CN104552259A - Mobile connecting rod mechanism - Google Patents

Abstract

A movable link 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 other end of the first connecting rod is connected to the first connecting rod. The second connecting end of the second rocker arm is connected, the first connecting end of the second rocking arm is connected with the other end of the main arm, the third connecting end of the second rocking arm is connected with one end of the second connecting rod, and the other end of the second connecting rod is connected with the other end of the main arm. The third connecting end of the first rocker arm is connected, 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 is connected to the column through a fixed pair , the other end is connected with one end of the fifth connecting rod, the other end of the fifth connecting rod is connected with one end of the sixth connecting rod, and the other end of the sixth connecting rod is connected with the middle part of the main arm. The invention has the advantages of large working space, high rigidity, strong bearing capacity and high execution precision.

Description

A mobile link mechanism

technical field

The invention relates to the field of robots, in particular to a movable link mechanism.

Background technique

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.

Contents of the invention

The technical problem to be solved by the present invention is to provide a movable link mechanism, which solves the shortcomings of traditional tandem robots about large torque required, low rigidity and small working space.

The technical scheme that the present invention solves the problems of the technologies described above is as follows:

A mobile link mechanism, comprising 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, and a fifth link Rod and sixth link,

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;

The side of the column is connected to one end of the connecting block through the second fixed pair, the other end of the connecting block is connected to one end of the fifth connecting rod through the eleventh rotating pair, and the other end of the fifth connecting rod is connected to the sixth connecting rod through the tenth rotating pair One end is connected, and the other end of the sixth connecting rod is connected with the third connection end of the main arm through the twelfth rotating pair.

The outstanding advantages of the present invention are:

1. A sub-chain for motion control of the actuator is formed by the column, the fifth link, the sixth link 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, which can avoid the mechanism The dead center position can make the robot have a larger range of action and better maintain the balance of the mechanism;

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. 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. 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. 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. Compared with the same type of robot mechanism, it can do more work under the same power.

Description of drawings

Fig. 1 is a structural schematic diagram of a movable link mechanism according to the present invention.

Fig. 2 is a structural schematic diagram of the first rocker arm of a movable link mechanism according to the present invention.

Fig. 3 is a schematic structural diagram of the second rocker arm of a movable link mechanism according to the present invention.

Fig. 4 is a schematic structural diagram of a main arm of a movable link mechanism according to the present invention.

Fig. 5 is a structural schematic diagram of a third link of a movable link mechanism according to the present invention.

Fig. 6 is a schematic structural diagram of a connection block of a movable linkage mechanism according to the present invention.

Fig. 7 is a working schematic diagram of a mobile linkage mechanism of the present invention applied to a welding operation.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figures 1-6, a mobile linkage mechanism includes a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first connecting rod 5, a second connecting rod 6, a first Three connecting rods 8 , fourth connecting rod 9 , connecting block 21 , fifth connecting rod 12 and sixth connecting rod 11 .

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 .

The side of the column 2 is connected to one end of the connecting block 21 through the second fixed pair, the other end of the connecting block 21 is connected to one end of the fifth connecting rod 12 through the eleventh rotating pair 22, and the other end of the fifth connecting rod 12 is rotated through the tenth The pair 23 is connected to one end of the sixth connecting rod 11 , and the other end of the sixth connecting rod 11 is connected to the third connecting end of the main arm 4 through the twelfth rotating pair 24 .

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.

As shown in Figure 7, when the movable link mechanism of the present invention is applied to welding operations, it is only necessary to connect the column 2 with the first fixed pair and the traveling mechanism 1, and the other end of the fourth link 9 is used The ninth rotating pair 25 can be connected with the actuator 10 for welding. When it is necessary to perform other operations such as spraying or transportation, it is only necessary to replace the actuator 10 with a corresponding actuator.

Claims (1)

1. a portable linkage, is characterized in that, comprises column, principal arm, the first rocking arm, the second rocking arm, first connecting rod, second connecting rod, third connecting rod, double leval jib, contiguous block, the 5th connecting rod and six-bar linkage,

Described column bottom is for connecting walking mechanism, column top is connected with principal arm first link and the first rocking arm first link respectively by the first revolute pair, first second, rocking arm link is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected by the 4th revolute pair and the second rocking arm second link, second first, rocking arm link is connected by the 5th revolute pair and principal arm second link, second rocking arm the 3rd link is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected by the 3rd revolute pair and the first rocking arm the 3rd link, third connecting rod one end is connected by the 7th revolute pair and the second rocking arm the 4th link, the third connecting rod other end is connected with double leval jib one end by the 8th revolute pair, the double leval jib other end is for connecting executing agency,

Described column side is connected with contiguous block one end by the second fixed joint, the contiguous block other end is connected with the 5th connecting rod one end by the 11 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the tenth revolute pair, and the six-bar linkage other end is connected with the 3rd link of principal arm by the 12 revolute pair.