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Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive

A degree of freedom, robotic arm technology, applied in the field of robotic arms to achieve the effects of overcoming low bearing capacity, overcoming small workspace, and structural decoupling

Inactive Publication Date: 2012-07-04
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing hybrid manipulators are not designed based on heavy-duty tasks

Method used

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  • Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive
  • Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive
  • Three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] exist figure 1 In the perspective diagram of a three-degree-of-freedom series-parallel hybrid heavy-duty manipulator with redundant drive shown, four pairs of parallel and symmetrical bases are arranged on the base 1, and a pair of bases at one end are connected to a joint through a hinge R1. The end of the cylinder liner of the forearm cylinder 2 is connected, the end of the piston rod of the forearm cylinder is connected with one end of the forearm 3 through the hinge R2, and the other end of the forearm is connected with a part of the end effector 4 through the hinge R3 , the middle part of the above-mentioned forearm is connected with the upper end of the boom 9 through the hinge R12, and the lower end of the boom is connected with a pair of bases in the middle part of the base through the hinge R9; the middle part of the boom is connected with the pair of boom cylinders 7 through the hinge R10 The end of the cylinder liner is connected; the end of the piston rod of...

Embodiment 2

[0022] exist Figure 4 In the three-degree-of-freedom series-parallel hybrid heavy-duty manipulator embodiment 2 with redundant drive shown, four pairs of parallel and symmetrical bases are arranged on the base 1, and a pair of bases near one end Connected to one end of the big arm 9 through a hinge, the other end of the big arm is connected to one end of the small arm 3 through a hinge, the other end of the small arm is connected to the end effector 4 through a hinge, and the middle part of the small arm is connected to a hinge through a hinge. The piston rod ends of the forearm oil cylinder 2 are connected, and the cylinder sleeves of the pair of forearm oil cylinders are connected to the pair of bases in the middle of the base through hinges; the piston rod ends of the pair of boom oil cylinders 7 are respectively connected to the above-mentioned A pair of bases between two pairs of bases is connected, and the end of the cylinder liner of the boom cylinder is connected with...

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PUM

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Abstract

Disclosed is a three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm with redundant drive. Four pairs of parallel and symmetric foundations are arranged on a base of the three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm, the foundations at one end of the base are hinged with cylinder liners of small arm cylinders, pistons of the small arm cylinders are hinged with one end of a small arm, the other end of the small arm is an end actuator, the middle of the small arm is hinged with one end of a large arm, the other end of the large arm is hinged with the foundations in the middle of the base, the middle of the large arm is hinged with cylinder liners of large arm cylinders, piston rods of the large arm cylinders are hinged with another pair of foundations, another portion of the middle of the large arm is hinged with cylinder liners of oscillating rod cylinders, piston rods of the oscillating rod cylinders are hinged with the middle of an oscillating rod, one end of the oscillating rod is hinged with the foundations at the other end of the base, the other end of the oscillating rod is hinged with piston rods of end actuator cylinders, and ends of cylinder liners of the end actuator cylinders are hinged with another portion of the end actuator. The three-degree-of-freedom series-parallel hybrid heavy-load mechanical arm is high in carrying capacity and large in working space, and can be conveniently controlled in real time, and direct and reverse problems are solved easily.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a series-parallel hybrid mechanical arm. Background technique [0002] Mechanism is the core of machinery and equipment, and the innovation of mechanism has always been the key to the innovation of machinery and equipment. It is very important to develop corresponding institutions with independent intellectual property rights to improve the core competitiveness of the technological level of my country's machinery and equipment. To realize functional working devices such as digging, grabbing, and transporting, it is more common to use linkage mechanisms. Commonly used tandem manipulators have a large working space, but low carrying capacity, and can only grab and carry some lighter objects. On the contrary, the parallel manipulator has a small working space but a high carrying capacity. Since the advantages of series and parallel manipulators are complementary, if the advantages of the two ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/02
Inventor 丁华锋曹文熬陈子明陈谊超杨凤霞
Owner YANSHAN UNIV