Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair

Abstract

The invention discloses a three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with a mobile pair. The lower end of a first swinging connecting rod of the mechanical arm is connected to a trolley, the upper end of the first swinging connecting rod is connected with a first end of a triangular connecting board, the lower end of a second swinging connecting rod is connected to the trolley, the upper end of the second swinging connecting rod is connected with a second end of the triangular connecting board, one end of a second lifting connecting rod is connected with a third end of the triangular connecting board, the other end of the second lifting connecting rod is connected with a grasp connecting board, one end of a first lifting connecting rod is connected to the center of the triangular connecting board, the other end of the first lifting connecting rod is connected with the grasp connecting board, the lower end of a first drive rod is connected to the trolley, the upper end of the first drive rod is connected with one end of a first connecting rod, the other end of the first connecting rod is connected to a first swinging rod, the lower end of a second drive rod is connected to the trolley, the upper end of the second drive rod is connected with one end of a second connecting rod, the other end of the second connecting rod is connected to a sliding sleeve, one end of a third connecting rod is connected to the sliding sleeve, and the other end of the third connecting rod is connected to the first lifting connecting rod. The three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with the mobile pair overcomes the defects that joint errors are prone to accumulation and response is not sensitive, and is high in working efficiency and stability.

Description

technical field [0001] The invention belongs to the field of mobile operation manipulators, in particular to a multi-degree-of-freedom link type mobile operation manipulator with a moving pair. Background technique [0002] Since the 1960s, robotic arms have been widely used in the processing and logistics industry, which not only reduces the work intensity of people, but also greatly improves the processing and production efficiency. However, most of these mechanical arms are fixed on the base. With the development of industry and technology, the working space of this mechanical arm installed on the fixed base is extremely limited, which cannot meet the needs of actual tasks. In response to this situation, since the late 1980s, many research institutions at home and abroad have carried out research on mobile manipulators. The mobile manipulator is mainly composed of a walking device, a manipulator and a grabbing device. On the basis of inheriting the advantages of the trad...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a three-degree-of-freedom nine-link controllable mobile operation mechanical arm with a moving pair. The present invention will improve the existing mobile operation mechanical arm, install the motor on the trolley, and adopt The multi-link design overcomes the shortcomings of the existing mobile operation manipulators, such as poor performance, large amount of rotation, insensitive response, easy generation of residual vibration, and easy accumulation of joint errors.

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