CN106607917A - Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation - Google Patents
Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation Download PDFInfo
- Publication number
- CN106607917A CN106607917A CN201611108558.7A CN201611108558A CN106607917A CN 106607917 A CN106607917 A CN 106607917A CN 201611108558 A CN201611108558 A CN 201611108558A CN 106607917 A CN106607917 A CN 106607917A
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- China
- Prior art keywords
- rod
- hinged
- connecting rod
- driving
- driving lever
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation is characterized by comprising a circling base, a telescopic mechanism, a luffing mechanism, a driving device, a wrist and a gripper. The telescopic mechanism comprises a first driving rod, a second driving rod, a movable arm, a second connection rod, a third connection rod and a fourth connection rod. One ends of the first driving rod and the second driving rod are hinged to the circling base. One end of the movable arm is hinged to the other end of the first driving rod. One end of the second connection rod is hinged to the other end of the second driving rod. One end of the third connection rod is hinged to a rod arm of the first driving rod. One end of the fourth connection rod is hinged to the other end of the third connection rod. The driving device comprises two servo motors connected with the first driving rod and the second driving rod correspondingly so as to drive corresponding rotation. Therefore, the defects that a serial manipulator is large in accumulative error, low in precision, high in rigidity and small in bearing capacity are 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 spraying operation
Tool arm.
Background technology
Currently manufactured industry spraying operation 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 spraying operation, gram
The shortcomings of fluid pressure type spraying operation 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 spraying operation
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 spraying operation 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 spraying operation 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 spraying operation 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 spraying operation, 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 spraying operation, 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 |
|---|---|---|---|
| CN201611108558.7A CN106607917A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108558.7A CN106607917A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607917A true CN106607917A (en) | 2017-05-03 |
Family
ID=58636509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611108558.7A Pending CN106607917A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607917A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN202359593U (en) * | 2011-12-07 | 2012-08-01 | 广西大学 | Two-activity movable arm and three-activity bucket space hydraulic loader |
| CN102825600A (en) * | 2012-03-28 | 2012-12-19 | 广西大学 | Parallel mechanism containing RRRR closed-loop subchain |
| CN103711159A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-load capacity nine-lever and two-freedom degree mechanical loading mechanism |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
-
2016
- 2016-12-06 CN CN201611108558.7A patent/CN106607917A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN202359593U (en) * | 2011-12-07 | 2012-08-01 | 广西大学 | Two-activity movable arm and three-activity bucket space hydraulic loader |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN102825600A (en) * | 2012-03-28 | 2012-12-19 | 广西大学 | Parallel mechanism containing RRRR closed-loop subchain |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN103711159A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-load capacity nine-lever and two-freedom degree mechanical loading mechanism |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
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Application publication date: 20170503 |
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