CN105291100A - Mechanical arm working at multiple angles - Google Patents
Mechanical arm working at multiple angles Download PDFInfo
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- CN105291100A CN105291100A CN201510810650.7A CN201510810650A CN105291100A CN 105291100 A CN105291100 A CN 105291100A CN 201510810650 A CN201510810650 A CN 201510810650A CN 105291100 A CN105291100 A CN 105291100A
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- rod
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- mechanical arm
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- rotation pair
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Abstract
The invention discloses a mechanical arm working at multiple angles. The lower end of a first rod of the mechanical arm is connected to a work platform through a first rotation pair; the upper end of the first rod is connected with one end of a second rod through a second rotation pair; the other end of the second rod is connected to an executor through a third rotation pair; the lower end of a telescopic rod is connected to the work platform through a fourth rotation pair; the upper end of the telescopic rod is connected to a second slide sleeve through a fifth rotation pair; the second rod is sleeved with the second slide sleeve; the lower end of a third rod is connected to a slider through a sixth rotation pair; the slider is installed in a slide groove of the work platform; the upper end of the third rod is connected to a first slide sleeve through a rotating pair; the first rod is sleeved with the first slide sleeve; and the work platform is installed on a trolley through an eighth rotation pair. The number of driving rods and controllable motors is reduced while the mechanical arm working at multiple angles has the beneficial effects that a traditional hydraulic machine mechanism is large in work space and excavating force, good in stress and the like, and the complexity of a machine frame transmission system is reduced.
Description
Technical field
The present invention relates to mechanical field, specifically the mechanical arm of Multi-angle working.
Background technology
Robot palletizer is widely used in the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and joint type three kinds of structure types.Wherein joint type robot palletizer because its compact conformation, flexible movements, the advantage such as floor space is little, working space is large, progressively become the primary structure form of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all will be arranged on joint, cause the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.
Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that engineering machinery provides wide development space, not only have that working space is large by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of mechanical arm of Multi-angle working is provided, overcome the shortcomings such as conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not.
To achieve these goals, present invention employs following technical scheme:
The mechanical arm of Multi-angle working, comprises bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, actuator and workbench,
Bar one lower end is connected on workbench by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Expansion link lower end is connected on workbench by revolute pair four, and expansion link upper end is connected on sliding sleeve two by revolute pair five, and sliding sleeve two is enclosed within bar two,
Bar three lower end is connected on slide block by revolute pair six, and slide block is arranged in the chute of workbench, and by revolute pair, it is connected on sliding sleeve one in bar three upper end, and sliding sleeve one is enclosed within bar one,
Workbench is arranged on dolly by revolute pair eight.
Compared with prior art, the beneficial effect that possesses of the present invention:
Have that conventional hydraulic machine mechanism working space is large, digging force is large, while the stressed advantage such as good, also reduce the usage quantity of driving lever, reduce controllable motor quantity, not only greatly reduce the cost of excavating mechanism of controllable, and reduce the complexity of frame transmission system, be more applicable for and manufacture all kinds of excavator and other engineering machinery.Slew gear can control operative orientation flexibly.Driving link type of drive is flexible and changeable, can select driven by servomotor, the drive forms such as combination drive, not only environmental protection, and is easy to realize Long-distance Control, reduces the advantages such as labor strength.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mechanical arm of Multi-angle working of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
The mechanical arm of Multi-angle working, comprises bar 1, bar 29, bar 3 10, expansion link 11, sliding sleeve 1, sliding sleeve 2 13, slide block 14, actuator 15 and workbench 16,
Bar 1 lower end is connected on workbench 16 by revolute pair 1, and bar 1 upper end is connected with bar 29 one end by revolute pair 22, and bar 29 other end is connected on actuator 15 by revolute pair 33,
Expansion link 11 lower end is connected on workbench 16 by revolute pair 44, and expansion link 11 upper end is connected on sliding sleeve 2 13 by revolute pair 55, and sliding sleeve 2 13 is enclosed within bar 29,
Bar 3 10 lower end is connected on slide block 14 by revolute pair 66, and slide block 14 is arranged in the chute of workbench 16, and bar 3 10 upper end is connected on sliding sleeve 1 by revolute pair 77, and sliding sleeve 1 is enclosed within bar 1,
Workbench 16 is arranged on dolly by revolute pair eight.
Claims (1)
1. the mechanical arm of Multi-angle working, is characterized in that, comprises bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, actuator and workbench,
Bar one lower end is connected on workbench by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Expansion link lower end is connected on workbench by revolute pair four, and expansion link upper end is connected on sliding sleeve two by revolute pair five, and sliding sleeve two is enclosed within bar two,
Bar three lower end is connected on slide block by revolute pair six, and slide block is arranged in the chute of workbench, and by revolute pair, it is connected on sliding sleeve one in bar three upper end, and sliding sleeve one is enclosed within bar one,
Workbench is arranged on dolly by revolute pair eight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810650.7A CN105291100B (en) | 2015-11-20 | 2015-11-20 | The mechanical arm of Multi-angle working |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810650.7A CN105291100B (en) | 2015-11-20 | 2015-11-20 | The mechanical arm of Multi-angle working |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105291100A true CN105291100A (en) | 2016-02-03 |
| CN105291100B CN105291100B (en) | 2017-10-31 |
Family
ID=55189267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510810650.7A Active CN105291100B (en) | 2015-11-20 | 2015-11-20 | The mechanical arm of Multi-angle working |
Country Status (1)
| Country | Link |
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| CN (1) | CN105291100B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883381A (en) * | 2016-06-10 | 2016-08-24 | 刘瑞 | Machining assembly line workpiece moving mechanism |
| CN106284449A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi link high accuracy carries greatly excavator |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106284448A (en) * | 2016-09-18 | 2017-01-04 | 广西大学 | A kind of excavator of multi-angle large space |
| CN106337450A (en) * | 2016-09-06 | 2017-01-18 | 广西大学 | Controllable mechanism type excavating robot |
| CN106400863A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Three-dimensional high-precision excavator |
| CN106400864A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Linkage-mechanism excavator |
| CN107842047A (en) * | 2016-09-18 | 2018-03-27 | 广西大学 | A kind of crowd shovel backhoe dual-purpose digging machine |
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2015
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883381A (en) * | 2016-06-10 | 2016-08-24 | 刘瑞 | Machining assembly line workpiece moving mechanism |
| CN105883381B (en) * | 2016-06-10 | 2017-12-01 | 刘瑞 | One kind machining streamline workpiece travel mechanism |
| CN106284449A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi link high accuracy carries greatly excavator |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106337450A (en) * | 2016-09-06 | 2017-01-18 | 广西大学 | Controllable mechanism type excavating robot |
| CN106400863A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Three-dimensional high-precision excavator |
| CN106400864A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Linkage-mechanism excavator |
| CN106284448A (en) * | 2016-09-18 | 2017-01-04 | 广西大学 | A kind of excavator of multi-angle large space |
| CN107842047A (en) * | 2016-09-18 | 2018-03-27 | 广西大学 | A kind of crowd shovel backhoe dual-purpose digging machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105291100B (en) | 2017-10-31 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Feibiao Inventor before: Qin Xiu |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170920 Address after: 511400 Guangdong city of Guangzhou province Panyu District Shiji Town Nanpu village lianwang Street No. 5 B block three Applicant after: Guangzhou East welding Intelligent Equipment Co., Ltd. Address before: Qingxiu District, Nanning City, the Guangxi Zhuang Autonomous Region No. 6 530028 Applicant before: Qin Xiu |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 510000 No. 2 Plant 102, Boshan Industrial Zone, Daling Village, Shilou Town, Panyu District, Guangzhou, Guangdong Province Patentee after: Guangzhou East welding Intelligent Equipment Co., Ltd. Address before: 511400 Block B, No. 5, Lianwang Street, Nanpu Village, Shiji Town, Panyu District, Guangzhou City, Guangdong Province Patentee before: Guangzhou East welding Intelligent Equipment Co., Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Multi angle manipulator Effective date of registration: 20220225 Granted publication date: 20171031 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU DONGHAN INTELLIGENT EQUIPMENT CO.,LTD. Registration number: Y2022980001928 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |