CN203901284U - Three-freedom-degree series-parallel stacking mechanical arm - Google Patents

Abstract

A three-freedom-degree series-parallel stacking mechanical arm comprises a rack, a rotary table, a big arm, a small arm, a flange, a first linear driver, a second linear driver and a third linear driver. The rack, the rotary table, the big arm, the first linear driver and the second linear driver are connected to form a two-freedom-degree parallel mechanism. The flange and the small arm are connected in series on the big arm and driven by the third linear driver to move, wherein the third linear driver is connected to the big arm. The stacking mechanical arm is simple in structure, mechanism movement is achieved, the weight is light, rigidity is high, inertia is low, dynamic performance is high, and compared with the like products, the three-freedom-degree series-parallel stacking mechanical arm has the advantage of being high in load capacity.

Description

A kind of Three-freedom-degree hybrid palletizing mechanical arm

Technical field

The utility model relates to industrial robot field, particularly a kind of Three-freedom-degree hybrid palletizing mechanical arm.

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 a kind of Three-freedom-degree hybrid palletizing mechanical arm, can effectively improve the load capacity of existing palletizing mechanical arm.

The utility model achieves the above object by the following technical programs: a kind of Three-freedom-degree hybrid palletizing mechanical arm comprises frame, turntable, large arm, forearm, flange, the first linear actuator, the second linear actuator and the 3rd 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, first linear actuator one end connects with frame by the first Hooke's hinge, the first linear actuator other end connects with large arm by the first ball pivot, second linear actuator one end connects with frame by the second Hooke's hinge, the second linear actuator other end connects with large arm by the second ball pivot, the 3rd linear actuator one end connects with large arm by the 4th revolute pair, the 3rd 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 a kind of Three-freedom-degree hybrid palletizing mechanical arm described in the utility model.

Fig. 2 is the second structural representation of a kind of Three-freedom-degree hybrid palletizing mechanical arm described in the utility model.

Fig. 3 is the 3rd structural representation of a kind of Three-freedom-degree hybrid palletizing mechanical arm 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, a kind of Three-freedom-degree hybrid palletizing mechanical arm, comprises frame 1, turntable 2, large arm 3, forearm 4, flange 5, the first linear actuator 6, the second linear actuator 7 and the 3rd linear actuator 8.

Described frame 1, turntable 2, large arm 3, the first linear actuator 6 and the second linear actuator 7 form the parallel institution of a two-freedom, turntable 2 connects with frame 1 by the first revolute pair 9, large arm 3 connects with forearm 2 by the second revolute pair 10, the first linear actuator 6 connects with frame 1 by the first Hooke's hinge 12, the first linear actuator 6 connects with large arm 3 by the first ball pivot 13, the second linear actuator 7 connects with frame 1 by the second Hooke's hinge 14, the second linear actuator 7 connects with large arm 3 by the second ball pivot 15, large arm 3 is realized the motion of two-freedom under the driving of the first linear actuator 6 and the second linear actuator 7.

Described flange 5 is cemented on forearm 4; forearm 4 connects with large arm 3 by the 3rd revolute pair 11; the 3rd linear actuator 8 connects with large arm 3 by the 4th revolute pair 16; the 3rd linear actuator 8 connects with forearm 4 by the 5th revolute pair 17; forearm 4 is connected on large arm 3, and is driven and moved by the 3rd linear actuator 8.

Contrast Fig. 2 and Fig. 3, the motion of described a kind of Three-freedom-degree hybrid palletizing mechanical arm implementation space Three Degree Of Freedom under the driving of the first linear actuator 6, the second linear actuator 7 and the 3rd linear actuator 8.Fig. 2 is respectively the different work pose of a kind of Three-freedom-degree hybrid palletizing mechanical arm with Fig. 3.

Claims (1)

1. Three-freedom-degree hybrid palletizing mechanical arm comprises frame, turntable, large arm, forearm, flange, the first linear actuator, the second linear actuator and the 3rd 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, first linear actuator one end connects with frame by the first Hooke's hinge, the first linear actuator other end connects with large arm by the first ball pivot, second linear actuator one end connects with frame by the second Hooke's hinge, the second linear actuator other end connects with large arm by the second ball pivot, the 3rd linear actuator one end connects with large arm by the 4th revolute pair, the 3rd linear actuator other end connects with forearm by the 5th revolute pair.