CN105328695B - A kind of controllable-mechanism type mobile mechanical arm - Google Patents
A kind of controllable-mechanism type mobile mechanical arm Download PDFInfo
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- CN105328695B CN105328695B CN201510761409.XA CN201510761409A CN105328695B CN 105328695 B CN105328695 B CN 105328695B CN 201510761409 A CN201510761409 A CN 201510761409A CN 105328695 B CN105328695 B CN 105328695B
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- sliding sleeve
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Abstract
Controllable-mechanism type mobile mechanical arm, the lower end of bar one of the mechanical arm is connected on workbench, the upper end of bar one is connected with the one end of bar two, the other end of bar two is connected on actuator, the lower end of expansion link one is connected on workbench, the upper end of expansion link one is connected on sliding sleeve one, sliding sleeve one is enclosed within bar two, the lower end of bar three is connected on sliding block, sliding block is arranged in the chute on workbench, the upper end of bar three is connected on sliding sleeve two, sliding sleeve two is enclosed within bar one, spring one end is fixed on workbench, the spring other end is fixed on first jiao of triangular connecting plate, the one end of expansion link two is connected to second jiao of triangular connecting plate, the other end of expansion link two is connected on actuator, the third angle of triangular connecting plate is also connected with bar one and bar two simultaneously.While the present invention has the advantages that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, the quantity of driving lever and controllable motor is also reduced, and reduce the complexity of frame transmission system.
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 that simple structure, low cost, working space are big, comparatively serial machine
People's rigidity is low, it is impossible to be applied at a high speed, the big occasion for carrying；Parallel robot compares with traditional serial manipulator, has
The features such as without accumulated error, precision higher, compact conformation, large carrying capacity, rigidity high and small end effector inertia, drive dress
Put and be placed on fixed platform or close to the position of fixed platform, such motion parts are lightweight, and speed is high, and dynamic response is good, has
Working space is big, rigidity is high, bearing capacity is strong, inertia is small and the advantages of end effector high precision, can apply in welding, spray
In the complex jobs such as painting, carrying, handling, assembling, stacking, effective raises labour efficiency, in product quality and stability side
Face improves a lot.This robot containing parallel closed loop subchain uses indirect drive manner, moreover it is possible to which effective reduction drives joint
Required torque.Stacking causes the problems such as big robot arm weight, poor rigidity, inertia are big, joint error is accumulative, and mechanism is moved
Mechanical property is poor, it is difficult to meet the requirement for carrying stacking at a high speed.With the development and the raising of control technology of motor technology, can
The control mechanical mechanism development space wide for engineering machinery is provided, is not only had by motor-driven multiple degrees of freedom controllable mechanism
There are working space big, flexible movements, reliability high, while also having low cost of manufacture, the advantages of maintaining is simple.
The content of the invention
The present invention is in view of the shortcomings of the prior art, there is provided a kind of controllable-mechanism type mobile mechanical arm, overcomes conventional hydraulic to dig
Pick machine maintenance costs are high, operation noise is big, Hydraulic Elements high cost, the shortcomings of react not sensitive enough.
To achieve these goals, present invention employs following technical scheme：
Controllable-mechanism type mobile mechanical arm, including bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve
2nd, sliding block, spring, triangular connecting plate, actuator, workbench and dolly,
The lower end of bar one is connected on workbench by rotating secondary one, and the upper end of bar one is connected by rotating secondary two with the one end of bar two
Connect, the other end of bar two is connected on actuator by rotating secondary three,
The lower end of expansion link one is connected on workbench by rotating secondary four, and the upper end of expansion link one is connected by rotating secondary five
On sliding sleeve one, sliding sleeve one is enclosed within bar two,
The lower end of bar three is connected on sliding block by rotating secondary six, and sliding block is arranged in the chute on workbench, on bar three
End is connected on sliding sleeve two by rotating secondary 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,
, by rotating secondary eight be connected to triangular connecting plate second jiaos, the other end of expansion link two is by turning for the one end of expansion link two
Dynamic secondary nine are connected on actuator, and the third angle of triangular connecting plate is connected with bar one and bar two simultaneously also by rotating secondary two,
Workbench is arranged on dolly by rotating secondary ten.
Compared with prior art, the beneficial effect that the present invention possesses：
While having the advantages that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, also reduce actively
The usage quantity of bar, reduces controllable motor quantity, not only greatly reduces the cost of excavating mechanism of controllable, and reduces machine
The complexity of frame transmission system, is more applicable for manufacturing all kinds of excavators and other engineering machinery.Slew gear can be controlled flexibly
Operative orientation.Driving link type of drive is flexible and changeable, can select servomotor and drives, the drive form such as combination drive, not only ring
Protect, and be easily achieved remote control, the advantages of reduce labor strength.
Brief description of the drawings
Fig. 1 is the structural representation of controllable-mechanism type mobile mechanical arm of the present invention.
Specific embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
Controllable-mechanism type mobile mechanical arm, including bar 1, bar 2 11, bar 3 12, expansion link 1, expansion link 2 14,
Sliding sleeve 1, sliding sleeve 2 16, sliding block 17, spring 18, triangular connecting plate 19, actuator 20, workbench 21 and dolly,
The lower end of bar 1 is connected on workbench 21 by rotating secondary 1, and the upper end of bar 1 is by rotating secondary 22 and bar
2 11 one end are connected, and the other end of bar 2 11 is connected on actuator 20 by rotating secondary 33,
The lower end of expansion link 1 is connected on workbench 21 by rotating secondary 44, and the upper end of expansion link 1 is by rotating
Secondary 55 are connected on sliding sleeve 1, and sliding sleeve 1 is enclosed within bar 2 11,
The lower end of bar 3 12 is connected on sliding block 17 by rotating secondary 66, and sliding block 17 is arranged on the chute on workbench 21
In, the upper end of bar 3 12 is connected on sliding sleeve 2 16 by rotating secondary 77, and sliding sleeve 2 16 is enclosed within bar 1,
The one end of spring 18 is fixed on workbench, and the other end of spring 18 is fixed on first jiao of triangular connecting plate 19,
The one end of expansion link 2 14 is by rotating secondary 88 be connected to triangular connecting plate 19 second jiaos, and expansion link 2 14 is another
End is connected on actuator 20 by rotating secondary 99, the third angle of triangular connecting plate 19 also by rotate secondary 22 simultaneously with bar one
10 and bar 2 11 connect,
Workbench 21 is arranged on dolly by rotating secondary ten.
Claims (1)
1. controllable-mechanism type mobile mechanical arm, it is characterised in that including bar one, bar two, bar three, expansion link one, expansion link two, sliding
Set one, sliding sleeve two, sliding block, spring, triangular connecting plate, actuator, workbench and dolly,
The lower end of bar one is connected on workbench by rotating secondary one, and the upper end of bar one is connected by rotating secondary two with the one end of bar two,
The other end of bar two is connected on actuator by rotating secondary three,
The lower end of expansion link one is connected on workbench by rotating secondary four, and the upper end of expansion link one is connected to cunning by rotating secondary five
On set one, sliding sleeve one is enclosed within bar two,
The lower end of bar three is connected on sliding block by rotating secondary six, and sliding block is arranged in the chute on workbench, and the upper end of bar three leads to
Cross rotation secondary seven to be connected on sliding sleeve two, 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,
The one end of expansion link two is secondary by rotating by rotating secondary eight be connected to triangular connecting plate second jiaos, the other end of expansion link two
Nine are connected on actuator, and the third angle of triangular connecting plate is connected with bar one and bar two simultaneously also by rotating secondary two,
Workbench is arranged on dolly by rotating secondary 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 |
Publications (2)
| Publication Number | Publication Date |
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| CN105328695A CN105328695A (en) | 2016-02-17 |
| CN105328695B true 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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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945921B (en) * | 2016-05-15 | 2019-02-05 | 泉州多聚财商贸有限公司 | A kind of transfer picking mechanism |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
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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 |
| CN104526677A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Controllable mechanism type movable palletizing robot |
| CN104552274A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Multi-degree-of-freedom controllable industrial robot mechanism |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS60152380A (en) * | 1984-01-18 | 1985-08-10 | Mitsubishi Electric Corp | Device for conducting electricity of welding gun of industrial robot |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| 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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| CN105328695A (en) | 2016-02-17 |
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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. |
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