CN200954628Y - Six-freedom series-parallel mixed connection structure mechanical arm - Google Patents
Six-freedom series-parallel mixed connection structure mechanical arm Download PDFInfo
- Publication number
- CN200954628Y CN200954628Y CN 200620025075 CN200620025075U CN200954628Y CN 200954628 Y CN200954628 Y CN 200954628Y CN 200620025075 CN200620025075 CN 200620025075 CN 200620025075 U CN200620025075 U CN 200620025075U CN 200954628 Y CN200954628 Y CN 200954628Y
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- upper arm
- shoulder
- connector
- links
- revolute pair
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Abstract
The utility model discloses a six degree of freedom serial-parallel-connection manipulator; wherein, an upper arm base (15) and a moving platform (8) of the shoulder are fixed together, a front arm base (26) and a connector (20) of the elbow are fixed together, the manipulator respectively drives the active curved rods (3, 6, 10) by three servomotors (2, 5, 9) to realize the three-dimension rotation of the moving platform (8) of the shoulder with respect to the base of the shoulder (1), the upper arm respectively drives the moving sliders (27, 18) of the upper arm by two linear motors (12, 13) to realize a linear moving with degree of freedom and a rotation with degree of freedom of the connector (20) of the elbow with respect to the upper arm base (15), the manipulator drives a moving slider (23) by a linear motor (21) to realize a one-dimension rotation of a connector (25) of the wrist with respect to the base of the front arm (26). The utility model has the advantages of simple structure, high stiffness, good craftiness, and high speed, and wide application prospect in modern industries like automobiles, shipbuilding, and aviation.
Description
Technical field
The utility model relates to the industrial robot field, particularly relates to a kind of six degree of freedom string and hybrid connected structure mechanical arm.
Background technology
Along with the development of industrial technology, mechanical arm more and more is subject to people's attention, and is widely used in fields such as automobile, shipbuilding and aviation.At present, most of six degree of freedom mechanical arms adopt cascaded structure, as, the UP-RobotARM six degree of freedom mechanical arm that the Beijing Bochuang Industrial Science ﹠ Technology Co., Ltd produces, the anthropomorphic arm of the development BRH of Beijing Institute of Technology six degree of freedom, the anthropomorphic arm of TH1 type six degree of freedom of Tsing-Hua University's development etc.There are problems such as complex structure, rigidity be low mostly in the cascaded structure mechanical arm.
Summary of the invention
In order to overcome deficiencies such as most cascaded structure mechanical arm complex structure and rigidity are low, the utility model provides a kind of six degree of freedom string and hybrid connected structure mechanical arm, that this mechanical arm has is simple in structure, rigidity big and advantage such as good manufacturability, applicable to modern industry fields such as automobile, shipbuilding and aviations.
The technical scheme that its technical problem that solves the utility model adopts is: six freely go here and there and the hybrid connected structure mechanical arm form by shoulder, upper arm and forearm three parts; Three servomotors 2,5 and 9 of described shoulder are installed on the shoulder pedestal 1, three active curved bars 3,6 and 10 are fixed on respectively in the rotating shaft of three corresponding servomotors, three initiatively curved bar 3,6 and 10 the other end link to each other with an end of 11 by revolute pair hinge and corresponding servo-actuated curved bar 4,7 respectively, three servo-actuated curved bars 4,7 link to each other with shoulder moving platform 8 by the revolute pair hinge respectively with 11 the other end, and the axis of above-mentioned all revolute pairs and machine shaft axis intersect at the space a bit; The linear electric motors 12 of described upper arm and 13 and upper arm guide rail 17 and 16 be installed on the upper arm pedestal 15, upper arm moving slider 18 and 27 connects firmly with an end of the push rod of linear electric motors respectively, under the driving of linear electric motors 13 and 12, upper arm moving slider 18 and 27 can slide on upper arm guide rail 16 and 17 respectively.Upper arm moving slider 18 links to each other with an end of ancon catch bar 19 by the revolute pair hinge, the other end of ancon catch bar 19 links to each other with an end of ancon connector 20 by the revolute pair hinge, and the other end of ancon connector 20 links to each other with upper arm moving slider 27 by the revolute pair hinge; Upper arm pedestal 15 is consolidated by shoulder connector 14 and shoulder moving platform 8; Described forearm pedestal 26 connects firmly together with ancon connector 20, linear electric motors 21 and guide rail 22 are installed on the forearm pedestal 26, moving slider 23 is connected with an end of the push rod of linear electric motors, and under the driving of linear electric motors 21, moving slider 23 can slide on guide rail 22.Moving slider 23 links to each other with an end of wrist catch bar 24 by the revolute pair hinge, the other end of bowl portion catch bar 24 links to each other with an end of wrist connector 25 by the revolute pair hinge, and the other end of wrist connector 25 links to each other with forearm pedestal 26 by the revolute pair hinge.
Description of drawings
Fig. 1 is six degree of freedom string and hybrid connected structure mechanical arm structure chart;
Fig. 2 is the shoulder structure figure of six degree of freedom string and hybrid connected structure mechanical arm;
Fig. 3 is the arm structure chart of six degree of freedom string and hybrid connected structure mechanical arm.
In Fig. 2, Fig. 3,1 is the shoulder pedestal, and 2,5 and 9 are servomotor, and 3,6 and 10 are initiatively curved bar, and 4,7 and 11 are the servo-actuated curved bar, and 8 is the shoulder moving platform; 12,13 and 21 be linear electric motors, 14 is the shoulder connector, and 18 and 27 are the upper arm moving slider, and 15 is the upper arm pedestal, 16 and 17 are the upper arm guide rail, 19 is the ancon catch bar, and 20 is the ancon connector, and 22 is guide rail, 23 is moving slider, 24 is bowl portion catch bar, and 25 is the wrist connector, and 26 is the forearm pedestal.
The specific embodiment
Embodiment
Three servomotors 2,5 and 9 of shoulder are installed on the shoulder pedestal 1, three active curved bars 3,6 and 10 are fixed on respectively in the rotating shaft of three corresponding servomotors, three initiatively the curved bar other end link to each other with an end of 11 by revolute pair hinge and corresponding servo-actuated curved bar 4,7 respectively, the other end of three servo-actuated curved bars links to each other with shoulder moving platform 8 by the revolute pair hinge respectively, thereby, realize of the rotation of shoulder moving platform 8 with respect to the three degree of freedom of shoulder pedestal 1 by three servomotors 2,5 of shoulder and 9 rotating drive; Upper arm pedestal 15 connects firmly together with shoulder moving platform 8, linear electric motors 12 and 13 and upper arm guide rail 17 and 16 be installed on the upper arm pedestal 15, upper arm moving slider 18 and 27 is connected with an end of the push rod of linear electric motors respectively, that is to say, under the driving of linear electric motors 13 and 12, upper arm moving slider 18 and 27 can slide on upper arm guide rail 16 and 17 respectively, upper arm moving slider 18 links to each other with an end of ancon catch bar 19 by the revolute pair hinge, the other end of ancon catch bar 19 links to each other with an end of ancon connector 20 by the revolute pair hinge, the other end of ancon connector 20 links to each other with moving slider 27 by the revolute pair hinge, thereby, realize that ancon connector 20 is with respect to the rectilinear motion of the one degree of freedom of upper arm pedestal 15 and the rotation of one degree of freedom by the mobile driving of linear electric motors 12 and 13; Upper arm pedestal 15 is consolidated by shoulder connector 14 and shoulder moving platform 8.Linear electric motors 21 and guide rail 22 are installed on the forearm pedestal 26, and moving slider 23 is connected with an end of the push rod of linear electric motors, that is to say that under the driving of linear electric motors 21, moving slider 23 can slide on guide rail 22.Moving slider 23 links to each other with an end of wrist catch bar 24 by the revolute pair hinge, the other end of bowl portion catch bar 24 links to each other with an end of wrist connector 25 by the revolute pair hinge, the other end of wrist connector 25 links to each other with forearm pedestal 26 by the revolute pair hinge, thereby, realize of the rotation of wrist connector 25 with respect to the one degree of freedom of forearm pedestal 26 by the mobile driving of linear electric motors 21.
During mechanical arm work, shoulder is realized the rotation of shoulder moving platform 8 with respect to the three degree of freedom of shoulder pedestal 1 by the rotating drive of servomotor 2,5 and 9, simultaneously, drives humeral movement; Upper arm is realized ancon connector 20 with respect to the rectilinear motion of the one degree of freedom of upper arm pedestal 15 and the rotation of one degree of freedom by the mobile driving of linear electric motors 12 and 13, simultaneously, drives the forearm motion; By the mobile driving of linear electric motors 21, realize of the rotation of wrist connector 25 with respect to the one degree of freedom of forearm pedestal 26.
Advantage such as that this mechanical arm has is simple in structure, rigidity is high, good manufacturability, inertia are little has broad application prospects in fields such as modern industry such as automobile, shipbuilding and aviation.
Claims (4)
1. six degree of freedom string and hybrid connected structure mechanical arm, form by shoulder, upper arm and forearm three parts, it is characterized in that: upper arm pedestal (15) connects firmly together by the moving platform (8) of shoulder connector (14) with shoulder, and forearm pedestal (26) and ancon connector (20) connect firmly together.
2. six degree of freedom string according to claim 1 and hybrid connected structure mechanical arm, it is characterized in that: three servomotors (2 of described shoulder, 5,9) be installed on the shoulder pedestal (1), three active curved bars (3,6,10) be fixed on respectively in the rotating shaft of three corresponding servomotors, the other end of three active curved bars is respectively by revolute pair hinge and corresponding servo-actuated curved bar (4,7,11) a end links to each other, and the other end of three servo-actuated curved bars links to each other with shoulder moving platform (8) by the revolute pair hinge respectively.
3. six degree of freedom string according to claim 1 and 2 and hybrid connected structure mechanical arm, it is characterized in that: the linear electric motors (12 of described upper arm, 13) and upper arm guide rail (17,16) be installed on the upper arm pedestal (15), upper arm moving slider (18,27) connect firmly with an end of the push rod of linear electric motors respectively, upper arm moving slider (18) links to each other with an end of ancon catch bar (19) by the revolute pair hinge, the other end of ancon catch bar (19) links to each other with an end of ancon connector (20) by the revolute pair hinge, and the other end of ancon connector (20) links to each other with upper arm moving slider (27) by the revolute pair hinge.
4. six degree of freedom string according to claim 3 and hybrid connected structure mechanical arm, it is characterized in that: linear electric motors (21) and guide rail (22) are installed on the forearm pedestal (26), moving slider (23) connects firmly with an end of the push rod of linear electric motors, moving slider (23) links to each other with an end of wrist catch bar (24) by the revolute pair hinge, the other end of bowl portion catch bar (24) links to each other with an end of wrist connector (25) by the revolute pair hinge, and the other end of wrist connector (25) links to each other with forearm pedestal (26) by the revolute pair hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620025075 CN200954628Y (en) | 2006-07-23 | 2006-07-23 | Six-freedom series-parallel mixed connection structure mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620025075 CN200954628Y (en) | 2006-07-23 | 2006-07-23 | Six-freedom series-parallel mixed connection structure mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200954628Y true CN200954628Y (en) | 2007-10-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620025075 Expired - Fee Related CN200954628Y (en) | 2006-07-23 | 2006-07-23 | Six-freedom series-parallel mixed connection structure mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200954628Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
-
2006
- 2006-07-23 CN CN 200620025075 patent/CN200954628Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |