CN104552260A - Six-freedom-degree rocker arm type movable connection rod mechanism - Google Patents
Six-freedom-degree rocker arm type movable connection rod mechanism Download PDFInfo
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- CN104552260A CN104552260A CN201410814263.6A CN201410814263A CN104552260A CN 104552260 A CN104552260 A CN 104552260A CN 201410814263 A CN201410814263 A CN 201410814263A CN 104552260 A CN104552260 A CN 104552260A
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- connection rod
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Abstract
The invention discloses a six-freedom-degree rocker arm type movable connection rod mechanism. A stand column is connected with one end of a main arm and a first connection end of a first rocker arm; a second connection end of the first rocker arm is connected with one end of a first connection rod; the other end of the first connection rod is connected with a second connection end of a second rocker arm; a first connection end of the second rocker arm is connected with the other end of the main arm; a third connection end of the second rocker arm is connected with one end of a second connection rod; the other end of the second connection rod is connected with a third connection end of the first rocker arm; one end of a third connection rod is connected with a fourth connection end of the second rocker arm; the other end of the third connection rod is connected with one end of a fourth connection rod; one end of a sliding block is connected with the stand column through a movable pair; the other end of the sliding block is connected with a fifth connection rod; the other end of the fifth connection rod is connected with one end of a sixth connection rod; the other end of the sixth connection rod is connected with the other arm of the main arm. The six-freedom-degree rocker arm type movable connection rod mechanism has the advantages of large working space, high rigidity, high bearing capability and high execution accuracy.
Description
Technical field
The present invention relates to robot field, particularly a kind of six degree 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 six degree 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 six degree 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 second link of principal arm by the 5th 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 six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 2 is the first rocker structure schematic diagram of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 3 is the second rocker structure schematic diagram of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 4 is the main arm structure schematic diagram of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 5 is the third connecting rod structural representation of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 6 is the slide block structure schematic diagram of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 7 is the pillar construction schematic diagram of a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention.
Fig. 8 is the first operating diagram that a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention is applied to weld job.
Fig. 9 is the front view of Fig. 8.
Figure 10 is the rearview of Fig. 8.
Figure 11 is the top view of Fig. 8.
Figure 12 is the second operating diagram that a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention is applied to weld job.
Figure 13 is the 3rd operating diagram that a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention is applied to weld job.
Figure 14 is the operating diagram that a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention is applied to spraying operation.
Figure 15 is the operating diagram that a kind of six degree of freedom rocker-arm mobile link mechanism of the present invention is applied to transport operation.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As shown in Fig. 1-Fig. 7, a kind of six degree 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 23, 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 23 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 24,5th connecting rod 12 other end is connected with six-bar linkage 11 one end by the tenth revolute pair 25, and six-bar linkage 11 other end is connected with second link of principal arm 4 by the 5th revolute pair 16.
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 shown in Fig. 8-Figure 15, six degree 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 21 couples together with the executing agency 10 for welding, carrying or spray.
Claims (1)
1. a six degree 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 second link of principal arm by the 5th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814263.6A CN104552260A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable connection rod mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814263.6A CN104552260A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable connection rod mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552260A true CN104552260A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410814263.6A Pending CN104552260A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree rocker arm type movable connection rod mechanism |
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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 CN201410814263.6A patent/CN104552260A/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 |
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Application publication date: 20150429 |