Simple controllable mechanical mobile manipulator

Abstract

The invention discloses a simple controllable mobile manipulator. One end of a second driving rod of the mobile manipulator is connected with a rotary frame, and the other end of the second driving rod is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with one end of a shoulder rod; the other end of the shoulder rod is connected with one end of a toggle rod; the other end of the toggle rod is in rigid connection with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected to a tail end executer; one end of a waist rod is connected to the rotary frame, and the other end of the waist rod is connected to the shoulder rod; one end of a third driving rod is connected with the rotary frame, and the other end of the third driving rod is connected with one end of the fourth connecting rod; the other end of the fourth connecting rod is connected with one end of a tenth connecting rod; the other end of the tenth connecting rod is connected to a first composite hinge; one end of the first driving rod is connected to the rotary frame, and the other end of the first driving rod is connected with one end of a first connecting rod; the other end of the first connecting rod is connected to the waist rod. The simple controllable mobile manipulator has high carrying capability and is flexible to operate, and intellectualization and numerical control can be realized; the simple controllable mechanical mobile manipulator is driven and controlled through a servo motor; moreover, a carrying robot is compact in structure, and has a large working space.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a simple controllable mechanism-type mobile mechanical arm. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., 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. It has the advantages of large working space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector. It can be used in complex operations such as welding, sprayi...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a simple controllable mechanism type mobile mechanical arm, most of the driving motors are installed on the rotating frame, which can solve the problem that the motor of the traditional open-chain series robot is installed at the hinge, resulting in heavy and rigid arms. The robot has good dynamic performance and can better meet the requirements of high-speed heavy-load handling and palletizing.

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