CN108972531A - A kind of two-freedom link mechanism make-up machinery arm - Google Patents
A kind of two-freedom link mechanism make-up machinery arm Download PDFInfo
- Publication number
- CN108972531A CN108972531A CN201710415474.6A CN201710415474A CN108972531A CN 108972531 A CN108972531 A CN 108972531A CN 201710415474 A CN201710415474 A CN 201710415474A CN 108972531 A CN108972531 A CN 108972531A
- Authority
- CN
- China
- Prior art keywords
- connecting 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of two-freedom link mechanism make-up machinery 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, gripper 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 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
Technical field
The present invention relates to machinery field, especially a kind of two-freedom link mechanism make-up machinery arm.
Background technique
Most of currently manufactured industry general assemble mechanical arm is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements 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 to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, structure is 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, not only has work by controlling motor-driven multiple freedom parallel mechanism
Space is big, flexible movements, the motion profile output of achievable complexity, at the same also have manufacturing cost is low, maintenance simply etc.
Advantage.
Summary of the invention
The purpose of the present invention is to provide a kind of two-freedom link mechanism make-up machinery arms, to overcome Serial manipulator
Accumulated error is big, and precision is lower；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 link mechanism make-up machinery 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, gripper 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 is connected by the second revolute pair 18 with wrist connecting rod 7
It connects, 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 revolute pair 4 and first
Connecting rod 5 connects, and first connecting rod 5 is connect by the 5th revolute pair 6 with wrist connecting rod 7；Described second driving lever, 14 one end passes through the
Six revolute pairs 15 are connect with pedestal 1, and the other end is connect by the 7th revolute pair 13 with second connecting rod 19, and second connecting rod 19 passes through the
Eight revolute pairs 20 are connect with link block 9, and link block 9 is connect by the 9th revolute pair 8 with wrist connecting rod 7, the third connecting rod 11
One end is connect by the tenth revolute pair 12 with the second driving lever 14, and the other end is connect by the 11st revolute pair 10 with link block 9；
Driving device is made of first servo motor, the second servo motor, is connected respectively with the first driving lever 3, the second driving lever 14,
First driving lever 3, the second driving lever 14 are driven.
A kind of two-freedom link mechanism 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
Components accuracy requires the disadvantages such as high, structure is complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Detailed description of the invention
Fig. 1 is a kind of two-freedom link mechanism make-up machinery arm schematic diagram of the present invention.
Specific embodiment
A kind of two-freedom link mechanism make-up machinery 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, gripper 22, driving dress
It sets；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 wrist connecting rod
7 connections, described first driving lever, 3 one end are connect by third revolute pair 2 with pedestal 1, and the other end passes through the 4th revolute pair 4 and the
The connection of one connecting rod 5, first connecting rod 5 are connect by the 5th revolute pair 6 with wrist connecting rod 7；Described second driving lever, 14 one end passes through
6th revolute pair 15 is connect with pedestal 1, and the other end is connect by the 7th revolute pair 13 with second connecting rod 19, and second connecting rod 19 passes through
8th revolute pair 20 is connect with link block 9, and link block 9 is connect by the 9th revolute pair 8 with wrist connecting rod 7, the third connecting rod
11 one end are connect by the tenth revolute pair 12 with the second driving lever 14, and the other end is connected by the 11st revolute pair 10 with link block 9
It connects；Driving device is made of first servo motor, the second servo motor, is connected respectively with the first driving lever 3, the second driving lever 14
It connects, the first driving lever 3, the second driving lever 14 is driven.
A kind of two-freedom link mechanism make-up machinery arm is by large arm 17, the first driving lever 3, first connecting rod 5, wrist
Connecting rod 7 forms large arm and goes up and down subchain, and large arm controls the drive control that subchain passes through the first driving lever 3, completes the lifting of large arm 17
Movement forms wrist connecting rod control subchain by the second driving lever 14, second connecting rod 19, third connecting rod 11, link block 9, and wrist connects
Bar controls the drive control that subchain passes through the second driving lever 14, completes the pitching operation of wrist connecting rod 7, is wanted according to actual job
Ask, the mutual cooperation that subchain and wrist connecting rod control subchain controlled by large arm, it is common complete the lifting of large arm 17, wrist connecting rod 7,
The movement such as 21 pitching of wrist, realizes the assembling work of gripper 22.
A kind of two-freedom link mechanism 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
Components accuracy requires the disadvantages of high, structure is 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 into 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 the way that revolving platform, the revolution working space for making arm possess 360 degree, working space is arranged
Range is big.
Claims (1)
1. a kind of two-freedom link mechanism make-up machinery arm, it is characterised in that: 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, gripper 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 passes through the 9th revolute pair 8 and connect with wrist connecting rod 7, and described the
11 one end of three-link is connect by the tenth revolute pair 12 with the second driving lever 14, the other end pass through the 11st revolute pair 10 with connect
Block 9 connects；Driving device is made of first servo motor, the second servo motor, respectively with the first driving lever 3, the second driving lever
14 are connected, and drive to the first driving lever 3, the second driving lever 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710415474.6A CN108972531A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom link mechanism make-up machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710415474.6A CN108972531A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom link mechanism make-up machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108972531A true CN108972531A (en) | 2018-12-11 |
Family
ID=64502109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710415474.6A Pending CN108972531A (en) | 2017-06-05 | 2017-06-05 | A kind of two-freedom link mechanism make-up machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108972531A (en) |
-
2017
- 2017-06-05 CN CN201710415474.6A patent/CN108972531A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN108972531A (en) | A kind of two-freedom link mechanism make-up machinery arm | |
| CN108081238A (en) | A kind of two-freedom closed linkage make-up machinery arm | |
| CN108081233A (en) | A kind of two-freedom linkage make-up machinery arm | |
| CN108971826A (en) | A kind of two mobility link mechanism spot welding manipulators | |
| CN108080841A (en) | A kind of two-freedom linkage spot welding manipulator | |
| CN108972570A (en) | A kind of two-freedom closed linkage spot welding manipulator | |
| CN108081252A (en) | A kind of two mobility linkage make-up machinery arms | |
| CN108145706A (en) | One kind is used for transport operation two-freedom link mechanism mechanical arm | |
| CN109605322A (en) | It is a kind of to use the more bar spraying operation special mechanisms of sealed joint structure type | |
| CN108081309A (en) | A kind of new make-up machinery arm of two-freedom | |
| CN108080838A (en) | A kind of two mobility linkage spot welding manipulators | |
| CN108081234A (en) | A kind of two-freedom novel spot welding machinery hand | |
| CN108081239A (en) | A kind of simple type can variable freedom make-up machinery arm | |
| CN106945025A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN107020621A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN106985135A (en) | A kind of combination drive assembly manipulator in parallel | |
| CN109664290A (en) | A kind of multi-rod closed chain mechanism erecting mechanism | |
| CN108081235A (en) | A kind of two-freedom closed linkage spot welding manipulator | |
| CN109590984A (en) | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator | |
| CN106829465A (en) | One kind is used for transport operation two-freedom New Type of Robot Arm | |
| CN109605351A (en) | A kind of combination drive multiple degrees of freedom uses closed linkage feed automatic stacking machinery device | |
| CN109605324A (en) | It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device | |
| CN108161170A (en) | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine | |
| CN108081308A (en) | It is a kind of to use the simple make-up machinery arm of the variable linkage of degree of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181211 |
|
| WD01 | Invention patent application deemed withdrawn after publication |