CN108145706A - One kind is used for transport operation two-freedom link mechanism mechanical arm - Google Patents

One kind is used for transport operation two-freedom link mechanism mechanical arm Download PDF

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Publication number
CN108145706A
CN108145706A CN201611105628.3A CN201611105628A CN108145706A CN 108145706 A CN108145706 A CN 108145706A CN 201611105628 A CN201611105628 A CN 201611105628A CN 108145706 A CN108145706 A CN 108145706A
Authority
CN
China
Prior art keywords
rod
driving lever
connect
revolute pair
arm
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
CN201611105628.3A
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Chinese (zh)
Inventor
不公告发明人
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Guangxi University
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Guangxi University
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Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201611105628.3A priority Critical patent/CN108145706A/en
Publication of CN108145706A publication Critical patent/CN108145706A/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
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • B25J9/126Rotary actuators

Abstract

One kind is for transport operation two-freedom link mechanism mechanical arm, including pedestal 1, large arm 17, the first driving lever 3, first connecting rod 5, wrist connecting rod 7, the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9, wrist 21, vacuum cup 22, driving device;Described 17 one end of large arm is connect by the first revolute pair 16 with pedestal 1, the other end is connect by the second revolute pair 18 with wrist connecting rod 7, described first driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, driving device is made of the first servo motor, the second servo motor, it is connected respectively with the first driving lever 3, the second driving lever 14, the first driving lever 3, the second driving lever 14 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, and large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.

Description

One kind is used for transport operation two-freedom link mechanism mechanical arm
Technical field
The present invention relates to machinery fields, particularly a kind of to be used for transport operation two-freedom link mechanism mechanical arm.
Background technology
Most of currently manufactured general handling machinery arm of industry 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 increase the load of driving motor in this way, 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 have and manufacture at low cost, maintaining is simple etc. Advantage.
Invention content
The purpose of the present invention is to provide one kind for transport operation two-freedom link mechanism mechanical arm, so as to overcome string Connection 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, the present invention carries The technical solution of confession is:One kind is led for transport operation two-freedom link mechanism mechanical arm including pedestal 1, large arm 17, first Lever 3, first connecting rod 5, wrist connecting rod 7, the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9, wrist 21, Vacuum cup 22, driving device;Described 17 one end of large arm is connect by the first revolute pair 16 with pedestal 1, and the other end passes through second Revolute pair 18 is connect with wrist connecting rod 7, and described first driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, the other end It is connect by the 4th revolute pair 4 with first connecting rod 5, first connecting rod 5 is connect by the 5th revolute pair 6 with wrist connecting rod 7;Described Two driving levers, 14 one end is connect by the 6th revolute pair 15 with pedestal 1, and the other end passes through the 7th revolute pair 13 and second connecting rod 19 Connection, second connecting rod 19 are connect by the 8th revolute pair 20 with link block 9, and link block 9 passes through the 9th revolute pair 8 and wrist connecting rod 7 connections, described 11 one end of third connecting rod are connect by the tenth revolute pair 12 with the second driving lever 14, and the other end passes through the 11st turn Dynamic pair 10 is connect with link block 9;Driving device is made of the first servo motor, the second servo motor, respectively with the first driving lever 3rd, the second driving lever 14 is connected, and the first driving lever 3, the second driving lever 14 are driven.
A kind of transport operation two-freedom link mechanism mechanical arm that is used for of the invention is using controllable more bar closed chain mechanisms, with opening Chain structure is compared, and improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher;It is compact-sized, rigidity Height, large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type handling machinery arm The shortcomings such as hydraulic system element required precision is high, complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Description of the drawings
Fig. 1 is of the present invention a kind of for transport operation two-freedom link mechanism mechanical arm schematic diagram.
Specific embodiment
One kind is for transport operation two-freedom link mechanism mechanical arm, including pedestal 1, large arm 17, the first driving lever 3, first Connecting rod 5, wrist connecting rod 7, the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9, wrist 21, vacuum cup 22, Driving device;Described 17 one end of large arm is connect by the first revolute pair 16 with pedestal 1, and the other end passes through the second revolute pair 18 and hand Wrist connecting rod 7 connects, and described first driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, and the other end passes through the 4th rotation Pair 4 is connect with first connecting rod 5, and first connecting rod 5 is connect by the 5th revolute pair 6 with wrist connecting rod 7;Second driving lever 14 1 End is connect by the 6th revolute pair 15 with pedestal 1, and the other end is connect by the 7th revolute pair 13 with second connecting rod 19, second connecting rod 19 are connect by the 8th revolute pair 20 with link block 9, and link block 9 is connect by the 9th revolute pair 8 with wrist connecting rod 7, and described 11 one end of three-link is connect by the tenth revolute pair 12 with the second driving lever 14, and the other end is by the 11st revolute pair 10 with connecting Block 9 connects;Driving device is made of the first servo motor, the second servo motor, respectively with the first driving lever 3, the second driving lever 14 are connected, and the first driving lever 3, the second driving lever 14 are driven.
A kind of transport operation two-freedom link mechanism mechanical arm that is used for is connected by large arm 17, the first driving lever 3, first Bar 5, wrist connecting rod 7 form large arm lifting subchain, and large arm control drive control of the subchain by the first driving lever 3 completes large arm 17 lifting action forms wrist connecting rod control by the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9 Chain, wrist connecting rod control drive control of the subchain by the second driving lever 14, completes the pitching operation of wrist connecting rod 7, according to reality Border job requirements control subchain and wrist connecting rod to control the mutual cooperation of subchain by large arm, and common completion large arm 17 lifts, hand The transport operation of vacuum cup 22 is realized in the movements such as wrist connecting rod 7,21 pitching of wrist.
A kind of transport operation two-freedom link mechanism mechanical arm that is used for of the invention is using controllable more bar closed chain mechanisms, with opening Chain structure is compared, and improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher;It is compact-sized, rigidity Height, large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type handling machinery arm The shortcomings of hydraulic system element required precision is high, complicated, easy oil leakage.
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 Range is big.

Claims (1)

1. one kind is used for transport operation two-freedom link mechanism mechanical arm, it is characterised in that:Including pedestal 1, large arm 17, first Driving lever 3, first connecting rod 5, wrist connecting rod 7, the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9, wrist 21st, vacuum cup 22, driving device;Described 17 one end of large arm is connect by the first revolute pair 16 with pedestal 1, and the other end passes through Two revolute pairs 18 are connect with wrist connecting rod 7, and described first driving lever, 3 one end is connect by third revolute pair 2 with pedestal 1, another End is connect by the 4th revolute pair 4 with first connecting rod 5, and first connecting rod 5 is connect by the 5th revolute pair 6 with wrist connecting rod 7;It is described Second driving lever, 14 one end is connect by the 6th revolute pair 15 with pedestal 1, and the other end passes through the 7th revolute pair 13 and second connecting rod 19 connections, second connecting rod 19 are connect by the 8th revolute pair 20 with link block 9, and link block 9 is connected by the 9th revolute pair 8 with wrist Bar 7 connects, and described 11 one end of third connecting rod is connect by the tenth revolute pair 12 with the second driving lever 14, and the other end passes through the 11st Revolute pair 10 is connect with link block 9;Driving device is made of the first servo motor, the second servo motor, respectively with first actively Bar 3, the second driving lever 14 are connected, and the first driving lever 3, the second driving lever 14 are driven.
CN201611105628.3A 2016-12-05 2016-12-05 One kind is used for transport operation two-freedom link mechanism mechanical arm Pending CN108145706A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611105628.3A CN108145706A (en) 2016-12-05 2016-12-05 One kind is used for transport operation two-freedom link mechanism mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611105628.3A CN108145706A (en) 2016-12-05 2016-12-05 One kind is used for transport operation two-freedom link mechanism mechanical arm

Publications (1)

Publication Number Publication Date
CN108145706A true CN108145706A (en) 2018-06-12

Family

ID=62471063

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611105628.3A Pending CN108145706A (en) 2016-12-05 2016-12-05 One kind is used for transport operation two-freedom link mechanism mechanical arm

Country Status (1)

Country Link
CN (1) CN108145706A (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103726528A (en) * 2013-12-16 2014-04-16 广西大学 Simple mechanical loading mechanism with nine rods and two degrees of freedom
CN106002938A (en) * 2016-06-12 2016-10-12 广西大学 Linear rotation hybrid drive controllable mechanism type robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103726528A (en) * 2013-12-16 2014-04-16 广西大学 Simple mechanical loading mechanism with nine rods and two degrees of freedom
CN106002938A (en) * 2016-06-12 2016-10-12 广西大学 Linear rotation hybrid drive controllable mechanism type robot

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Application publication date: 20180612

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