CN108772825B - Two-branch four-degree-of-freedom mechanical arm - Google Patents
Two-branch four-degree-of-freedom mechanical arm Download PDFInfo
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- CN108772825B CN108772825B CN201810746444.8A CN201810746444A CN108772825B CN 108772825 B CN108772825 B CN 108772825B CN 201810746444 A CN201810746444 A CN 201810746444A CN 108772825 B CN108772825 B CN 108772825B
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- motor reducer
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
Abstract
The invention relates to a two-branch four-degree-of-freedom mechanical arm, which comprises a base, a first motion branch, a second motion branch, a paw and a wrist joint, wherein the two motion branches respectively comprise a first H-shaped connecting rod, a second H-shaped connecting rod and a first motor reducer component, the first end of the first H-shaped connecting rod is rotatably connected with the end part of the base, the second end of the first H-shaped connecting rod is rotatably connected with the first end of the second H-shaped connecting rod, the second end of the second H-shaped connecting rod is connected with the end part of the wrist joint through the first motor reducer component, the wrist joint comprises a U-shaped piece, a ring-shaped piece, a first rotating pair, a second rotating pair, an L-shaped piece and a paw connecting piece, the closed end of the U-shaped piece is connected with the first motor reducer component of the first motion branch, the ring-shaped piece is rotatably connected with the open end of the U-shaped piece, the ring-shaped piece is rotatably connected with the, the second end of the L-shaped member is connected to the first motor reducer assembly of the second motion branch.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a two-branch four-degree-of-freedom mechanical arm.
Background
With the continuous promotion of industrial upgrading in China, the transition from labor-intensive type to technology-intensive type becomes a necessary choice for maintaining competitiveness and rapid development of various industries such as machinery, electronics, logistics and the like in China. Under the large background, the demand of industrial robots in China is increased in a blowout mode, and the demand not only implies the number of the robots, but also implies the types of the robots. The industrial mechanical arm is a robot with wide application, and plays a great role in loading and unloading, carrying, assembling, packaging and the like. At present, the industrial mechanical arm applied to the market is single in structure, a structure form that a plurality of rotating pairs or sliding pairs are sequentially connected in series is mostly adopted, the industrial mechanical arm in the series structure form is high in universality and high in applicability in many fields, but the accumulated error of the tail end is increased and the rigidity and the bearing capacity are reduced along with the increase of the degree of freedom.
The industrial mechanical arm based on the parallel mechanism is small in end accumulated error, high in rigidity and bearing capacity and capable of complementing functions of the industrial mechanical arm in the serial configuration mode. At present, the degrees of freedom of the common industrial mechanical arms in the parallel configuration form are mostly three or six, and the industrial mechanical arms which have the parallel configuration form with four degrees of freedom of two-dimensional movement and two-dimensional rotation and have practicability are rare.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the two-branch four-degree-of-freedom mechanical arm which can realize two-dimensional movement and two-dimensional rotation, has the advantages of simple structure, high precision, good motion decoupling property, good manufacturability and the like, and can be suitable for the modern industrial fields of automobiles, shipbuilding, aviation and the like.
The invention is realized by the following steps:
a two-branch four-degree-of-freedom mechanical arm comprises a base, a first motion branch, a second motion branch, a paw and a wrist joint for connecting the first motion branch and the second motion branch, wherein the first motion branch and the second motion branch respectively comprise a first H-shaped connecting rod, a second H-shaped connecting rod and a first motor reducer assembly, the first end of the first H-shaped connecting rod is rotatably connected with the end part of the base, the second end of the first H-shaped connecting rod is rotatably connected with the first end of the second H-shaped connecting rod, the second end of the second H-shaped connecting rod is connected with the end part of the wrist joint through the first motor reducer assembly, the wrist joint comprises a U-shaped piece, a ring-shaped piece, a first rotating pair, a second rotating pair, an L-shaped piece and a paw connecting piece, the middle part of the closed end of the U-shaped piece is fixedly connected with an output shaft of the first motor reducer assembly of the first motion branch, the annular piece can be rotatably connected to the open end of the U-shaped piece, the annular piece is rotatably connected with the first end of the paw connecting piece through a first rotating pair, the second end of the paw connecting piece is rotatably connected with the first end of the L-shaped piece through a second rotating pair, the second end of the L-shaped piece is fixedly connected with the output shaft of the first motor reducer component of the second motion branch, and the paw is fixed to the second end of the paw connecting piece.
Preferably, the annular member is rotatably connected to an opening end of the U-shaped member through a first rotating shaft, a second rotating shaft perpendicular to the first rotating shaft is connected to the annular member, and the middle of the second rotating shaft is connected to the first rotating pair for being rotatably connected to the first end of the gripper connecting member.
Preferably, the output shaft of the first motor reducer assembly of the first motion branch, the output shaft of the first motor reducer assembly of the second motion branch, the first rotating shaft, the first rotating pair and the second rotating pair intersect at a point.
Preferably, the output shaft of the first motor reducer assembly of the second motion branch is perpendicular to the axis of the second revolute pair.
Preferably, the first end of the first H-shaped connecting rod is rotatably connected with the end of the base through a rotating shaft, the rotating shaft is fixedly connected with an output shaft of the second motor reducer assembly, a machine body of the second motor reducer assembly is fixedly connected with the base, the second motor reducer assembly is coaxially mounted with the rotating shaft, and the second motor reducer assembly drives the first H-shaped connecting rod to rotate around the rotating shaft through the rotating shaft.
Preferably, the second end of the second H-shaped link is fixedly connected to the body of the first motor reducer assembly.
Compared with the prior art, the invention has the following beneficial effects:
(1) the two-branch four-degree-of-freedom mechanical arm can realize two-dimensional movement and two-dimensional rotation, the flexibility of rotation of the end of the mechanical arm is high, and the tail end posture of the mechanical arm can be flexibly adjusted according to a grabbing target;
(2) the two-branch four-degree-of-freedom mechanical arm is simple in mechanism kinematics algorithm, simple in structure, high in precision and good in motion decoupling performance and manufacturability;
(3) the invention has wide application prospect in the modern industrial field, is particularly suitable for the fields of automobiles, shipbuilding, aviation and the like, and is used for loading, unloading and assembling.
Drawings
FIG. 1 is a schematic structural diagram of a two-branch four-degree-of-freedom robot arm according to the present invention;
FIG. 2 is a schematic diagram of the first and second motion branches of the present invention;
FIG. 3 is a schematic view of a wrist joint of the present invention.
Detailed Description
Exemplary embodiments, features and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
As shown in figure 1, the two-branch four-degree-of-freedom mechanical arm comprises a base 1, a first motion branch 2, a second motion branch 3, a paw 6 and a wrist joint connecting the first motion branch and the second motion branch,
as shown in fig. 2, each of the first motion branch 2 and the second motion branch 3 includes a first H-shaped link 11, a second H-shaped link 12, and a first motor reducer assembly 13, a first end of the first H-shaped link 11 is rotatably connected to an end of the base 1, a second end of the first H-shaped link 11 is rotatably connected to a first end of the second H-shaped link 12, and a second end of the second H-shaped link 12 is connected to an end of the wrist joint through the first motor reducer assembly 13. Specifically, the first end of the first H-shaped connecting rod 11 is rotatably connected with the end of the base 1 through a rotating shaft 14, the rotating shaft 14 is fixedly connected with an output shaft of the second motor reducer assembly 15, a machine body of the second motor reducer assembly 15 is fixedly connected with the base 1, the second motor reducer assembly 15 and the rotating shaft 14 are coaxially installed, and the second motor reducer assembly 15 drives the first H-shaped connecting rod 11 to rotate around the rotating shaft 14 through the rotating shaft. The second end of the second H-shaped link 12 is fixedly connected to the body of the first motor reducer assembly 13.
As shown in fig. 3, the wrist joint includes a U-shaped member 51, a ring member 52, a first rotating pair 58, a second rotating pair 55, an L-shaped member 54 and a claw connecting member 53, wherein the middle portion of the closed end of the U-shaped member 51 is fixedly connected to the output shaft of the first motor reducer assembly 13 of the first motion branch 2, the ring member 52 is rotatably connected to the open end of the U-shaped member 51, the ring member 52 is rotatably connected to the first end of the claw connecting member 53 through the first rotating pair 58, the second end of the claw connecting member 53 is rotatably connected to the first end of the L-shaped member 54 through the second rotating pair 55, the second end of the L-shaped member 54 is fixedly connected to the output shaft of the first motor reducer assembly 13 of the second motion branch 3, and the claw 6 is fixed to the second end of the claw.
Preferably, as shown in fig. 3, the ring member 52 is rotatably connected to the open end of the U-shaped member 51 via a first rotating shaft 56, a second rotating shaft 57 perpendicular to the first rotating shaft 56 is connected to the ring member 52, and a first rotating pair 58 is connected to the middle of the second rotating shaft 57 for rotatably connecting to the first end of the gripper connector 53. The axes of the output shaft of the first motor reducer assembly of the first motion branch 2, the output shaft of the first motor reducer assembly of the second motion branch 3, the first rotating shaft 56, the first rotating pair 58 and the second rotating pair 55 intersect at a point. The output shaft of the first motor reducer assembly of the second motion branch 3 is perpendicular to the axis of the second revolute pair 55.
In this embodiment, the first end of the base 1 is rotatably connected to the first end of the first H-shaped link 11 of the first motion branch 2 through a rotating shaft 14, the rotating shaft is fixedly connected to the output shaft of the second motor reducer assembly 15, the second motor reducer assembly 15 drives the first H-shaped link to rotate around the rotating shaft, the second end of the first H-shaped link 11 is connected to the first end of the second H-shaped link 12 through the rotating shaft, the second end of the second H-shaped link 12 is fixedly connected to the body of the first motor reducer assembly 13, the output shaft of the first motor reducer assembly 13 is fixedly connected to the middle of the closed end of the U-shaped member 51 of the wrist joint, the open end of the U-shaped member 51 is connected to the annular member 52 through the first rotating shaft 56, the middle of the annular member 52 is connected to the second rotating shaft 57 perpendicular to the first rotating shaft 56, the middle of the second rotating shaft 57 is connected to the, the second end of the paw connecting piece 53 is rotatably connected with the first end of the L-shaped piece 54 through a second rotating pair 55, the second end of the paw connecting piece 53 penetrates through the L-shaped piece 54 and then is fixed with the paw 6, the second end of the L-shaped piece 54 is fixedly connected with the output shaft of the first motor reducer component 13 of the second movement branch 3, the body of the first motor reducer component is fixed with the second end of the second H-shaped connecting rod of the second movement branch 3, the first end of the second H-shaped connecting rod of the second movement branch 3 is connected with the second end of the first H-shaped connecting rod through a rotating shaft, the first end of the first H-shaped connecting rod 11 is rotatably connected with the second end of the base 1 through a rotating shaft 14, the rotating shaft is fixedly connected with the output shaft of the second motor reducer component 15, and the second motor reducer component 15 drives the second H-shaped connecting rod to rotate around the rotating shaft.
When the mechanical arm works, the second motor reducer assembly 15 drives the rotating shaft to enable the first H-shaped connecting rod 11 to rotate around the rotating shaft, and meanwhile, the first H-shaped connecting rod 11 and the second H-shaped connecting rod 12 which are adaptive rotate to form a certain included angle, so that the gripper is driven to realize two-dimensional movement in a plane where the first movement branch and the second movement branch are located; the gripper is caused to perform two-dimensional rotations about the second revolute pair 55 and about the output shaft of the first motor reducer assembly 13 in the second motion branch, respectively, under the synergistic effect of the first motor reducer assembly 13 in the first and second motion branches. The positions and postures of the paws are cooperatively controlled through four motor reducer assemblies, and the specific control mode of the paws is determined through the positive solution and the negative solution of the position of the robot.
In conclusion, the invention has the following advantages:
(1) the two-branch four-degree-of-freedom mechanical arm can realize two-dimensional movement and two-dimensional rotation, the flexibility of rotation of the end of the mechanical arm is high, and the tail end posture of the mechanical arm can be flexibly adjusted according to a grabbing target;
(2) the two-branch four-degree-of-freedom mechanical arm is simple in mechanism kinematics algorithm, simple in structure, high in precision and good in motion decoupling performance and manufacturability;
(3) the invention has wide application prospect in the modern industrial field, is particularly suitable for the fields of automobiles, shipbuilding, aviation and the like, and is used for loading, unloading and assembling.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A two-branch four-degree-of-freedom mechanical arm is characterized in that: which comprises a base, a first motion branch, a second motion branch, a paw and a wrist joint connecting the first motion branch and the second motion branch,
the first motion branch and the second motion branch respectively comprise a first H-shaped connecting rod, a second H-shaped connecting rod and a first motor reducer component, the first end of the first H-shaped connecting rod is rotatably connected with the end part of the base, the second end of the first H-shaped connecting rod is rotatably connected with the first end of the second H-shaped connecting rod, the second end of the second H-shaped connecting rod is connected with the end part of the wrist joint through the first motor reducer component,
the wrist joint comprises a U-shaped piece, a ring-shaped piece, a first rotating pair, a second rotating pair, an L-shaped piece and a paw connecting piece, wherein the middle part of the closed end of the U-shaped piece is fixedly connected with the output shaft of the first motor reducer component of the first motion branch, the ring-shaped piece is rotatably connected with the open end of the U-shaped piece, the ring-shaped piece is rotatably connected with the first end of the paw connecting piece through the first rotating pair, the second end of the paw connecting piece is rotatably connected with the first end of the L-shaped piece through the second rotating pair, the second end of the L-shaped piece is fixedly connected with the output shaft of the first motor reducer component of the second motion branch, and the paw is fixed at the second end of the paw connecting piece;
the annular piece is rotatably connected to the opening end of the U-shaped piece through a first rotating shaft, a second rotating shaft perpendicular to the first rotating shaft is connected to the annular piece, and the middle of the second rotating shaft is connected with the first rotating pair and is used for being rotatably connected with the first end of the gripper connecting piece;
the axes of the output shaft of the first motor reducer component of the first motion branch, the output shaft of the first motor reducer component of the second motion branch, the first rotating shaft, the first rotating pair and the second rotating pair are intersected at one point;
and the output shaft of the first motor reducer component of the second motion branch is vertical to the axis of the second revolute pair.
2. The two-branch four-degree-of-freedom mechanical arm of claim 1, wherein: the first end of the first H-shaped connecting rod is connected with the end part of the base in a rotating mode through a rotating shaft, the rotating shaft is fixedly connected with an output shaft of the second motor reducer assembly, a machine body of the second motor reducer assembly is fixedly connected with the base, the second motor reducer assembly is coaxially installed with the rotating shaft, and the second motor reducer assembly drives the first H-shaped connecting rod to rotate around the rotating shaft through the rotating shaft.
3. The two-branch four-degree-of-freedom mechanical arm of claim 1, wherein: and the second end of the second H-shaped connecting rod is fixedly connected with the machine body of the first motor reducer component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810746444.8A CN108772825B (en) | 2018-07-09 | 2018-07-09 | Two-branch four-degree-of-freedom mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810746444.8A CN108772825B (en) | 2018-07-09 | 2018-07-09 | Two-branch four-degree-of-freedom mechanical arm |
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| CN108772825A CN108772825A (en) | 2018-11-09 |
| CN108772825B true CN108772825B (en) | 2020-04-24 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000108059A (en) * | 1998-09-30 | 2000-04-18 | Central Motor Co Ltd | Articulated arm robot |
| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN101157219A (en) * | 2007-11-09 | 2008-04-09 | 燕山大学 | Elbow joint of robot for implementing buckling and rotary motion |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN202429274U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Hip joint of walker |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| GB2554876A (en) * | 2016-10-12 | 2018-04-18 | Generic Robotics | Haptic device |
-
2018
- 2018-07-09 CN CN201810746444.8A patent/CN108772825B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000108059A (en) * | 1998-09-30 | 2000-04-18 | Central Motor Co Ltd | Articulated arm robot |
| CN1589191A (en) * | 2001-12-31 | 2005-03-02 | 天津大学 | Planar parallel robot mechanism with two translational degrees of freedom |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101157219A (en) * | 2007-11-09 | 2008-04-09 | 燕山大学 | Elbow joint of robot for implementing buckling and rotary motion |
| CN102441891A (en) * | 2011-10-12 | 2012-05-09 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN202429274U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Hip joint of walker |
| GB2554876A (en) * | 2016-10-12 | 2018-04-18 | Generic Robotics | Haptic device |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
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| CN108772825A (en) | 2018-11-09 |
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