CN104626145A - Drive mechanism of mechanical arm - Google Patents
Drive mechanism of mechanical arm Download PDFInfo
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- CN104626145A CN104626145A CN201410734308.9A CN201410734308A CN104626145A CN 104626145 A CN104626145 A CN 104626145A CN 201410734308 A CN201410734308 A CN 201410734308A CN 104626145 A CN104626145 A CN 104626145A
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- cylinder
- mechanical arm
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Abstract
The invention discloses a drive mechanism of a mechanical arm. The drive mechanism comprises a first cylinder, a second cylinder parallel to the first cylinder, a semiconductor refrigeration piece and the mechanical arm. The cylinder body of the first cylinder and the cylinder body of the second cylinder are filled with liquid media, wherein the boiling points of the liquid media are 80 DEG C or lower, and the evaporation heat of the liquid media is 400 J/g or lower. The semiconductor refrigeration piece is arranged between the cylinder body of the first cylinder and the cylinder body of the second cylinder in a clamped mode. The two surfaces of the semiconductor refrigeration piece are attached to the wall face of the cylinder body of the first cylinder and the wall face of the cylinder body of the second cylinder respectively. The mechanical arm is connected with a piston of the first cylinder and a piston of the second cylinder through a swinging mechanism. The swinging mechanism is driven to move through the reverse movement of the pistons of the two cylinders so that the mechanical arm can be driven to swing. The pressure changes in the two cylinders are controlled through the semiconductor refrigeration piece so that the swinging angle of the mechanical arm can be regulated, and the drive mechanism is simple in structure, rapid and accurate in running and low in failure rate.
Description
Technical field
The present invention relates to manipulator arm art, particularly a kind of driving mechanism of mechanical arm.
Background technology
Some holding function of the apish arm of mechanical arm energy, it can capture by fixed routine, carry object or operation tool.Mechanical arm can replace the heavy labor of people to realize mechanization and the automation of production, and can operate to protect personal safety under hostile environment, and thus mechanical arm is widely used in the industries such as machine-building, metallurgy, electronics, light industry.When current mode such as mechanical arm employing hydraulic pressure or air pressure etc. drives and swings, its stable working, accurate positioning, but it needs to build gas pressure station or Hydraulic Station, and when adopting multiple engine or motor Direct driver, its drive mechanism is complicated, transmission process noise is large, when mechanical arm needs frequent swing, its reaction is quick not, and fault rate is high.Therefore the type of drive complex structure of existing mechanical arm, fault rate is higher, has a strong impact on the operating efficiency of mechanical arm, and increases the use cost of mechanical arm.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of driving mechanism of mechanical arm, thus overcome the complex structure of existing mechanical arm, shortcoming that fault rate is high.
For achieving the above object, the invention provides a kind of driving mechanism of mechanical arm, wherein, comprising: the first cylinder; Second cylinder, itself and described first cylinder be arranged in parallel; All be filled with in the cylinder body of described first cylinder and in the cylinder body of the second cylinder that boiling point is less than 80 DEG C, heat of vaporization is the liquid medium of below 400J/g; Semiconductor chilling plate, between its cylinder body being located in described first cylinder and the cylinder body of the second cylinder, two surfaces of this semiconductor chilling plate fit in the wall of the wall of the cylinder body of described first cylinder and the cylinder body of the second cylinder respectively; And mechanical arm, it is connected with the piston of described first cylinder and the piston of the second cylinder by a swing mechanism; Drive described swing mechanism to move by the counter motion of the piston of described first cylinder and the piston of the second cylinder, swing to order about this mechanical arm.
Preferably, in technique scheme, described swing mechanism comprises: first connecting rod, the piston hinge of its one end and described first cylinder; Second connecting rod, the piston hinge of its one end and described second cylinder; And third connecting rod, the other end of its one end and described first connecting rod is hinged, and the other end of the other end of this third connecting rod and described second connecting rod is hinged; The rear portion of described mechanical arm is fixedly installed on the centre of this third connecting rod.
Preferably, in technique scheme, also comprise one and be fixedly installed and be positioned at the mechanical postbrachium at the rear of described mechanical arm, the rear end of described mechanical arm is articulated with on this mechanical postbrachium.
Preferably, in technique scheme, described swing mechanism comprises: the first tooth bar, and it is fixedly connected with the piston of described first cylinder; Second tooth bar, it is fixedly connected with the piston of described second cylinder; And gear, it is arranged on a support bar; The both sides of this gear are engaged with described first tooth bar and the second tooth bar respectively; The rear end of described mechanical arm is fixedly installed on this gear.
The liquid medium that preferably, in technique scheme, described boiling point is less than 80 DEG C, heat of vaporization is below 400J/g is carrene or carbon tetrachloride.
Compared with prior art, the present invention has following beneficial effect:
The pressure change that the present invention is controlled in two cylinders by semiconductor chilling plate drives swing mechanism to move, to adjust the pendulum angle of mechanical arm, its drive disk assembly needed is few, structure is simple, operation is rapid accurately, noise is little, and the present invention can be applicable to the frequent swing of mechanical arm neatly, failure rate is low, maintenance is convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation of bar linkage structure according to the swing mechanism of the driving mechanism of mechanical arm of the present invention.
Fig. 2 is the structural representation of gear & rack structure according to the swing mechanism of the driving mechanism of mechanical arm of the present invention.
Main Reference Numerals illustrates:
1-first cylinder, the piston of 2-first cylinder; 3-second cylinder, the piston of 4-second cylinder; 5-semiconductor chilling plate; 6-mechanical arm; 7-machinery postbrachium; 8-first connecting rod; 9-second connecting rod; 10-third connecting rod; 11-support bar; 12-gear; 13-first tooth bar; 14-second tooth bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole description and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or part, and do not get rid of other element or other part.
As depicted in figs. 1 and 2, a kind of embodiment according to the specific embodiment of the invention is: a kind of driving mechanism of mechanical arm, and it comprises: the first cylinder 1, second cylinder 3, semiconductor chilling plate 5, swing mechanism and mechanical arm 6, wherein:
As shown in Figure 1, be filled with that boiling point is less than 80 DEG C, heat of vaporization is the liquid medium of below 400J/g in the cylinder body of the first cylinder 1, these media are easily vaporized and are liquefied; Be filled with in the cylinder body of the second cylinder 3 that boiling point is less than 80 DEG C, heat of vaporization is the liquid medium of below 400J/g equally.And the second cylinder 3 and the first cylinder 1 be arranged in parallel; By vaporization or the pressure changed in the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3 that liquefies of medium, carry out stretching out or regaining with the piston 4 of the piston 2 and the second cylinder that control the first cylinder.Can rapid vaporization when liquid medium heat in the cylinder body of the first cylinder 1 or the cylinder body of the second cylinder 3, cylinder interior air pressure is raised, thus the promotion piston 2 of the first cylinder or the piston 4 outwards movement of the second cylinder; Will liquefy rapidly when medium is met cold, volume-diminished, the air pressure in cylinder body reduces, thus the piston 2 of the first cylinder or the piston 4 of the second cylinder are moved inward.Preferably, the liquid medium that boiling point is less than 80 DEG C, heat of vaporization is below 400J/g is carrene or carbon tetrachloride, and it is easily manufactured, and use cost is lower, and the piston of two cylinders moves quick and precisely.Can according to the suitable medium of the thermal creep stress of working environment, the boiling point that general boiling point is less than 80 DEG C, heat of vaporization is the liquid medium of below 400J/g is higher than the temperature of working environment 20 DEG C ~ 50 DEG C, such as, under the working environment of about 0 DEG C, medium can select carrene; Under the working environment of about 30 DEG C, medium can select carbon tetrachloride.
Semiconductor chilling plate 5 is located between the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3, two surfaces of this semiconductor chilling plate 5 fit in the wall of the wall of the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3 respectively, and the wall that the cylinder body of two cylinders contacts with semiconductor chilling plate 5 is made by the material that heat conduction is good; After semiconductor chilling plate 5 is energized, two surface there will be variations in temperature, a wherein surface temperature step-down, another side temperature uprises, and two surperficial temperature difference can reach more than 30 DEG C, after changing the sense of current, the surperficial state of temperature of two of semiconductor chilling plate 5 will take a turn for the worse, originally the meeting of high temperature becomes low temperature, and originally the meeting of low temperature becomes high temperature, simultaneously by the heat energy transfer of low-temperature end to temperature end.Therefore the temperature in the first cylinder 1 and the second cylinder 3 can be changed rapidly by semiconductor chilling plate 5, oppositely move with the piston 4 of the piston 2 and the second cylinder that make the first cylinder, and the piston 2 of the first cylinder is all identical with distance with the speed of piston 4 movement of the second cylinder.The temperature transition of two cylinders is adjusted by semiconductor chilling plate 5, the piston 2 of the first cylinder and the piston 4 of the second cylinder can be made flexibly and fast oppositely to move, and ensure the uniformity of these two piston movements, and the piston 4 of the piston 2 of the first cylinder and the second cylinder can stably realize frequently moving around.
Mechanical arm 6 is connected with the piston 2 of the first cylinder and the piston 4 of the second cylinder by a swing mechanism; Drive swing mechanism to move by the counter motion of the piston 2 of the first cylinder and the piston 4 of the second cylinder, swing to order about mechanical arm 6.When the first cylinder 1 and the second cylinder about 3 are set up in parallel, mechanical arm 6 can be ordered about by swing mechanism and carry out swinging up and down of vertical direction; When the first cylinder 1 and the second cylinder 3 are arranged in the horizontal direction side by side, mechanical arm 6 can be ordered about by swing mechanism and carry out swinging of horizontal direction.Preferably, as shown in Figure 1, swing mechanism comprises first connecting rod 8, second connecting rod 9 and third connecting rod 10, one end of first connecting rod 8 and the piston 2 of the first cylinder hinged; One end of second connecting rod 9 and the piston 4 of the second cylinder hinged; The upper end of third connecting rod 10 and the other end of first connecting rod 8 hinged, and the other end of the lower end of this third connecting rod 10 and second connecting rod 9 is hinged; The rear portion of mechanical arm 6 is fixedly connected with the centre of third connecting rod 10.After semiconductor chilling plate 5 is energized, the temperature of the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3 can be changed rapidly by semiconductor chilling plate 5, counter motion is carried out to make the piston of the first cylinder 1 and the second cylinder 3, thus drive third connecting rod 10 to swing by first connecting rod 8 and second connecting rod 9, swing accordingly with driving mechanical arm 6.Order about mechanical arm 6 by linkage as swing mechanism to swing, its structure is simple, be convenient to maintaining, and its stable drive is quick.Further, also comprise a mechanical postbrachium 7 be fixedly installed, the front end of the rear end of mechanical arm 6 and this mechanical postbrachium 7 is hinged.The structural rigidity of mechanical arm 6 and the stability of operation can be improved further by mechanical postbrachium 7, be convenient to maintaining.
Or preferably, as shown in Figure 2, swing mechanism comprises support bar 11, gear 12, first tooth bar 13 and the second tooth bar 14, first tooth bar 13 and is fixedly connected with the piston 2 of the first cylinder; Second tooth bar 14 is fixedly connected with the piston 4 of the second cylinder.Gear 12 is rotatably arranged on a support bar 11, and support bar 11 is fixedly installed; The both sides of this gear 12 are engaged with the first tooth bar 13 and the second tooth bar 14 respectively; The rear end of mechanical arm 6 is fixedly installed on gear 12.After semiconductor chilling plate 5 is energized, the temperature of the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3 can be changed rapidly by semiconductor chilling plate 5, counter motion is carried out to make the piston of the first cylinder 1 and the second cylinder 3, first tooth bar 13 and the second tooth bar 14 oppositely move along with the piston 2 of the first cylinder and the piston 4 of the second cylinder, rotate to order about gear 12, and carry out the positive and negative driving mechanical arm 6 that transfers by gear 12 and swing.By pinion and rack when swinging for swing mechanism carrys out lead agency arm 6, its compact conformation, transmission are accurate.
During work, by the swing displacement of displacement detector inspecting manipuator arm 6, and displacement information is fed back to control system, control system controls energising size and the energising direction of semiconductor chilling plate 5 according to the current location of mechanical arm 6 and the needs relation moved between next position, the temperature of the cylinder body of the first cylinder 1 and the cylinder body of the second cylinder 3 is changed with correspondence, the piston 2 of the first cylinder and the piston 4 of the second cylinder are oppositely moved, thus orders about mechanical arm 6 by swing mechanism and swing.The present invention keeps consistency because two pistons move, and the inertia of movement is little, and it fast can control mechanical arm 6 exactly and carry out swinging and the final position stopped, and noise when mechanical arm 6 swings is little.The present invention only need control the energising size and Orientation of semiconductor chilling plate 5, just can control by less parts the swing that mechanical arm 6 carries out long term frequent, and its structure is simple, failure rate is low, and maintaining is convenient.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (5)
1. a driving mechanism for mechanical arm, is characterized in that, comprising:
First cylinder;
Second cylinder, itself and described first cylinder be arranged in parallel; All be filled with in the cylinder body of described first cylinder and in the cylinder body of the second cylinder that boiling point is less than 80 DEG C, heat of vaporization is the liquid medium of below 400J/g;
Semiconductor chilling plate, between its cylinder body being located in described first cylinder and the cylinder body of the second cylinder, two surfaces of this semiconductor chilling plate fit in the wall of the wall of the cylinder body of described first cylinder and the cylinder body of the second cylinder respectively; And
Mechanical arm, it is connected with the piston of described first cylinder and the piston of the second cylinder by a swing mechanism; Drive described swing mechanism to move by the counter motion of the piston of described first cylinder and the piston of the second cylinder, swing to order about this mechanical arm.
2. the driving mechanism of mechanical arm according to claim 1, is characterized in that, described swing mechanism comprises:
First connecting rod, the piston hinge of its one end and described first cylinder;
Second connecting rod, the piston hinge of its one end and described second cylinder; And
Third connecting rod, the other end of its one end and described first connecting rod is hinged, and the other end of the other end of this third connecting rod and described second connecting rod is hinged; The rear portion of described mechanical arm is fixedly installed on the centre of this third connecting rod.
3. the driving mechanism of mechanical arm according to claim 2, is characterized in that, also comprise one and be fixedly installed and be positioned at the mechanical postbrachium at the rear of described mechanical arm, the rear end of described mechanical arm is articulated with on this mechanical postbrachium.
4. the driving mechanism of mechanical arm according to claim 1, is characterized in that, described swing mechanism comprises:
First tooth bar, it is fixedly connected with the piston of described first cylinder;
Second tooth bar, it is fixedly connected with the piston of described second cylinder; And
Gear, it is arranged on a support bar; The both sides of this gear are engaged with described first tooth bar and the second tooth bar respectively; The rear end of described mechanical arm is fixedly installed on this gear.
5. the driving mechanism of the mechanical arm according to any one of claim 1-4, is characterized in that, the liquid medium that described boiling point is less than 80 DEG C, heat of vaporization is below 400J/g is carrene or carbon tetrachloride.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410734308.9A CN104626145B (en) | 2014-12-04 | 2014-12-04 | The driving mechanism of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410734308.9A CN104626145B (en) | 2014-12-04 | 2014-12-04 | The driving mechanism of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104626145A true CN104626145A (en) | 2015-05-20 |
| CN104626145B CN104626145B (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410734308.9A Expired - Fee Related CN104626145B (en) | 2014-12-04 | 2014-12-04 | The driving mechanism of mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457795A (en) * | 2017-10-12 | 2017-12-12 | 谷新运 | A kind of tomato absorption clamps synchronous picking mechanical arm end effector |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU804193A1 (en) * | 1979-04-23 | 1981-02-15 | Научно-Исследовательский И Конст-Рукторско-Технологический Институттеплоэнергетического Приборостроения | Chill mould locking mechanism |
| CN1045637A (en) * | 1989-03-17 | 1990-09-26 | 上海船用柴油机研究所 | Four connecting rod swing-block mechamisms of energy balance reciprocal inertia force |
| CN203051047U (en) * | 2013-01-27 | 2013-07-10 | 赵立地 | Improved liquid cooling compressor |
| CN203387439U (en) * | 2013-04-22 | 2014-01-08 | 冯桥志 | Thermoelectric power generation system of water heater |
-
2014
- 2014-12-04 CN CN201410734308.9A patent/CN104626145B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU804193A1 (en) * | 1979-04-23 | 1981-02-15 | Научно-Исследовательский И Конст-Рукторско-Технологический Институттеплоэнергетического Приборостроения | Chill mould locking mechanism |
| CN1045637A (en) * | 1989-03-17 | 1990-09-26 | 上海船用柴油机研究所 | Four connecting rod swing-block mechamisms of energy balance reciprocal inertia force |
| CN203051047U (en) * | 2013-01-27 | 2013-07-10 | 赵立地 | Improved liquid cooling compressor |
| CN203387439U (en) * | 2013-04-22 | 2014-01-08 | 冯桥志 | Thermoelectric power generation system of water heater |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457795A (en) * | 2017-10-12 | 2017-12-12 | 谷新运 | A kind of tomato absorption clamps synchronous picking mechanical arm end effector |
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| Publication number | Publication date |
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| CN104626145B (en) | 2016-05-18 |
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Granted publication date: 20160518 Termination date: 20191204 |