CN104440890A - Multi-degree-of-freedom rocker arm type moving connecting rod mechanism - Google Patents
Multi-degree-of-freedom rocker arm type moving connecting rod mechanism Download PDFInfo
- Publication number
- CN104440890A CN104440890A CN201410814224.6A CN201410814224A CN104440890A CN 104440890 A CN104440890 A CN 104440890A CN 201410814224 A CN201410814224 A CN 201410814224A CN 104440890 A CN104440890 A CN 104440890A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- link
- arm
- rocking 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.)
- Pending
Links
Landscapes
- Transmission Devices (AREA)
Abstract
Provided is a multi-degree-of-freedom rocker arm type moving connecting rod mechanism. A stand column is connected with one end of a main arm and the first connecting end of a first rocker arm, the second connecting end of the first rocker arm is connected with one end of a first connecting rod, and the other end of the first connecting rod is connected with the second connecting end of a second rocker arm. The first connecting end of the second rocker arm is connected with the other end of the main arm, the third connecting end of the second rocker arm is connected with one end of a second connecting rod, and the other end of the second connecting rod is connected with the third connecting end of the first rocker arm. One end of a third connecting rod is connected with the fourth connecting end of the second rocker arm, and the other end of the third connecting rod is connected with a fourth connecting rod. One end of a sliding block is connected with the stand column through a moving pair, and the other end of the sliding block is connected with one end of a fifth connecting rod. The other end of the fifth connecting rod is connected with one end of a sixth connecting rod, and the other end of the sixth connecting rod is connected with the middle of the main arm. The multi-degree-of-freedom rocker arm type moving connecting rod mechanism has the advantages of being large in working space, high in rigidity, high in bearing capacity and high in execution precision.
Description
Technical field
The present invention relates to robot field, particularly a kind of multiple degrees of freedom rocker-arm mobile link mechanism.
Background technology
Serial manipulator rigidity is lower, the occasion that can not be applied at a high speed, carry greatly; And parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and executing agency's inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of multiple degrees of freedom rocker-arm mobile link mechanism, solves conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
It is as follows that the present invention solves the problems of the technologies described above taked technical scheme:
A kind of multiple degrees of freedom rocker-arm mobile link mechanism, comprises column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod and six-bar linkage,
Described column bottom is for connecting walking mechanism, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is for connecting executing agency,
Described column side is provided with moving sets, slide block one end is connected with column by moving sets, the other end is connected with the 5th connecting rod one end by the 11 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, and the six-bar linkage other end is connected with the 3rd link of principal arm by the 12 revolute pair.
Outstanding advantages of the present invention is:
1, the subchain of executing agency's motion control is formed by column, the 5th connecting rod, six-bar linkage and principal arm, improve the rigidity of robot, and the design of rocking arm movable type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, motor is arranged on rocking arm joint, drives closed loop chain movement, thus indirectly drive tail end connecting rod by the revolute pair on four-bar mechanism, makes the mobility of executing agency and activity space larger, can reduce active moment;
3, motor is arranged on after principal arm, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make executing agency can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
4, be connected with a with gemel connecting rod between linkage with executing agency, make actuator flexibility ratio higher, working space is larger than robot in the past, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and be easy to control, executing agency can also be made among a small circle to rotate 360 degree of round angles, and make mechanism can be applicable to more occasions, precision is higher;
5, lighter bar made by connecting rod, and make mechanism kinematic inertia little, dynamic performance is good;
6, compared with robot mechanism of the same type, under equal-wattage, work is more.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 2 is the first rocker structure schematic diagram of a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 3 is the second rocker structure schematic diagram of a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 4 is the main arm structure schematic diagram of a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 5 is the third connecting rod structural representation of a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 6 is the operating diagram that a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention is applied to weld job.
Fig. 7 is the operating diagram that a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention is applied to transport operation.
Fig. 8 is the operating diagram that a kind of multiple degrees of freedom rocker-arm mobile link mechanism of the present invention is applied to spraying operation.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As Figure 1-Figure 5, a kind of multiple degrees of freedom rocker-arm mobile link mechanism, comprises column 2, principal arm 4, first rocking arm 3, second rocking arm 7, first connecting rod 5, second connecting rod 6, third connecting rod 8, double leval jib 9, slide block 21, the 5th connecting rod 12 and six-bar linkage 11.
Described column 2 bottom is for connecting walking mechanism 1, column 2 top is connected with principal arm 4 first links and the first rocking arm 3 first links respectively by the first revolute pair 13, first 3 second, rocking arm link is connected with first connecting rod 5 one end by the second revolute pair 14, first connecting rod 5 other end is connected by the 4th revolute pair 17 and the second rocking arm 7 second links, second 7 first, rocking arm link is connected by the 5th revolute pair 16 and principal arm 4 second links, second rocking arm 7 the 3rd link is connected with second connecting rod 6 one end by the 6th revolute pair 18, second connecting rod 6 other end is connected by the 3rd revolute pair 15 and the first rocking arm 3 the 3rd link, third connecting rod 8 one end is connected by the 7th revolute pair 19 and the second rocking arm 7 the 4th link, third connecting rod 8 other end is connected with double leval jib 9 one end by the 8th revolute pair 20, double leval jib 9 other end is for connecting executing agency 10.
Described column 2 side is provided with moving sets 22, slide block 21 one end is connected with column 2 by moving sets 22, the other end is connected with the 5th connecting rod 12 one end by the 11 revolute pair 23,5th connecting rod 12 other end is connected with six-bar linkage 11 one end by the tenth revolute pair 24, and six-bar linkage 11 other end is connected with the 3rd link of principal arm 4 by the 12 revolute pair 25.
The rotation of described principal arm 4, second rocking bar 7, third connecting rod 8 and double leval jib 9 is driven by motor.
As Figure 6-Figure 8, multiple degrees of freedom rocker-arm mobile link mechanism of the present invention is applied to respectively welding, carrying and spraying operation time, only need column 2 fixed joint and walking mechanism 1 to couple together, and the other end of double leval jib 9 the 9th revolute pair 26 couples together with the executing agency 10 for welding, carrying or spray.
Claims (1)
1. a multiple degrees of freedom rocker-arm mobile link mechanism, is characterized in that, comprises column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, slide block, the 5th connecting rod and six-bar linkage,
Described column bottom is for connecting walking mechanism, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is for connecting executing agency,
Described column side is provided with moving sets, slide block one end is connected with column by moving sets, the other end is connected with the 5th connecting rod one end by the 11 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, and the six-bar linkage other end is connected with the 3rd link of principal arm by the 12 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814224.6A CN104440890A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom rocker arm type moving connecting rod mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814224.6A CN104440890A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom rocker arm type moving connecting rod mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104440890A true CN104440890A (en) | 2015-03-25 |
Family
ID=52888040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410814224.6A Pending CN104440890A (en) | 2014-12-23 | 2014-12-23 | Multi-degree-of-freedom rocker arm type moving connecting rod mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104440890A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751205A (en) * | 2016-05-09 | 2016-07-13 | 禹伟 | Partitioning plate clamping type manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011143496A (en) * | 2010-01-13 | 2011-07-28 | Ihi Corp | Device and method for tray transfer |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN104044134A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controlled parallel robot |
| CN104096998A (en) * | 2014-06-27 | 2014-10-15 | 广西大学 | Multi-degree of freedom parallel mechanism type spot welding robot |
-
2014
- 2014-12-23 CN CN201410814224.6A patent/CN104440890A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011143496A (en) * | 2010-01-13 | 2011-07-28 | Ihi Corp | Device and method for tray transfer |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN104044134A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controlled parallel robot |
| CN104096998A (en) * | 2014-06-27 | 2014-10-15 | 广西大学 | Multi-degree of freedom parallel mechanism type spot welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751205A (en) * | 2016-05-09 | 2016-07-13 | 禹伟 | Partitioning plate clamping type manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104552248A (en) | Multi-degree-of-freedom controllable mechanism type moving welding robot | |
| CN104476054A (en) | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism | |
| CN104440890A (en) | Multi-degree-of-freedom rocker arm type moving connecting rod mechanism | |
| CN104552270A (en) | Multi-degree-of-freedom controllable moving type connecting rod mechanism | |
| CN104626106A (en) | Six-freedom-degree mechanism type movable welding frame | |
| CN104552258A (en) | Six-freedom-degree rocker arm type movable welding robot | |
| CN104552254A (en) | Multi-degree-of-freedom rocker arm type welding robot | |
| CN104440889A (en) | Multi-degree-of-freedom controlled mechanism type moving connecting rod mechanism | |
| CN104552249A (en) | Six-freedom-degree five-rod movable welding robot | |
| CN104551476A (en) | Method for carrying out welding construction by using multi-freedom-degree rocker arm type connection rod mechanism | |
| CN104552272A (en) | Multi-degree-of-freedom controllable mechanism type connecting rod mechanism | |
| CN104626199A (en) | MDOF rocker arm type connection rod mechanism | |
| CN104552263A (en) | Rotary rocker arm type connecting rod mechanism | |
| CN104552259A (en) | Mobile connecting rod mechanism | |
| CN104552250A (en) | Controllable mechanism type connection rod mechanism | |
| CN104440888A (en) | Six-freedom-degree controllable mechanism type movable connecting rod mechanism | |
| CN104552267A (en) | Six-freedom-degree rotation movable connection rod mechanism | |
| CN104625506A (en) | Welding construction method using multi-degree-of-freedom rocker arm type movable connecting rod mechanism | |
| CN104626200A (en) | MDOF controllable rocker arm type connection rod mechanism | |
| CN104552260A (en) | Six-freedom-degree rocker arm type movable connection rod mechanism | |
| CN104552251A (en) | Six-freedom-degree rocker arm type connection rod mechanism | |
| CN104647352A (en) | Rotating controllable connecting rod mechanism | |
| CN104626105A (en) | Six-freedom-degree controllable mechanism type link mechanism | |
| CN104440891A (en) | Six-freedom-degree five-connecting-rod movable connecting rod mechanism | |
| CN104626104A (en) | Six-freedom-degree movable link mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150325 |