CN105328695A - Controllable mechanism type movable mechanical arm - Google Patents
Controllable mechanism type movable mechanical arm Download PDFInfo
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- CN105328695A CN105328695A CN201510761409.XA CN201510761409A CN105328695A CN 105328695 A CN105328695 A CN 105328695A CN 201510761409 A CN201510761409 A CN 201510761409A CN 105328695 A CN105328695 A CN 105328695A
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Abstract
The invention discloses a controllable mechanism type movable mechanical arm. The lower end of a first rod of the mechanical arm is connected to a work platform. The upper end of the first rod is connected with one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a first telescopic rod is connected to the work platform. The upper end of the first telescopic rod is connected to a first sliding sleeve. The second rod is sleeved with the first sliding sleeve. The lower end of a third rod is connected to a sliding block which is installed in a sliding groove in the work platform. The upper end of the third rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a second telescopic rod is connected to the second corner of the triangular connecting plate. The other end of the second telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The controllable mechanism type movable mechanical arm has the beneficial effects of large working space, large excavating force, good stress and the like of a traditional hydraulic mechanism, meanwhile, the number of driving rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of controllable-mechanism type mobile mechanical arm.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying, parallel robot is compared with traditional serial manipulator, have without accumulated error, precision is higher, compact conformation, bearing capacity is large, the feature such as the high and end effector inertia of rigidity is little, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, there is working space large, rigidity is high, bearing capacity is strong, little and the end effector precision advantages of higher of inertia, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effective raises labour efficiency, improve a lot in product quality and stability.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.Piling causes 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 controllable-mechanism type mobile mechanical arm 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:
Controllable-mechanism type mobile mechanical arm, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, slide block, spring, triangular connecting plate, actuator, workbench and dolly,
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 one lower end is connected on workbench by revolute pair four, and expansion link one upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one 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 on workbench, and bar three upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar one,
Spring one end is fixed on workbench, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link two one end is connected to second jiao of triangular connecting plate by revolute pair eight, and expansion link two other end is connected on actuator by revolute pair nine, and the triangle of triangular connecting plate is also connected with bar one and bar two by revolute pair two simultaneously,
Workbench is arranged on dolly by revolute pair ten.
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 controllable-mechanism type mobile mechanical arm of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Controllable-mechanism type mobile mechanical arm, comprises bar 1, bar 2 11, bar 3 12, expansion link 1, expansion link 2 14, sliding sleeve 1, sliding sleeve 2 16, slide block 17, spring 18, triangular connecting plate 19, actuator 20, workbench 21 and dolly,
Bar 1 lower end is connected on workbench 21 by revolute pair 1, and bar 1 upper end is connected with bar 2 11 one end by revolute pair 22, and bar 2 11 other end is connected on actuator 20 by revolute pair 33,
Expansion link 1 lower end is connected on workbench 21 by revolute pair 44, and expansion link 1 upper end is connected on sliding sleeve 1 by revolute pair 55, and sliding sleeve 1 is enclosed within bar 2 11,
Bar 3 12 lower end is connected on slide block 17 by revolute pair 66, and slide block 17 is arranged in the chute on workbench 21, and bar 3 12 upper end is connected on sliding sleeve 2 16 by revolute pair 77, and sliding sleeve 2 16 is enclosed within bar 1,
Spring 18 one end is fixed on workbench, and spring 18 other end is fixed on first jiao of triangular connecting plate 19,
Expansion link 2 14 one end is connected to second jiao of triangular connecting plate 19 by revolute pair 88, expansion link 2 14 other end is connected on actuator 20 by revolute pair 99, the triangle of triangular connecting plate 19 is also connected with bar 1 and bar 2 11 by revolute pair 22 simultaneously
Workbench 21 is arranged on dolly by revolute pair ten.
Claims (1)
1. controllable-mechanism type mobile mechanical arm, is characterized in that, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, slide block, spring, triangular connecting plate, actuator, workbench and dolly,
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 one lower end is connected on workbench by revolute pair four, and expansion link one upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one 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 on workbench, and bar three upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar one,
Spring one end is fixed on workbench, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link two one end is connected to second jiao of triangular connecting plate by revolute pair eight, and expansion link two other end is connected on actuator by revolute pair nine, and the triangle of triangular connecting plate is also connected with bar one and bar two by revolute pair two simultaneously,
Workbench is arranged on dolly by revolute pair ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510761409.XA CN105328695B (en) | 2015-11-10 | 2015-11-10 | A kind of controllable-mechanism type mobile mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510761409.XA CN105328695B (en) | 2015-11-10 | 2015-11-10 | A kind of controllable-mechanism type mobile mechanical arm |
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| CN105328695A true CN105328695A (en) | 2016-02-17 |
| CN105328695B CN105328695B (en) | 2017-06-23 |
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| CN201510761409.XA Active CN105328695B (en) | 2015-11-10 | 2015-11-10 | A kind of controllable-mechanism type mobile mechanical arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751207A (en) * | 2016-05-15 | 2016-07-13 | 广西南宁栩兮科技有限公司 | Connecting rod gripper of novel structure |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
| CN105773600A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Multi-degree of freedom mounting device |
| CN105798882A (en) * | 2016-05-15 | 2016-07-27 | 广西南宁栩兮科技有限公司 | Reciprocating locating and moving device driven by planet gears |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN105945908A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Swinging opening and closing bucket |
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| CN202369130U (en) * | 2011-12-16 | 2012-08-08 | 合肥雄鹰自动化工程科技有限公司 | Packaging palletizing robot |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
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| CN104589301A (en) * | 2014-12-17 | 2015-05-06 | 广西大学 | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm |
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| CN202369130U (en) * | 2011-12-16 | 2012-08-08 | 合肥雄鹰自动化工程科技有限公司 | Packaging palletizing robot |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105751207A (en) * | 2016-05-15 | 2016-07-13 | 广西南宁栩兮科技有限公司 | Connecting rod gripper of novel structure |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
| CN105773600A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Multi-degree of freedom mounting device |
| CN105798882A (en) * | 2016-05-15 | 2016-07-27 | 广西南宁栩兮科技有限公司 | Reciprocating locating and moving device driven by planet gears |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN105945908A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Swinging opening and closing bucket |
| CN105945908B (en) * | 2016-05-15 | 2018-11-27 | 广西南宁栩兮科技有限公司 | A kind of swing folding scraper bowl |
| CN105773599B (en) * | 2016-05-15 | 2019-02-12 | 广西南宁栩兮科技有限公司 | A kind of mechanical arm |
| CN105751207B (en) * | 2016-05-15 | 2019-06-04 | 浙江冒个泡电子商务有限公司 | A kind of connecting rod handgrip |
| CN105773654B (en) * | 2016-05-15 | 2019-06-04 | 浙江思远电子商务有限公司 | A kind of scalable pick-and-place material joint |
| CN105798882B (en) * | 2016-05-15 | 2019-07-02 | 广西南宁栩兮科技有限公司 | A kind of reciprocating positioning mobile device of planet wheel drive |
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| CN105328695B (en) | 2017-06-23 |
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Effective date of registration: 20200928 Address after: 226300 Daqing Road, Jinsha Town, Tongzhou District, Nantong, Jiangsu Province, No. 48 Patentee after: NANTONG TONGLI OIL PUMP Co.,Ltd. Address before: Dormitory 207, complex building 1, No.19 Wuhua Avenue, Guangxi ASEAN Economic and Technological Development Zone, Nanning City, Guangxi Zhuang Autonomous Region Patentee before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. |