CN104608116A - Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism - Google Patents
Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism Download PDFInfo
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- CN104608116A CN104608116A CN201410787555.5A CN201410787555A CN104608116A CN 104608116 A CN104608116 A CN 104608116A CN 201410787555 A CN201410787555 A CN 201410787555A CN 104608116 A CN104608116 A CN 104608116A
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Abstract
The invention discloses a mobile mechanical arm with a seven-connecting-rod five-freedom-degree controllable mechanism. The mobile mechanical arm comprises a mobile operation platform, a rotating rack, driving rods, pull rods, a supporting frame, connecting rods, a motor and a mechanical hand. One end of the first driving rod is connected with the rack, the other end off the first driving rod is connected with the first connecting rod, one end of the first connecting rod is connected with the first pull rod, the other end of the first connecting rod is connected with the mechanical hand, the other end of the mechanical hand is connected with the second connecting rod, the second connecting rod is connected with the supporting frame, one end of the supporting frame is connected with the second pull rod, the second pull rod is connected with the third driving rod, and the second driving rod is connected with the first pull rod. A multi-freedom-degree controllable mechanism with the motor mounted on the rotating rack is adopted to replace a series-connection mechanism with an original motor mounted on the mechanical arm, the problems that an arm of an original mechanism is heavy, poor in dynamic performance and the like are solved, the technology of moving and operating the mechanical arm is applied to the invention, and the mobile mechanical arm is suitable for manufacturing various kinds of mechanical arms and other engineering machines.
Description
Technical field
The present invention relates to engineering machinery field, particularly one has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm.
Background technology
Along with the development of Robotics, in order to carry out with environment alternately better, handle object, finish the work, catch up with intelligentized paces, the operating terminal of robot, the effect as mechanical arm, paw is more and more important.This it is also proposed higher index to the structural design of mechanical arm, requires that high load is from anharmonic ratio, and operation is more flexible, stiff stability and security etc.The upper arm of common mechanical arm simulation people is formed, and whole joint is all rotation joint, and its first three joint generally all concentrates on wrist portion.The feature of articulated manipulator is compact conformation, shared spatial volume is little, and relative working space is maximum, is to use maximum a kind of version in mechanical arm, but be generally arranged on swivel of hand due to its drive motors, considerably increase the load-carrying of himself, make its rotary inertia become large, acceleration diminishes, remaining vibrations become large, reduce its dynamic property, and common mechanical arm is usually fixed in immovable frame, greatly limit its working range.
Along with the development of modern project technology, mechanical & electrical technology and control technology improve greatly, controllable mechanism is that engineering mechanism provides wide development space, not only having that working space is large by controlling motor-driven controllable mechanism, flexible movements, complicated and variable movement locus can be completed export, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.Originally the motor being arranged on arm joint place can not only be installed in frame by multiple degrees of freedom controllable mobile mechanical arm, solve conventional machine mechanical arm rotary inertia large, the shortcomings such as bad dynamic performance, also by the technology of application mobile manipulator mechanical arm, expand the working space of conventional robot, improve its operating rate, add its operating accuracy.
Summary of the invention
The object of the invention is to design one and there is seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm, except conventional machine mechanical arm compact conformation must be possessed, the advantages such as flexible movements, overcome conventional machine mechanical arm rotary inertia large, bad dynamic performance, outside the features such as joint error is accumulative, also should be installed on the former motor be installed on arm in frame and alleviate arm weight, and make traditional immovable manipulator become moveable manipulator, make it meet multiple work requirements.
The present invention achieves the above object by the following technical programs: one has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm, comprise Mobile operating platform, rotary frame, the first driving lever, the second driving lever, the 3rd driving lever, the first pull bar, the second pull bar, bracing frame, first connecting rod, second connecting rod, the first motor, the second motor, three-motor, the 4th motor and manipulator, concrete structure and connected mode are:
Described first driving lever one end is connected with rotary frame by the first revolute pair, and the other end is connected with first connecting rod by the second revolute pair.
Described second driving lever one end is connected with rotary frame by the 3rd revolute pair, and the other end is connected with the first pull bar by the 4th revolute pair, and the first pull bar other end is connected with bracing frame by the 5th revolute pair.
Described 3rd driving lever one end is connected with rotary frame by the 6th revolute pair, and the other end is connected with the second pull bar by the 7th revolute pair.
Support frame as described above one end is connected with the second pull bar by the 8th revolute pair, and one end is connected with second connecting rod by the 9th revolute pair, and one end is connected with first connecting rod by the 5th revolute pair.
Described manipulator one end is connected with first connecting rod by the tenth revolute pair, and the other end is connected with second connecting rod by the 11 revolute pair.
Described rotary frame is connected with Mobile operating platform by the 12 revolute pair.
Described first motor is connected with the first driving lever by the first revolute pair, second motor is connected with the second driving lever by the 3rd revolute pair, 3rd motor is connected with the 3rd driving lever by the 6th revolute pair, and the 4th motor is connected with rotary frame by the 12 revolute pair.
Described motor is servomotor.
Operation principle and process:
Described seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm is in each operating mode, manipulator rotates in operating mode, 3rd driving lever rotates around the 6th revolute pair and drives the second pull bar by the 7th revolute pair, second pull bar drives bracing frame by the 8th revolute pair, bracing frame drives second connecting rod by the 9th revolute pair, second connecting rod by the 11 revolute pair driving mechanical hand, thus makes manipulator rotate around the tenth revolute pair.Act is fallen in operating mode, makes manipulator lift and fall under the acting in conjunction of the first driving lever, first connecting rod, the second driving lever, the first pull bar.Rotate in operating mode, drive rotary frame to make it rotate by the 12 revolute pair.In mobile operating mode, make manipulator can movement arbitrarily in certain plane and space by the movement of Mobile operating platform.
Outstanding advantages of the present invention is:
1. utilize multiple degrees of freedom controllable mechanism to replace original unitary series of operations mechanism, originally the motor be installed on arm can be arranged in frame, alleviate arm own wt, reduce its rotary inertia, improve its dynamic property, decrease the joint cumulative errors that original arm weight is brought, improve Manipulator Accuracy and speed.
2., by application mobile operating platform, make originally can to move at the mechanical arm of fixed position work, considerably increase the scope of activities of mechanical arm, improve production efficiency, reduce cost.
3. the structure connected by adding bracing frame makes manipulator independently to rotate into certain Angle, and adds the free degree of manipulator, and manipulator can be worked under more multi-state.
Accompanying drawing explanation
Fig. 1 of the present inventionly has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm overall perspective view.
Fig. 2 of the present inventionly has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm and lifts descending mechanism figure.
Fig. 3 of the present inventionly has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm manipulator whirler composition.
Fig. 4 of the present inventionly has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm manipulator rotation diagram.
Fig. 5 of the present inventionly has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm car body rotation diagram.
Detailed description of the invention
One has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm, comprise Mobile operating platform 11, rotary frame 10, first driving lever 1, second driving lever 2, the 3rd driving lever 3, first pull bar 5, second pull bar 6, bracing frame 7, first connecting rod 4, second connecting rod 8, first motor 24, second motor 25, three-motor 26, the 4th motor and manipulator 9, concrete structure and connected mode are:
Contrast Fig. 1 and Fig. 2, described first driving lever 1 one end is connected with rotary frame 10 by the first revolute pair 12, and the other end is connected with first connecting rod 4 by the second revolute pair 13.
Contrast Fig. 1 and Fig. 2, described second driving lever 2 one end is connected with rotary frame 10 by the 3rd revolute pair 14, and the other end is connected with the first pull bar 5 by the 4th revolute pair 15, and first pull bar 5 other end is connected with bracing frame 7 by the 5th revolute pair 16.
Contrast Fig. 1 and Fig. 3, described 3rd driving lever 3 one end is connected with rotary frame 10 by the 6th revolute pair 17, and the other end is connected with the second pull bar 6 by the 7th revolute pair 18.
Contrast Fig. 1, Fig. 2, Fig. 3, support frame as described above 7 one end is connected with the second pull bar 6 by the 8th revolute pair 19, and one end is connected with second connecting rod 8 by the 9th revolute pair 20, and one end is connected with first connecting rod 4 by the 5th revolute pair 16.
Contrast Fig. 1, Fig. 2, Fig. 3, described manipulator 9 one end is connected with first connecting rod 4 by the tenth revolute pair 21, and the other end is connected with second connecting rod 8 by the 11 revolute pair.
Contrast Fig. 1, Fig. 2, Fig. 3, described rotary frame 10 is connected with Mobile operating platform 11 by the 12 revolute pair 23.
Contrast Fig. 1, Fig. 2, Fig. 3, described first motor 24 is connected with the first driving lever 1 by the first revolute pair 12, second motor 25 is connected with the second driving lever 2 by the 3rd revolute pair 14,3rd motor 26 is connected with the 3rd driving lever 3 by the 6th revolute pair 17, and the 4th motor is connected with Mobile operating platform 11 by the 12 revolute pair 23.
Contrast Fig. 1, Fig. 2, Fig. 3, described motor is servomotor.
Operation principle and process:
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm is in each operating mode, manipulator rotates in operating mode, 3rd driving lever 3 rotates around the 6th revolute pair 17 and drives the second pull bar 6 by the 7th revolute pair 18, second pull bar 6 drives bracing frame 7 by the 8th revolute pair 19, bracing frame 7 drives second connecting rod 8 by the 9th revolute pair 20, second connecting rod 8 by the 11 revolute pair 22 driving mechanical hand 9, thus makes manipulator 9 rotate around the tenth revolute pair 21.Act is fallen in operating mode, makes manipulator 7 lift and fall under the acting in conjunction of the first driving lever 1, first connecting rod 4, second driving lever 2, first pull bar 5.Rotate in operating mode, drive rotary frame 10 to make it rotate by the 12 revolute pair 23.In mobile operating mode, make mechanical 9 hands can movement arbitrarily in certain plane and space by the movement of Mobile operating platform 11.
Claims (1)
1. one kind has seven-link assembly five degree of freedom controllable-mechanism type mobile mechanical arm, it is characterized in that comprising Mobile operating platform, rotary frame, the first driving lever, the second driving lever, the 3rd driving lever, the first pull bar, the second pull bar, bracing frame, first connecting rod, second connecting rod, the first motor, the second motor, three-motor, the 4th motor and manipulator, concrete structure and annexation are:
Described first driving lever one end is connected with rotary frame by the first revolute pair, and the other end is connected with first connecting rod by the second revolute pair;
Described second driving lever one end is connected with rotary frame by the 3rd revolute pair, and the other end is connected with the first pull bar by the 4th revolute pair, and the first pull bar other end is connected with bracing frame by the 5th revolute pair;
Described 3rd driving lever one end is connected with rotary frame by the 6th revolute pair, and the other end is connected with the second pull bar by the 7th revolute pair;
Support frame as described above one end is connected with the second pull bar by the 8th revolute pair, and one end is connected with second connecting rod by the 9th revolute pair, and one end is connected with first connecting rod by the 5th revolute pair;
Described manipulator one end is connected with first connecting rod by the tenth revolute pair, and the other end is connected with second connecting rod by the 11 revolute pair;
Described rotary frame is connected with Mobile operating platform by the 12 revolute pair;
Described first motor is connected with the first driving lever by the first revolute pair, and the second motor is connected with the second driving lever by the 3rd revolute pair, and the 3rd motor is connected with the 3rd driving lever by the 6th revolute pair, and the 4th motor is connected with rotary frame;
Described motor is servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410787555.5A CN104608116A (en) | 2014-12-17 | 2014-12-17 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
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| CN201410787555.5A CN104608116A (en) | 2014-12-17 | 2014-12-17 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
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| CN104608116A true CN104608116A (en) | 2015-05-13 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
| CN106671129A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm for assembling work |
| CN106695872A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Servo-drive three-motion-degree connecting rod mechanism mechanical arm for carrying operation |
| CN106737836A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind is used for the variable linkage mechanical arm of the simple free degree of transport operation |
| CN106737837A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind is used for the variable linkage mechanical arm of the transport operation free degree |
| CN106737721A (en) * | 2016-11-29 | 2017-05-31 | 广西大学 | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor |
| CN106735718A (en) * | 2016-12-07 | 2017-05-31 | 广西大学 | A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
| CN108115323A (en) * | 2016-11-28 | 2018-06-05 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor |
| CN108115720A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism painting operation machinery arm is driven using servomotor |
| CN108118731A (en) * | 2016-11-30 | 2018-06-05 | 广西大学 | It is a kind of that dress operational method is grabbed using servomotor driving Three-freedom-degree connection rod mechanism progress industrial waste |
| CN108118730A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | A kind of three mobility linkage mechanical arm of servo-drive for assembling work |
| CN108130924A (en) * | 2016-11-30 | 2018-06-08 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor |
| CN108161170A (en) * | 2016-12-07 | 2018-06-15 | 广西大学 | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine |
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| CN102561426A (en) * | 2012-01-12 | 2012-07-11 | 广西大学 | 3-dof (three degrees of freedom) controllable mechanism type excavator |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115323A (en) * | 2016-11-28 | 2018-06-05 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor |
| CN106671129A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm for assembling work |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
| CN108118730A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | A kind of three mobility linkage mechanical arm of servo-drive for assembling work |
| CN106737721A (en) * | 2016-11-29 | 2017-05-31 | 广西大学 | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor |
| CN108115720A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism painting operation machinery arm is driven using servomotor |
| CN108130924A (en) * | 2016-11-30 | 2018-06-08 | 广西大学 | It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor |
| CN108118731A (en) * | 2016-11-30 | 2018-06-05 | 广西大学 | It is a kind of that dress operational method is grabbed using servomotor driving Three-freedom-degree connection rod mechanism progress industrial waste |
| CN106737836A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind is used for the variable linkage mechanical arm of the simple free degree of transport operation |
| CN106737837A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind is used for the variable linkage mechanical arm of the transport operation free degree |
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
| CN106695872A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Servo-drive three-motion-degree connecting rod mechanism mechanical arm for carrying operation |
| CN106735718A (en) * | 2016-12-07 | 2017-05-31 | 广西大学 | A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage |
| CN108161170A (en) * | 2016-12-07 | 2018-06-15 | 广西大学 | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine |
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Application publication date: 20150513 |