Two-rotation decoupling mechanical arm

Abstract

The utility model discloses a two-rotation decoupling mechanical arm in the technical field of mechanical arm configuration, which is characterized in that the mechanical arm is connected with a mounting seat through a first branch chain, so that the mechanical arm has double rotational degrees of freedom, and the rotation of the mechanical arm is respectively controlled through a second branch chain and a third branch chain; a rotating shaft of a third kinematic pair, used for being connected with the mounting base, in the second branch chain is coaxial with a rotating shaft of a first kinematic pair, used for being connected with the mounting base, in the first branch chain, and a rotating shaft of an eighth rotating pair, used for being connected with the mechanical arm, in the third branch chain is coaxial with a rotating shaft of a second rotating pair, used for being connected with the mechanical arm, in the first branch chain. The mechanical arm is completely decoupled in the two rotating directions, input movement corresponds to output movement one by one, the analysis and calculation process is simpler when the mechanical arm is controlled, and the advantages of stable structure and high bearing capacity of a parallel mechanism are reserved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm configuration technical field, concretely is a two rotation decoupling mechanical arm. BACKGROUND

[0002] Parallel mechanism has the advantages such as compact structure, rigidity, high strength, strong bearing capacity, and therefore in many liquid drive heavy load mechanical arm equipment, its big arm often uses parallel mechanism to realize multiple degrees of freedom movement, namely by multiple cylinder driving mechanism common action on big arm constitutes multiple motion branch chain, drives big arm to swing, pitch movement, for example, drill jumbo, anchor rod trolley, arch trolley etc.

[0003] Because there are multiple branches in parallel mechanism, the movement of mechanical arm is often the result of multiple branches common action, so the movement of multiple degrees of freedom of mechanical arm often has strong coupling, and the existing parallel liquid drive heavy load mechanical arm often needs to calculate the elongation of multiple driving cylinders at different positions and time through real-time motion solution, and then carries out coordinated control to multiple driving cylinders, to achieve the control purpose of single swing or pitch movement, greatly increases the difficulty of mechanical arm control.

[0004] Based on this, the utility model designs a two rotation decoupling mechanical arm to solve the above problems. UTILITY MODEL CONTENTS

[0005] To achieve the above object, the utility model provides the following technical scheme: a two rotation decoupling mechanical arm, including mounting seat and mechanical arm, still including first motion branch chain, second motion branch chain and third motion branch chain for connecting mechanical arm and mounting seat, the first motion branch chain includes first connecting rod, one end of first connecting rod is connected with mounting seat through first rotary pair, the other end is connected with mechanical arm through second rotary pair, and the rotary shafts of first rotary pair and second rotary pair are perpendicular to each other, the second motion branch chain includes second connecting rod, third connecting rod and fourth connecting rod, one end of second connecting rod is connected with mounting seat through third rotary pair, the other end is connected with third connecting rod through fourth rotary pair, and the rotary shaft of third rotary pair is coaxial with the rotary shaft of first rotary pair, one end of third connecting rod away from second connecting rod is connected with fourth connecting rod through first movement pair, one end of fourth connecting rod away from third connecting rod is connected with mechanical arm through fifth rotary pair, the rotary shafts of second rotary pair, fourth rotary pair and fifth rotary pair are parallel to each other, and the movement direction of first movement pair is perpendicular to the rotary shafts of fourth rotary pair and fifth rotary pair, the third motion branch chain includes fifth connecting rod, sixth connecting rod and seventh connecting rod, one end of fifth connecting rod is connected with mounting seat through sixth rotary pair, the other end is connected with sixth connecting rod through second movement pair, one end of sixth connecting rod away from fifth connecting rod is connected with seventh connecting rod through seventh rotary pair, one end of seventh connecting rod away from sixth connecting rod is connected with mechanical arm through eighth rotary pair, the rotary shafts of sixth rotary pair, seventh rotary pair and first rotary pair are parallel to each other, the rotary shaft of eighth rotary pair is coaxial with the rotary shaft of second rotary pair, and the movement direction of second movement pair is perpendicular to the rotary shafts of sixth rotary pair and seventh rotary pair.

[0006] As a further scheme of the utility model, the mechanical arm is provided with a supporting arm at the end connected with the mounting seat, and the seventh connecting rod is connected with the supporting arm through the eighth rotary pair.

[0007] As a further scheme of the utility model, the mounting seat is provided with a first mounting surface and a second mounting surface, the distance between the first mounting surface and the mechanical arm is smaller than the distance between the second mounting surface and the mechanical arm in the length direction of the mechanical arm, the first motion branch chain and the second motion branch chain are installed on the first mounting surface, and the third motion branch chain is installed on the second mounting surface.

[0008] As a further scheme of the utility model, the rotary shaft of the second rotary pair is perpendicular to the horizontal plane.

[0009] As a further scheme of the utility model, a driver for driving the fourth connecting rod to move along the length direction of the third connecting rod is installed on the third connecting rod.

[0010] As a further scheme of the utility model, a driver for driving the sixth connecting rod to move along the length direction of the fifth connecting rod is installed on the fifth connecting rod.

[0011] As a further scheme of the utility model, the driver adopts any one or multiple combinations of hydraulic oil cylinder, electric oil cylinder, pneumatic oil cylinder and ball screw.

[0012] The utility model has the following beneficial effects:

[0013] The device connects the mechanical arm and the mounting seat through the first branch chain, so that the mechanical arm has double rotation degrees of freedom, and the rotation of the mechanical arm is controlled through the second branch chain and the third branch chain respectively, the rotation shaft of the third kinematic pair for being connected with the mounting seat in the second branch chain is coaxial with the rotation shaft of the first kinematic pair for being connected with the mounting seat in the first branch chain, the rotation shaft of the eighth rotation pair for being connected with the mechanical arm in the third branch chain is coaxial with the rotation shaft of the second rotation pair for being connected with the mechanical arm in the first branch chain, so that the two rotation directions of the mechanical arm are completely decoupled, the input motion and the output motion are one-to-one corresponding, the analysis and calculation process is simpler when the mechanical arm is controlled, and the advantages of stable structure and strong bearing capacity of the parallel mechanism are retained.

[0014] In addition to the purposes, features and advantages described above, the utility model has other purposes, features and advantages. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments illustrated in the drawings, and their specification, serve to explain the application without imposing on its scope any undue limitations. In the drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0017] Figure 2 It is a schematic diagram of the structure of the first kinematic branch chain in the utility model.

[0018] Figure 3 It is a schematic diagram of the structure of the second kinematic branch chain in the utility model.

[0019] Figure 4 It is a schematic diagram of the structure of the third kinematic branch chain in the utility model.

[0020] Figure 5 It is a schematic diagram of the structure of the mechanical arm in the utility model.

[0021] Figure 6 It is a schematic diagram of the structure of the mounting seat in the utility model.

[0022] Legend:

[0023] 1, mounting seat; 11, first mounting surface; 12, second mounting surface; 2, mechanical arm; 21, branch arm; 31, first connecting rod; 32, first rotary pair; 33, second rotary pair; 41, second connecting rod; 42, third connecting rod; 43, fourth connecting rod; 44, third rotary pair; 45, fourth rotary pair; 46, first moving pair; 47, fifth rotary pair; 51, fifth connecting rod; 52, sixth connecting rod; 53, seventh connecting rod; 54, sixth rotary pair; 55, second moving pair; 56, seventh rotary pair; 57, eighth rotary pair. DETAILED DESCRIPTION

[0024] The embodiments of the utility model are described in detail below in combination with the drawings, but the utility model can be implemented in multiple different ways limited and covered by the following.

[0025] Please refer to Figures 1-6 The utility model provides a technical scheme: a two rotary decoupling mechanical arm, including mounting seat 1 and mechanical arm 2, still including first motion branch chain, second motion branch chain and third motion branch chain for connecting mechanical arm 2 with mounting seat 1, and realizing the double rotary degrees of freedom of mechanical arm 2 through first motion branch chain, second motion branch chain and third motion branch chain.

[0026] Specifically, first motion branch chain includes first connecting rod 31, one end of first connecting rod 31 is connected with mounting seat 1 through first rotary pair 32, the other end is connected with mechanical arm 2 through second rotary pair 33, and the rotary shafts of first rotary pair 32 and second rotary pair 33 are perpendicular to each other, so that mechanical arm 2 can rotate around the rotary shaft of first rotary pair 32 and the rotary shaft of second rotary pair 33, and mechanical arm 2 has double rotary degrees of freedom.

[0027] Second motion branch chain includes second connecting rod 41, third connecting rod 42 and fourth connecting rod 43, one end of second connecting rod 41 is connected with mounting seat 1 through third rotary pair 44, the other end is connected with third connecting rod 42 through fourth rotary pair 45, and the rotary shaft of third rotary pair 44 is coaxial with the rotary shaft of first rotary pair 32, the end of third connecting rod 42 away from second connecting rod 41 is connected with fourth connecting rod 43 through first moving pair 46, the end of fourth connecting rod 43 away from third connecting rod 42 is connected with mechanical arm 2 through fifth rotary pair 47, the rotary shafts of second rotary pair 33, fourth rotary pair 45 and fifth rotary pair 47 are parallel to each other, and the moving direction of first moving pair 46 is perpendicular to the rotary shafts of fourth rotary pair 45 and fifth rotary pair 47.

[0028] The third kinematic branch includes a fifth link 51, a sixth link 52 and a seventh link 53. One end of the fifth link 51 is connected to the mounting base 1 through the sixth rotating pair 54, and the other end is connected to the sixth link 52 through the second moving pair 55. The end of the sixth link 52 away from the fifth link 51 is connected to the seventh link 53 through the seventh rotating pair 56, and the end of the seventh link 53 away from the sixth link 52 is connected to the robot arm 2 through the eighth rotating pair 57. The rotation axes of the sixth rotating pair 54, the seventh rotating pair 56 and the first rotating pair 32 are parallel to each other, the eighth rotating pair 57 is coaxial with the rotation axis of the second rotating pair 33, and the moving direction of the second moving pair 55 is perpendicular to the rotation axes of the sixth rotating pair 54 and the seventh rotating pair 56.

[0029] By adjusting the distance between the third link 42 and the fourth link 43, the robot 2 can be rotated around the rotation axis of the second rotation pair 33. By adjusting the distance between the fifth link 51 and the sixth link 52, the robot 2 can be rotated around the rotation axis of the first rotation pair 32. The third rotation pair 44 is coaxial with the rotation axis of the first rotation pair 32. That is to say, when the robot 2 rotates around the rotation axis of the first rotation pair 32, the second motion branch can rotate synchronously with the robot 2 around the rotation axis of the third rotation pair 44, which can ensure that the second link 41 and the sixth link 52 in the second motion branch are in a coaxial relationship. The three-link 42 and the fourth-link 43 remain relatively stationary with the robot 2. Similarly, the rotation axis of the eighth rotational pair 57 is coaxial with the rotation axis of the second rotational pair 33. When the robot 2 rotates around the rotation axis of the second rotational pair 33, the third motion branch will remain stationary. That is to say, when the movement of the robot 2 is controlled by the second motion branch and the third motion branch, the second motion branch and the third motion branch are completely decoupled and do not affect each other. This makes it simpler to control the robot 2 while retaining the advantages of the parallel mechanism's stable structure and strong bearing capacity.

[0030] The rotating pair and the moving pair are conventional technical means in this field and will not be described in detail here.

[0031] In this example, the end of the robotic arm 2 for connecting to the mounting base 1 is provided with a support arm 21. The seventh connecting rod 53 is connected to the support arm 21 via the eighth rotational pair 57, so that the rotation axis of the eighth rotational pair 57 is coaxial with the rotation axis of the second rotational pair 33. At the same time, the support arm 21 increases the connection strength between the third kinematic branch chain and the robotic arm 2, thereby increasing the overall load-bearing capacity.

[0032] like Figure 5 As shown, a support arm 21 extends from the lower end of the robot arm 2 toward the mounting base 1. The connection position between the support arm 21 and the robot arm 2 is closer to the center of the robot arm 2 than the second rotation pair 33, so that the support point of the third motion branch chain for the robot arm 2 is closer to the center of the robot arm 2, thereby improving the stability and load-bearing capacity of the overall structure.

[0033] likeFigure 6 As shown in the figure, the mounting base 1 is provided with a first mounting surface 11 and a second mounting surface 12, the distance between the first mounting surface 11 and the mechanical arm 2 is smaller than the distance between the second mounting surface 12 and the mechanical arm 2 in the length direction of the mechanical arm 2, the first movement branch and the second movement branch are installed on the first mounting surface 11, and the third movement branch is installed on the second mounting surface 12, the position difference between the first mounting surface 11 and the second mounting surface 12 is used to accommodate the third movement branch, so that the mechanical arm 2 has a larger rotation stroke when rotating around the rotation axis of the first rotation pair 32, and the movement range of the mechanical arm 2 is improved.

[0034] As shown in the figure, the rotation axis of the second rotation pair 33 is perpendicular to the horizontal plane, and since the rotation axis of the second rotation pair 33 is perpendicular to the rotation axis of the first rotation pair 32, the rotation axis of the first rotation pair 32 is parallel to the horizontal plane, at this time, the two degrees of freedom of the mechanical arm 2 are horizontal swinging around the rotation axis of the second rotation pair 33 and vertical swinging around the rotation axis of the first rotation pair 32, respectively, so that the position calculation is simpler when controlling the mechanical arm 2. Figure 3

[0035] In this embodiment, the third connecting rod 42 is provided with a driver for driving the fourth connecting rod 43 to move along the length direction of the third connecting rod 42, and the fifth connecting rod 51 is provided with a driver for driving the sixth connecting rod 52 to move along the length direction of the fifth connecting rod 51, the fourth connecting rod 43 is driven to move by the driver on the third connecting rod 42 to control the mechanical arm 2 to swing horizontally along the rotation axis of the second rotation pair 33, and the sixth connecting rod 52 is driven to move by the driver on the fifth connecting rod 51 to control the mechanical arm 2 to swing vertically along the rotation axis of the first rotation pair 32.

[0036] The driver belongs to the conventional technical means in the field, and will not be described in detail here, and the driver can be selected from any one or a combination of hydraulic cylinders, electric cylinders, pneumatic cylinders and ball screws.

[0037] The above is only a preferred embodiment of the present application, and is not used to limit the present application, and the present application can be changed and varied by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.​

Claims

1. A two-rotation decoupling mechanical arm, comprising a mounting base (1) and a mechanical arm (2), characterized in that: It also includes a first motion branch chain, a second motion branch chain, and a third motion branch chain for connecting the robotic arm (2) and the mounting base (1); The first kinematic branch chain includes a first connecting rod (31), one end of the first connecting rod (31) is connected to the mounting base (1) through a first rotating pair (32), and the other end is connected to the robotic arm (2) through a second rotating pair (33), and the rotation axes of the first rotating pair (32) and the second rotating pair (33) are perpendicular to each other; The second motion branch chain includes a second link (41), a third link (42) and a fourth link (43), one end of the second link (41) is connected to the mounting base (1) through a third rotating pair (44), and the other end is connected to the third link (42) through a fourth rotating pair (45), and the third rotating pair (44) is coaxial with the rotation axis of the first rotating pair (32), one end of the third link (42) away from the second link (41) is connected to the fourth link (43) through a first moving pair (46), and one end of the fourth link (43) away from the third link (42) is connected to the robot arm (2) through a fifth rotating pair (47), the rotation axes of the second rotating pair (33), the fourth rotating pair (45) and the fifth rotating pair (47) are parallel to each other, and the moving direction of the first moving pair (46) is perpendicular to the rotation axes of the fourth rotating pair (45) and the fifth rotating pair (47); The third kinematic branch chain includes a fifth link (51), a sixth link (52) and a seventh link (53), one end of the fifth link (51) is connected to the mounting seat (1) through a sixth rotating pair (54), and the other end is connected to the sixth link (52) through a second moving pair (55), one end of the sixth link (52) away from the fifth link (51) is connected to the seventh link (53) through a seventh rotating pair (56), and one end of the seventh link (53) away from the sixth link (52) is connected to the robotic arm (2) through an eighth rotating pair (57), the rotation axes of the sixth rotating pair (54), the seventh rotating pair (56) and the first rotating pair (32) are parallel to each other, the eighth rotating pair (57) is coaxial with the rotation axis of the second rotating pair (33), and the moving direction of the second moving pair (55) is perpendicular to the rotation axes of the sixth rotating pair (54) and the seventh rotating pair (56).

2. The dual-rotation decoupling mechanical arm according to claim 1, characterized in that: One end of the mechanical arm (2) used for connecting with the mounting seat (1) is provided with a support arm (21), and the seventh connecting rod (53) is connected to the support arm (21) via an eighth rotating pair (57).

3. The dual-rotation decoupling mechanical arm according to claim 1, characterized in that: The mounting seat (1) is provided with a first mounting surface (11) and a second mounting surface (12); in the length direction of the robotic arm (2), the distance between the first mounting surface (11) and the robotic arm (2) is smaller than the distance between the second mounting surface (12) and the robotic arm (2); the first motion branch chain and the second motion branch chain are mounted on the first mounting surface (11), and the third motion branch chain is mounted on the second mounting surface (12).

4. The dual-rotation decoupling mechanical arm according to claim 1, characterized in that: The rotation axis of the second rotation pair (33) is perpendicular to the horizontal plane.

5. The dual-rotation decoupling mechanical arm according to claim 1, characterized in that: The third connecting rod (42) is provided with a driver for driving the fourth connecting rod (43) to move along the length direction of the third connecting rod (42).

6. The dual-rotation decoupling mechanical arm according to claim 1, characterized in that: The fifth connecting rod (51) is provided with a driver for driving the sixth connecting rod (52) to move along the length direction of the fifth connecting rod (51).

7. A dual-rotation decoupling mechanical arm according to claim 5 or 6, characterized in that: The driver adopts any one or more combinations of hydraulic cylinders, electric cylinders, pneumatic cylinders, and ball screws.

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