CN110450147A - A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm - Google Patents
A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm Download PDFInfo
- Publication number
- CN110450147A CN110450147A CN201910765710.6A CN201910765710A CN110450147A CN 110450147 A CN110450147 A CN 110450147A CN 201910765710 A CN201910765710 A CN 201910765710A CN 110450147 A CN110450147 A CN 110450147A
- Authority
- CN
- China
- Prior art keywords
- waist
- electric cylinder
- large arm
- joint
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 10
- 210000003857 wrist joint Anatomy 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035935 pregnancy Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rear-mounted crank slide bar mechanical arms of spring balance center of gravity, it including pedestal, the waist that is installed on the base top, is installed on the large arm on the waist top and is installed on the forearm of described large arm one end, pass through two springs connections between the large arm and the waist.The design structural module, by outputs such as motor, electric cylinders as driving force, workmanship is fast and is easy to accurate operation, it is mounted with that thrust bearing, deep groove ball bearing and external bearing block effectively prevent axial direction and radial-play in joint, and alleviate frictional dissipation, and the design of spring balance formula effectively reduces power of motor consumption, therefore the robot arm integrally consumes energy lower, the flexible connector can effectively buffer driving force simultaneously, it allows stress equalization between joint, realizes that efficient fine grabs operation.The invention also discloses a kind of motor rotational angle algorithms of the rear-mounted crank slide bar mechanical arm of spring balance center of gravity.
Description
Technical field
The present invention relates to electric cylinders to drive joint of mechanical arm field, in particular to a kind of rear-mounted crank of spring balance center of gravity
Slide bar mechanical arm and its motor rotational angle algorithm.
Background technique
Mechanical arm refer to high-precision, multiple-input and multiple-output, nonlinearity, close coupling complication system.Because its is unique
Operating flexibility, in industry assembling, the fields such as safety anti-explosive are used widely, and mechanical arm is a complication system, are existed
The uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Thus there is also uncertain for the modeler model of mechanical arm
Property, it for different tasks, needs to plan the motion profile in joint of mechanical arm space, constitutes end pose to cascade, it is mechanical
Arm plays an important role in the industrial production.
Tradition machinery arm is the form of motor acceleration and deceleration device using most driving methods, and the mechanical arm arm of this form
Exhibition and the weight ratio very little of itself, whole mechanical arm weight and volume increases after causing arm exhibition to lengthen, and load capacity also increases, In
It is mismatched very much under some underloads, the operating condition of long-armed exhibition.
The present invention to solve the above-mentioned problems, in order to stablize under complex working conditions environment, efficiently in heavy load, long-armed exhibition etc.
A kind of job design spring balance center of gravity rear-mounted crank slide bar mechanical arm.
Summary of the invention
The purpose of the present invention is to provide a kind of rear-mounted crank slide bar mechanical arms of spring balance center of gravity, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the invention provides the following technical scheme: a kind of rear-mounted crank slide bar of spring balance center of gravity
Mechanical arm including pedestal, the waist that is installed on the base top, is installed on the large arm on the waist top and is installed on described
The forearm of large arm one end passes through two spring connections, the top slide of the pedestal between the large arm and the waist
It is connected with connector, is slidably connected between the pedestal and waist by connector, the side of the waist is equipped with the first electricity
Dynamic cylinder, is rotatablely connected between first electric cylinder and the waist by bearing, and the outer sheath of the bearing is equipped with axle sleeve, institute
It states and snap ring is installed on axle sleeve, the both ends of the spring are respectively fixedly connected in the large arm and the connector, the waist
Top and the large arm between be rotatablely connected by the first deep groove ball bearing, be equipped with outside first on the outside of the waist top
Formula bearing block is set, there are two thrust bearings for the inside installation on the waist top, and there are two first for the inside installation of the large arm
Horizontal optical axis support.
As a preferred technical solution of the present invention, the second external bearing block is arranged in the outside of the large arm bottom end,
The 4th deep groove ball bearing is provided on the inside of the large arm bottom end, the 4th deep groove ball bearing is equipped with the second electric cylinder, institute
It states and is rotatablely connected between the telescopic end of the second electric cylinder and the forearm by flake bearing, the inside installation of described forearm one end
Two the second horizontal optical axis supports.
As a preferred technical solution of the present invention, pass through third zanjon between the top of the large arm and the forearm
Ball bearing rotation connection, there are two third external bearing block, the inside of the forearm is pacified for the outside installation on the large arm top
Dress is equipped with thrust bearing on the outside of the forearm there are two third horizontal optical axis support.
As a preferred technical solution of the present invention, the bottom end of the telescopic end of first electric cylinder and the large arm it
Between by the second deep groove ball bearing be rotatablely connected.
As a preferred technical solution of the present invention, the waist is closure square tube tubing, and the two sides of the waist are set
It is equipped with side plate, is fixedly connected between two side plates by connecting optical axis.
As a preferred technical solution of the present invention, the side of the pedestal is provided with tank chain, the tank chain
One end is fixedly connected with first electric cylinder, and the inside of the tank chain is installed with electric wire, and first electric cylinder passes through described
Electric wire and external power supply are electrically connected.
As a preferred technical solution of the present invention, the end wrist joint of the forearm is provided with for connecting clamping
The wrist joint motor cabinet of equipment is bolted to connection between the wrist joint motor cabinet and the large arm.
As a kind of this motor rotational angle algorithm of the rear-mounted crank slide bar mechanical arm of spring balance center of gravity, motor rotation
The algorithm of corresponding relationship is as follows between angle and the rotational angle of joint of robot: step 1: whole mechanism kinematic is integrated in
In one triangle；
Step 2: the connection between the length of electric cylinder and the joint angles of mechanical arm is acquired by the cosine law；
Step 3；The relationship between the speed of electric cylinder push rod and joint angular speed is acquired by differential；
Step 4；With the relationship of the speed at the supplementary angle of practical joint angle and electronic cylinder rod overall length, to derive that electric cylinder pushes away
Relationship between bar speed and practical joint angular speed；
Step 5；Finally by the initial length and lead of electric cylinder, the circle number that can be rotated in the hope of electric cylinder motor.
Compared with prior art, the beneficial effects of the present invention are: a kind of rear-mounted slide crank of spring balance center of gravity of the present invention
Bar mechanical arm, the design structural module, by outputs such as motor, electric cylinders as driving force, workmanship is fast and is easy to accurate operation,
It is mounted with that thrust bearing, deep groove ball bearing and external bearing block effectively prevent axial direction and radial-play in joint, and
Frictional dissipation is alleviated, and the design of spring balance formula effectively reduces power of motor consumption, therefore the robot arm is whole
It consumes energy lower, while the flexible connector can effectively buffer driving force, allow stress equalization between joint, realize that efficient fine is grabbed
It is taken as industry.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of waist in the present invention；
Fig. 3 is the structural schematic diagram of large arm in the present invention；
Fig. 4 is the structural schematic diagram of forearm in the present invention；
Fig. 5 is the structural schematic diagram on waist top in the present invention；
Fig. 6 is computation mechanical arm Structure Figure in the present invention.
In figure: 1, pedestal；2, connector；3, waist；4, axle sleeve；5, optical axis is connected；6, the first electric cylinder；7, tank chain；
8, the first external bearing block；9, the first horizontal optical axis support；10, the first deep groove ball bearing；11, the second external bearing block；
12, the second electric cylinder；13, flake bearing；14, the second horizontal optical axis support；15, forearm；16, third external bearing block；17,
Thrust bearing；18, third horizontal optical axis support；19, wrist joint motor cabinet；20, spring；21, large arm.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of rear-mounted crank slide bar mechanical arms of spring balance center of gravity, including pedestal
1, the waist 3 for being installed on 1 top of pedestal, the forearm 15 for being installed on the large arm 21 on 3 top of waist and being installed on 21 one end of large arm, greatly
Pass through two 20 elastic connections of spring between arm 21 and waist 3.
Preferably, the top slide of pedestal 1 is connected with connector 2, is connected between pedestal 1 and waist 3 by the sliding of connector 2
It connecing, the side of waist 3 is equipped with the first electric cylinder 6, it is rotatablely connected between the first electric cylinder 6 and waist 3 by bearing, bearing
Outer sheath is equipped with axle sleeve 4, is equipped with snap ring on axle sleeve 4, and the both ends of spring 20 are respectively fixedly connected in large arm 21 and connector 2,
The design of spring balance formula, reduces power of motor.
Preferably, it is rotatablely connected between the top of waist 3 and large arm 21 by the first deep groove ball bearing 10,3 top of waist
Outside the first external bearing block 8 is installed, the thrust bearing 17 of inside two on 3 top of waist, the inside installation of large arm 21
There are two the first horizontal optical axis support 9, the outside of 21 bottom end of large arm is arranged the second external bearing block 11,21 bottom end of large arm it is interior
Side is provided with the 4th deep groove ball bearing, and the 4th deep groove ball bearing is equipped with the second electric cylinder 12, the telescopic end of the second electric cylinder 12
It is rotatablely connected between forearm 15 by flake bearing 13, two the second horizontal optical axis supports are installed in the inside of 15 one end of forearm
14, it is rotatablely connected between the top and forearm 15 of large arm 21 by third deep groove ball bearing, large arm is equipped on the outside of 21 top
Two third external bearing blocks 16, there are two third horizontal optical axis support 18, the outsides of forearm 15 for the inside installation of forearm 15
Thrust bearing 17 is installed, is rotated between the telescopic end of the first electric cylinder 6 and the bottom end of large arm 21 by the second deep groove ball bearing
Connection, Linear-electric-cylinder drive, and load center of gravity postposition above in the design of 21 structure of large arm, reduce robot arm operational process
In rotary inertia, joint thrust bearing, deep groove ball bearing and external bearing block effectively prevent it is axial with it is radial
Play, and alleviate frictional dissipation.
Preferably, waist 3 is closure square tube tubing, and the two sides of waist 3 are provided with side plate, pass through connection between two side plates
Optical axis 5 is fixedly connected, and two side plates are played a supporting role, and intermediate rectangular tubing plays the role of resisting torsional deflection.
Preferably, the side of pedestal 1 is provided with tank chain 7, and one end of tank chain 7 is fixedly connected with the first electric cylinder 6, the
The inside of one electric cylinder, 6 tank chain 7 is installed with electric wire, and the first electric cylinder 6 is electrically connected by electric wire and external power supply, tank chain 7
Play the wear-resisting, high tenacity of threading, can high-speed cruising the effects of.
Preferably, 15 other end of forearm is equipped with wrist joint motor cabinet 19, leads between wrist joint motor cabinet 19 and large arm 21
It crosses bolt to be fixedly connected, the separate design of end handgrip and joint arm of the present invention, it can be according to operating conditions such as different finenesses, environment not
The end handgrip that different works are installed with demand, so that cost substantially reduces.
The algorithm that relationship between electric cylinder motor angle and robot joint angles resolves is as follows:
In robot arm Fig. 1 and corresponding computation attached drawing 6, it is an object of the invention to calculate electric cylinder driving
Corresponding relationship in mechanical arm between the rotational angle and joint angles of motor.When the forward and inverse kinematics of known machine people needs
When the joint of mechanical arm angle reached, corresponding motor rotational angle can be calculated by algorithm；When the need of known machine people
When the joint angular speed wanted, the revolving speed of corresponding motor can be calculated by algorithm.
It is crank and sliding bar mecbanism that electric cylinder, which drives the mechanism principle of joint of robot, and electric cylinder push rod is existing around fixed point
Rotation, and have the linear movement along push rod direction, so the movement of electric cylinder push rod is existing fixed-axis rotation, and have translation
Planar Compound movement；The movement of joint of robot is the fixed-axis rotation movement around fixing axle rotation.Electric cylinder motor turns
It is dynamic that push rod can be made to generate linear motion, so that the entire length of electric cylinder be made to change, the rotation around dead axle can be also generated, and cause
The variation of angle.Whole mechanism kinematic is integrated in a triangle, and three sides of a triangle are respectively as follows: electric cylinder, joint
Bar and fixed connecting rod cause the angle change of triangle interior by adjusting the length of electric cylinder, articulated arm be fixedly connected
Angle change between bar, to make the movement of joint of mechanical arm generation fixed-axis rotation.
In the triangle of variation, by the cosine law we can in the hope of connection therein, i.e., the length of electric cylinder and
Connection between the joint angles of mechanical arm, by joint angles can in the hope of articulated arm in triangle and fixed connecting rod it
Between angle, and the length of articulated arm and fixed connecting rod it is known that by the cosine law can be in the hope of the length of electric cylinder, most
Pass through the initial length and lead of electric cylinder afterwards, the circle number that can be rotated in the hope of electric cylinder motor.
Relationship between the speed and joint angular speed of electric cylinder push rod can be acquired by differential, in the triangle of variation
Portion can learn the relationship between electric cylinder push rod and joint angles, then carry out differential, can learn the relationship between speed,
The result shows that the relationship between joint angular speed and push rod speed is determined by one by the coefficient of variable of electric cylinder length.
Specific embodiment:
Below in conjunction with attached drawing, specific algorithm is described in detail and realizes process.Such as Fig. 1 mechanical arm structure diagram, electric cylinder is
Driving device, joint arm are executive device, by the flexible rotation to drive joint arm of electric cylinder, according to the flexible of electric cylinder
Amount can drive joint arm to reach different angles.In the following contents, the first electric cylinder 6 is referred to as electric cylinder 1, the second electric cylinder
12 are referred to as electric cylinder 2.
Specific solution process:
Relationship between electric cylinder 1 and joint angle θ 1 is set up by intermediate angle β 1.Firstly, having wanted to set up
The relationship of electric cylinder and joint angles will first set up the relationship between β 1 and θ 1, the Φ in angle figure between connecting rod and shell: such as
Upper figure can be learnt at joint 1:
α 1-theta1- Φ+β 1+ ψ 1=180 °
So:
Theta1=180 ° of-α 1+ Φ-β 1- ψ 1
β 1=180 °-α 1+ Φ-theta1- ψ 1
In resolving triangle 1, according to the cosine law:
Cos (β 1)=(b1^2+c1^2-m1^2)/2*b1*c1
It obtains:
M1=[b1^2+c1^2-2*b1*c1*cos (β 1)]1/2
β 1 is substituted into:
M1=[b1^2+c1^2-2*b1*c1*cos (180 ° of-α 1+ Φ-theta1- ψ 1)]1/2
Since the initial length of electric cylinder 1 is it is known that then can be in the hope of the movement length of motor 1, by the movement length of motor 1
It in the hope of the rotational angle of motor, can thus be established between 1 angle of rotational angle and joint of robot of electrizer 1 with lead
Relationship.
Relationship between electric cylinder 2 and joint angle θ 2 is set up by intermediate angle β 2.Firstly, having wanted to set up
The relationship of electric cylinder and joint angles will first set up the relationship between β 2 and θ 2: figure as above can be learnt at joint 2:
α 2-theta2+ β 2+ ψ 2=180 °
So:
Theta2=180 ° of-α 2- Φ-β 2- ψ 2
β 2=180 °-α 2- Φ-theta2- ψ 2
In resolving triangle 2, according to the cosine law:
Cos (β 2)=(b2^2+c2^2-m2^2)/2*b2*c2
It obtains:
M2=[b2^2+c2^2-2*b2*c2*cos (β 2)]1/2
β 2 is substituted into:
M2=[b2^2+c2^2-2*b2*c2*cos (180 ° of-α 2- Φ-theta2- ψ 2)]1/2
Since the initial length of electric cylinder 2 is it is known that then can be in the hope of the movement length of motor 2, by the movement length of motor 2
It in the hope of the rotational angle of motor 2, can thus be established between 2 angle of rotational angle and joint of robot of electrizer 2 with lead
Relationship.
With the relationship of the speed at the supplementary angle of practical joint angle and electronic cylinder rod overall length, to derive electric cylinder push rod speed
With the relationship between practical joint angular speed:
1. according to the cosine law:
2. finding out length velocity relation:
3. abbreviation obtains:
As can be seen from the above equation it can be seen that the length velocity relation of joint angles and electric pushrod is mainly determined by coefficient:
4. when x is different value, by the coefficient figure between joint angular speed and the speed of electronic thick stick push rod it is found that working as joint
When angle is 90 °, coefficient is minimum value, when joint angle is from when increaseing or decreasing for 90 °, coefficient all journey ascendant trends, and in limit position
It sets and obtains two limiting values.
When specifically used, a kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity of the present invention, the first electric cylinder 6 is stretched
In elongation, one end of large arm 21 is moved downward at contracting end, and when the telescopic end of the first electric cylinder 6 shortens, one end of large arm 21 is upward
Movement, the telescopic end of the second electric cylinder 12 in elongation, inwardly tighten by forearm 15, and the telescopic end of the second electric cylinder 12 is shortening
When, forearm 15 outwardly opens, and effectively prevents axial direction in joint thrust bearing, deep groove ball bearing and external bearing block
With radial-play, and frictional dissipation is alleviated, and the design of spring balance formula is effectively reduced power of motor consumption, therefore the machine
Device human arm integrally consumes energy lower, while the flexible connector can effectively buffer driving force, allows stress equalization between joint, real
Existing efficient fine grabs operation, and the present invention not only simplifies workflow, improves working efficiency, and can be in biggish working space
It is interior, the operation of relatively large load is carried out, while guaranteeing kinematic accuracy, it is electronic when being rotated for the joint of mechanical arm that electric cylinder drives
Nonlinear relationship, devises to solve the two between the motor rotational angle of cylinder and the rotational angle of joint of robot
Between corresponding relationship computation.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of instruction is shown in the drawings based in
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or integral；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements or the interaction relationship of two elements, unless otherwise specific limit
It is fixed, for the ordinary skill in the art, above-mentioned term in the present invention specific can be understood as the case may be
Meaning.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity, including pedestal (1), it is installed at the top of the pedestal (1)
Waist (3), be installed on the large arm (21) on the waist (3) top and be installed on the forearm (15) of the large arm (21) one end,
It is characterized by: passing through two spring (20) elastic connections, the pedestal (1) between the large arm (21) and the waist (3)
Top slide be connected with connector (2), be slidably connected between the pedestal (1) and waist (3) by connector (2), it is described
The side of waist (3) is equipped with the first electric cylinder (6), is turned between first electric cylinder (6) and the waist (3) by bearing
The outer sheath of dynamic connection, the bearing is equipped with axle sleeve (4), is equipped with snap ring, the both ends of the spring (20) on the axle sleeve (4)
It is respectively fixedly connected between the large arm (21) and the connector (2), the top and the large arm (21) of the waist (3)
It is rotatablely connected by the first deep groove ball bearing (10), the first external bearing block is installed on the outside of waist (3) top
(8), there are two thrust bearing (17) for the inside installation on waist (3) top, and there are two the inside installations of the large arm (21)
First horizontal optical axis support (9).
2. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 1, it is characterised in that: described
The second external bearing block (11) is arranged in the outside of large arm (21) bottom end, and it is deep that the 4th is provided on the inside of large arm (21) bottom end
Ditch ball bearing, the 4th deep groove ball bearing are equipped with the second electric cylinder (12), the telescopic end of second electric cylinder (12) with
It is rotatablely connected between the forearm (15) by flake bearing (13), the inside of described forearm (15) one end installs two second and crouches
Formula optical axis support (14).
3. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 1, it is characterised in that: described
It is rotatablely connected between the top and the forearm (15) of large arm (21) by third deep groove ball bearing, large arm (21) top
There are two third external bearing blocks (16) for outside installation, and there are two third horizontal optical axis branch for the inside installation of the forearm (15)
Seat (18) is equipped with thrust bearing (17) on the outside of the forearm (15).
4. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 2, it is characterised in that: described
It is rotatablely connected between the telescopic end of first electric cylinder (6) and the bottom end of the large arm (21) by the second deep groove ball bearing.
5. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 1, it is characterised in that: described
Waist (3) is closure square tube tubing, and the two sides of the waist (3) are provided with side plate, pass through connection light between two side plates
Axis (5) is fixedly connected.
6. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 2, it is characterised in that: described
The side of pedestal (1) is provided with tank chain (7), and one end of the tank chain (7) is fixedly connected with first electric cylinder (6),
The inside of the tank chain (7) is installed with electric wire, and first electric cylinder (6) is electrically connected by the electric wire and external power supply.
7. the rear-mounted crank slide bar mechanical arm of a kind of spring balance center of gravity according to claim 1, it is characterised in that: described
The end wrist joint of forearm (15) is provided with the wrist joint motor cabinet (19) for connecting chucking device, the wrist joint motor
It is bolted to connection between seat (19) and the large arm (21).
8. a kind of motor rotational angle algorithm of the rear-mounted crank slide bar mechanical arm of spring balance center of gravity, it is characterised in that: motor
The algorithm of corresponding relationship is as follows between rotational angle and the rotational angle of joint of robot:
Step 1: whole mechanism kinematic is integrated in a triangle；
Step 2: passing through cosine law formulaAcquire the length and machinery of electric cylinder
Connection between the joint angles of arm；
Step 3；Pass through differential formulasAcquire the speed of electric cylinder push rod
Relationship between the angular speed of joint；
Step 4；With the relationship of the speed at the supplementary angle of practical joint angle and electronic cylinder rod overall length, to derive electric cylinder push rod speed
Relationship between degree and practical joint angular speed；
Step 5；Finally by the initial length and lead of electric cylinder, the circle number that can be rotated in the hope of electric cylinder motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910765710.6A CN110450147B (en) | 2019-08-19 | 2019-08-19 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910765710.6A CN110450147B (en) | 2019-08-19 | 2019-08-19 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450147A true CN110450147A (en) | 2019-11-15 |
| CN110450147B CN110450147B (en) | 2024-06-25 |
Family
ID=68487665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910765710.6A Active CN110450147B (en) | 2019-08-19 | 2019-08-19 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450147B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774316A (en) * | 2019-11-18 | 2020-02-11 | 山东大学 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
| CN113340259A (en) * | 2021-06-08 | 2021-09-03 | 南京信息工程大学 | Joint angle measuring device and measuring method |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201214554Y (en) * | 2008-05-26 | 2009-04-01 | 昆明理工大学 | Logistics system complete equipment |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| KR20110124921A (en) * | 2010-05-12 | 2011-11-18 | 현대자동차주식회사 | Gripper for door of vehicle |
| KR101198442B1 (en) * | 2011-12-20 | 2012-11-06 | 삼익티에이치케이 주식회사 | Industrial robot |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
| CN105171740A (en) * | 2015-08-14 | 2015-12-23 | 哈尔滨程天科技发展有限公司 | Underwater robot operating manipulator |
| CN107876267A (en) * | 2017-11-26 | 2018-04-06 | 林建武 | A kind of spray robot |
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
| CN109759561A (en) * | 2019-03-14 | 2019-05-17 | 宁波伊泽机器人有限公司 | Rail mounted matches soup robot |
| CN210790980U (en) * | 2019-08-19 | 2020-06-19 | 北京墨狄科技有限公司 | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm |
-
2019
- 2019-08-19 CN CN201910765710.6A patent/CN110450147B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201214554Y (en) * | 2008-05-26 | 2009-04-01 | 昆明理工大学 | Logistics system complete equipment |
| KR20110124921A (en) * | 2010-05-12 | 2011-11-18 | 현대자동차주식회사 | Gripper for door of vehicle |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| KR101198442B1 (en) * | 2011-12-20 | 2012-11-06 | 삼익티에이치케이 주식회사 | Industrial robot |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
| CN105171740A (en) * | 2015-08-14 | 2015-12-23 | 哈尔滨程天科技发展有限公司 | Underwater robot operating manipulator |
| CN107876267A (en) * | 2017-11-26 | 2018-04-06 | 林建武 | A kind of spray robot |
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
| CN109759561A (en) * | 2019-03-14 | 2019-05-17 | 宁波伊泽机器人有限公司 | Rail mounted matches soup robot |
| CN210790980U (en) * | 2019-08-19 | 2020-06-19 | 北京墨狄科技有限公司 | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774316A (en) * | 2019-11-18 | 2020-02-11 | 山东大学 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
| CN110774316B (en) * | 2019-11-18 | 2022-08-12 | 山东大学 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
| CN113340259A (en) * | 2021-06-08 | 2021-09-03 | 南京信息工程大学 | Joint angle measuring device and measuring method |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450147B (en) | 2024-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110450147A (en) | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm | |
| US10189519B2 (en) | Leg configuration for spring-mass legged locomotion | |
| CN101664927B (en) | Modularized biomimetic climbing robot | |
| CN106826907B (en) | A kind of single-degree-of-freedom linkage flexible charging joint of robot group | |
| US8794099B2 (en) | Weight compensation mechanism and robot arm using the same | |
| US10537999B2 (en) | Multi-degree of freedom torque-free linkage unit | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| US20130164107A1 (en) | Robot module and robot | |
| CN106112980A (en) | A kind of attitude regulating mechanism | |
| Chheta et al. | A review on passive gravity compensation | |
| CN102009413B (en) | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor | |
| CN109227596A (en) | A kind of variation rigidity flexible joint device | |
| CN106078724A (en) | Mechanical arm and operating robot thereof | |
| CN212919457U (en) | Mechanical arm | |
| CN101947784A (en) | Dismountable modularized in-parallel robot | |
| CN201645491U (en) | Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism | |
| CN1970246A (en) | Planar multiple-articulation robot | |
| CN103240737A (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN203228227U (en) | Parallel- series connection industrial robot structure | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN210790980U (en) | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm | |
| CN206048199U (en) | A kind of six-degree-of-freedom parallel robot | |
| CN107962556A (en) | Two axis parallel robots and cargo movement system | |
| CN104626114B (en) | The detachable light-duty sorting machine people of a kind of multiple degrees of freedom | |
| US20110308347A1 (en) | Sustaining Manipulator Arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |