CN109590984A - A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator - Google Patents
A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator Download PDFInfo
- Publication number
- CN109590984A CN109590984A CN201710924469.8A CN201710924469A CN109590984A CN 109590984 A CN109590984 A CN 109590984A CN 201710924469 A CN201710924469 A CN 201710924469A CN 109590984 A CN109590984 A CN 109590984A
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- CN
- China
- Prior art keywords
- forearm
- drive rod
- drive
- arm link
- connect
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod; the forearm other end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal; electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod.Two motors are mounted on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, the disadvantage that structure is complicated, the degree of modularity is low, the advantages of combining constant speed motor and servo motor has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.
Description
Technical field
The present invention relates to mechanical engineering fields, more particularly to a kind of combination drive multiple degrees of freedom closed linkage make-up machinery
Hand.
Background technique
Most of currently manufactured industry general assemble manipulator 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.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servo motor) of different nature, in machinery
There is a good compromise that it is controllable, adjustable to be well positioned to meet modern mechanical to adapt to working flexibility feature in performance and cost
It is required that combination drive manipulator has very big application space in the epoch of flexible production.
Summary of the invention
It is an object of the invention to solve the driving motor of cascaded structure joint type assembly manipulator to be all mounted on joint
Position leads 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.
Above functions that the invention is realized by the following technical scheme: a kind of combination drive multiple degrees of freedom closed linkage assembly manipulator,
It is characterized in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist
Connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and forearm is another
One end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected to bottom
On seat, electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, the connection of wrist connecting rod one end
On forearm, described big arm link one end is connected in the middle part of large arm, and the big arm link other end is connect with large arm drive rod one end, greatly
The arm drive rod other end is connected on rotatable platform, and servo drive includes first servo motor and the second servo motor,
First servo motor is connect with large arm drive rod, and the second servo motor is connect with forearm drive rod.
The invention discloses a kind of combination drive multiple degrees of freedom closed linkage assembly manipulators, and two motors are mounted on work
Make on platform, is used to control the angular dimension of wrist pitching using an electric pushrod, two motors are mounted on work and are put down
On platform, overcome that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, the degree of modularity is low
The shortcomings that, the advantages of combining constant speed motor and servo motor, have be easy to control, be quick on the draw, to manufacture maintenance cost low
Advantage.
Detailed description of the invention
Fig. 1 is a kind of structural scheme of mechanism of combination drive multiple degrees of freedom closed linkage assembly manipulator of the present invention.
Specific embodiment
A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator, including large arm 6, big arm link 4, large arm drive rod
5, forearm 7, small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, wrist 12, gripper 10, pedestal 2, rotatable
Platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11, and 7 other end of forearm and small 8 one end of arm link connect
It connects, small arm link 8 is connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected on pedestal 2, electric pushrod 3 one
End is connected on forearm 7, and 3 other end of electric pushrod is connected on wrist connecting rod 11, and 11 one end of wrist connecting rod is connected to forearm 7
On, described big 4 one end of arm link is connected in large arm 6, and big 4 other end of arm link is connect with 5 one end of large arm drive rod, and large arm is driven
5 other end of lever is connected on rotatable platform 1, and servo drive includes first servo motor and the second servo motor, and
One servo motor is connect with large arm drive rod 5, and the second servo motor is connect with forearm drive rod 9.
In use, the large arm drive rod 5 is controlled by first servo motor, forearm drive rod 9 is driven by the second servo motor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
Corresponding movement is realized in the combination drive cooperation of constant speed direct current generator, passes through turning for two servo motors to servo drive
The track abundant movement of manipulator claw flexible and diverse is realized in the control of the telescopic displacement of angle control and electric pushrod.
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 combination drive multiple degrees of freedom closed linkage assembly manipulator, it is characterised in that: including large arm, big arm link, big
Arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform
And servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end is connect with small arm link one end, small arm link
It is connect with forearm drive rod one end, the forearm drive rod other end is connected on pedestal, and electric pushrod one end is connected on forearm, electricity
The dynamic push rod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected to
In the middle part of large arm, the big arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected to rotatable platform
On, servo drive includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod, the
Two servo motors are connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710924469.8A CN109590984A (en) | 2017-09-30 | 2017-09-30 | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710924469.8A CN109590984A (en) | 2017-09-30 | 2017-09-30 | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109590984A true CN109590984A (en) | 2019-04-09 |
Family
ID=65955928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710924469.8A Withdrawn CN109590984A (en) | 2017-09-30 | 2017-09-30 | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590984A (en) |
-
2017
- 2017-09-30 CN CN201710924469.8A patent/CN109590984A/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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190409 |