CN104440891A - Six-freedom-degree five-connecting-rod movable connecting rod mechanism - Google Patents
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Abstract
一种六自由度五杆移动式连杆机构，立柱与主臂一端和第一摇臂第一个连接端连接，第一摇臂第二个连接端与第一连杆一端连接，第一连杆另一端与第二摇臂第二个连接端连接，第二摇臂第一个连接端与主臂另一端连接，第二摇臂第三个连接端与第二连杆一端连接，第二连杆另一端与第一摇臂第三个连接端连接，第三连杆一端与第二摇臂第四个连接端连接，第三连杆另一端与第四连杆连接；连接块一端通过固定副与立柱连接，另一端与第五连杆连接，第五连杆、第六连杆、第七连杆和主臂第二个连接端依次连接。本发明具有工作空间大、刚度高、承载能力强和执行精度高的优点。
A six-degree-of-freedom five-bar movable linkage mechanism, the column is connected to one end of the main arm and the first connecting end of the first rocker arm, the second connecting end of the first rocking arm is connected to one end of the first connecting rod, and the first connecting rod The other end of the rod is connected to the second connecting end of the second rocker arm, the first connecting end of the second rocking arm is connected to the other end of the main arm, the third connecting end of the second rocking arm is connected to one end of the second connecting rod, and the second The other end of the connecting rod is connected to the third connecting end of the first rocker arm, one end of the third connecting rod is connected to the fourth connecting end of the second rocking arm, and the other end of the third connecting rod is connected to the fourth connecting rod; one end of the connecting block passes through The fixed pair is connected with the column, and the other end is connected with the fifth connecting rod, and the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the second connecting end of the main arm are connected in sequence. The invention has the advantages of large working space, high rigidity, strong bearing capacity and high execution precision.
Description
技术领域technical field
本发明涉及机器人领域，特别是一种六自由度五杆移动式连杆机构。The invention relates to the field of robots, in particular to a six-degree-of-freedom five-bar movable link mechanism.
背景技术Background technique
串联机器人刚度较低，不能应用于高速、大承载的场合；而并联机器人和传统的串联机器人相比较，具有无累积误差、精度较高、结构紧凑、承载能力大、刚度高且执行机构惯性小等特点，驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好；但是并联机器人的明显缺点是工作空间小和结构复杂。工程上现有的带有局部闭链的操作机如MOTOMAN-K10并没有解决工业机器人存在的问题。Compared with the traditional serial robot, the parallel robot has no cumulative error, high precision, compact structure, large bearing capacity, high rigidity and small inertia of the actuator. and other characteristics, the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed, and good in dynamic response; but the obvious disadvantages of parallel robots are small working space and complex structure. Existing manipulators with partial closed chains such as MOTOMAN-K10 in engineering do not solve the problems of industrial robots.
发明内容Contents of the invention
本发明所要解决的技术问题在于提供一种六自由度五杆移动式连杆机构，解决传统串联机器人关于所需力矩大，刚度低和工作空间小的缺点。The technical problem to be solved by the present invention is to provide a six-degree-of-freedom five-bar movable linkage mechanism, which solves the shortcomings of traditional serial robots about large torque, low rigidity and small working space.
本发明解决上述技术问题所采取的技术方案如下：The technical scheme that the present invention solves the problems of the technologies described above is as follows:
一种六自由度五杆移动式连杆机构，包括立柱、主臂、第一摇臂、第二摇臂、第一连杆、第二连杆、第三连杆、第四连杆、连接块、第五连杆、第六连杆和第七连杆，A six-degree-of-freedom five-bar movable link mechanism, including a column, a main arm, a first rocker arm, a second rocker arm, a first link, a second link, a third link, a fourth link, a connecting block, fifth link, sixth link and seventh link,
所述立柱底端用于连接行走机构，立柱顶端通过第一转动副分别与主臂第一个连接端和第一摇臂第一个连接端连接，第一摇臂第二个连接端通过第二转动副与第一连杆一端连接，第一连杆另一端通过第四转动副与第二摇臂第二个连接端连接，第二摇臂第一个连接端通过第五转动副与主臂第二个连接端连接，第二摇臂第三个连接端通过第六转动副与第二连杆一端连接，第二连杆另一端通过第三转动副与第一摇臂第三个连接端连接，第三连杆一端通过第七转动副与第二摇臂第四个连接端连接，第三连杆另一端通过第八转动副与第四连杆一端连接，第四连杆另一端用于连接执行机构；The bottom end of the column is used to connect the traveling mechanism, the top end of the column is respectively connected to the first connecting end of the main arm and the first connecting end of the first rocker arm through the first rotating pair, and the second connecting end of the first rocking arm is connected to the first connecting end of the first rocking arm through the first rotating pair. The second rotating pair is connected to one end of the first connecting rod, the other end of the first connecting rod is connected to the second connecting end of the second rocker arm through the fourth rotating pair, and the first connecting end of the second rocking arm is connected to the main connecting rod through the fifth rotating pair. The second connecting end of the arm is connected, the third connecting end of the second rocker arm is connected with one end of the second connecting rod through the sixth rotating pair, and the other end of the second connecting rod is connected with the third connecting rod of the first rocking arm through the third rotating pair One end of the third connecting rod is connected to the fourth connecting end of the second rocker arm through the seventh rotating pair, the other end of the third connecting rod is connected to one end of the fourth connecting rod through the eighth rotating pair, and the other end of the fourth connecting rod Used to connect the actuator;
所述的连接块一端连接第二固定副，另一端通过第十转动副与第五连杆一端连接，第五连杆另一端通过第十一转动副与第六连杆一端连接，第六连杆另一端通过第十二转动副与第七连杆一端连接，第七连杆另一端通过第五转动副与主臂的第二个连接端连接。One end of the connecting block is connected to the second fixed pair, the other end is connected to one end of the fifth connecting rod through the tenth rotating pair, the other end of the fifth connecting rod is connected to one end of the sixth connecting rod through the eleventh rotating pair, and the sixth connecting rod The other end of the rod is connected to one end of the seventh connecting rod through the twelfth rotating pair, and the other end of the seventh connecting rod is connected to the second connecting end of the main arm through the fifth rotating pair.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、由立柱、第五连杆、第六连杆、第七连杆和主臂形成一个执行机构运动控制的子链，提高了机器人的刚度，并且摇臂移动式设计大大提高机器人的工作空间，能避免机构的死点位置，能使机器人的作用范围更大，并且能使机构更好的保持平衡；1. A sub-chain of motion control of the actuator is formed by the column, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the main arm, which improves the rigidity of the robot, and the movable design of the rocker arm greatly improves the working space of the robot , can avoid the dead point position of the mechanism, can make the robot have a larger range of action, and can keep the mechanism better balanced;
2、电机安装在摇臂关节上，通过四杆机构上的转动副驱动闭环链运动，从而间接驱动末端连杆，使执行机构的活动度和活动空间更大，能减小能动力矩；2. The motor is installed on the rocker joint, and the closed-loop chain movement is driven by the rotating pair on the four-bar mechanism, thereby indirectly driving the end connecting rod, so that the activity and space of the actuator are larger, and the dynamic moment can be reduced;
3、电机安装在主臂后面，降低了整个机构的重心，而且可以安装功率较大的电机在机构上，使执行机构可以适应在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中；3. The motor is installed behind the main arm, which lowers the center of gravity of the entire mechanism, and a motor with a larger power can be installed on the mechanism, so that the actuator can be used in complex operations such as welding, spraying, handling, loading and unloading, assembly, and stacking. ;
4、连杆机构与执行机构之间用一个带铰链的连杆连接，使执行器灵活度更高，工作空间比以往的机器人更大，而且带铰链的连杆做成轻杆，可以使整个机构动力性能更好且易于控制，还可以使执行机构在小范围内转动360度周角，使机构能适用于更多场合，精度更高；4. A connecting rod with a hinge is used to connect the connecting rod mechanism and the actuator, which makes the actuator more flexible, and the working space is larger than that of the previous robot, and the connecting rod with a hinge is made into a light rod, which can make the whole The mechanism has better dynamic performance and is easy to control. It can also make the actuator rotate 360 degrees in a small range, so that the mechanism can be applied to more occasions and has higher precision;
5、连杆做成轻杆，使机构运动惯量小，动力学性能好；5. The connecting rod is made of a light rod, so that the mechanism's motion inertia is small and the dynamic performance is good;
6、与同类型的机器人机构相比较，相同功率下做的功更多。6. Compared with the same type of robot mechanism, it can do more work under the same power.
附图说明Description of drawings
图1为本发明所述一种六自由度五杆移动式连杆机构的结构示意图。FIG. 1 is a schematic structural view of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图2为本发明所述一种六自由度五杆移动式连杆机构的第一摇臂结构示意图。Fig. 2 is a schematic structural diagram of the first rocker arm of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图3为本发明所述一种六自由度五杆移动式连杆机构的第二摇臂结构示意图。Fig. 3 is a schematic structural diagram of the second rocker arm of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图4为本发明所述一种六自由度五杆移动式连杆机构的主臂结构示意图。Fig. 4 is a schematic diagram of the main arm structure of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图5为本发明所述一种六自由度五杆移动式连杆机构的第三连杆结构示意图。Fig. 5 is a schematic diagram of the structure of the third link of a six-degree-of-freedom five-bar movable link mechanism according to the present invention.
图6为本发明所述一种六自由度五杆移动式连杆机构的连接块结构示意图。Fig. 6 is a schematic structural diagram of a connecting block of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图7为本发明所述一种六自由度五杆移动式连杆机构的立柱结构示意图。Fig. 7 is a schematic diagram of a column structure of a six-degree-of-freedom five-bar movable linkage mechanism according to the present invention.
图8为本发明所述一种六自由度五杆移动式连杆机构应用于焊接作业的工作示意图。Fig. 8 is a working schematic diagram of a six-degree-of-freedom five-bar movable linkage mechanism applied to welding operations according to the present invention.
图9为本发明所述一种六自由度五杆移动式连杆机构应用于喷涂作业的工作示意图。Fig. 9 is a working schematic diagram of a six-degree-of-freedom five-bar movable linkage mechanism applied to spraying operations according to the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-图7所示，一种六自由度五杆移动式连杆机构，包括立柱2、主臂4、第一摇臂3、第二摇臂7、第一连杆5、第二连杆6、第三连杆8、第四连杆9、连接块22、第五连杆26、第六连杆12和第七连杆11。As shown in Figures 1-7, a six-degree-of-freedom five-bar movable linkage mechanism includes a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first link 5, a second The connecting rod 6 , the third connecting rod 8 , the fourth connecting rod 9 , the connecting block 22 , the fifth connecting rod 26 , the sixth connecting rod 12 and the seventh connecting rod 11 .
所述立柱2底端用于连接行走机构1，立柱2顶端通过第一转动副13分别与主臂4第一个连接端和第一摇臂3第一个连接端连接，第一摇臂3第二个连接端通过第二转动副14与第一连杆5一端连接，第一连杆5另一端通过第四转动副17与第二摇臂7第二个连接端连接，第二摇臂7第一个连接端通过第五转动副16与主臂4第二个连接端连接，第二摇臂7第三个连接端通过第六转动副18与第二连杆6一端连接，第二连杆6另一端通过第三转动副15与第一摇臂3第三个连接端连接，第三连杆8一端通过第七转动副19与第二摇臂7第四个连接端连接，第三连杆8另一端通过第八转动副20与第四连杆9一端连接，第四连杆9另一端用于连接执行机构10。The bottom end of the column 2 is used to connect the traveling mechanism 1, and the top end of the column 2 is respectively connected to the first connection end of the main arm 4 and the first connection end of the first rocker arm 3 through the first rotating pair 13. The first rocker arm 3 The second connecting end is connected with one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the first connecting rod 5 is connected with the second connecting end of the second rocking arm 7 through the fourth rotating pair 17, and the second rocking arm 7. The first connecting end is connected to the second connecting end of the main arm 4 through the fifth rotating pair 16, and the third connecting end of the second rocker arm 7 is connected to one end of the second connecting rod 6 through the sixth rotating pair 18. The second The other end of the connecting rod 6 is connected to the third connecting end of the first rocker arm 3 through the third rotating pair 15, and one end of the third connecting rod 8 is connected to the fourth connecting end of the second rocking arm 7 through the seventh rotating pair 19. The other end of the three connecting rods 8 is connected to one end of the fourth connecting rod 9 through the eighth rotating pair 20 , and the other end of the fourth connecting rod 9 is used to connect to the actuator 10 .
所述的立柱2侧面连接第二固定副，连接块22一端通过第二固定副与立柱2连接，另一端通过第十转动副23与第五连杆26一端连接，第五连杆26另一端通过第十一转动副25与第六连杆12一端连接，第六连杆12另一端通过第十二转动副24与第七连杆11一端连接，第七连杆11另一端通过第五转动副16与主臂4的第二个连接端连接。The side of the column 2 is connected to the second fixed pair, one end of the connecting block 22 is connected to the column 2 through the second fixed pair, the other end is connected to one end of the fifth connecting rod 26 through the tenth rotating pair 23, and the other end of the fifth connecting rod 26 One end of the sixth connecting rod 12 is connected through the eleventh rotating pair 25, the other end of the sixth connecting rod 12 is connected with one end of the seventh connecting rod 11 through the twelfth rotating pair 24, and the other end of the seventh connecting rod 11 is connected through the fifth rotating The secondary 16 is connected to the second connection end of the main arm 4 .
所述的主臂4、第二摇杆7、第三连杆8和第四连杆9的旋转由电机驱动。The rotation of the main arm 4, the second rocker 7, the third connecting rod 8 and the fourth connecting rod 9 is driven by a motor.
如图8-图9所示，将本发明所述的六自由度五杆移动式连杆机构分别应用于焊接和搬运作业时，只需要将立柱2用第一固定副与行走机构1连接起来，而第四连杆9的另一端用第九转动副21与用于焊接或搬运的执行机构10连接起来即可。As shown in Figures 8-9, when the six-degree-of-freedom five-bar movable linkage mechanism of the present invention is applied to welding and handling operations, only the column 2 needs to be connected with the running mechanism 1 by the first fixed pair , and the other end of the fourth connecting rod 9 is connected with the actuator 10 for welding or handling with the ninth rotating pair 21.
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| CN201410814300.3A CN104440891A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree five-connecting-rod movable connecting rod mechanism |
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| CN201410814300.3A CN104440891A (en) | 2014-12-23 | 2014-12-23 | Six-freedom-degree five-connecting-rod movable connecting rod mechanism |
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| US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
| WO1984002301A1 (en) * | 1982-12-09 | 1984-06-21 | Mts System Corp | Robot arm and wrist assembly |
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Application publication date: 20150325 |