CN109590696A - It is a kind of to use closed linkage multi link make-up machinery arm - Google Patents
It is a kind of to use closed linkage multi link make-up machinery arm Download PDFInfo
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- CN109590696A CN109590696A CN201710924436.3A CN201710924436A CN109590696A CN 109590696 A CN109590696 A CN 109590696A CN 201710924436 A CN201710924436 A CN 201710924436A CN 109590696 A CN109590696 A CN 109590696A
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- China
- Prior art keywords
- lever
- driving lever
- connecting rod
- driving
- elevating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Closed linkage multi link make-up machinery arm is used the present invention provides a kind of, comprising: pedestal, rotatable platform, telescoping mechanism, elevating mechanism, luffing mechanism, wrist, gripper and driving device；Telescoping mechanism includes the first driving lever and large arm；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；Luffing mechanism includes: third driving lever and pitch lever；Driving device includes three servo motors, and three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.The present invention is assembled using multi link, compared with Serial manipulator, improves manipulator traveling comfort and reliability, no accumulated error, and precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good, Robotic Manipulator Motion Trajectory flexible and diverse.
Description
Technical field
The present invention relates to mechanical engineering fields, in particular to a kind of to use closed linkage multi link 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 arm is mainly characterized in that driving motor is all mounted on each joint of mechanical arm, drives mechanical arm each by motor
The various movements of mechanical arm are realized in the rotation in a joint, and this frame mode has the following problems: mechanical arm arm needs to carry
The weight of motor simultaneously need to meet rigidity requirement, and arm sectional dimension needs to be made larger, will increase the load of driving motor in this way,
The movement inertia for increasing arm causes mechanical arm dynamic property to decline, while driving motor is all mounted on joint position and causes machine
The accumulated error of tool arm is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With the development and control skill of motor technology
The raising of art, parallel institution provide extensive development space for mechanical arm.By controlling motor-driven multi-freedom parallel connection machine
Structure not only has working space big, flexible movements, the motion profile output of achievable complexity, at the same also with manufacturing cost it is low,
The advantages that maintenance is simple.
Summary of the invention
The position for being all mounted on joint it is an object of the invention to solve the driving motor of cascaded structure articulated robot,
Lead to the problem of manipulator rotary inertia is big, dynamic property decline, and accumulated error is big, and bearing capacity is small, structure is complicated.The present invention
It provides a kind of using closed linkage multi link make-up machinery arm, comprising: pedestal, rotatable platform, telescoping mechanism, elevator
Structure, luffing mechanism, wrist, gripper and driving device；Telescoping mechanism includes the first driving lever and large arm；First driving lever
One end and rotatable platform are hinged, and large arm is in bending, and one end of large arm and the other end of the first driving lever are hinged；Elevator
Structure includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；One end of second driving lever and rotatable platform are cut with scissors
It connecing, one end of second connecting rod and the other end of the second driving lever are hinged, and one end of third connecting rod is articulated with the middle part of second connecting rod,
Elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；The other end of second connecting rod is articulated with greatly
The middle part of arm, the other end of large arm are articulated with the middle part of elevating lever, and luffing mechanism includes: third driving lever and pitch lever；The
One end of three driving levers is articulated on rotatable platform, and one end of pitch lever and the other end of third driving lever are hinged；Wrist
The other end of top and elevating lever is hinged, and the other end of lower part and pitch lever is hinged, by second connecting rod, large arm, third connecting rod with
And the part lever arm of elevating lever forms quadrangle driving mechanism, improves traveling comfort；Driving device includes three servo electricity
Machine, three servo motors are connected with the first driving lever 3, the second driving lever 4 and third driving lever 6 respectively.
The present invention is using controllable more bar parallel institutions, compared with mechanical arm of connecting, improves the flat of make-up machinery arm operation
Stability and reliability, no accumulated error, precision are higher；Compact-sized, rigidity is high, and large carrying capacity, inertia is low, dynamic property
Good, manipulator motion track flexible and diverse.
Detailed description of the invention
Fig. 1 is a kind of using closed linkage multi link make-up machinery arm configuration schematic diagram.
Specific embodiment
It is a kind of to use closed linkage multi link make-up machinery arm, comprising: pedestal 1, rotatable platform 2, telescoping mechanism, lifting
Mechanism, luffing mechanism, wrist 13, gripper 10 and driving device；Telescoping mechanism includes the first driving lever 3 and large arm 5；First
One end of driving lever 3 and rotatable platform 2 are hinged, and large arm 5 is in bending, and one end of large arm 5 and the first driving lever 3 is another
End is hinged；Elevating mechanism includes: the second driving lever 4, second connecting rod 7, third connecting rod 8 and elevating lever 11；Second driving lever 4
One end and rotatable platform 1 are hinged, and one end of second connecting rod 7 and the other end of the second driving lever 4 are hinged, and the one of third connecting rod 8
End is articulated with the middle part of second connecting rod 7, and elevating lever 11 is in bending, and the other end of one end of elevating lever 11 and third connecting rod 8
Hingedly；The other end of second connecting rod 7 is articulated with the middle part of large arm 5, and the other end of large arm 5 is articulated with the middle part of elevating lever 11, bows
Facing upward mechanism includes: third driving lever 6 and pitch lever 15；One end of third driving lever 6 is articulated with by the tenth revolute pair 18 can
On revolving platform 1, one end of pitch lever 15 and the other end of third driving lever 6 are hinged；The top of wrist 13 and elevating lever 11
The other end is hinged, and lower part and the other end of pitch lever 15 are hinged, by second connecting rod 7, large arm 5, third connecting rod 8 and elevating lever 11
Part lever arm formed quadrangle driving mechanism, improve traveling comfort；Driving device is three servo motors, three servos
Motor is connected with the first driving lever 3, the second driving lever 4 and third driving lever 6 respectively.
In use, cooperating realization is corresponding to move with luffing mechanism by telescoping mechanism, elevating mechanism, when the first driving lever
3 drive to the right, and the second driving lever 4 drives to the left, and third driving lever 6 drives to the right, it can be achieved that stretching motion, when the first driving lever
3 drive to the left, and the second driving lever 4 drives to the left, and third driving lever 6 drives, it can be achieved that pitching movement to the left；When the first driving lever
3 drive to the left, and the second driving lever 4 drives to the right, and third driving lever 6 drives, it can be achieved that elevating movement to the left.
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, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of use closed linkage multi link make-up machinery arm, it is characterised in that: including pedestal, rotatable platform, telescopic machine
Structure, elevating mechanism, luffing mechanism, wrist, gripper and driving device；Telescoping mechanism includes the first driving lever and large arm；The
One end of one driving lever and rotatable platform are hinged, and large arm is in bending, and the other end of one end of large arm and the first driving lever
Hingedly；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；One end of second driving lever with can
Revolving platform is hinged, and one end of second connecting rod and the other end of the second driving lever are hinged, and one end of third connecting rod is articulated with second
The middle part of connecting rod, elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；Second connecting rod it is another
End is articulated with the middle part of large arm, and the other end of large arm is articulated with the middle part of elevating lever, luffing mechanism include: third driving lever and
Pitch lever；One end of third driving lever is articulated on rotatable platform, and one end of pitch lever and the other end of third driving lever are cut with scissors
It connects；The top of wrist and the other end of elevating lever are hinged, and the other end of lower part and pitch lever is hinged, by second connecting rod, large arm,
The part lever arm of three-link and elevating lever forms quadrangle driving mechanism, improves traveling comfort；Driving device includes three
A servo motor, three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710924436.3A CN109590696A (en) | 2017-09-30 | 2017-09-30 | It is a kind of to use closed linkage multi link make-up machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710924436.3A CN109590696A (en) | 2017-09-30 | 2017-09-30 | It is a kind of to use closed linkage multi link make-up machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109590696A true CN109590696A (en) | 2019-04-09 |
Family
ID=65956666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710924436.3A Withdrawn CN109590696A (en) | 2017-09-30 | 2017-09-30 | It is a kind of to use closed linkage multi link make-up machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590696A (en) |
-
2017
- 2017-09-30 CN CN201710924436.3A patent/CN109590696A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190409 |
|
| WW01 | Invention patent application withdrawn after publication |