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MDOF controllable rocker arm type connection rod mechanism

A link mechanism and rocker arm technology, applied in the field of robotics, can solve the problems of large required torque, small working space, low stiffness, etc., and achieve the effect of reducing dynamic torque, lowering the center of gravity, and good dynamic performance

Inactive Publication Date: 2015-05-20
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom controllable rocker-arm linkage mechanism, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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  • MDOF controllable rocker arm type connection rod mechanism
  • MDOF controllable rocker arm type connection rod mechanism
  • MDOF controllable rocker arm type connection rod mechanism

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Embodiment Construction

[0024] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] Such as Figure 1-Figure 6 As shown, a multi-degree-of-freedom controllable rocker linkage mechanism includes a column 2, a main arm 4, a first rocker 3, a second rocker 7, a first connecting rod 5, a second connecting rod 6, a first Three connecting rods 8 , fourth connecting rod 9 , connecting block 22 , fifth connecting rod 12 and sixth connecting rod 11 .

[0026] 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...

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Abstract

Provided is an MDOF controllable rocker arm type connection rod mechanism. A stand column is connected with one end of a main arm and the first connection end of a first rocker arm, the second connection end of the first rocker arm is connected with one end of a first connection rod, and the other end of the first connection rod is connected with the second connection end of a second rocker arm. The first connection end of the second rocker arm is connected with the other end of the main arm. The third connection end of the second rocker arm is connected with one end of a second connection rod, and the other end of the second connection rod is connected with the third connection end of the first rocker arm. One end of a third connection rod is connected with the fourth connection end of the second rocker arm, and the other end of the third connection rod is connected with a fourth connection rod. One end of a connection block is connected with a walking mechanism through a fixing pair, the other end of the connection block is connected with one end of a fifth connection rod, the other end of the fifth connection rod is connected with one end of a sixth connection rod, and the other end of the sixth connection rod is connected with the middle of the main arm. The MDOF controllable rocker arm type connection rod mechanism has the advantages of being large in working space, and high in rigidity, bearing capacity and execution accuracy.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom controllable rocker-arm linkage mechanism. Background technique [0002] 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 [0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom controllable rocker-arm linkage mechani...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/08B25J5/00
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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