CN203901283U - Three-freedom-degree parallel-serial stacking mechanical arm with large working space - Google Patents

Three-freedom-degree parallel-serial stacking mechanical arm with large working space Download PDF

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Publication number
CN203901283U
CN203901283U CN201420327355.7U CN201420327355U CN203901283U CN 203901283 U CN203901283 U CN 203901283U CN 201420327355 U CN201420327355 U CN 201420327355U CN 203901283 U CN203901283 U CN 203901283U
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CN
China
Prior art keywords
arm
rod
freedom
connects
mechanical arm
Prior art date
Application number
CN201420327355.7U
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Chinese (zh)
Inventor
郑小民
王红州
陈润六
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江西省机械科学研究所
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Priority to CN201420327355.7U priority Critical patent/CN203901283U/en
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Publication of CN203901283U publication Critical patent/CN203901283U/en

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Abstract

A three-freedom-degree parallel-serial stacking mechanical arm with a large working space comprises a rack, a rotary table, a large arm, a small arm, a flange, a first movable sliding platform, a second movable sliding platform, a first connecting rod, a second connecting rod and a linear driver. A two-freedom-degree parallel mechanism is formed by connecting the rack, the rotary table, the large arm, the first movable sliding platform, the second movable sliding platform, the first connecting rod and the second connecting rod. The flange and the small arm are connected to the large arm in series and driven through the linear driver connected to the large arm to move. The three-freedom-degree parallel-serial stacking mechanical arm is simple in structure, light in mechanism moving mass, good in rigidity, small in inertia and good in kinetics performance, and compared with similar products, the three-freedom-degree parallel-serial stacking mechanical arm has the advantage of being high in load capacity.

Description

There is the Three-freedom-degree hybrid palletizing mechanical arm of large working space
Technical field
The utility model relates to industrial robot field, particularly a kind of Three-freedom-degree hybrid palletizing mechanical arm with large working space.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains the structure types such as cartesian co-ordinate type, circular cylindrical coordinate type and joint type.Wherein joint type robot palletizer, because of its mechanism's compactness, flexible movements, the advantage such as floor space is little, working space is large, progressively becomes the topmost version of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be arranged on joint, cause that robot arm weight is large, the problem such as poor rigidity, inertia are large, joint error accumulation, mechanism dynamic poor-performing, is difficult to meet the requirement of high-speed overload carrying piling.Parallel institution be a kind of moving platform with fixed platform by least two independently kinematic chain be connected, have two or more frees degree, and a mechanism driving with parallel way.There is the advantages such as precision is high, compact conformation, rigidity is high, bearing capacity is strong because of it, cause lot of domestic and foreign experts and scholars' concern, correlative study has obtained great successes, has obtained good application at aspects such as motion simulator, parallel machine, micro-manipulating robots.But parallel institution also exists the shortcoming that working space is little, be therefore difficult to meet the demand of actual piling.The utility model adopts hybrid connected structure to realize the motion of robot piling, can solve traditional open-chain structure deviation accumulation greatly, poor rigidity and the little problem of parallel institution working space.
Summary of the invention
The purpose of this utility model is to provide the Three-freedom-degree hybrid palletizing mechanical arm with large working space, can effectively improve the load capacity of existing palletizing mechanical arm.
The utility model achieves the above object by the following technical programs: the Three-freedom-degree hybrid palletizing mechanical arm with large working space comprises frame, turntable, large arm, forearm, flange, the first Mobile Slide, the second Mobile Slide, first connecting rod, second connecting rod and linear actuator.
Described turntable connects with frame by the first revolute pair, large arm connects with turntable by the second revolute pair, forearm connects with large arm by the 3rd revolute pair, flange is cemented on forearm, the first Mobile Slide is cemented in frame, the second Mobile Slide is cemented in frame, the first Mobile Slide connects with first connecting rod by the first Hooke's hinge, first connecting rod connects with large arm by the first ball pivot, the second Mobile Slide connects with second connecting rod by the second Hooke's hinge, second connecting rod connects with large arm by the second ball pivot, linear actuator one end connects with large arm by the 4th revolute pair, the linear actuator other end connects with forearm by the 5th revolute pair.
Outstanding advantages of the present utility model is:
1, adopt hybrid connected structure, rod member is made lighter bar, and mechanism is lightweight, good rigidly;
2, manipulator inertia is little, kinematics and dynamics performance is good;
3, different end effectors is installed on flange, this mechanism may be used on assembling, welding, laser, the field such as medical.
Brief description of the drawings
Fig. 1 is the first structural representation of the Three-freedom-degree hybrid palletizing mechanical arm with large working space described in the utility model.
Fig. 2 is the second structural representation of the Three-freedom-degree hybrid palletizing mechanical arm with large working space described in the utility model.
Fig. 3 is the 3rd structural representation of the Three-freedom-degree hybrid palletizing mechanical arm with large working space described in the utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, there is the Three-freedom-degree hybrid palletizing mechanical arm of large working space, comprise frame 1, turntable 2, large arm 3, forearm 4, flange 5, the first Mobile Slide 6, the second Mobile Slide 7, first connecting rod 8, second connecting rod 9 and linear actuator 10.
Described frame 1, turntable 2, large arm 3, the first Mobile Slide 6, the second Mobile Slide 7, first connecting rod 8 and second connecting rod 9 form the parallel institution of a two-freedom, turntable 2 connects with frame 1 by the first revolute pair 11, large arm 3 connects with turntable 2 by the second revolute pair 12, the first Mobile Slide 6 is fixed with frame 1, the first Mobile Slide connects with first connecting rod 8 by the first Hooke's hinge 14, first connecting rod 8 connects with large arm 3 by the first ball pivot 15, the second Mobile Slide 7 is fixed with frame 1, the second Mobile Slide connects with second connecting rod 9 by the second Hooke's hinge 16, second connecting rod 9 connects with large arm 3 by the second ball pivot, large arm 3 is realized the motion of two-freedom under the driving of the first Mobile Slide 6 and the second Mobile Slide 7.
Described flange 5 is cemented on forearm 4; forearm 4 connects with large arm 3 by the 3rd revolute pair 13; linear actuator 10 connects with large arm 3 by the 4th revolute pair 18; linear actuator 10 connects with forearm 4 by the 5th revolute pair 19; forearm 4 is connected on large arm 3, and is driven and moved by linear actuator 10.
Contrast Fig. 2 and Fig. 3, described in there is the motion of Three-freedom-degree hybrid palletizing mechanical arm implementation space Three Degree Of Freedom under the driving of the first Mobile Slide 6, the second Mobile Slide 7 and linear actuator 10 of large working space.Fig. 2 is respectively the different work pose of Three-freedom-degree hybrid palletizing mechanical arm with large working space with Fig. 3.

Claims (1)

1. the Three-freedom-degree hybrid palletizing mechanical arm with large working space comprises frame, turntable, large arm, forearm, flange, the first Mobile Slide, the second Mobile Slide, first connecting rod, second connecting rod and linear actuator, it is characterized in that:
Described turntable connects with frame by the first revolute pair, large arm connects with turntable by the second revolute pair, forearm connects with large arm by the 3rd revolute pair, flange is cemented on forearm, the first Mobile Slide is cemented in frame, the second Mobile Slide is cemented in frame, the first Mobile Slide connects with first connecting rod by the first Hooke's hinge, first connecting rod connects with large arm by the first ball pivot, the second Mobile Slide connects with second connecting rod by the second Hooke's hinge, second connecting rod connects with large arm by the second ball pivot, linear actuator one end connects with large arm by the 4th revolute pair, the linear actuator other end connects with forearm by the 5th revolute pair.
CN201420327355.7U 2014-06-19 2014-06-19 Three-freedom-degree parallel-serial stacking mechanical arm with large working space CN203901283U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420327355.7U CN203901283U (en) 2014-06-19 2014-06-19 Three-freedom-degree parallel-serial stacking mechanical arm with large working space

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420327355.7U CN203901283U (en) 2014-06-19 2014-06-19 Three-freedom-degree parallel-serial stacking mechanical arm with large working space

Publications (1)

Publication Number Publication Date
CN203901283U true CN203901283U (en) 2014-10-29

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CN (1) CN203901283U (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476539A (en) * 2014-12-18 2015-04-01 广西大学 Controllable mechanism type wheeled movable palletizing robot
CN105500360A (en) * 2016-01-14 2016-04-20 广西大学 Stacking robot
WO2016106962A1 (en) * 2014-12-29 2016-07-07 合肥工业大学 Cable-strut combination driven parallel robotic palletizer
CN105965546A (en) * 2016-07-26 2016-09-28 青岛北洋天青数联智能股份有限公司 Waist device for pelletizing robot
CN106002986A (en) * 2016-07-26 2016-10-12 青岛北洋天青数联智能股份有限公司 Palletizing robot with double vertical sliding bases
CN106002985A (en) * 2016-07-26 2016-10-12 青岛北洋天青数联智能股份有限公司 Carrying and stacking servo mechanical arm
CN107494194A (en) * 2017-07-24 2017-12-22 中国农业大学 One kind rubber tapping robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476539A (en) * 2014-12-18 2015-04-01 广西大学 Controllable mechanism type wheeled movable palletizing robot
CN104476539B (en) * 2014-12-18 2016-06-15 广西大学 A kind of controllable-mechanism type wheel type mobile robot palletizer
WO2016106962A1 (en) * 2014-12-29 2016-07-07 合肥工业大学 Cable-strut combination driven parallel robotic palletizer
US10246276B2 (en) 2014-12-29 2019-04-02 Hefei University Of Technology Cable-strut combination driven parallel robotic palletizer
CN105500360A (en) * 2016-01-14 2016-04-20 广西大学 Stacking robot
CN105500360B (en) * 2016-01-14 2017-07-18 广西大学 A kind of robot palletizer
CN105965546A (en) * 2016-07-26 2016-09-28 青岛北洋天青数联智能股份有限公司 Waist device for pelletizing robot
CN106002986A (en) * 2016-07-26 2016-10-12 青岛北洋天青数联智能股份有限公司 Palletizing robot with double vertical sliding bases
CN106002985A (en) * 2016-07-26 2016-10-12 青岛北洋天青数联智能股份有限公司 Carrying and stacking servo mechanical arm
CN107494194A (en) * 2017-07-24 2017-12-22 中国农业大学 One kind rubber tapping robot

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20141029

Termination date: 20170619

CF01 Termination of patent right due to non-payment of annual fee