CN202428450U - Three-freedom multi-ring coupling working device with redundant drive - Google Patents
Three-freedom multi-ring coupling working device with redundant drive Download PDFInfo
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- CN202428450U CN202428450U CN201120554568XU CN201120554568U CN202428450U CN 202428450 U CN202428450 U CN 202428450U CN 201120554568X U CN201120554568X U CN 201120554568XU CN 201120554568 U CN201120554568 U CN 201120554568U CN 202428450 U CN202428450 U CN 202428450U
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- oil cylinder
- hinge
- pair
- base
- piston rod
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Abstract
The utility model relates to a three-freedom multi-ring coupling working device with redundant drive. A base is provided with parallel and symmetrical substrates; a pair of substrates at one end is hinged with the lower end of a large arm; the upper end of the large arm is hinged with one end of a small arm; the other end of the small arm is hinged with an end effector; a rocker is connected with the middle part of the large arm through a hinge and is connected with the end of a cylinder linerof a first drive oil cylinder, the end of a cylinder liner of a second drive oil cylinder and the end of a cylinder liner of a third drive oil cylinder respectively; a piston rod of the first drive oil cylinder is hinged with the substrate in the middle part of the base; and a piston rod of the second drive oil cylinder is hinged with the other substrate in the center of the base; a piston rod of the third drive oil cylinder is hinged with the end effector; and a piston rod of a fourth drive oil cylinder is hinged with the center of the small arm; and the cylinder liner of a small arm oil cylinder is hinged with the substrate at the other end of the base. The three-freedom multi-ring coupling working device has the advantages of large working spaces, high bearing capacity, capability of eliminating singularity configuration and the like.
Description
Technical field
The utility model relates to a kind of connecting rod equipment, particularly a kind of many loop coupling connecting rod equipment.
Background technology
Mechanism is the core of machine equipment, and the innovation of mechanism is the key of machine equipment innovation always, and it is extremely important to the scientific and technological level core competitiveness that improves China's mechanized equipment that exploitation has the mechanism of independent intellectual property right accordingly.Realize function operation devices such as excavation, extracting, carrying, it is comparatively general to use linkage.Traditional series connection manipulator, working space is big, but bearing capacity is low, can only grasp, carry some lighter objects.On the contrary, it is little that parallel manipulator is done the space by hand, but bearing capacity is high.Because the advantage of series connection and parallel manipulator hand has complementarity, if can effectively combine both advantages to design the series-parallel connection manipulator, or perhaps many loop coupling mechanism, the performance of so this manipulator can be more superior.Chinese patent CN201010589728.4 relates to a kind of four-freedom hybrid robot, and it is made up of rotational freedom rotary head structure of base and one-movement-freedom-degree and two s' rotational freedom serial mechanism, parallel connection with it and the end effector that is installed in said rotary head structure upper support frame.Chinese patent CN201110042834.5 discloses a kind of four-freedom hybrid decoupling zero manipulator; Comprise base, guide rail, slide block, big pivoted arm and two-degree-of-freedom plane parallel structure operator; Positive and negative the separating of kinematics found the solution easily; And good, the working space of control decoupling is big, compact conformation, motion flexibly, low cost of manufacture, operation or processing that can the implementation space four-degree-of-freedom.Yet existing series-parallel connection manipulator is based on scarcely that heavy duty designs, and is not suitable for the carrying work of heavily loaded object.
Summary of the invention
The purpose of the utility model is to provide many loop coupling of the Three Degree Of Freedom equipment with redundant drive that a kind of rigidity is higher, bearing capacity is strong, working space is big.The pedestal that parallel symmetry is arranged on the base, the pair of base of one of which end is connected with big arm one end through hinge, and the other end of this big arm is connected with an end of forearm through hinge, and the other end of this forearm is connected with a position of end effector through hinge; A pair of rocking bar is connected to the both sides at big arm middle part through hinge; The end of the end of the cylinder sleeve end of a pair of first driving oil cylinder that is connected through the hinge respectively on this a pair of rocking bar, the cylinder sleeve of a pair of second driving oil cylinder, the cylinder sleeve of a pair of the 3rd driving oil cylinder, above-mentioned three are hinged on distribution triangular in shape on the rocking bar; The piston rod end of above-mentioned first driving oil cylinder is connected through the hinge on the pair of base at base middle part; The piston rod end of above-mentioned second driving oil cylinder be connected through the hinge another of base middle part to pedestal on, the piston rod end of above-mentioned the 3rd driving oil cylinder is connected through the hinge on another position of actuator endways; The piston rod end of the moving oil cylinder of a pair of 4 wheel driven is connected through the hinge at the forearm middle part, and the cylinder sleeve end of the moving oil cylinder of this 4 wheel driven is connected through the hinge on the pedestal of the base other end, and the moving oil cylinder of this a pair of 4 wheel driven can use a bigger oil cylinder of specification to replace.The piston rod of above-mentioned four pairs of oil cylinders and the position of cylinder sleeve can exchange.
The utility model is made up of the plane mechanism of two symmetries from the base to the end effector, and in each plane mechanism, end effector all is 3 to the free degree of base, and each plane mechanism has all adopted four oil cylinders to carry out redundant drive.Guaranteeing under the constant situation of interconnected relationship between rod member number and the rod member, when specifically using, can be according to the actual conditions appropriate design.
This mechanism compares with prior art, and following advantage is arranged:
(1) bearing capacity is high, and working space is big, can be applied to multiple mechanized equipment.
(2) redundant drive has not only improved the bearing capacity of mechanism, and can optimize input power, improves the driving stationarity of mechanism, in addition, has also strengthened the ability of the mechanism's unusual position of elimination shape.
(4) structure decoupling, motion and dynamic solving are easy, are easy to realize real-time control.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model.
Fig. 2 is the three-dimensional simplified schematic diagram that the utility model excavates user mode.
Fig. 3 is the three-dimensional simplified schematic diagram that the utility model grasps user mode.
Fig. 4 is the three-dimensional simplified schematic diagram of the utility model with the moving oil cylinder of a 4 wheel driven.
In the accompanying drawing: 1-base, the big arm of 2-, 3-first driving oil cylinder, 4-rocking bar, 5-forearm, 6-end effector, 7-the 3rd driving oil cylinder, the moving oil cylinder of 8-4 wheel driven, 9-second driving oil cylinder.
The specific embodiment
Shown in Figure 1
OnePlanting three freedom redundancy drives in the three-dimensional simplified schematic diagram of many loop coupling connecting rod equipment; The pedestal that parallel symmetry is arranged on the base 1; The pair of base of one of which end is connected with big arm 2 lower ends through hinge R1; The upper end of this big arm is connected with an end of forearm 5 through hinge R5, and the other end of this forearm is connected with a position of end effector 6 through hinge R7; A pair of rocking bar 4 is connected to the both sides at big arm middle part through hinge R3; On this a pair of rocking bar respectively through hinge R2 connect a pair of first driving oil cylinder 3 the cylinder sleeve end, through hinge R12 connect a pair of second driving oil cylinder 9 the cylinder sleeve end, connect the cylinder sleeve end of a pair of the 3rd driving oil cylinder 7 through hinge R4, above-mentioned three are hinged on distribution triangular in shape on the rocking bar; The piston rod end of above-mentioned first driving oil cylinder is connected on the pair of base at base middle part through hinge R11; The piston rod end of above-mentioned second driving oil cylinder be connected base middle part through hinge R10 another on the pedestal, the piston rod end of above-mentioned the 3rd driving oil cylinder is connected on another position of end effector through hinge R8; The piston rod end of the moving oil cylinder 8 of a pair of 4 wheel driven is connected the forearm middle part through hinge R6; The cylinder sleeve end of the moving oil cylinder of this 4 wheel driven is connected on the pedestal of the base other end through hinge R9; The moving oil cylinder of this 4 wheel driven can adopt a driving oil cylinder that specification is bigger, and is as shown in Figure 4.
Excavate in the three-dimensional simplified schematic diagram of user mode at the utility model shown in Figure 2, end effector is the scraper bowl structure, and other rod member annexation is identical with Fig. 1.
Grasp in the three-dimensional simplified schematic diagram of user mode at the utility model shown in Figure 3, end effector is the handgrip structure that is installed, and other rod member annexation is identical with Fig. 1.
Claims (3)
1. many loop coupling of Three Degree Of Freedom equipment with redundant drive, it is characterized in that: base (1) has the pedestal of parallel symmetry
,The pair of base of one of which end is connected with big arm (2) one ends through hinge, and the other end of this big arm (2) is connected with an end of forearm (5) through hinge, and the other end of this forearm (5) is connected with a position of end effector (6) through hinge; A pair of rocking bar (4) is connected to the both sides at big arm middle part through hinge; The cylinder sleeve end of the cylinder sleeve end of a pair of first driving oil cylinder (3) that is connected through the hinge respectively on this a pair of rocking bar (4), the cylinder sleeve end of a pair of second driving oil cylinder (9) and a pair of the 3rd driving oil cylinder (7), above-mentioned three are hinged on upward distribution triangular in shape of rocking bar (4); The piston rod end of above-mentioned first driving oil cylinder (3) is connected through the hinge on the pair of base at base (1) middle part; The piston rod end of above-mentioned second driving oil cylinder (9) be connected through the hinge another of base (1) middle part to pedestal on, the piston rod end of above-mentioned the 3rd driving oil cylinder (7) is connected through the hinge on another position of actuator (6) endways; The piston rod end of the moving oil cylinder (8) of a pair of 4 wheel driven is connected through the hinge at forearm (5) middle part, and the cylinder sleeve end of the moving oil cylinder (8) of this 4 wheel driven is connected through the hinge on the pedestal of base (1) other end.
2. a kind of many loop coupling of Three Degree Of Freedom equipment with redundant drive according to claim 1 is characterized in that: the moving oil cylinder (8) of a pair of 4 wheel driven can use a bigger oil cylinder of specification to replace.
3. a kind of many loop coupling of Three Degree Of Freedom equipment with redundant drive according to claim 1, it is characterized in that: the piston rod of above-mentioned four pairs of oil cylinders and the position of cylinder sleeve can exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120554568XU CN202428450U (en) | 2011-12-27 | 2011-12-27 | Three-freedom multi-ring coupling working device with redundant drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120554568XU CN202428450U (en) | 2011-12-27 | 2011-12-27 | Three-freedom multi-ring coupling working device with redundant drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202428450U true CN202428450U (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120554568XU Withdrawn - After Issue CN202428450U (en) | 2011-12-27 | 2011-12-27 | Three-freedom multi-ring coupling working device with redundant drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202428450U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528820A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Three-freedom-degree multi-loop coupling working device with redundant drive function |
-
2011
- 2011-12-27 CN CN201120554568XU patent/CN202428450U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528820A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Three-freedom-degree multi-loop coupling working device with redundant drive function |
| CN102528820B (en) * | 2011-12-27 | 2014-05-14 | 燕山大学 | Three-freedom-degree multi-loop coupling working device with redundant drive function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120912 Effective date of abandoning: 20140514 |
|
| RGAV | Abandon patent right to avoid regrant |