CN109760017A - There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band - Google Patents
There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band Download PDFInfo
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- CN109760017A CN109760017A CN201811583316.2A CN201811583316A CN109760017A CN 109760017 A CN109760017 A CN 109760017A CN 201811583316 A CN201811583316 A CN 201811583316A CN 109760017 A CN109760017 A CN 109760017A
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Abstract
The present invention relates to a kind of band, there are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist, including pedestal, first revolution waist, second revolution waist, first big the upper arm member, the second largest the upper arm member, forearm, first revolution driving bar, second revolution driving bar, gripper component, first Hooke's hinge, second Hooke's hinge, first driving bearing pin, second driving bearing pin, first rotation axis and the second rotation axis, pass through the first revolution driving bar, second revolution driving bar, first large arm drive rod, second large arm drive rod, drive rod and motor carry out coordination driving to industrial machinery arm, three-dimensional movement and Three dimensional rotation of the workpiece in space may be implemented.The present invention passes through the design to serial-parallel mirror six degree of freedom industrial machinery arm, so that serial-parallel mirror six degree of freedom industrial machinery arm has many advantages, such as that structure is simple, precision is high, bearing capacity is strong, working space is big and processing performance is good, the modern industries such as automobile, electronics, nuclear industry, aerospace field can be widely applied to.
Description
Technical field
The invention belongs to industrial robot field, more particularly to having for a kind of achievable three-dimensional movement and Three dimensional rotation
The serial-parallel mirror six degree of freedom industrial machinery arm of two revolution waists.
Background technique
Six degree of freedom industrial machinery arm is relatively early to be applied to one of robot of industrial production line.With robot technology
Be constantly progressive, the composition form of six degree of freedom industrial machinery arm is also constantly improving.Currently, six degree of freedom industrial machinery arm
Main includes three kinds of structure types of series, parallel and serial-parallel mirror, and series connection six degree of freedom industrial machinery arm, which has, moves flexible, work
Make that space is big, the lesser feature of bearing capacity；Six degree of freedom industrial machinery arm in parallel is with rigidity is big, precision is high, bearing capacity
Greatly, the small feature of working space；Serial-parallel mirror six degree of freedom industrial machinery arm is that scholars merge series connection and work in parallel in recent years
The advantages of industry mechanical arm and a kind of a kind of more balanced industrial machinery arm of the working space and bearing capacity proposed.Serial-parallel mirror
Industrial machinery arm can effectively make up series connection six degree of freedom industrial machinery arm and the function of six degree of freedom industrial machinery arm in parallel is short
Plate can be widely applied to modern industry field.
Summary of the invention
For above situation, the present invention provides a kind of band, and there are two the serial-parallel mirror six degree of freedom industrial machineries of revolution waist
Arm overcomes the shortcomings that connecting six degree of freedom industrial machinery arm and six degree of freedom industrial machinery arm in parallel in the prior art, passes through
Design to serial-parallel mirror six degree of freedom industrial machinery arm, so that serial-parallel mirror six degree of freedom industrial machinery arm has structure letter
The advantages that list, precision are high, bearing capacity is strong, working space is big and processing performance is good, can be widely applied to automobile, electricity
The modern industries such as son, nuclear industry, aerospace field.
The technical solution adopted by the present invention is that there are two the serial-parallel mirror six degree of freedom industrial machineries of revolution waist for a kind of band
Arm, including pedestal, the first revolution waist, the second revolution waist, the first big the upper arm member, the second largest the upper arm member, forearm, the first revolution driving
Bar, the second revolution driving bar, gripper component, the first Hooke's hinge, the second Hooke's hinge, the first driving bearing pin, the second driving bearing pin,
The first end of one rotation axis and the second rotation axis, the first revolution waist and the second revolution waist is respectively arranged on the base upper surface
First end and second end, and with the base upper surface be rotatablely connected, it is described first revolution waist second end and described first
The lower connector of the first of big the upper arm member is fixedly connected, and the first upper connector of the first big the upper arm member passes through first tiger
Gram hinge is connect with the middle part of the forearm, and the second of the second end of the second revolution waist and the second largest the upper arm member is lower to be connected
Part is fixedly connected, and the second upper connector of the second largest the upper arm member passes through second Hooke's hinge and the first of the forearm
End connection, the first side that the first end of the first revolution driving bar passes through first rotation axis and the described first lower connector
Face rotation connection, and its second end is rotatablely connected with the first driving bearing pin for being set to pedestal third end middle position, it is described
The first end of second revolution driving bar is rotatablely connected by second rotation axis and the first side of the described second lower connector,
And its second end is rotatablely connected with the second driving bearing pin for being set to the 4th end middle position of pedestal, the gripper component is set to
The second end of the forearm.
Further, the described first big the upper arm member on the first lower connector, the first intermediate connector, first including connecting
Part, the first H-shaped connector, the second H-shaped connector, third H-shaped connector, the 4th H-shaped connector, the first support pin shaft, second
Pin shaft, third support pin shaft, the 4th support pin shaft, the first connection pin shaft, the second connection pin shaft and the first large arm drive rod are supported,
The first end of the first H-shaped connector is rotated by the first end of the first support pin shaft and the described first lower connector to be connected
It connects, and the second end of the first H-shaped connector passes through the first end of the first connection pin shaft and the second H-shaped connector
Rotation connection, the second end of the second H-shaped connector pass through the second support pin shaft and first upper connector the
One end rotation connection, and the second end of first upper connector supports pin shaft to connect with the third H-shaped by the third
The first end of part is rotatablely connected, and the second end of the third H-shaped connector passes through the second connection pin shaft and the 4th H-shaped
The first end of connector is rotatablely connected, and the second end of the 4th H-shaped connector by the 4th support pin shaft with it is described
The second end rotation connection of first lower connector, the first end of first intermediate connector connect pin shaft with described first and fix
Connection, and its second end connect pin shaft with described second and is fixedly connected, the first end of the first large arm drive rod and described the
The middle part rotation connection of four support pin shafts, and the middle part that its second end connect pin shaft with described first is rotatablely connected.
Further, the second largest the upper arm member on the second lower connector, the second intermediate connector, second including connecting
Part, the 5th H-shaped connector, the 6th H-shaped connector, the 7th H-shaped connector, the 8th H-shaped connector, the 5th support pin shaft, the 6th
Support pin shaft, the 7th support pin shaft, the 8th support pin shaft, third connection pin shaft, the 4th connection pin shaft, the second large arm drive rod,
The first end of drive rod and third rotation axis, the 5th H-shaped connector passes through under the 5th support pin shaft and described second
The first end of connector is rotatablely connected, and the second end of the 5th H-shaped connector by third connection pin shaft with it is described
The first end of 6th H-shaped connector is rotatablely connected, the second end of the 6th H-shaped connector by the 6th support pin shaft with
The first end of second upper connector is rotatablely connected, and the second end of second upper connector passes through the 7th supporting pin
The first end of axis and the 7th H-shaped connector is rotatablely connected, and the second end of the 7th H-shaped connector connects by the described 4th
The first end of outbound axis and the 8th H-shaped connector is rotatablely connected, and the second end of the 8th H-shaped connector is described in
The second end of 8th support pin shaft and the described second lower connector is rotatablely connected, the first end of second intermediate connector and institute
It states third connection pin shaft to be fixedly connected, and its second end connect pin shaft with the described 4th and is fixedly connected, the second large arm driving
The middle part of the first end of bar and the 8th support pin shaft is rotatablely connected, and its second end connect the middle part of pin shaft with the third
Rotation connection, the first end of the drive rod and it is described 5th support pin shaft middle part be rotatablely connected, and its second end be set to
The third rotation axis in the 6th H-shaped connector middle position is rotatablely connected.
Further, the gripper component includes gripper, gripper rotation axis and motor, the first end of the gripper with it is described
The first end of gripper rotation axis is fixedly connected, and the gripper rotation axis passes through the output axis connection of shaft coupling and the motor.
Preferably, the pivot center of the first revolution waist and the second revolution waist is parallel to each other.
Preferably, the first support pin shaft, the second support pin shaft, third support pin shaft, the 4th support pin shaft, first connect
The axis of outbound axis and the second connection pin shaft is parallel to each other, and the 5th support pin shaft, the 6th support pin shaft, the 7th supporting pin
The axis that axis, the 8th support pin shaft, third connect pin shaft, the 4th connection pin shaft and third rotation axis is parallel to each other.
Preferably, the first support pin shaft axis is to the vertical range and described the between the 4th support pin shaft axis
One connection pin shaft axis is arrived to the vertical range between the second connection pin shaft axis and with the second support pin shaft axis
Vertical range between the third support pin shaft axis is equal, the first support pin shaft axis to the first connection pin shaft
Vertical range between axis is equal to the vertical range between the second connection pin shaft axis with the 4th support pin shaft axis,
The first connection pin shaft axis connect pin shaft axis with described second to the vertical range between the second support pin shaft axis
Support the vertical range between pin shaft axis equal to the third.
Preferably, the 5th support pin shaft axis is to the vertical range and described the between the 8th support pin shaft axis
Three connection pin shaft axis are arrived to the vertical range between the 4th connection pin shaft axis and with the 6th support pin shaft axis
Vertical range between the 7th support pin shaft axis is equal, and the 5th support pin shaft axis connects pin shaft to the third
Vertical range between axis is equal to the vertical range between the 4th connection pin shaft axis with the 8th support pin shaft axis,
The third connects pin shaft axis and connect pin shaft axis with the described 4th to the vertical range between the 6th support pin shaft axis
It is equal to the vertical range between the 7th support pin shaft axis.
Preferably, horizontal axis and second Hooke's hinge that first Hooke's hinge and forearm middle part are rotatablely connected
It is parallel to each other with the horizontal axis of forearm first end rotation connection, first Hooke's hinge and first upper connector turn
The vertical axis that the vertical axis and second Hooke's hinge of dynamic connection are rotatablely connected with second upper connector is parallel to each other.
The features of the present invention and beneficial effect are:
1, the serial-parallel mirror six degree of freedom industrial machinery arm that waist is turned round there are two bands provided by the invention, big with rigidity,
The advantage that precision is high, bearing capacity is strong, movement is flexible, working space is big；
2, the serial-parallel mirror six degree of freedom industrial machinery arm of waist, the institute in mechanical arm are turned round there are two bands provided by the invention
There is kinematic pair revolute pair to be utilized to realize, structure process performance is safe and stable；
3, for band provided by the invention there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, mechanical arm can be real
Three-dimensional movement and Three dimensional rotation in existing space, versatility is preferable, can be widely applied to automobile, electronics, nuclear industry, aviation
The modern industries such as space flight field.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention；
Fig. 2 is the first big the upper arm member main view of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention；
Fig. 3 is the first big the upper arm member rearview of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention；
Fig. 4 is the second largest the upper arm member main view of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention；
Fig. 5 is the gripper block diagram of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention；And
Fig. 6 is 1 three dimensional structure diagram of example of serial-parallel mirror six degree of freedom industrial machinery arm of the present invention.
Main appended drawing reference:
Pedestal 1；First revolution waist 2；Second revolution waist 3；First big the upper arm member 4；First lower connector 401；First rotation
Axis 4011；First intermediate connector 402；First upper connector 403；First H-shaped connector 404；Second H-shaped connector 405；The
Three H-shaped connectors 406；4th H-shaped connector 407；First support pin shaft 408；Second support pin shaft 409；Third supports pin shaft
410；4th support pin shaft 411；First connection pin shaft 412；Second connection pin shaft 413；First large arm drive rod 414；It is second largest
The upper arm member 5；Second lower connector 501；Second rotation axis 5011；Second intermediate connector 502；Second upper connector 503；5th
H-shaped connector 504；6th H-shaped connector 505；7th H-shaped connector 506；8th H-shaped connector 507；5th support pin shaft
508；6th support pin shaft 509；7th support pin shaft 510；8th support pin shaft 511；Third connects pin shaft 512；4th connection
Pin shaft 513；Second large arm drive rod 514；Drive rod 515；Third rotation axis 516；Forearm 6；First revolution driving bar 7；Second
Revolution driving bar 8；Gripper component 9；Motor 901；Gripper rotation axis 902；Gripper 903；First Hooke's hinge 10；Second Hooke's hinge
11；First driving bearing pin 12；Second driving bearing pin 13；Cylindrical workpiece 14.
Specific embodiment
By the technology contents of the detailed present invention, structure feature, reach purpose and efficacy, below with reference to Figure of description
It is described in detail.
The present invention provides a kind of band, and there are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist, as shown in Figure 1, packet
It includes pedestal 1, first and turns round the revolution of waist 2, second waist 3, the first big the upper arm member 4, the second largest the upper arm member 5, the revolution drive of forearm 6, first
Lever 7, the second revolution driving bar 8, gripper component 9, the first Hooke's hinge 10, the second Hooke's hinge 11, the first driving bearing pin 12, second
Driving bearing pin 13, the first rotation axis 4011 and the second rotation axis 5011, the first end point of the first revolution waist 2 and the second revolution waist 3
Not She Yu 1 upper surface of pedestal first end and second end, and with 1 upper surface of pedestal be rotatablely connected, first revolution waist 2 second end
It is fixedly connected with the first lower connector 401 of the first big the upper arm member 4, and the first upper connector 403 of the first big the upper arm member 4 passes through
First Hooke's hinge 10 is connect with the middle part of forearm 6, the second lower connection of the second end and the second largest the upper arm member 5 of the second revolution waist 3
Part 501 is fixedly connected, and the second upper connector 503 of the second largest the upper arm member 5 passes through the first end of the second Hooke's hinge 11 and forearm 6
The first end of connection, the first revolution driving bar 7 is rotated by the first side of the first rotation axis 4011 and the first lower connector 401
Connection, and its second end is rotatablely connected with the first driving bearing pin 12 for being set to 1 third end middle position of pedestal, the second revolution driving
The first end of bar 8 is rotatablely connected by the second rotation axis 5011 and the first side of the second lower connector 501, and its second end and
The second driving bearing pin 13 set on the 4th end middle position of pedestal 1 is rotatablely connected, and gripper component 9 is set to the second end of forearm 6, and
The pivot center of first revolution waist 2 and the second revolution waist 3 is parallel to each other.
As shown in Figures 2 and 3, the first big the upper arm member 4 includes the first lower connector 401, the first intermediate connector 402, the
One upper connector 403, the first H-shaped connector 404, the second H-shaped connector 405, third H-shaped connector 406, the connection of the 4th H-shaped
Part 407, first supports pin shaft 408, second to support pin shaft 409, third support pin shaft the 410, the 4th that pin shaft 411, first is supported to connect
Outbound axis 412, second connects pin shaft 413 and the first large arm drive rod 414, and the first end of the first H-shaped connector 404 passes through first
Pin shaft 408 and the first end of the first lower connector 401 is supported to be rotatablely connected, and the second end of the first H-shaped connector 404 passes through the
The first end of one connection pin shaft 412 and the second H-shaped connector 405 is rotatablely connected, and the second end of the second H-shaped connector 405 passes through
The first end of second support pin shaft 409 and the first upper connector 403 is rotatablely connected, and the second end of the first upper connector 403 is logical
The first end for crossing third support pin shaft 410 and third H-shaped connector 406 is rotatablely connected, the second end of third H-shaped connector 406
By the first end rotation connection of the second connection pin shaft 413 and the 4th H-shaped connector 407, and the of the 4th H-shaped connector 407
Two ends are rotatablely connected by the second end of the 4th support pin shaft 411 and the first lower connector 401, the first intermediate connector 402
First end connect pin shaft 412 with first and is fixedly connected, and its second end connect pin shaft 413 with second and is fixedly connected, the first large arm
The first end of drive rod 414 and the middle part of the 4th support pin shaft 411 are rotatablely connected, and its second end connect pin shaft 412 with first
Middle part rotation connection.
Specifically, the first support pin shaft 408, second supports pin shaft 409, third support pin shaft the 410, the 4th to support pin shaft
411, the axis of the first connection pin shaft 412 and the second connection pin shaft 413 is parallel to each other, the first support 408 axis of pin shaft to the 4th
It is vertical between supporting the vertical range between 411 axis of pin shaft to connect 413 axis of pin shaft with the first connection 412 axis of pin shaft to second
The vertical range between 410 axis of pin shaft is supported to be equal to third apart from and with the second support 409 axis of pin shaft, the first support
408 axis of pin shaft supports 411 axis of pin shaft to the second connecting pin to the vertical range between the first connection 412 axis of pin shaft with the 4th
Vertical range between 413 axis of axis is equal, first connection 412 axis of pin shaft to second support 409 axis of pin shaft between it is vertical away from
Support the vertical range between 410 axis of pin shaft equal to third from the second connection 413 axis of pin shaft.
As shown in figure 4, the second largest the upper arm member 5 on the second lower connector 501, the second intermediate connector 502, second including connecting
Fitting 503, the 5th H-shaped connector 504, the 6th H-shaped connector 505, the 7th H-shaped connector 506, the 8th H-shaped connector 507,
5th support pin shaft the 508, the 6th supports pin shaft the 509, the 7th to support pin shaft the 510, the 8th that pin shaft 511, third is supported to connect pin shaft
512, the 4th connection pin shaft 513, the second large arm drive rod 514, drive rod 515 and third rotation axis 516, the 5th H-shaped connector
504 first end is rotatablely connected by the first end of the 5th support pin shaft 508 and the second lower connector 501, and the 5th H-shaped connects
The second end of part 504 is rotatablely connected by the first end that third connects pin shaft 512 and the 6th H-shaped connector 505, and the 6th H-shaped connects
The second end of fitting 505 is rotatablely connected by the first end of the 6th support pin shaft 509 and the second upper connector 503, and on second
The second end of connector 503 is rotatablely connected by the first end of the 7th support pin shaft 510 and the 7th H-shaped connector 506, the 7th H
The second end of shape connector 506 is rotatablely connected by the first end of the 4th connection pin shaft 513 and the 8th H-shaped connector 507, and the
The second end of eight H-shaped connectors 507 is rotatablely connected by the second end of the 8th support pin shaft 511 and the second lower connector 501, the
The first end of two intermediate connectors 502 connect pin shaft 512 with third and is fixedly connected, and its second end connect pin shaft 513 with the 4th
It is fixedly connected, the first end of the second large arm drive rod 514 and the middle part of the 8th support pin shaft 511 are rotatablely connected, and its second end
The middle part rotation connection of pin shaft 512 is connect with third, the first end of drive rod 515 and the middle part of the 5th support pin shaft 508 rotate
Connection, and its second end is rotatablely connected with the third rotation axis 516 for being set to 505 middle position of the 6th H-shaped connector.
Specifically, the 5th support pin shaft the 508, the 6th supports pin shaft the 509, the 7th that pin shaft the 510, the 8th is supported to support pin shaft
511, third connection pin shaft the 512, the 4th connects pin shaft 513 and the axis of third rotation axis 516 is parallel to each other, the 5th support pin shaft
508 axis connect 512 axis of pin shaft to the vertical range between the 8th support 511 axis of pin shaft to the 4th connection pin shaft with third
Vertical range between 513 axis and with the 6th support 509 axis of pin shaft to the vertical range between the 7th support 510 axis of pin shaft
It is equal, the 5th support 508 axis of pin shaft to third connects vertical range and the 8th support pin shaft 511 between 512 axis of pin shaft
Axis is equal to the vertical range between the 4th connection 513 axis of pin shaft, and third connects 512 axis of pin shaft to the 6th support pin shaft
Vertical range and the 4th connection 513 axis of pin shaft to the vertical range phase between the 7th support 510 axis of pin shaft between 509 axis
Deng.
As shown in figure 5, gripper component 9 includes gripper 903, gripper rotation axis 902 and motor 901, the first end of gripper 903
It is fixedly connected with the first end of gripper rotation axis 902, gripper rotation axis 902 passes through the output axis connection of shaft coupling and motor 901.
As shown in fig. 6, cylindrical workpiece 14 to be clamped in the second end of gripper 903, cylindrical workpiece 14 may be implemented and exist
Three-dimensional movement and Three dimensional rotation in space.
It is of the invention specific steps are as follows:
As shown in figs. 1 to 6, there are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band of the invention, including
Pedestal 1, first turns round waist 2, second and turns round waist 3, the first big the upper arm member 4, the second largest the upper arm member 5, forearm 6, the first revolution driving
Bar 7, the second revolution driving bar 8, gripper component 9, the first Hooke's hinge 10, the second Hooke's hinge 11, the first driving bearing pin 12, second are driven
Dynamic pin shaft 13, the first rotation axis 4011 and the second rotation axis 5011, while driving the first revolution driving bar 7 and the second revolution driving
Bar 8 makes the first revolution waist and the second revolution waist rotate around it axis rotation, and the one-dimensional rotation of cylindrical workpiece 14 may be implemented
And one-dimensional movement.
First big the upper arm member 4 includes the first lower connector 401, the first intermediate connector 402, the first upper connector 403, the
One H-shaped connector 404, the second H-shaped connector 405, third H-shaped connector 406, the 4th H-shaped connector 407, the first supporting pin
Axis 408, second supports pin shaft 409, third support pin shaft the 410, the 4th that pin shaft 411, first is supported to connect the company of pin shaft 412, second
Outbound axis 413 and the first large arm drive rod 414, the middle part of the first end of the first large arm drive rod 414 and the 4th support pin shaft 411
Rotation connection, and the middle part that its second end connect pin shaft 412 with first is rotatablely connected.
The second largest the upper arm member 5 includes the second lower connector 501, the second intermediate connector 502, the second upper connector 503, the
Five H-shaped connectors 504, the 6th H-shaped connector 505, the 7th H-shaped connector 506, the 8th H-shaped connector 507, the 5th supporting pin
Axis the 508, the 6th supports pin shaft the 509, the 7th to support pin shaft the 510, the 8th that pin shaft 511, third connection pin shaft the 512, the 4th is supported to connect
Outbound axis 513, the second large arm drive rod 514, drive rod 515 and third rotation axis 516, the first of the second large arm drive rod 514
End and the middle part of the 8th support pin shaft 511 are rotatablely connected, and its second end connect the middle part rotation connection of pin shaft 512 with third,
The first end of drive rod 515 and the middle part of the 5th support pin shaft 508 are rotatablely connected, and its second end is connect with the 6th H-shaped is set to
The third rotation axis 516 in 505 middle position of part is rotatablely connected, and is driven by the first large arm drive rod 414 of driving and the second large arm
Bar 514 can be adjusted the height of the first big the upper arm member 4 and the second largest the upper arm member 5, to realize cylindrical workpiece 14
Two-dimensional movement can be adjusted the height of the second largest the upper arm member 5, to realize cylindrical workpiece 14 by drive rod 515
One-dimensional rotation.
Gripper component 9 includes gripper 903, gripper rotation axis 902 and motor 901, drives gripper to turn by driving motor 901
Moving axis 902 is rotated along its axis, to realize the one-dimensional rotation of cylindrical workpiece 14.
There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band provided by the invention, turn round waist 2 for first
It is arranged in parallel with the second revolution waist 3 in the first end and second end of 1 upper surface of pedestal, and is rotatablely connected with 1 upper surface of pedestal, together
When the first revolution waist 2 and the second revolution waist 3 second end respectively with the first of the first big the upper arm member 4 the lower connector 401 and second
The lower connector 501 of the second of big the upper arm member 5 is fixedly connected, by the first revolution driving bar 7, the second revolution driving bar 8, first
Large arm drive rod 414, the second large arm drive rod 514, drive rod 515 and motor 901 carry out coordination driving to industrial machinery arm, can
To realize three-dimensional movement and Three dimensional rotation of the workpiece in space, while all movements in serial-parallel mirror sixdegree-of-freedom simulation
It is secondary to realize that structure process performance is safe and stable, versatility is preferable using revolute pair.
Meanwhile the disadvantage that series connection six degree of freedom industrial machinery arm bearing capacity is small, precision is low in the prior art is overcome, it is simultaneous
The advantages of having cared for industrial machinery arm in parallel, by the design to serial-parallel mirror six degree of freedom industrial machinery arm, so that serial-parallel mirror
It is excellent that six degree of freedom industrial machinery arm has that structure is simple, precision is high, bearing capacity is strong, working space is big and processing performance is good etc.
Point can be widely applied to the modern industries such as automobile, electronics, nuclear industry, aerospace field.
The above is the preferred embodiment of the application, is not limited the scope of protection of the present invention with this, it is noted that right
For those skilled in the art, under the premise of not departing from this technology principle, can also make it is several improvement and
Retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (9)
1. there are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for a kind of band, which is characterized in that including pedestal, first
Turn round waist, the second revolution waist, the first big the upper arm member, the second largest the upper arm member, forearm, the first revolution driving bar, the second revolution driving
Bar, gripper component, the first Hooke's hinge, the second Hooke's hinge, the first driving bearing pin, the second driving bearing pin, the first rotation axis and second
Rotation axis,
The first end of the first revolution waist and the second revolution waist is respectively arranged on the first end and second end of the base upper surface,
And be rotatablely connected with the base upper surface, connect under the second end and the first of the described first big the upper arm member of the first revolution waist
Fitting is fixedly connected, and the first upper connector of the first big the upper arm member passes through in first Hooke's hinge and the forearm
Portion's connection, the second end of the second revolution waist are fixedly connected with the second lower connector of the second largest the upper arm member, and described
Second upper connector of the second largest the upper arm member is connect by second Hooke's hinge with the first end of the forearm, and described first time
Turn the first end of drive rod to be rotatablely connected by first rotation axis and the first side of the described first lower connector, and its
Two ends are rotatablely connected with the first driving bearing pin for being set to pedestal third end middle position, and the of the second revolution driving bar
One end is rotatablely connected by second rotation axis and the first side of the described second lower connector, and its second end be set to institute
The second driving bearing pin rotation connection in the 4th end middle position of pedestal is stated, the gripper component is set to the second end of the forearm.
2. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 1
In the first big the upper arm member includes the first lower connector, the first intermediate connector, the first upper connector, the connection of the first H-shaped
Part, the second H-shaped connector, third H-shaped connector, the 4th H-shaped connector, the first support pin shaft, the second support pin shaft, third branch
Support pin shaft, the 4th support pin shaft, the first connection pin shaft, the second connection pin shaft and the first large arm drive rod, the first H-shaped connection
The first end of part is rotatablely connected by the first end of the first support pin shaft and the described first lower connector, and the first H
The second end of shape connector is rotatablely connected by the first end of the first connection pin shaft and the second H-shaped connector, described
The second end of second H-shaped connector is rotatablely connected by the first end of the second support pin shaft and first upper connector,
And the second end of first upper connector supports the first end of pin shaft and the third H-shaped connector to rotate by the third
Connection, the first end that the second end of the third H-shaped connector passes through the second connection pin shaft and the 4th H-shaped connector
Rotation connection, and the second end of the 4th H-shaped connector passes through the 4th support pin shaft and the described first lower connector
Second end rotation connection, the first end of first intermediate connector connect pin shaft with described first and is fixedly connected, and its second
End connect pin shaft with described second and is fixedly connected, in the first end of the first large arm drive rod and the 4th support pin shaft
Portion's rotation connection, and the middle part that its second end connect pin shaft with described first is rotatablely connected.
3. there are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band according to claim 1 or 2, special
Sign is that the second largest the upper arm member includes the second lower connector, the second intermediate connector, the second upper connector, the 5th H-shaped company
Fitting, the 6th H-shaped connector, the 7th H-shaped connector, the 8th H-shaped connector, the 5th support pin shaft, the 6th support pin shaft, the 7th
Pin shaft, the 8th support pin shaft, third connection pin shaft, the 4th connection pin shaft, the second large arm drive rod, drive rod and third is supported to turn
Moving axis, the first end that the first end of the 5th H-shaped connector passes through the 5th support pin shaft and the described second lower connector
Rotation connection, and the second end of the 5th H-shaped connector connects pin shaft and the 6th H-shaped connector by the third
First end rotation connection, the second end of the 6th H-shaped connector on the 6th support pin shaft and described second by connecting
The first end of part is rotatablely connected, and the second end of second upper connector passes through the 7th support pin shaft and the 7th H
The first end of shape connector is rotatablely connected, the second end of the 7th H-shaped connector by the 4th connection pin shaft with it is described
The first end of 8th H-shaped connector is rotatablely connected, and the second end of the 8th H-shaped connector passes through the 8th support pin shaft
It is rotatablely connected with the second end of the described second lower connector, the first end of second intermediate connector and the third connecting pin
Axis is fixedly connected, and its second end connect pin shaft with the described 4th and is fixedly connected, the first end of the second large arm drive rod with
The middle part rotation connection of the 8th support pin shaft, and its second end connect the middle part rotation connection of pin shaft, institute with the third
State drive rod first end and it is described 5th support pin shaft middle part be rotatablely connected, and its second end be set to the 6th H-shaped
The third rotation axis in connector middle position is rotatablely connected.
4. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 3
In, the gripper component include gripper, gripper rotation axis and motor, the of the first end of the gripper and the gripper rotation axis
One end is fixedly connected, and the gripper rotation axis passes through the output axis connection of shaft coupling and the motor.
5. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 3
In the pivot center of the first revolution waist and the second revolution waist is parallel to each other.
6. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 2
In the first support pin shaft, the second support pin shaft, third support pin shaft, the 4th support pin shaft, the first connection pin shaft and second
The axis of connection pin shaft is parallel to each other, and the 5th support pin shaft, the 6th support pin shaft, the 7th support pin shaft, the 8th support
The axis that pin shaft, third connect pin shaft, the 4th connection pin shaft and third rotation axis is parallel to each other.
7. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 2
In the first support pin shaft axis connect pin shaft axis with described first to the vertical range between the 4th support pin shaft axis
Line is supported to the vertical range between the second connection pin shaft axis and with the second support pin shaft axis to the third
Vertical range between pin shaft axis is equal, it is described first support pin shaft axis to it is described first connect pin shaft axis between it is vertical
Distance is equal to the vertical range between the second connection pin shaft axis with the 4th support pin shaft axis, first connection
Pin shaft axis connect pin shaft axis to the third branch with described second to the vertical range between the second support pin shaft axis
The vertical range supportted between pin shaft axis is equal.
8. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 3
In the 5th support pin shaft axis connect pin shaft axis with the third to the vertical range between the 8th support pin shaft axis
Line is supported to the vertical range between the 4th connection pin shaft axis and with the 6th support pin shaft axis to the described 7th
Vertical range between pin shaft axis is equal, it is described 5th support pin shaft axis to the third connection pin shaft axis between it is vertical
Distance is equal to the vertical range between the 4th connection pin shaft axis with the 8th support pin shaft axis, the third connection
Pin shaft axis connect pin shaft axis to described 7th with the described 4th to the vertical range between the 6th support pin shaft axis
The vertical range supportted between pin shaft axis is equal.
9. there are two the serial-parallel mirror six degree of freedom industrial machinery arm of revolution waist, features to exist for band according to claim 3
The horizontal axis and second Hooke's hinge that are rotatablely connected in the middle part of, first Hooke's hinge and the forearm and the forearm the
The horizontal axis of one end rotation connection is parallel to each other, and it is vertical that first Hooke's hinge is rotatablely connected with first upper connector
The vertical axis that axis and second Hooke's hinge are rotatablely connected with second upper connector is parallel to each other.
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| CN201811583316.2A CN109760017B (en) | 2018-12-24 | 2018-12-24 | Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists |
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| CN201811583316.2A CN109760017B (en) | 2018-12-24 | 2018-12-24 | Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists |
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| CN109760017B CN109760017B (en) | 2020-07-10 |
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| CN110695965A (en) * | 2019-09-30 | 2020-01-17 | 东北大学 | Three-dimensional space translational series-parallel hybrid manipulator |
| CN114274123A (en) * | 2022-01-13 | 2022-04-05 | 燕山大学 | Four-freedom-degree parallel platform with three-dimensional movement and one-dimensional rotation |
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