CN105369840A - Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm - Google Patents
Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm Download PDFInfo
- Publication number
- CN105369840A CN105369840A CN201510760029.4A CN201510760029A CN105369840A CN 105369840 A CN105369840 A CN 105369840A CN 201510760029 A CN201510760029 A CN 201510760029A CN 105369840 A CN105369840 A CN 105369840A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- bar
- expansion link
- rod
- sliding sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
Provided is a multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm. The lower end of a first telescopic rod of the mechanical arm is connected to a working platform; the upper end of the first telescopic rod is connected with one end of a first rod; the other end of the first rod is connected to an actuator; the lower end of a second rod is connected to a sliding block; the sliding block is installed in a sliding groove in the working platform; the upper end of the second rod is connected to a first sliding sleeve; the first telescopic rod is sleeved with the first sliding sleeve; the lower end of a second telescopic rod is connected to the working platform; the upper end of the second telescopic rod is connected to a second sliding sleeve; the first rod is sleeved with the second sliding sleeve; the lower end of a third rod is connected to the working platform; the upper end of the third rod is connected to the first corner of a triangular connection board; one end of a third telescopic rod is connected to the actuator; the other end of the third telescopic rod is connected to the second corner of the triangular connection board; the third corner of the triangular connection board is connected with the first telescopic rod and the first rod. The multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm has the advantages of large working space, large digging force and good stress of a traditional hydraulic press mechanism, reduces the number of driving rods and controllable motors, and reduces complexity of a rack transmission system.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of multiple degrees of freedom becomes born of the same parents' stacking machine mechanical arm in parallel.
Background technology
Excavator is a kind of common engineering machinery, is mainly used in various engineer operation.Wherein hydraulic crawler excavator is the class excavator be widely used at present, but hydraulic excavator exists hydraulic system, and manufacturing cost is high, easily occurs the problems such as leakage of oil.And traditional single-degree-of-freedom mechanical digging machine, be commonly called as " power shovel ", can only realize simply and the track that can not change output, therefore can not in the application of field acquisition widely as hydraulic excavator.
Along with the development of motor technology and the raising of control technology, controllable mechanism is that engineering machinery provides wide development space, not only having that working space is large by controlling motor-driven multiple degrees of freedom controllable mechanism, flexible movements, complicated and variable movement locus can be completed export, also there is low cost of manufacture simultaneously, the advantages such as maintaining is simple, controllable-mechanism type excavator is owing to instead of hydraulic drive with multiple degrees of freedom linkage, avoid hydraulic system requirement on machining accuracy high, maintaining cost is high, easily produces the problems such as leakage of oil.But, existing controllable-mechanism type excavator mainly relies on multivariant linkage work, multiple degrees of freedom linkage was controlled in the past, often need to carry out drived control with the control motor with linkage degree of freedom equivalent amount, not only considerably increase manufacturing cost, and adding the complexity of frame transmission system, these shortcomings have certain restriction to multiple degrees of freedom controllable mechanism in the application of engineering machinery field.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of multiple degrees of freedom to become born of the same parents' stacking machine mechanical arm in parallel, 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:
Multiple degrees of freedom becomes born of the same parents' stacking machine mechanical arm in parallel, comprises bar one, bar two, bar three, expansion link one, expansion link two, expansion link three, sliding sleeve one, sliding sleeve two, slide block, triangular connecting plate, actuator and working platform,
Expansion link one lower end is connected on working platform by revolute pair one, and expansion link one upper end is connected with bar one one end by revolute pair two, and bar one other end is connected on actuator by revolute pair three,
Bar two lower end is connected on slide block by revolute pair four, and slide block is arranged in the chute on working platform, and bar two upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one is enclosed within expansion link one,
Expansion link two lower end is connected on working platform by revolute pair six, and expansion link two upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar one,
Bar three lower end is connected on working platform by revolute pair eight, bar three upper end is connected to first jiao of triangular connecting plate by revolute pair nine, expansion link three one end is connected on actuator by revolute pair ten, expansion link three other end is connected on second jiao of triangular connecting plate by revolute pair 11, the triangle of triangular connecting plate is also connected with expansion link one and bar one by revolute pair two simultaneously
Working platform is connected on dolly by revolute pair 12.
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 that multiple degrees of freedom of the present invention becomes born of the same parents' stacking machine mechanical arm in parallel.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
A kind of multiple degrees of freedom becomes born of the same parents' stacking machine mechanical arm in parallel, comprise bar 1, bar 2 13, bar 3 14, expansion link 1, expansion link 2 16, expansion link 3 17, sliding sleeve 1, sliding sleeve 2 19, slide block 20, triangular connecting plate 21, actuator 22 and working platform 23
Expansion link 1 lower end is connected on working platform 23 by revolute pair 1, and expansion link 1 upper end is connected with bar 1 one end by revolute pair 22, and bar 1 other end is connected on actuator 24 by revolute pair 33,
Bar 2 13 lower end is connected on slide block 20 by revolute pair 44, and slide block 20 is arranged in the chute on working platform 23, and bar 2 13 upper end is connected on sliding sleeve 1 by revolute pair 55, and sliding sleeve 1 is enclosed within expansion link 1,
Expansion link 2 16 lower end is connected on working platform 23 by revolute pair 66, and expansion link 2 16 upper end is connected on sliding sleeve 2 19 by revolute pair 77, and sliding sleeve 2 19 is enclosed within bar 1,
Bar 3 14 lower end is connected on working platform 23 by revolute pair 88, bar 3 14 upper end is connected to first jiao of triangular connecting plate 21 by revolute pair 99, expansion link 3 17 one end is connected on actuator 22 by revolute pair 10, expansion link 3 17 other end is connected on second jiao of triangular connecting plate 21 by revolute pair 11, the triangle of triangular connecting plate 21 is also connected with expansion link 1 and bar 1 by revolute pair 22 simultaneously
Working platform 23 is connected on dolly by revolute pair 12.
Claims (1)
1. multiple degrees of freedom becomes born of the same parents' stacking machine mechanical arm in parallel, it is characterized in that, comprises bar one, bar two, bar three, expansion link one, expansion link two, expansion link three, sliding sleeve one, sliding sleeve two, slide block, triangular connecting plate, actuator and working platform,
Expansion link one lower end is connected on working platform by revolute pair one, and expansion link one upper end is connected with bar one one end by revolute pair two, and bar one other end is connected on actuator by revolute pair three,
Bar two lower end is connected on slide block by revolute pair four, and slide block is arranged in the chute on working platform, and bar two upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one is enclosed within expansion link one,
Expansion link two lower end is connected on working platform by revolute pair six, and expansion link two upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar one,
Bar three lower end is connected on working platform by revolute pair eight, bar three upper end is connected to first jiao of triangular connecting plate by revolute pair nine, expansion link three one end is connected on actuator by revolute pair ten, expansion link three other end is connected on second jiao of triangular connecting plate by revolute pair 11, the triangle of triangular connecting plate is also connected with expansion link one and bar one by revolute pair two simultaneously
Working platform is connected on dolly by revolute pair 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760029.4A CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760029.4A CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105369840A true CN105369840A (en) | 2016-03-02 |
| CN105369840B CN105369840B (en) | 2017-11-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510760029.4A Active CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
Country Status (1)
| Country | Link |
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| CN (1) | CN105369840B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737574A (en) * | 2016-11-23 | 2017-05-31 | 广西大学 | A kind of controllable link-type gripper |
Citations (7)
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|---|---|---|---|---|
| JPH07112377A (en) * | 1993-10-15 | 1995-05-02 | Komatsu Ltd | Operating device in bilateral master slave operation system |
| US20050111953A1 (en) * | 2003-11-21 | 2005-05-26 | Westendorf Neal W. | Loader assembly, combination motor vehicle and loader assembly, hydraulic cylinders and methods for operating a loader assembly |
| EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104552248A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Multi-degree-of-freedom controllable mechanism type moving welding robot |
| CN204712038U (en) * | 2015-05-11 | 2015-10-21 | 程红印 | A kind of high accuracy automobile robot palletizer |
-
2015
- 2015-11-10 CN CN201510760029.4A patent/CN105369840B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07112377A (en) * | 1993-10-15 | 1995-05-02 | Komatsu Ltd | Operating device in bilateral master slave operation system |
| US20050111953A1 (en) * | 2003-11-21 | 2005-05-26 | Westendorf Neal W. | Loader assembly, combination motor vehicle and loader assembly, hydraulic cylinders and methods for operating a loader assembly |
| EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104552248A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Multi-degree-of-freedom controllable mechanism type moving welding robot |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN204712038U (en) * | 2015-05-11 | 2015-10-21 | 程红印 | A kind of high accuracy automobile robot palletizer |
Non-Patent Citations (1)
| Title |
|---|
| 于靖军等: "《机器人机构学的数学基础》", 31 July 2008 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737574A (en) * | 2016-11-23 | 2017-05-31 | 广西大学 | A kind of controllable link-type gripper |
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| CN105369840B (en) | 2017-11-07 |
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Effective date of registration: 20201204 Address after: No.19, Weisan Road, Quanjiao Economic Development Zone, Chuzhou City, Anhui Province Patentee after: Anhui kangbeibao Paper 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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