CN104552275A - Simple controllable mechanical mobile manipulator - Google Patents
Simple controllable mechanical mobile manipulator Download PDFInfo
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- CN104552275A CN104552275A CN201410830859.5A CN201410830859A CN104552275A CN 104552275 A CN104552275 A CN 104552275A CN 201410830859 A CN201410830859 A CN 201410830859A CN 104552275 A CN104552275 A CN 104552275A
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- connecting rod
- rod
- revolute pair
- driving lever
- rotary frame
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Abstract
The invention discloses a simple controllable mobile manipulator. One end of a second driving rod of the mobile manipulator is connected with a rotary frame, and the other end of the second driving rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with one end of a shoulder rod; the other end of the shoulder rod is connected with one end of a toggle rod; the other end of the toggle rod is in rigid connection with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected to a tail end executer; one end of a waist rod is connected to the rotary frame, and the other end of the waist rod is connected to the shoulder rod; one end of a third driving rod is connected with the rotary frame, and the other end of the third driving rod is connected with one end of the fourth connecting rod; the other end of the fourth connecting rod is connected with one end of a tenth connecting rod; the other end of the tenth connecting rod is connected to a first composite hinge; one end of the first driving rod is connected to the rotary frame, and the other end of the first driving rod is connected with one end of a first connecting rod; the other end of the first connecting rod is connected to the waist rod. The simple controllable mobile manipulator has high carrying capability and is flexible to operate, and intellectualization and numerical control can be realized; the simple controllable mechanical mobile manipulator is driven and controlled through a servo motor; moreover, a carrying robot is compact in structure, and has a large working space.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of easy controllable-mechanism type mobile mechanical arm.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying, parallel robot is compared with traditional serial manipulator, have without accumulated error, precision is higher, compact conformation, bearing capacity is large, the feature such as the high and end effector inertia of rigidity is little, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, there is working space large, rigidity is high, bearing capacity is strong, little and the end effector precision advantages of higher of inertia, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effective raises labour efficiency, improve a lot in product quality and stability.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.Piling causes the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that engineering machinery provides wide development space, not only have that working space is large by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of easy controllable-mechanism type mobile mechanical arm, major part drive motors is all installed on the rotating gantry, the motor that can solve traditional fisher's formula serial manipulator is arranged on hinge place, the problem such as cause arm heaviness, poor rigidity, inertia is large, joint error is accumulative, robot has good dynamic performance, can meet the requirement of high-speed overload carrying piling preferably.
The present invention achieves the above object by the following technical programs:
A kind of easy controllable-mechanism type mobile mechanical arm, comprises rotary frame, mobile platform, the second driving lever, second connecting rod, shoulder bar, toggle link, double leval jib, end effector, waist bar, the 3rd driving lever, third connecting rod, the tenth connecting rod, the first driving lever and first connecting rod;
Described rotary frame is connected on a mobile platform by the first revolute;
Described second driving lever one end is connected with rotary frame by the 5th revolute pair, the second driving lever other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with shoulder bar one end by the 7th revolute pair, the shoulder bar other end is connected with toggle link one end by the first compound hinges, the toggle link other end is rigidly connected by link and double leval jib one end, and the double leval jib other end is connected on end effector by the 12 revolute pair;
Described waist bar one end connects on rotary frame by the second compound hinges, and the described waist bar other end is connected on shoulder bar by the 8th revolute pair;
Described 3rd driving lever one end is connected with rotary frame by the second compound hinges, the 3rd driving lever other end is connected with double leval jib one end by the 9th revolute pair, the double leval jib other end is connected with the tenth connecting rod one end by the tenth revolute pair, and the tenth connecting rod other end is connected on the first compound hinges;
Described first driving lever one end is connected on the rotating gantry by the first revolute pair, and the first driving lever other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected on waist bar by the 3rd revolute pair.
Outstanding advantages of the present invention is
1, robot working space is large, and flexibility ratio is high.
2, this mobile mechanical arm selects driven by servomotor, not only environmental protection, and is easy to realize Long-distance Control, reduces labor strength.
3, most of servomotor is installed on rotary frame, and robot motion's inertia is little, and dynamic performance is good, can meet the requirement of carrying at a high speed preferably.
Accompanying drawing explanation
Fig. 1 is controllable multiple-connecting-rod mobile mechanical arm overall structure schematic diagram of the present invention.
Fig. 2 is the waist elevating mechanism structural scheme of mechanism of controllable multiple-connecting-rod mobile mechanical arm of the present invention.
Fig. 3 is controllable multiple-connecting-rod mobile mechanical arm of the present invention shoulder elevating mechanism structural scheme of mechanism.
Fig. 4 is controllable multiple-connecting-rod mechanically moving elbow slew gear schematic diagram of the present invention.
Fig. 5 is the first working state schematic representation of controllable multiple-connecting-rod mobile mechanical arm of the present invention.
Fig. 6 is controllable multiple-connecting-rod mobile mechanical arm the second working state schematic representation of the present invention.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
A kind of easy controllable-mechanism type mobile mechanical arm, comprises rotary frame 25, mobile platform 27, second driving lever 2, second connecting rod 4, shoulder bar 8, toggle link 13, double leval jib 16, end effector 14, waist bar 11, the 3rd driving lever 6, third connecting rod 19, the tenth connecting rod 28, first driving lever 23 and first connecting rod 20;
Described rotary frame 25 is connected on mobile platform 27 by the first revolute 26;
Described second driving lever 2 one end is connected with rotary frame 25 by the 5th revolute pair 1, second driving lever 4 other end is connected with second connecting rod 4 one end by the 6th revolute pair 3, second connecting rod 4 other end is connected with shoulder bar 8 one end by the 7th revolute pair 7, shoulder bar 8 other end is connected with toggle link 13 one end by the first compound hinges 12, toggle link 13 other end is rigidly connected by link 17 and double leval jib 16 one end, and double leval jib 16 other end is connected on end effector 14 by the 12 revolute pair 15;
Described waist bar 11 one end connects on rotary frame 25 by the second compound hinges 5, and described waist bar 11 other end is connected on shoulder bar 8 by the 8th revolute pair 10;
Described 3rd driving lever 6 one end is connected with rotary frame 25 by the second compound hinges 5,3rd driving lever 6 other end is connected with double leval jib 19 one end by the 9th revolute pair 22, double leval jib 19 other end is connected with the tenth connecting rod 28 one end by the tenth revolute pair 18, and the tenth connecting rod 28 other end is connected on the first compound hinges 12;
Described first driving lever 23 one end is connected on rotary frame 25 by the first revolute pair 24, and first driving lever 23 other end is connected with first connecting rod 20 one end by the second revolute pair 21, and first connecting rod 20 other end is connected on waist bar 11 by the 3rd revolute pair 9.
3rd driving lever 6 the 4th driven by servomotor; Two driving levers 2 are by the 3rd Serve Motor Control; First driving lever 23 is by the second Serve Motor Control; 12 revolute pair 15 is by the 5th driven by servomotor.
Claims (1)
1. an easy controllable-mechanism type mobile mechanical arm, it is characterized in that, comprise rotary frame, mobile platform, the second driving lever, second connecting rod, shoulder bar, toggle link, double leval jib, end effector, waist bar, the 3rd driving lever, third connecting rod, the tenth connecting rod, the first driving lever and first connecting rod;
Described rotary frame is connected on a mobile platform by the first revolute;
Described second driving lever one end is connected with rotary frame by the 5th revolute pair, the second driving lever other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with shoulder bar one end by the 7th revolute pair, the shoulder bar other end is connected with toggle link one end by the first compound hinges, the toggle link other end is rigidly connected by link and double leval jib one end, and the double leval jib other end is connected on end effector by the 12 revolute pair;
Described waist bar one end connects on rotary frame by the second compound hinges, and the described waist bar other end is connected on shoulder bar by the 8th revolute pair;
Described 3rd driving lever one end is connected with rotary frame by the second compound hinges, the 3rd driving lever other end is connected with double leval jib one end by the 9th revolute pair, the double leval jib other end is connected with the tenth connecting rod one end by the tenth revolute pair, and the tenth connecting rod other end is connected on the first compound hinges;
Described first driving lever one end is connected on the rotating gantry by the first revolute pair, and the first driving lever other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected on waist bar by the 3rd revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410830859.5A CN104552275A (en) | 2014-12-25 | 2014-12-25 | Simple controllable mechanical mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410830859.5A CN104552275A (en) | 2014-12-25 | 2014-12-25 | Simple controllable mechanical mobile manipulator |
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| Publication Number | Publication Date |
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| CN104552275A true CN104552275A (en) | 2015-04-29 |
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| CN201410830859.5A Pending CN104552275A (en) | 2014-12-25 | 2014-12-25 | Simple controllable mechanical mobile manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932494A (en) * | 2017-12-02 | 2018-04-20 | 当涂县华胜电子元件制造厂 | A kind of pouring manipulator |
| CN108502503A (en) * | 2018-04-17 | 2018-09-07 | 安徽银丰药业股份有限公司 | Peppermint drying automatic charging device |
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| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN203006510U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Transportation stacking mechanism |
| CN103711160A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Two-DOF (degree of freedom) controllable mechanical loading mechanism |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN103737588A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-freedom-degree controllable spray painting robot |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
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2014
- 2014-12-25 CN CN201410830859.5A patent/CN104552275A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62501896A (en) * | 1984-11-28 | 1987-07-30 | エス―ボラーグ・テイルバックスト・アクテイエボラーグ | Devices for carrying and adjusting tools |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN203006510U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Transportation stacking mechanism |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN103737588A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-freedom-degree controllable spray painting robot |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN103711160A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Two-DOF (degree of freedom) controllable mechanical loading mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932494A (en) * | 2017-12-02 | 2018-04-20 | 当涂县华胜电子元件制造厂 | A kind of pouring manipulator |
| CN108502503A (en) * | 2018-04-17 | 2018-09-07 | 安徽银丰药业股份有限公司 | Peppermint drying automatic charging device |
| CN108502503B (en) * | 2018-04-17 | 2020-04-07 | 安徽银丰药业股份有限公司 | Automatic feeding device for mint drying |
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Application publication date: 20150429 |