CN109760017B - Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists - Google Patents
Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists Download PDFInfo
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- CN109760017B CN109760017B CN201811583316.2A CN201811583316A CN109760017B CN 109760017 B CN109760017 B CN 109760017B CN 201811583316 A CN201811583316 A CN 201811583316A CN 109760017 B CN109760017 B CN 109760017B
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Abstract
The invention relates to a series-parallel connection six-degree-of-freedom industrial mechanical arm with two rotary waists, which comprises a base, a first rotary waist, a second rotary waist, a first large arm component, a second large arm component, a small arm, a first rotary driving rod, a second rotary driving rod, a paw component, a first hook hinge, a second hook hinge, a first driving pin shaft, a second driving pin shaft, a first rotating shaft and a second rotating shaft, wherein the industrial mechanical arm is driven in a coordinated manner through the first rotary driving rod, the second rotary driving rod, the first large arm driving rod, the second large arm driving rod, a driving rod and a motor, so that three-dimensional movement and three-dimensional rotation of a workpiece in space can be realized. By designing the series-parallel connection six-degree-of-freedom industrial mechanical arm, the series-parallel connection six-degree-of-freedom industrial mechanical arm has the advantages of simple structure, high precision, strong bearing capacity, large working space, good process performance and the like, and can be widely applied to the modern industrial fields of automobiles, electronics, nuclear industry, aerospace and the like.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a series-parallel connection six-degree-of-freedom industrial mechanical arm with two turning waists, which can realize three-dimensional movement and three-dimensional rotation.
Background
A six-degree-of-freedom industrial robot arm is one of the robots that was earlier applied to industrial production lines. With the continuous progress of the robot technology, the composition form of the six-freedom industrial mechanical arm is also continuously improved. At present, the six-degree-of-freedom industrial mechanical arm mainly comprises three structural forms of series connection, parallel connection and series-parallel connection, and the series connection six-degree-of-freedom industrial mechanical arm has the characteristics of flexible movement, large working space and smaller bearing capacity; the parallel six-degree-of-freedom industrial mechanical arm has the characteristics of high rigidity, high precision, high bearing capacity and small working space; the series-parallel six-degree-of-freedom industrial mechanical arm is an industrial mechanical arm with balanced working space and bearing capacity, which is provided by students in recent years by combining the advantages of the series-parallel industrial mechanical arms. The series-parallel hybrid industrial mechanical arm can effectively compensate the function short plate of the series six-freedom industrial mechanical arm and the parallel six-freedom industrial mechanical arm, and can be widely applied to the field of modern industry.
Disclosure of Invention
In view of the above circumstances, the invention provides a serial-parallel connection six-degree-of-freedom industrial mechanical arm with two turning waists, which overcomes the defects of the serial connection six-degree-of-freedom industrial mechanical arm and the parallel connection six-degree-of-freedom industrial mechanical arm in the prior art, and through the design of the serial-parallel connection six-degree-of-freedom industrial mechanical arm, the serial-parallel connection six-degree-of-freedom industrial mechanical arm has the advantages of simple structure, high precision, strong bearing capacity, large working space, good process performance and the like, and can be widely applied to the modern industrial fields of automobiles, electronics, nuclear industry, aerospace and the like.
The invention adopts the technical scheme that the series-parallel connection six-degree-of-freedom industrial mechanical arm with two turning waists comprises a base, a first turning waist, a second turning waist, a first large arm component, a second large arm component, a small arm, a first turning driving rod, a second turning driving rod, a paw component, a first hooke hinge, a second hooke hinge, a first driving pin shaft, a second driving pin shaft, a first rotating shaft and a second rotating shaft, wherein the first ends of the first turning waist and the second turning waist are respectively arranged at the first end and the second end of the upper surface of the base and are rotationally connected with the upper surface of the base, the second end of the first turning waist is fixedly connected with a first lower connecting piece of the first large arm component, a first upper connecting piece of the first large arm component is connected with the middle part of the small arm through the first hooke hinge, and the second end of the second turning waist is fixedly connected with a second lower connecting piece of the second large arm component, and the second upper connecting piece of the second big arm part passes through the second hook hinge with the first end of forearm is connected, the first end of the first gyration actuating lever passes through first axis of rotation with the first side of the first connecting piece rotates to be connected, and its second end with locate the first drive pin axle of base third end intermediate position rotates to be connected, the first end of the second gyration actuating lever passes through the second axis of rotation with the first side of the second lower connecting piece rotates to be connected, and its second end with locate the second drive pin axle of base fourth end intermediate position rotates to be connected, the hand claw part is located the second end of forearm.
Further, the first big arm component comprises a first lower connecting piece, a first middle connecting piece, a first upper connecting piece, a first H-shaped connecting piece, a second H-shaped connecting piece, a third H-shaped connecting piece, a fourth H-shaped connecting piece, a first supporting pin shaft, a second supporting pin shaft, a third supporting pin shaft, a fourth supporting pin shaft, a first connecting pin shaft, a second connecting pin shaft and a first big arm driving rod, wherein the first end of the first H-shaped connecting piece is rotatably connected with the first end of the first lower connecting piece through the first supporting pin shaft, the second end of the first H-shaped connecting piece is rotatably connected with the first end of the second H-shaped connecting piece through the first connecting pin shaft, the second end of the second H-shaped connecting piece is rotatably connected with the first end of the first upper connecting piece through the second supporting pin shaft, and the second end of the first upper connecting piece is rotatably connected with the first end of the third H-shaped connecting piece through the third supporting pin shaft, the second end of third H shape connecting piece passes through second connecting pin axle with the first end of fourth H shape connecting piece rotates to be connected, just the second end of fourth H shape connecting piece passes through fourth supporting pin axle with the second end of first connecting piece rotates to be connected, the first end of first intermediate junction spare with first connecting pin axle fixed connection, and its second end with second connecting pin axle fixed connection, the first end of first big arm actuating lever with the middle part of fourth supporting pin axle rotates to be connected, and its second end with the middle part of first connecting pin axle rotates to be connected.
Further, the second big arm part comprises a second lower connecting piece, a second middle connecting piece, a second upper connecting piece, a fifth H-shaped connecting piece, a sixth H-shaped connecting piece, a seventh H-shaped connecting piece, an eighth H-shaped connecting piece, a fifth supporting pin shaft, a sixth supporting pin shaft, a seventh supporting pin shaft, an eighth supporting pin shaft, a third connecting pin shaft, a fourth connecting pin shaft, a second big arm driving rod, a driving rod and a third rotating shaft, wherein the first end of the fifth H-shaped connecting piece is rotatably connected with the first end of the second lower connecting piece through the fifth supporting pin shaft, the second end of the fifth H-shaped connecting piece is rotatably connected with the first end of the sixth H-shaped connecting piece through the third connecting pin shaft, the second end of the sixth H-shaped connecting piece is rotatably connected with the first end of the second upper connecting piece through the sixth supporting pin shaft, and the second end of the second upper connecting piece is rotatably connected with the second end of the seventh H-shaped connecting piece through the seventh supporting pin shaft One end is rotated and is connected, the second end of seventh H shape connecting piece passes through fourth connecting pin axle with the first end of eighth H shape connecting piece is rotated and is connected, just the second end of eighth H shape connecting piece passes through eighth supporting pin axle with the second end of connecting piece is rotated and is connected under the second, the first end of second intermediate junction spare with third connecting pin axle fixed connection, and its second end with fourth connecting pin axle fixed connection, the first end of the big arm actuating lever of second with the middle part of eighth supporting pin axle is rotated and is connected, and its second end with the middle part of third connecting pin axle rotates and is connected, the first end of actuating lever with the middle part of fifth supporting pin axle rotates and is connected, and its second end with locate the third axis of rotation of sixth H shape connecting piece intermediate position rotates and is connected.
Furthermore, the paw component comprises a paw, a paw rotating shaft and a motor, the first end of the paw is fixedly connected with the first end of the paw rotating shaft, and the paw rotating shaft is connected with an output shaft of the motor through a coupler.
Preferably, the axes of rotation of the first and second waist of revolution are parallel to each other.
Preferably, the axes of the first supporting pin shaft, the second supporting pin shaft, the third supporting pin shaft, the fourth supporting pin shaft, the first connecting pin shaft and the second connecting pin shaft are parallel to each other, and the axes of the fifth supporting pin shaft, the sixth supporting pin shaft, the seventh supporting pin shaft, the eighth supporting pin shaft, the third connecting pin shaft, the fourth connecting pin shaft and the third rotating shaft are parallel to each other.
Preferably, a vertical distance between the axis of the first support pin shaft and the axis of the fourth support pin shaft is equal to a vertical distance between the axis of the first connection pin shaft and the axis of the second connection pin shaft and a vertical distance between the axis of the second support pin shaft and the axis of the third support pin shaft, a vertical distance between the axis of the first support pin shaft and the axis of the first connection pin shaft is equal to a vertical distance between the axis of the fourth support pin shaft and the axis of the second connection pin shaft, and a vertical distance between the axis of the first connection pin shaft and the axis of the second support pin shaft is equal to a vertical distance between the axis of the second connection pin shaft and the axis of the third support pin shaft.
Preferably, a vertical distance between the axis of the fifth support pin and the axis of the eighth support pin is equal to a vertical distance between the axis of the third connection pin and the axis of the fourth connection pin and a vertical distance between the axis of the sixth support pin and the axis of the seventh support pin, a vertical distance between the axis of the fifth support pin and the axis of the third connection pin is equal to a vertical distance between the axis of the eighth support pin and the axis of the fourth connection pin, and a vertical distance between the axis of the third connection pin and the axis of the sixth support pin is equal to a vertical distance between the axis of the fourth connection pin and the axis of the seventh support pin.
Preferably, a horizontal axis of the first hook joint rotatably connected with the middle of the forearm and a horizontal axis of the second hook joint rotatably connected with the first end of the forearm are parallel to each other, and a vertical axis of the first hook joint rotatably connected with the first upper connecting piece and a vertical axis of the second hook joint rotatably connected with the second upper connecting piece are parallel to each other.
The invention has the characteristics and beneficial effects that:
1. the series-parallel connection six-degree-of-freedom industrial mechanical arm with the two turning waists has the advantages of high rigidity, high precision, strong bearing capacity, flexible movement and large working space;
2. according to the series-parallel connection six-degree-of-freedom industrial mechanical arm with the two turning waists, all kinematic pairs in the mechanical arm are realized by using the revolute pairs, and the structural and technological properties are safe and stable;
3. the series-parallel connection six-degree-of-freedom industrial mechanical arm with the two turning waists can realize three-dimensional movement and three-dimensional rotation in space, has good universality, and can be widely applied to the fields of modern industries such as automobiles, electronics, nuclear industry, aerospace and the like.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of a series-parallel connection six-degree-of-freedom industrial robot arm according to the present invention;
FIG. 2 is a front view of a first large arm component of a series-parallel six-DOF industrial robot arm of the present invention;
FIG. 3 is a rear view of a first large arm component of a series-parallel six-DOF industrial robot arm of the present invention;
FIG. 4 is a front view of a second large arm component of the series-parallel six-DOF industrial robot of the present invention;
FIG. 5 is a schematic view of a gripper assembly of the series-parallel six-DOF industrial robot of the present invention; and
fig. 6 is a schematic three-dimensional structure of example 1 of the series-parallel six-degree-of-freedom industrial robot arm of the present invention.
The main reference numbers:
a base 1; a first waist of gyration 2; a second waist of gyration 3; a first large arm member 4; a first lower connecting member 401; a first rotating shaft 4011; a first intermediate connector 402; a first upper connecting member 403; a first H-shaped connector 404; a second H-shaped connector 405; a third H-shaped connector 406; a fourth H-shaped connector 407; a first support pin shaft 408; a second support pin 409; a third support pin 410; a fourth support pin 411; a first connecting pin 412; a second connecting pin 413; a first large arm drive lever 414; a second large arm member 5; a second lower connector 501; the second rotating shaft 5011; a second intermediate connector 502; a second upper connecting member 503; a fifth H-shaped connector 504; a sixth H-shaped connector 505; a seventh H-shaped connector 506; an eighth H-shaped connector 507; a fifth support pin 508; a sixth support pin 509; a seventh supporting pin 510; an eighth support pin 511; a third connecting pin 512; a fourth connecting pin 513; a second large arm drive rod 514; a drive shaft 515; a third rotating shaft 516; a small arm 6; a first swing drive lever 7; a second swing drive lever 8; a gripper member 9; a motor 901; a gripper rotation shaft 902; a gripper 903; a first hook joint 10; a second hook joint 11; a first drive pin 12; a second drive pin 13; a cylindrical workpiece 14.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a serial-parallel connection six-degree-of-freedom industrial mechanical arm with two turning waists, as shown in figure 1, comprising a base 1, a first turning waist 2, a second turning waist 3, a first big arm component 4, a second big arm component 5, a small arm 6, a first turning driving rod 7, a second turning driving rod 8, a paw component 9, a first hooke hinge 10, a second hooke hinge 11, a first driving pin shaft 12, a second driving pin shaft 13, a first turning shaft 4011 and a second turning shaft 5011, wherein the first ends of the first turning waist 2 and the second turning waist 3 are respectively arranged at the first end and the second end of the upper surface of the base 1 and are rotationally connected with the upper surface of the base 1, the second end of the first turning waist 2 is fixedly connected with a first lower connecting piece 401 of the first big arm component 4, and the first upper connecting piece 403 of the first big arm component 4 is connected with the middle part of the small arm 6 through the first hooke hinge 10, the second end of the second rotary waist 3 is fixedly connected with the second lower connecting piece 501 of the second big arm component 5, the second upper connecting piece 503 of the second big arm component 5 is connected with the first end of the small arm 6 through the second hooke hinge 11, the first end of the first rotary driving rod 7 is rotatably connected with the first side of the first lower connecting piece 401 through the first rotating shaft 4011, the second end of the first rotary driving rod is rotatably connected with the first driving pin 12 arranged at the middle position of the third end of the base 1, the first end of the second rotary driving rod 8 is rotatably connected with the first side of the second lower connecting piece 501 through the second rotating shaft 5011, the second end of the second rotary driving rod is rotatably connected with the second driving pin 13 arranged at the middle position of the fourth end of the base 1, the gripper component 9 is arranged at the second end of the small arm 6, and the rotating axes of the first rotary waist 2 and the second rotary waist 3 are parallel to each other.
As shown in fig. 2 and 3, the first big arm part 4 includes a first lower connecting member 401, a first intermediate connecting member 402, a first upper connecting member 403, a first H-shaped connecting member 404, a second H-shaped connecting member 405, a third H-shaped connecting member 406, a fourth H-shaped connecting member 407, a first supporting pin 408, a second supporting pin 409, a third supporting pin 410, a fourth supporting pin 411, a first connecting pin 412, a second connecting pin 413, and a first big arm driving lever 414, a first end of the first H-shaped connecting member 404 is rotatably connected to a first end of the first lower connecting member 401 through the first supporting pin 408, a second end of the first H-shaped connecting member 404 is rotatably connected to a first end of the second H-shaped connecting member 405 through the first connecting pin 412, a second end of the second H-shaped connecting member 405 is rotatably connected to a first end of the first upper connecting member 403 through the second supporting pin 403, and a second end of the first upper connecting member 403 is rotatably connected to a first end of the third H-shaped connecting member 403 through the third supporting pin 410 Then, the second end of the third H-shaped connecting element 406 is rotatably connected to the first end of the fourth H-shaped connecting element 407 via a second connecting pin 413, the second end of the fourth H-shaped connecting element 407 is rotatably connected to the second end of the first lower connecting element 401 via a fourth supporting pin 411, the first end of the first middle connecting element 402 is fixedly connected to the first connecting pin 412, the second end of the first middle connecting element is fixedly connected to the second connecting pin 413, the first end of the first large arm driving lever 414 is rotatably connected to the middle of the fourth supporting pin 411, and the second end of the first middle connecting element is rotatably connected to the middle of the first connecting pin 412.
Specifically, the axes of the first support pin 408, the second support pin 409, the third support pin 410, the fourth support pin 411, the first connection pin 412 and the second connection pin 413 are parallel to each other, the vertical distance between the axis of the first support pin 408 and the axis of the fourth support pin 411 is equal to the vertical distance between the axis of the first connection pin 412 and the axis of the second connection pin 413 and the vertical distance between the axis of the second support pin 409 and the axis of the third support pin 410, the vertical distance between the axis of the first support pin 408 and the axis of the first connection pin 412 is equal to the vertical distance between the axis of the fourth support pin 411 and the axis of the second connection pin 413, and the vertical distance between the axis of the first connection pin 412 and the axis of the second support pin 409 is equal to the vertical distance between the axis of the second connection pin 413 and the axis of the third support pin 410.
As shown in fig. 4, the second big arm part 5 includes a second lower connecting member 501, a second intermediate connecting member 502, a second upper connecting member 503, a fifth H-shaped connecting member 504, a sixth H-shaped connecting member 505, a seventh H-shaped connecting member 506, an eighth H-shaped connecting member 507, a fifth support pin 508, a sixth support pin 509, a seventh support pin 510, an eighth support pin 511, a third connection pin 512, a fourth connection pin 513, a second big arm driving lever 514, a driving lever 515 and a third rotating shaft 516, a first end of the fifth H-shaped connecting member 504 is rotatably connected to a first end of the second lower connecting member 501 by the fifth support pin 508, a second end of the fifth H-shaped connecting member 504 is rotatably connected to a first end of the sixth H-shaped connecting member 505 by the third connection pin 512, a second end of the sixth H-shaped connecting member 505 is rotatably connected to a first end of the second upper connecting member 503 by the sixth support pin 509, and the second end of the second upper connecting member 503 is rotatably connected to the first end of the seventh H-shaped connecting member 506 by a seventh supporting pin 510, the second end of the seventh H-shaped connecting member 506 is rotatably connected to the first end of the eighth H-shaped connecting member 507 by a fourth connecting pin 513, and the second end of the eighth H-shaped connecting piece 507 is rotatably connected with the second end of the second lower connecting piece 501 by an eighth supporting pin 511, the first end of the second middle connecting piece 502 is fixedly connected with a third connecting pin 512, and the second end thereof is fixedly connected with a fourth connecting pin 513, the first end of the second large arm driving lever 514 is rotatably connected with the middle part of the eighth supporting pin 511, and the second end thereof is rotatably connected to the middle of the third connecting pin 512, the first end of the driving lever 515 is rotatably connected to the middle of the fifth supporting pin 508, and a second end thereof is rotatably connected to a third rotating shaft 516 provided at a middle position of the sixth H-shaped connecting member 505.
Specifically, the axes of the fifth support pin 508, the sixth support pin 509, the seventh support pin 510, the eighth support pin 511, the third connection pin 512, the fourth connection pin 513 and the third rotation shaft 516 are parallel to each other, the vertical distance between the axis of the fifth support pin 508 and the axis of the eighth support pin 511 is equal to the vertical distance between the axis of the third connection pin 512 and the axis of the fourth connection pin 513 and the vertical distance between the axis of the sixth support pin 509 and the axis of the seventh support pin 510, the vertical distance between the axis of the fifth support pin 508 and the axis of the third connection pin 512 is equal to the vertical distance between the axis of the eighth support pin 511 and the axis of the fourth connection pin 513, the vertical distance between the axis of the third connecting pin 512 and the axis of the sixth support pin 509 is equal to the vertical distance between the axis of the fourth connecting pin 513 and the axis of the seventh support pin 510.
As shown in fig. 5, the gripper unit 9 includes a gripper 903, a gripper rotating shaft 902, and a motor 901, wherein a first end of the gripper 903 is fixedly connected to a first end of the gripper rotating shaft 902, and the gripper rotating shaft 902 is connected to an output shaft of the motor 901 through a coupling.
As shown in fig. 6, the cylindrical workpiece 14 is held at the second end of the gripper 903, and three-dimensional movement and three-dimensional rotation of the cylindrical workpiece 14 in space can be achieved.
The method comprises the following specific operation steps:
as shown in fig. 1 to 6, the series-parallel hybrid six-degree-of-freedom industrial robot arm with two turning waists of the present invention includes a base 1, a first turning waist 2, a second turning waist 3, a first big arm part 4, a second big arm part 5, a small arm 6, a first turning drive rod 7, a second turning drive rod 8, a gripper part 9, a first hooke hinge 10, a second hooke hinge 11, a first drive pin 12, a second drive pin 13, a first rotation axis 4011 and a second rotation axis 5011, and drives the first turning drive rod 7 and the second turning drive rod 8 to rotate the first turning waist and the second turning waist around their rotation axes, so as to implement one-dimensional rotation and one-dimensional movement of a cylindrical workpiece 14.
The first big arm part 4 includes a first lower connecting member 401, a first middle connecting member 402, a first upper connecting member 403, a first H-shaped connecting member 404, a second H-shaped connecting member 405, a third H-shaped connecting member 406, a fourth H-shaped connecting member 407, a first supporting pin 408, a second supporting pin 409, a third supporting pin 410, a fourth supporting pin 411, a first connecting pin 412, a second connecting pin 413, and a first big arm driving lever 414, a first end of the first big arm driving lever 414 is rotatably connected to a middle portion of the fourth supporting pin 411, and a second end thereof is rotatably connected to a middle portion of the first connecting pin 412.
The second large arm part 5 includes a second lower link 501, a second intermediate link 502, a second upper link 503, a fifth H-shaped link 504, a sixth H-shaped link 505, a seventh H-shaped link 506, an eighth H-shaped link 507, a fifth support pin 508, a sixth support pin 509, a seventh support pin 510, an eighth support pin 511, a third connection pin 512, a fourth connection pin 513, a second large arm driving lever 514, a driving lever 515, and a third rotation shaft 516, a first end of the second large arm driving lever 514 is rotatably connected to a middle portion of the eighth support pin 511, a second end thereof is rotatably connected to a middle portion of the third connection pin 512, a first end of the driving lever 515 is rotatably connected to a middle portion of the fifth support pin 508, a second end thereof is rotatably connected to a third rotation shaft 516 provided at a middle position of the sixth H-shaped link 505, and heights of the first large arm 4 and the second large arm part 5 can be adjusted by driving the first large arm driving lever 414 and the second large arm driving lever 514 And thus two-dimensional movement of cylindrical workpiece 14, the height of second large arm portion 5 can be adjusted by drive rod 515, and thus one-dimensional rotation of cylindrical workpiece 14 can be achieved.
The gripper component 9 comprises a gripper 903, a gripper rotating shaft 902 and a motor 901, and the gripper rotating shaft 902 is driven to rotate along the axis thereof by the driving motor 901, so that one-dimensional rotation of the cylindrical workpiece 14 is realized.
The invention provides a series-parallel connection six-degree-of-freedom industrial mechanical arm with two turning waists, wherein a first turning waist 2 and a second turning waist 3 are arranged at a first end and a second end of the upper surface of a base 1 in parallel and are rotationally connected with the upper surface of the base 1, meanwhile, the second ends of the first turning waist 2 and the second turning waist 3 are respectively and fixedly connected with the first lower connecting piece 401 of the first big arm component 4 and the second lower connecting piece 501 of the second big arm component 5, through the coordinated driving of the first rotary driving rod 7, the second rotary driving rod 8, the first big arm driving rod 414, the second big arm driving rod 514, the driving rod 515 and the motor 901 to the industrial robot arm, the three-dimensional movement and the three-dimensional rotation of the workpiece in the space can be realized, meanwhile, all kinematic pairs in the series-parallel connection six-degree-of-freedom mechanical arm are realized by utilizing the revolute pairs, and the mechanical arm is safe and stable in structural and technological performance and good in universality.
Meanwhile, the defects of small bearing capacity and low precision of the serial six-freedom-degree industrial mechanical arm in the prior art are overcome, the advantages of the parallel industrial mechanical arm are considered, and through the design of the serial-parallel serial six-freedom-degree industrial mechanical arm, the serial-parallel serial six-freedom-degree industrial mechanical arm has the advantages of simple structure, high precision, strong bearing capacity, large working space, good process performance and the like, and can be widely applied to the modern industrial fields of automobiles, electronics, nuclear industry, aerospace and the like.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the invention, it should be understood that various modifications and adaptations can be made by those skilled in the art without departing from the principles of the present application and should be considered as within the scope of the present application.
Claims (7)
1. A series-parallel connection six-degree-of-freedom industrial mechanical arm with two rotary waists is characterized by comprising a base, a first rotary waist, a second rotary waist, a first large arm component, a second large arm component, a small arm, a first rotary driving rod, a second rotary driving rod, a paw component, a first hook hinge, a second hook hinge, a first driving pin shaft, a second driving pin shaft, a first rotating shaft and a second rotating shaft,
the first ends of the first rotary waist and the second rotary waist are respectively arranged at the first end and the second end of the upper surface of the base and are rotatably connected with the upper surface of the base, the second end of the first rotary waist is fixedly connected with the first lower connecting piece of the first big arm component, the first upper connecting piece of the first big arm component is connected with the middle part of the small arm through the first Hooke hinge, the second end of the second rotary waist is fixedly connected with the second lower connecting piece of the second big arm component, the second upper connecting piece of the second big arm component is connected with the first end driving rod of the small arm through the second Hooke hinge, the first end of the first rotary waist is rotatably connected with the first side surface of the first lower connecting piece through the first rotary shaft, and the second end of the first rotary waist is rotatably connected with the first driving pin shaft arranged at the middle position of the third end of the base, the first end of the second rotary driving rod is rotatably connected with the first side surface of the second lower connecting piece through the second rotating shaft, the second end of the second rotary driving rod is rotatably connected with a second driving pin shaft arranged at the middle position of the fourth end of the base, and the paw part is arranged at the second end of the small arm;
the first big arm component comprises a first lower connecting piece, a first middle connecting piece, a first upper connecting piece, a first H-shaped connecting piece, a second H-shaped connecting piece, a third H-shaped connecting piece, a fourth H-shaped connecting piece, a first supporting pin shaft, a second supporting pin shaft, a third supporting pin shaft, a fourth supporting pin shaft, a first connecting pin shaft, a second connecting pin shaft and a first big arm driving rod, wherein the first end of the first H-shaped connecting piece is rotatably connected with the first end of the first lower connecting piece through the first supporting pin shaft, the second end of the first H-shaped connecting piece is rotatably connected with the first end of the second H-shaped connecting piece through the first connecting pin shaft, the second end of the second H-shaped connecting piece is rotatably connected with the first end of the first upper connecting piece through the second supporting pin shaft, and the second end of the first upper connecting piece is rotatably connected with the first end of the third H-shaped connecting piece through the third supporting pin shaft, the second end of the third H-shaped connecting piece is rotatably connected with the first end of the fourth H-shaped connecting piece through the second connecting pin shaft, the second end of the fourth H-shaped connecting piece is rotatably connected with the second end of the first lower connecting piece through the fourth supporting pin shaft, the first end of the first middle connecting piece is fixedly connected with the first connecting pin shaft, the second end of the first middle connecting piece is fixedly connected with the second connecting pin shaft, the first end of the first large arm driving rod is rotatably connected with the middle part of the fourth supporting pin shaft, and the second end of the first large arm driving rod is rotatably connected with the middle part of the first connecting pin shaft;
the second big arm part comprises a second lower connecting piece, a second middle connecting piece, a second upper connecting piece, a fifth H-shaped connecting piece, a sixth H-shaped connecting piece, a seventh H-shaped connecting piece, an eighth H-shaped connecting piece, a fifth supporting pin shaft, a sixth supporting pin shaft, a seventh supporting pin shaft, an eighth supporting pin shaft, a third connecting pin shaft, a fourth connecting pin shaft, a second big arm driving rod, a driving rod and a third rotating shaft, wherein the first end of the fifth H-shaped connecting piece is rotatably connected with the first end of the second lower connecting piece through the fifth supporting pin shaft, the second end of the fifth H-shaped connecting piece is rotatably connected with the first end of the sixth H-shaped connecting piece through the third connecting pin shaft, the second end of the sixth H-shaped connecting piece is rotatably connected with the first end of the second upper connecting piece through the sixth supporting pin shaft, and the second end of the second upper connecting piece is rotatably connected with the first end of the seventh H-shaped connecting piece through the seventh supporting pin shaft And the second end of the seventh H-shaped connecting piece is connected with the first end of the eighth H-shaped connecting piece in a rotating manner, the second end of the eighth H-shaped connecting piece is connected with the second end of the second lower connecting piece in a rotating manner, the first end of the second middle connecting piece is fixedly connected with the third connecting pin shaft, the second end of the second middle connecting piece is fixedly connected with the fourth connecting pin shaft, the first end of the second large-arm driving rod is connected with the middle of the eighth supporting pin shaft in a rotating manner, the second end of the second middle connecting piece is connected with the middle of the third connecting pin shaft in a rotating manner, the first end of the driving rod is connected with the middle of the fifth supporting pin shaft in a rotating manner, and the second end of the driving rod is connected with the third rotating shaft arranged at the middle position of the sixth H-shaped connecting piece in a rotating manner.
2. The series-parallel connection six-degree-of-freedom industrial mechanical arm with the two turning waists is characterized in that the paw component comprises a paw, a paw rotating shaft and a motor, the first end of the paw is fixedly connected with the first end of the paw rotating shaft, and the paw rotating shaft is connected with an output shaft of the motor through a coupler.
3. The series-parallel six-degree-of-freedom industrial robot arm with two turning waists according to claim 1, wherein the rotation axes of the first turning waist and the second turning waist are parallel to each other.
4. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the axes of the first support pin, the second support pin, the third support pin, the fourth support pin, the first connecting pin and the second connecting pin are parallel to each other, and the axes of the fifth support pin, the sixth support pin, the seventh support pin, the eighth support pin, the third connecting pin, the fourth connecting pin and the third rotating shaft are parallel to each other.
5. The series-parallel six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the vertical distance between the axis of the first support pin shaft and the axis of the fourth support pin shaft is equal to both the vertical distance between the axis of the first connection pin shaft and the axis of the second connection pin shaft and the vertical distance between the axis of the second support pin shaft and the axis of the third support pin shaft, the vertical distance between the axis of the first support pin shaft and the axis of the first connection pin shaft is equal to the vertical distance between the axis of the fourth support pin shaft and the axis of the second connection pin shaft, and the vertical distance between the axis of the first connection pin shaft and the axis of the second support pin shaft is equal to the vertical distance between the axis of the second connection pin shaft and the axis of the third support pin shaft.
6. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the vertical distance between the axis of the fifth support pin shaft and the axis of the eighth support pin shaft is equal to both the vertical distance between the axis of the third connection pin shaft and the axis of the fourth connection pin shaft and the vertical distance between the axis of the sixth support pin shaft and the axis of the seventh support pin shaft, the vertical distance between the axis of the fifth support pin shaft and the axis of the third connection pin shaft is equal to the vertical distance between the axis of the eighth support pin shaft and the axis of the fourth connection pin shaft, and the vertical distance between the axis of the third connection pin shaft and the axis of the sixth support pin shaft is equal to the vertical distance between the axis of the fourth connection pin shaft and the axis of the seventh support pin shaft.
7. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein a horizontal axis of the first hook joint rotatably connected with the middle of the forearm and a horizontal axis of the second hook joint rotatably connected with the first end of the forearm are parallel to each other, and a vertical axis of the first hook joint rotatably connected with the first upper connecting member and a vertical axis of the second hook joint rotatably connected with the second upper connecting member are parallel to each other.
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| CN110682272A (en) * | 2019-09-30 | 2020-01-14 | 东北大学 | Four-degree-of-freedom double-parallel serial-parallel hybrid manipulator |
| CN110695965A (en) * | 2019-09-30 | 2020-01-17 | 东北大学 | Three-dimensional space translational series-parallel hybrid manipulator |
| CN114274123B (en) * | 2022-01-13 | 2024-02-09 | 燕山大学 | Four-degree-of-freedom parallel platform with three-dimensional movement and one-dimensional rotation |
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