CN106607658A - Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation - Google Patents
Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation Download PDFInfo
- Publication number
- CN106607658A CN106607658A CN201611108566.1A CN201611108566A CN106607658A CN 106607658 A CN106607658 A CN 106607658A CN 201611108566 A CN201611108566 A CN 201611108566A CN 106607658 A CN106607658 A CN 106607658A
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- Prior art keywords
- connecting rod
- hinged
- rod
- driving
- driving lever
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation. The multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm is characterized by comprising a rotatable base, a telescopic mechanism, a pitching mechanism, a driving device, a wrist and a paw, wherein the telescopic mechanism comprises a first driving rod and a second driving rod of which one ends are hinged to the rotatable base, a movable arm of which one end is hinged to the other end of the first driving rod, a second connecting rod of which one end is hinged to the other end of the second driving rod, a third connecting rod of which one end is hinged to a rod arm of the first driving rod, and a fourth connecting rod of which one end is hinged to the other end of the third connecting rod; the driving device comprises two servo motors; and the two servo motors are respectively connected with the first driving rod and the second driving rod to drive the corresponding driving rods to rotate. According to the multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm, the defect that a serial manipulator is large in error accumulation, relatively low in precision, high in rigidity, and small in bearing capacity is overcome.
Description
Technical field
The present invention relates to mechanical field, more particularly to a kind of to be used for many two mobility closed chain linkage machines of bar of weld job
Tool arm.
Background technology
Currently manufactured industry weld job mechanical hand great majority are the cascaded structure joint type Motor drive machines for open form
Tool handss, which is mainly characterized in that motor is all arranged on each joint of mechanical hand, each by motor driving mechanical handss
The rotation in individual joint, realizes the various actions of mechanical hand, and this frame mode has problems with：Manipulator arm needs to carry
The weight of motor simultaneously need to meet rigidity requirement, and arm sectional dimension needs to be made larger, can so increase the load of motor,
Increase the movement inertia of arm, cause mechanical hand dynamic property to decline, while motor all causes machine installed in joint position
The cumulative error of tool handss is big, bearing capacity is little, complex structure, the degree of modularity are low.With development and the control skill of motor technology
The raising of art, parallel institution provide extensive development space for mechanical hand.As the quantity of mechanism driving-motor is equal to machinery
The degree of freedom of mobile phone structure is that mechanical hand becomes with the essential condition for determining motion, the number of the motor made by mechanical hand
Degree of freedom of the amount equal to manipulator mechanism, the weight that will result in mechanism is big, volume is big and high cost.Due to the freedom of mechanical hand
How many degree determines the degree of flexibility of robot movement, it is impossible to reduced using the method for degree of freedom is reduced mechanical hand weight,
Movement inertia, volume and cost, can so cause the reduction of performance.
The content of the invention
It is an object of the invention to provide a kind of be used for many two mobility closed chain linkage mechanical arms of bar of weld job, gram
The shortcomings of fluid pressure type weld job mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage is taken, while solving to open
Chain structure motor is all arranged on the position in joint, and the inertia that causes to roll over is big, dynamic property declines, and cumulative error is big,
Bearing capacity is little, baroque problem.The invention provides a kind of be used for many two mobility closed chain connecting rod machines of bar of weld job
Structure mechanical arm, it is characterised in that include：Can circle round base, telescoping mechanism, luffing mechanism, wrist, paw, driving means；Wherein
Telescoping mechanism includes:One end is hingedly connected to first driving lever that can be circled round on base and the second driving lever, one end and institute
State the swing arm that the other end of the first driving lever is hinged, the second connecting rod that the other end of one end and second driving lever is hinged, one
End is articulated with third connecting rod on the lever arm of first driving lever, and the other end of one end and the third connecting rod is hinged
Fourth link；The other end of the fourth link is articulated with the swing arm, and the other end of the second connecting rod is articulated with described
On the lever arm of third connecting rod；Wherein luffing mechanism includes:One end is articulated with the 5th connecting rod that can be circled round on base, one end
The six-bar linkage being hinged with the other end of the 5th connecting rod, and the handss that the other end of bottom and the six-bar linkage is hinged
Wrist;The top of the wrist is hinged with the other end of the swing arm.Driving means are made up of two servomotors, respectively with first
Driving lever 2 and the second driving lever 3 connect to drive corresponding rotation.
The present invention carries out weld job operation using two mobility closed chain linkage of many bars, compared with open-chain structure, carries
The stationarity and reliability of high arm operation, without cumulative error, precision is higher；Compact conformation, rigidity are high, large carrying capacity,
Inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type weld job mechanical arm hydraulic system unit
The shortcomings of part required precision height, complex structure, easy oil leakage.Description of the drawings
Fig. 1 is that a kind of work for many two mobility closed chain linkage mechanical arms of bar of weld job of the invention is illustrated
Figure.
Specific embodiment
It is a kind of to be used for many two mobility closed chain linkage mechanical arms of bar of weld job, including:Can be circled round base 1, flexible
Mechanism, luffing mechanism, wrist 10 and paw 11 and driving means.Wherein telescoping mechanism includes:First driving lever 2, second is led
Lever 3, swing arm 5, third connecting rod 7 and fourth link 8, one end of the first driving lever 2 are articulated with bottom of can circling round by rotating pair
On seat 1, one end of the second driving lever 3 is articulated with by rotation pair can circle round on base 1, wherein, the second driving lever 3 is located at first
The front of driving lever 2, one end of swing arm 5 are hinged by rotating the secondary other end with the first driving lever 2, one end of second connecting rod 6
It is hinged by rotating the secondary other end with the second driving lever 3, one end of third connecting rod 7 is articulated with the first driving lever by rotating pair
On 2 lever arm, one end of fourth link 8 is hinged by rotating the secondary other end with third connecting rod 7;The other end of fourth link 8
It is articulated with swing arm 5 by rotating pair, the other end of second connecting rod 6 is articulated with the lever arm of third connecting rod 7 by rotating pair, the
One driving lever 2 and swing arm 5 are in bending, wherein by third connecting rod 7 and the portion of fourth link 8 and the first driving lever 2 and swing arm 5
Divide lever arm to form tetragon drive mechanism, improve traveling comfort.Wherein luffing mechanism includes:5th connecting rod 4, six-bar linkage
9 and wrist connecting rod 13;One end of 5th connecting rod 4 is articulated with and can be circled round on base 1 by rotating pair, and the 5th connecting rod 4 is located at the
The front of two driving levers 3, one end of six-bar linkage 9 are hinged by rotating the secondary other end with the 5th connecting rod 4, wrist connecting rod 13
Bottom is hinged with the other end of six-bar linkage 9, and top and the other end of swing arm 5 of wrist connecting rod 13 are hinged.Driving means are distinguished
Connect to drive corresponding rotation with the first driving lever 2 and the second driving lever 3.Driving means are two servomotors, right respectively
First driving lever 2 and the second driving lever 3 are driven.
During use, being cooperated by telescoping mechanism and luffing mechanism carries out corresponding action, when the first driving lever 2 and
When two driving levers 3 are swung to the left, swing arm 5 is driven to left movement from the first driving lever 2, while second is driven by the second driving lever 3
Connecting rod 6, third connecting rod 7, fourth link 8 and then drive swing arm 5 are moved upwards so that wrist connecting rod 13 is realized steeving with paw 11
Action;And move right when the first driving lever 2, and the second driving lever 3 to left movement when, be capable of achieving wrist connecting rod 13 and paw 11
Bend down action.
The present invention is arranged on controllable drive motor on revolving dial, simplifies the complexity of structure, reducing mechanism
Weight, volume and cost, each connecting rod rod member of the present invention make lighter bar, so that whole mechanism kinematic inertia is little, kinetics
Performance is good, it is easy to control.
Claims (1)
1. it is a kind of to be used for many two mobility closed chain linkage mechanical arms of bar of weld job, it is characterised in that to include：Can circle round bottom
Seat, telescoping mechanism, luffing mechanism, wrist, paw, driving means；Wherein telescoping mechanism includes:One end be hingedly connected to it is described can
The first driving lever and the second driving lever on convolution base, the swing arm that the other end of one end and first driving lever is hinged, one
Hold the second connecting rod being hinged with the other end of second driving lever, one end is articulated with the lever arm of first driving lever the
Three connecting rods, and the fourth link that the other end of one end and the third connecting rod is hinged；The other end of the fourth link is hinged
On the swing arm, the other end of the second connecting rod is articulated with the lever arm of the third connecting rod；Wherein luffing mechanism bag
Include:One end is articulated with the 5th connecting rod that can be circled round on base, the other end of one end and the 5th connecting rod be hinged the 6th
Connecting rod, and the wrist connecting rod that the other end of bottom and the six-bar linkage is hinged;The top of the wrist connecting rod is dynamic with described
The other end of arm is hinged；Driving means are made up of two servomotors, be connected with the first driving lever and the second driving lever respectively with
Drive corresponding rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108566.1A CN106607658A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108566.1A CN106607658A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607658A true CN106607658A (en) | 2017-05-03 |
Family
ID=58636486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611108566.1A Pending CN106607658A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607658A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001079787A (en) * | 1999-09-08 | 2001-03-27 | Agency Of Ind Science & Technol | Four-leg type robot and control method for high motion gait |
| JP2006224202A (en) * | 2005-02-15 | 2006-08-31 | Uchida Yoko Co Ltd | Falling prevention device of movable body, method to support movable body and program |
| CN201942330U (en) * | 2010-12-31 | 2011-08-24 | 广西大学 | Four-spatial-activity controlled stacking robot |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
-
2016
- 2016-12-06 CN CN201611108566.1A patent/CN106607658A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001079787A (en) * | 1999-09-08 | 2001-03-27 | Agency Of Ind Science & Technol | Four-leg type robot and control method for high motion gait |
| JP2006224202A (en) * | 2005-02-15 | 2006-08-31 | Uchida Yoko Co Ltd | Falling prevention device of movable body, method to support movable body and program |
| CN201942330U (en) * | 2010-12-31 | 2011-08-24 | 广西大学 | Four-spatial-activity controlled stacking robot |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170503 |