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Parallel rocking bar mechanism, application method and robot adopting rocking bar mechanism

A rocker mechanism and parallel technology, applied in the rocker field, can solve problems such as difficulty in responding to emergency situations, difficulty in manual intervention, and low control accuracy, and achieve the effects of reducing parts wear, improving energy saving, and improving fluency

Active Publication Date: 2020-09-25
敬科(深圳)机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The above existing technical solutions have the following defects: the existing rocker mechanism generally adopts a manual method, but the manual method is prone to process errors due to operator fatigue or misoperation, resulting in low control accuracy; and the existing Some devices or equipment use electric rocker mechanisms, but it is difficult to manually intervene in emergencies, so it is difficult to respond to emergencies; in summary, so far there has not been a manual and electric rocker mechanism. rocker mechanism

Method used

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  • Parallel rocking bar mechanism, application method and robot adopting rocking bar mechanism
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  • Parallel rocking bar mechanism, application method and robot adopting rocking bar mechanism

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Embodiment 1

[0044] Embodiment one: refer to figure 1 , is a parallel rocker mechanism disclosed in the present invention, which is used to realize the combination of the manual operation mode and the electric operation mode of the rocker, and realize man-machine cooperation, so as to improve the control accuracy and adapt to emergency situations, including the rocker body 1 , a control cabin 11 rotatably connected to one end of the rocker body 1 , and a linkage assembly 2 arranged on the control cabin 11 . combine figure 2 As shown, the control cabin 11 in this embodiment is in the shape of a square box with a hollow interior, and a mounting hole 111 for the rocker body 1 to pass through is opened on the top, and the rocker body 1 is cylindrical, and its bottom end passes through a universal joint. 12 is connected to the inner bottom wall of the control cabin 11, and the universal joint 12 can adopt a single-joint type, which has two degrees of freedom in rotation directions and its rot...

Embodiment 2

[0055] Embodiment two: refer to figure 1 , Image 6, a method of use, used to realize the combination of the manual operation mode and the automatic operation mode of the rocker, so as to adapt to complex working conditions, reduce misoperation, and thereby improve work efficiency. It is implemented by using the above-mentioned parallel rocker mechanism, including the following steps : The computer obtains the trigger signal corresponding to manual mode or electric mode, and the trigger signal can be input by clicking a mechanical button or a virtual button.

[0056] When the trigger signal corresponding to the electric mode is obtained, the coordinate position specified by the rocker body 1 is imported. The coordinate position can be a space coordinate or a plane coordinate, and then according to the coordinate position specified by the rocker body 1, determine the corresponding control of each motor 231. The outer link 22 rotates to make the rocker body 1 reach the desired ...

Embodiment 3

[0059] Embodiment 3: A robot, which is used to realize the combination of the manual operation mode and the electric operation mode of the rocker, so as to adapt to complex working conditions, reduce misoperation, and improve work efficiency, including the robot body and the above-mentioned robot connected to the robot body Parallel rocker mechanism. The robot body can use bionic robots, transportation robots, cleaning robots, etc., and the parallel rocker mechanism can be applied to the joint control parts of the robot body.

[0060] The implementation principle of this embodiment is: the flexibility of the robot is improved through the parallel rocker mechanism, which is convenient for the operator to control the robot for operation and improves the operation efficiency.

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Abstract

The invention relates to a parallel rocking bar mechanism, an application method and a robot adopting the rocking bar mechanism, and relates to the technical field of rocking bars. The parallel rocking bar mechanism comprises a rocking bar body, a control cabin rotationally connected with one end of the rocking bar body and linkage assemblies arranged on the control cabin. The number of the linkage assemblies is at least two, and the multiple sets of linkage assemblies are distributed on the peripheral side of the rocking bar body. The linkage assemblies comprise inner connecting bars rotationally connected with the middle of the rocking bar body, outer connecting bars rotationally connected with the inner connecting bars and drive parts arranged on the control cabin. The drive parts are connected with the outer connecting bars so as to control the outer connecting bars to rotate relative to the control cabin. The included angle between the outer connecting bars and the inner connecting bars is smaller than 180 degrees. The parallel rocking bar mechanism has the advantages that the manual operation manner and the electric operation manner of the rocking bar can be combined so as toachieve man-machine coordination, and therefore the control precision is improved, and the parallel rocking bar mechanism adapts to emergency circumstances.

Description

technical field [0001] The invention relates to the technical field of rockers, in particular to a parallel rocker mechanism, a use method and a robot applying the rocker mechanism. Background technique [0002] The rocker mechanism generally has two degrees of freedom in the direction of rotation, and the two rotation axes are perpendicular to each other. The rocker mechanism is widely used in aircraft, trains, cruise ships, automobiles and other vehicles, and is also used in valve control in the petrochemical industry, and large electrical appliances. Device switch control and so on. [0003] With the advent of the intelligent era, the rocker mechanism also needs to be intelligently transformed to facilitate human-machine collaboration. On the one hand, it is necessary to reduce the occupied space of the rocker mechanism, and on the other hand, the working space must also meet the use requirements to the greatest extent. At present, most of the control of the rocker mecha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J17/02
CPCB25J13/00B25J17/02
Inventor 郭廷山孙敬颋王恒恒林伟阳
Owner 敬科(深圳)机器人科技有限公司
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