Controllable multi-connecting-rod mobile manipulator

Abstract

The invention relates to a controllable multi-connecting-rod mobile manipulator. One end of a second driving rod of the mobile manipulator is connected with a rotating rack and the other end of the second driving rod is connected with one end of a first connecting rod; the other end of the first connecting 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 rigidly connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected with an end effector; one end of a third connecting rod is connected with the rotating rack and the other end of the third connecting rod is connected to the second connecting rod; one end of a waist rod is connected with the rotating rack 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 rotating rack and the other end of the third driving rod is connected with a 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 second compound hinge. The controllable multi-connecting-rod mobile manipulator has high bearing capacity and a large working space, is flexible to operate, is driven and controlled by a servo motor and can implement intelligence and numerical control; most of the servo motor can be installed on the rotating rack.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a controllable multi-link moving 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, spraying, handlin...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a controllable multi-link mobile mechanical arm. Most of the driving motors are installed on the rotating frame, which can solve the problem that the motors of traditional open-chain series robots are installed at the hinges, resulting in bulky arms and poor rigidity. , large inertia, joint error accumulation and other problems, the robot has good dynamic performance, and can better meet the requirements of high-speed heavy-duty handling and palletizing

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