CN110091313A - A kind of gear shifting manipulator based on parallel manipulator - Google Patents
A kind of gear shifting manipulator based on parallel manipulator Download PDFInfo
- Publication number
- CN110091313A CN110091313A CN201910339350.3A CN201910339350A CN110091313A CN 110091313 A CN110091313 A CN 110091313A CN 201910339350 A CN201910339350 A CN 201910339350A CN 110091313 A CN110091313 A CN 110091313A
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- CN
- China
- Prior art keywords
- stock
- connecting rod
- joint arm
- manipulator
- shape joint
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- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
Abstract
The present invention provides a kind of gear shifting manipulators based on parallel manipulator, including pedestal, two linear drive apparatus, two groups of linkage rod slide block mechanisms, parallel manipulator, handles；Two linear drive apparatus are parallel to be set on pedestal；Each linkage rod slide block mechanism includes connecting rod and sliding block, and sliding block is rotatablely connected with the output shaft of corresponding linear drive apparatus, and connecting rod one end and sliding block rotation connection and the other end and pedestal are rotatablely connected；Parallel manipulator includes two connected parallelogram linkages, and each parallelogram linkage connecting rod other end corresponding with linkage rod slide block mechanism is fixedly connected；Handle is fixedly connected with parallel manipulator end.
Description
Technical field
The present invention relates to a kind of servomechanism, especially a kind of gear shifting manipulator based on parallel manipulator.
Background technique
Gear shifting manipulator can manipulate replacing vehicle bar, realize the gear shift operation of vehicle, can be used as drive robot
A part is applied in automatic Pilot, can also be applied to alone gear shift operation and be tested.
Chinese patent 200420027440.8 discloses a kind of seven link lever bifreedom closed chain gear shift mechanical hand, mainly holds
Behavior plane-parallel type seven-bar mechanism may be implemented to put into gear mechanically decoupled with block selecting, the disadvantage is that structure is complicated, and decouple precision
By the stringent limitation of rod size, and due to being there is control delay using pneumatic control.Chinese patent
201110264354.3 disclosing a kind of gear shift manipulator used in automobile test, executing agency is serial mechanism, is revolved by servo
Rotating motor and retarder individually control the movement of gear selecting and direction of putting into gear, it can be achieved that block selecting acts the decoupling with movement of putting into gear
Control, advantage are that control is simple, the disadvantage is that structure is complicated, there are error accumulations.Chinese patent 201610171902.0 discloses
A kind of drive robot gear shifting manipulator based on two degrees of freedom electromagnetic actuator, using plane-parallel type seven-bar mechanism conduct
Executing agency, structure is complicated, and component is more, and control is complicated.
Summary of the invention
The purpose of the present invention is to provide a kind of gear shifting manipulators based on parallel manipulator, carry out vehicle instead of the mankind
Accurate crash change of speed operation.
Realize the technical solution of the object of the invention are as follows: a kind of gear shifting manipulator based on parallel manipulator, including pedestal,
Two linear drive apparatus, two groups of linkage rod slide block mechanisms, parallel manipulator, handles；Two linear drive apparatus are parallel to be set
It is placed on pedestal；Each linkage rod slide block mechanism includes connecting rod and sliding block, and sliding block turns with the output shaft of corresponding linear drive apparatus
Dynamic connection, connecting rod one end and sliding block are rotatablely connected and the other end and pedestal are rotatablely connected；Parallel manipulator includes two and is connected
Parallelogram linkage, each parallelogram linkage connecting rod other end corresponding with linkage rod slide block mechanism fixes
Connection；Handle is fixedly connected with parallel manipulator end.
Compared with prior art, the present invention having the advantage that by using parallel manipulator, machine is can be improved in (1)
The rigidity of structure of structure, lifting motion and control precision；(2) rotation is realized using linear drive apparatus and slider-crank mechanism combination
Output driving does not need retarder, compared with rotating electric machine driving, saves cost
The invention will be further described with reference to the accompanying drawings of the specification.
Detailed description of the invention
Fig. 1 is overall structure of the present invention.
Fig. 2 is top view of the invention.
Fig. 3 is slider-crank mechanism schematic diagram of the invention.
Fig. 4 is parallel manipulator schematic diagram of the invention.
Fig. 5 is movement mechanism schematic diagram of the invention.
Specific embodiment
In conjunction with Fig. 1 to Fig. 5, a kind of gear shifting manipulator based on parallel manipulator, including 1, two linear drives of pedestal
Device 2, two groups of linkage rod slide block mechanisms 3, parallel manipulator 4, handles 5；Two linear drive apparatus 2 it is parallel be set to pedestal
On 1；Each linkage rod slide block mechanism 3 includes connecting rod and sliding block, and sliding block is rotated with the output shaft of corresponding linear drive apparatus 2 to be connected
It connects, connecting rod one end turns to be fixedly connected with sliding block and the other end and pedestal are rotatablely connected；Parallel manipulator 4 includes two connected
Parallelogram linkage, each parallelogram linkage connecting rod other end corresponding with linkage rod slide block mechanism 3 are fixed
Connection；Handle is fixedly connected with 4 end of parallel manipulator.
In conjunction with Fig. 3, one group of connecting rod of linkage rod slide block mechanism 3 includes first connecting rod and second connecting rod, first connecting rod end with
The fixation with through-hole is arranged in sliding block rotation connection, first connecting rod front end and the rotation connection of second connecting rod end, second connecting rod front end
End, through-hole and pedestal are rotatablely connected by shaft, fix parallel manipulator in fixing end.
In conjunction with Fig. 4, parallel manipulator 4 includes the first drive chain 4-1, the second drive chain 4-6, the first driven chain 4-3, the
Two driven chain 4-5, the first L shape joint arm 4-2, the 2nd L shape joint arm 4-4, the first drive chain 4-1 include the first stock 4-11,
Second stock 4-12, the first driven chain 4-3 includes third stock 4-31, the 4th stock 4-32；First end stock 4-11 and the
The connecting rod other end of one linkage rod slide block mechanism is fixedly connected, the first front end stock 4-11 and the first L shape joint arm 4-2 center rotating
Connection, the second end stock 4-12 and pedestal 1 are rotatablely connected, the second front end stock 4-12 and the first L shape joint arm 4-2 first
Arm rotation connection, third stock 4-31 right end and the first L shape joint arm 4-2 second support arm are rotatablely connected, and third stock 4-31 is left
End is rotatablely connected with the 2nd L shape joint arm 4-4 first support arm, and the 4th stock 4-32 right end and the first L shape center joint arm 4-2 turn
Dynamic connection, the 4th left end stock 4-32 are connect with the 2nd L shape joint arm 4-4 center rotating, the second front end driven chain 4-5 and second
The connection of L shape joint arm 4-4 center rotating, the second end driven chain 4-5 and the second left end drive chain 4-6 are rotatablely connected, and second is main
Dynamic chain 4-6 right end is fixedly connected with the connecting rod other end of second connecting rod slide block mechanism, handle and the 2nd L shape joint arm 4-4 second
Support arm is fixedly connected.
Wherein the first stock 4-11, the second stock 4-12 and the first L shape joint arm 4-2 and pedestal 1 constitute parallelogram
Structure, third stock 4-31, the 4th stock 4-32 and the first L shape joint arm 4-2 and the 2nd L shape joint arm 4-4 composition parallel four
Side structure.
In conjunction with Fig. 5, when being shifted gears, linear drive apparatus 2 drives slider-crank mechanism movement, and then drive and connecting rod
The active articulation of the affixed parallel manipulator 4 of the connecting-rod head of slide block mechanism 3, provides output torque, and then lead to parallel connection
I.e. the 2nd L shape joint arm 4-4 in the end of executing agency 4 movement, and then hand lever 5 is driven to move.Due to the 2nd L shape joint arm 4-4
It to be translatable, therefore can guarantee that hand lever 5 keeps translation when manipulating shift handle, avoid generating twist operation to shift handle.
By controlling the output of two linear drive apparatus 2, it can guarantee that there are two translate certainly for gear shifting manipulator end tool
By spending, the gear selecting of gear shifting manipulator is completed and operation of putting into gear.
Claims (3)
1. a kind of gear shifting manipulator based on parallel manipulator, which is characterized in that including pedestal (1), two linear drives dresses
Set (2), two groups of linkage rod slide block mechanisms (3), parallel manipulator (4), handle (5)；Wherein
Two linear drive apparatus (2) are parallel to be set on pedestal (1)；
Each linkage rod slide block mechanism (3) includes one group of connecting rod and sliding block,
The output axis connection of sliding block and corresponding linear drive apparatus (2),
Connecting rod one end and sliding block are rotatablely connected and the other end and pedestal are rotatablely connected；
Parallel manipulator (4) includes two connected parallelogram linkages,
Each parallelogram linkage connecting rod other end corresponding with linkage rod slide block mechanism (3) is fixedly connected；
Handle is fixedly connected with parallel manipulator (4) end.
2. gear shifting manipulator according to claim 1, which is characterized in that parallel manipulator (4) includes the first drive chain
(4-1), the second drive chain (4-6), the first driven chain (4-3), the second driven chain (4-5), the first L shape joint arm (4-2), second
L shape joint arm (4-4), the first drive chain (4-1) include the first stock (4-11), the second stock (4-12), the first driven chain (4-
It 3) include third stock (4-31), the 4th stock (4-32)；
The first stock end (4-11) is fixedly connected with the connecting rod other end of first connecting rod slide block mechanism,
The first stock front end (4-11) is connect with the first L shape joint arm (4-2) center rotating,
The second stock end (4-12) and pedestal (1) are rotatablely connected,
The second stock front end (4-12) and the first L shape joint arm (4-2) first support arm are rotatablely connected,
Third stock (4-31) right end and the first L shape joint arm (4-2) second support arm are rotatablely connected,
The third stock left end (4-31) and the 2nd L shape joint arm (4-4) first support arm are rotatablely connected,
4th stock (4-32) right end is connect with the first L shape joint arm (4-2) center rotating,
The 4th stock left end (4-32) is connect with the 2nd L shape joint arm (4-4) center rotating,
The second driven chain front end (4-5) is connect with the 2nd L shape joint arm (4-4) center rotating,
The second driven chain end (4-5) and the second drive chain left end (4-6) are rotatablely connected,
Second drive chain (4-6) right end is fixedly connected with the connecting rod other end of second connecting rod slide block mechanism,
Handle is fixedly connected with the 2nd L shape joint arm (4-4) second support arm.
3. gear shifting manipulator according to claim 2, which is characterized in that the first stock (4-11), the second stock (4-12)
Isometric, third stock (4-31), the 4th stock (4-32) are isometric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910339350.3A CN110091313B (en) | 2019-04-25 | 2019-04-25 | Gear shifting manipulator based on parallel execution mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910339350.3A CN110091313B (en) | 2019-04-25 | 2019-04-25 | Gear shifting manipulator based on parallel execution mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN110091313A true CN110091313A (en) | 2019-08-06 |
| CN110091313B CN110091313B (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910339350.3A Active CN110091313B (en) | 2019-04-25 | 2019-04-25 | Gear shifting manipulator based on parallel execution mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
| CN103631144A (en) * | 2013-08-19 | 2014-03-12 | 南京理工大学 | Electromagnetically-driven vehicle driving robot |
| CN104690724A (en) * | 2015-03-23 | 2015-06-10 | 安徽工业大学 | Three-freedom-degree carrying robot |
| CN104708619A (en) * | 2015-03-23 | 2015-06-17 | 安徽工业大学 | Three-degree-of-freedom transfer robot with movable support |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN206093398U (en) * | 2016-09-22 | 2017-04-12 | 李海活 | Tripod head structure based on double -parallel quadrilateral connecting rod mechanism |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
-
2019
- 2019-04-25 CN CN201910339350.3A patent/CN110091313B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
| CN103631144A (en) * | 2013-08-19 | 2014-03-12 | 南京理工大学 | Electromagnetically-driven vehicle driving robot |
| CN104690724A (en) * | 2015-03-23 | 2015-06-10 | 安徽工业大学 | Three-freedom-degree carrying robot |
| CN104708619A (en) * | 2015-03-23 | 2015-06-17 | 安徽工业大学 | Three-degree-of-freedom transfer robot with movable support |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN206093398U (en) * | 2016-09-22 | 2017-04-12 | 李海活 | Tripod head structure based on double -parallel quadrilateral connecting rod mechanism |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
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| CN110091313B (en) | 2022-02-18 |
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