018720.6A CN108081239A (en) | 2016-11-21 | 2016-11-21 | A kind of simple type can variable freedom make-up machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081239A true CN108081239A (en) | 2018-05-29 |
Family
ID=62169111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018720.6A Pending CN108081239A (en) | 2016-11-21 | 2016-11-21 | A kind of simple type can variable freedom make-up machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081239A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340586A (en) * | 2019-05-17 | 2019-10-18 | 重庆德旭企业管理有限公司 | A kind of electroplating equipment wielding machine arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN104047311A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Simple loading mechanism with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
-
2016
- 2016-11-21 CN CN201611018720.6A patent/CN108081239A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN104047311A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Simple loading mechanism with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340586A (en) * | 2019-05-17 | 2019-10-18 | 重庆德旭企业管理有限公司 | A kind of electroplating equipment wielding machine arm |
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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 |