CN106607930A - Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation - Google Patents
Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation Download PDFInfo
- Publication number
- CN106607930A CN106607930A CN201611108160.3A CN201611108160A CN106607930A CN 106607930 A CN106607930 A CN 106607930A CN 201611108160 A CN201611108160 A CN 201611108160A CN 106607930 A CN106607930 A CN 106607930A
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- CN
- China
- Prior art keywords
- rod
- connecting rod
- hinged
- driving lever
- driving
- 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
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation. The multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm is characterized by comprising a rotatable pedestal, a telescopic mechanism, a pitching mechanism, a drive device, a wrist and a vacuum suction disk, wherein the telescopic mechanism comprises a first driving rod and a second driving rod with one ends respectively hinged to the rotatable pedestal, a movable arm with one end hinged with the other end of the first driving rod, a second connection rod with one end hinged with the other end of the second driving rod, a third connection rod with one end hinged to a rod arm of the first driving rod, and a fourth connection rod with one end hinged to the other end of the third connection rod; and the drive device consists of two servo motors which are respectively connected with the first driving rod and the second driving rod to drive the first driving rod and the second driving rod to rotate correspondingly. Therefore, the multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm overcomes the shortcomings of large accumulation error, relatively low precision, high rigidity and low bearing capacity of a series manipulator.
Description
Technical field
The present invention relates to mechanical field, more particularly to a kind of to be used for many mobility closed chain linkage machines of bar two of transport operation
Tool arm.
Background technology
Currently manufactured industry transport operation mechanical hand great majority are the cascaded structure joint type Motor drive machines for open form
Tool handss, it 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.Development and control skill with motor technology
The raising of art, parallel institution provides extensive development space for mechanical hand.Because 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, to make the number of the motor of mechanical hand
, equal to the degree of freedom of manipulator mechanism, the weight that will result in mechanism is big, volume is big and high cost for amount.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 reduction degree of freedom 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 mobility closed chain linkage mechanical arms of bar two of transport operation, gram
The shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage is taken, while solving to open
, all installed in the position in joint, the inertia that causes to roll over is big, dynamic property declines, and cumulative error is big for chain structure motor,
Bearing capacity is little, baroque problem.The invention provides a kind of be used for many mobility closed chain connecting rod machines of bar two of transport operation
Structure mechanical arm, it is characterised in that include：Can be circled round base, telescoping mechanism, luffing mechanism, wrist, vacuum cup, 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
The swing arm being hinged with the other end of first driving lever, one end and other end of second driving lever is hinged second connects
Bar, one end is articulated with the third connecting rod on the lever arm of first driving lever, and the other end of one end and the third connecting rod
The fourth link being hinged；The other end of the fourth link is articulated with the swing arm, and the other end of the second connecting rod is hinged
On the lever arm of the third connecting rod；Wherein luffing mechanism includes:One end is articulated with the 5th company that can be circled round on base
Bar, the six-bar linkage that one end is hinged with the other end of the 5th connecting rod, and bottom are cut with scissors with the other end of the six-bar linkage
The wrist for connecing;The top of the wrist is hinged with the other end of the swing arm.Driving means are made up of two servomotors, respectively
Connect to drive corresponding rotation with the first driving lever 2 and the second driving lever 3.
The present invention carries out transport operation operation using the mobility closed chain linkage of many bars two, compared with open-chain structure, carries
The stationarity and reliability of high arm operation, without cumulative error, precision is higher；Compact conformation, rigidity is high, large carrying capacity,
Inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type transport 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 mobility closed chain linkage mechanical arms of bar two of transport operation of the invention is illustrated
Figure.
Specific embodiment
One kind is used for many mobility closed chain linkage mechanical arms of bar two of transport operation, including:Can be circled round base 1, flexible
Mechanism, luffing mechanism, wrist 10 and vacuum cup 11 and driving means.Wherein telescoping mechanism includes:First driving lever 2,
Two driving levers 3, swing arm 5, third connecting rod 7 and fourth link 8, one end of the first driving lever 2 is articulated with and can return by rotating pair
On rotation base 1, one end of the second driving lever 3 is articulated with by rotation pair and can be circled round on base 1, wherein, the second driving lever 3 is located at
The front of the first driving lever 2, one end of swing arm 5 is hinged by rotating pair with the other end of the first driving lever 2, second connecting rod 6
One end is hinged by rotating pair with the other end of the second driving lever 3, and one end of third connecting rod 7 is articulated with the first master by rotating pair
On the lever arm of lever 2, one end of fourth link 8 is hinged by rotating pair with the other end of third connecting rod 7;Fourth link 8 it is another
One end is articulated with swing arm 5 by rotating pair, and the other end of second connecting rod 6 is articulated with the lever arm of third connecting rod 7 by rotating pair
On, the first driving lever 2 and swing arm 5 are in bending, wherein by third connecting rod 7 and the driving lever 2 of fourth link 8 and first and swing arm
5 part lever arm forms tetragon drive mechanism, improves 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 by rotation pair and can be circled round on base 1, the 5th connecting rod 4
Positioned at the front of the second driving lever 3, one end of six-bar linkage 9 is hinged by rotating pair with the other end of the 5th connecting rod 4, and wrist connects
The bottom of bar 13 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.Drive dress
Put and connect with the first driving lever 2 and the second driving lever 3 to drive corresponding rotation respectively.Driving means are two servomotors,
The first driving lever 2 and the second driving lever 3 are driven respectively.
When using, being cooperated by telescoping mechanism and luffing mechanism carries out corresponding action, when the first driving lever 2 and
When two driving levers 3 swing to the left, swing arm 5 is driven to left movement from the first driving lever 2, while driving second by the second driving lever 3
Connecting rod 6, third connecting rod 7, fourth link 8 further drive swing arm 5 to move upwards so that wrist connecting rod 13 is realized with vacuum cup 11
Steeve 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 with it is true
Suction disk 11 bends 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 makes 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 mobility closed chain linkage mechanical arms of bar two of transport operation, it is characterised in that to include：Can be circled round bottom
Seat, telescoping mechanism, luffing mechanism, wrist, vacuum cup, driving means；Wherein telescoping mechanism includes:One end is hingedly connected to institute
The first driving lever and the second driving lever that can be circled round on base is stated, one end is dynamic with what the other end of first driving lever was hinged
Arm, the second connecting rod that one end is hinged with the other end of second driving lever, one end is articulated with the lever arm of first driving lever
On third connecting rod, and the fourth link that one end is hinged with the other end of the third connecting rod；The fourth link it is another
End is articulated with the swing arm, and the other end of the second connecting rod is articulated with the lever arm of the third connecting rod；Wherein pitching machine
Structure includes:One end is articulated with the 5th connecting rod that can be circled round on base, and one end is hinged with the other end of the 5th connecting rod
Six-bar linkage, and the wrist connecting rod that bottom is hinged with the other end of the six-bar linkage;The top of the wrist connecting rod and institute
The other end for stating swing arm is hinged；Driving means are made up of two servomotors, are connected with the first driving lever and the second driving lever respectively
Connect to drive corresponding rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108160.3A CN106607930A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108160.3A CN106607930A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607930A true CN106607930A (en) | 2017-05-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611108160.3A Pending CN106607930A (en) | 2016-12-06 | 2016-12-06 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607930A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178135A (en) * | 2018-08-20 | 2019-01-11 | 北京交通大学 | A kind of double drive mode closed chain leg mechanism |
Citations (7)
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|---|---|---|---|---|
| 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 |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN102444150A (en) * | 2011-09-22 | 2012-05-09 | 广西大学 | Spatial excavator with dual-mobility movable arm, dual-mobility bucket rod and single-mobility bucket |
| 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 CN201611108160.3A patent/CN106607930A/en active Pending
Patent Citations (7)
| 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 |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN102444150A (en) * | 2011-09-22 | 2012-05-09 | 广西大学 | Spatial excavator with dual-mobility movable arm, dual-mobility bucket rod and single-mobility bucket |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178135A (en) * | 2018-08-20 | 2019-01-11 | 北京交通大学 | A kind of double drive mode closed chain leg mechanism |
| CN109178135B (en) * | 2018-08-20 | 2020-02-07 | 北京交通大学 | Dual-drive mode closed-chain leg mechanism |
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Application publication date: 20170503 |