CN104552272A - Multi-degree-of-freedom controllable mechanism type connecting rod mechanism - Google Patents

Abstract

A multi-degree-of-freedom controllable mechanism 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 slider passes through The movable 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 third 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

A multi-degree-of-freedom controllable linkage mechanism

technical field

The invention relates to the field of robots, in particular to a multi-degree-of-freedom controllable mechanism linkage 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 multi-degree-of-freedom controllable linkage 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 multi-degree-of-freedom controllable mechanism linkage 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 slide block, fifth link, sixth link and seventh link,

The bottom end of the column is connected with the fourteenth rotating pair, the top 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 One end of the first connecting rod is connected through the second rotating pair, the other end of the first connecting rod is connected with 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 through the fifth rotating pair It is connected to the second connecting end of the main arm, the third connecting end of the second rocker arm is connected to one end of the second connecting rod through the sixth rotating pair, and the other end of the second connecting rod is connected to 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 fourth connecting rod is connected to the fourth connecting rod through the eighth rotating pair. The other end is used to connect the actuator;

One end of the slider is connected to the moving 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 is connected to one end of the sixth connecting rod. One end 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 third connecting end of the main arm through the thirteenth rotating pair.

The outstanding advantages of the present invention are:

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. 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 multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 2 is a structural schematic diagram of the first rocker arm of a multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 3 is a structural schematic diagram of the second rocker arm of a multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 4 is a schematic diagram of the main arm structure of a multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 5 is a schematic diagram of the structure of the third link of a multi-degree-of-freedom controllable mechanism link mechanism according to the present invention.

FIG. 6 is a schematic diagram of a slider structure of a multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 7 is a schematic diagram of a column structure of a multi-degree-of-freedom controllable mechanism linkage mechanism according to the present invention.

Fig. 8 is a working schematic diagram of a multi-degree-of-freedom controllable mechanism linkage mechanism applied to welding operations according to the present invention.

Fig. 9 is a working schematic diagram of a multi-degree-of-freedom controllable mechanism-type link mechanism applied to a handling operation according to the present invention.

Fig. 10 is a working schematic diagram of a multi-degree-of-freedom controllable mechanism linkage mechanism applied to spraying operations according to the present invention.

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 1-7, a multi-degree-of-freedom controllable mechanism 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 Link 6 , third link 8 , fourth link 9 , slider 23 , fifth link 25 , sixth link 12 and seventh link 11 .

The bottom end of the column 2 is connected to the fourteenth rotating pair 29, and the top end of the column 2 is connected to the first connecting end of the main arm 4 and the first connecting end of the first rocking arm 3 through the first rotating pair 13, and the first rocking arm 3. The second connecting end is connected to 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 to the second connecting end of the second rocker arm 7 through the fourth rotating pair 17. The first connecting end of the arm 7 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 other end of the second 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 third connecting rod 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 provided with a moving pair 22, one end of the slider 23 is connected to the column 2 through the moving pair 22, and the other end is connected to one end of the fifth connecting rod 25 through the tenth rotating pair 24, and the other end of the fifth connecting rod 25 is passed through The eleventh rotating pair 26 is connected to one end of the sixth connecting rod 12, and the other end of the sixth connecting rod 12 is connected to one end of the seventh connecting rod 11 through the twelfth rotating pair 27, and the other end of the seventh connecting rod 11 is connected through the thirteenth rotating pair. The secondary 28 is connected to the third connection end of the main arm 4 .

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 Figures 8-10, when the multi-degree-of-freedom controllable mechanism-type linkage mechanism of the present invention is respectively applied to welding, handling and spraying operations, it is only necessary to use the fourteenth rotating pair 29 of the column 2 to travel The mechanism 1 is connected, and the other end of the fourth connecting rod 9 is connected with the actuator 10 for welding, transporting or spraying with the ninth rotating pair 21.

Claims (1)

1. a multi-freedom-degreecontrollable controllable mechanism type 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, slide block, the 5th connecting rod, six-bar linkage and seven-link assembly,

Described column bottom is connected with the 14 revolute pair, 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 slide block one end connects moving sets, the other end is connected with the 5th connecting rod one end by the tenth revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 11 revolute pair, the six-bar linkage other end is connected with seven-link assembly one end by the 12 revolute pair, and the seven-link assembly other end is connected with the 3rd link of principal arm by the 13 revolute pair.