CN107378987A - A kind of six-bar linkage robot arm device of the adjustable free degree - Google Patents
A kind of six-bar linkage robot arm device of the adjustable free degree Download PDFInfo
- Publication number
- CN107378987A CN107378987A CN201710768563.9A CN201710768563A CN107378987A CN 107378987 A CN107378987 A CN 107378987A CN 201710768563 A CN201710768563 A CN 201710768563A CN 107378987 A CN107378987 A CN 107378987A
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- Prior art keywords
- cylinder
- dead axle
- bar linkage
- arguing
- adjustable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six-bar linkage robot arm device of the adjustable free degree,Including mechanical arm connecting seat,Mechanical arm connecting seat upper end is connected with heavy-duty motor,The upper end of heavy-duty motor is connected with swingle,The left end of swingle is connected with dead axle bent rod,The lower left of dead axle bent rod, which is connected with machinery, stretches and argues for the sake of arguing,Machinery stretches the lower end argued for the sake of arguing and is connected with manipulator connecting rod,The lower end of manipulator connecting rod is connected with clamping manipulator,Pass through adjustable rotary axis connection between swingle and dead axle bent rod,Telescopic cylinder is provided between the lower end of swingle and the left end of dead axle bent rod,Connected between telescopic cylinder and dead axle bent rod by cylinder connection piece,The left end of dead axle bent rod stretches the lower end argued for the sake of arguing with machinery and is connected with direction regulator,Solves the mechanical arm of existing six-bar linkage,The adjustable setting in orientation only is carried out to clamping part,Other connecting rods are regulation direction manually,The problem of so flexibility ratio is inadequate when mechanical arm works.
Description
Technical field
The present invention relates to field of automated mechanical technology, the six-bar linkage mechanical arm dress of specially a kind of adjustable free degree
Put.
Background technology
With the continuous development of field of machining, worker is replaced automate the degree of processing with articulated robot
More and more higher, the suspension member that robot can complete task are how to make each workpiece of robot can be according to specified
Track, coordinate go complete motion, pause, rotate etc. action, these action be required to program engineer passed through by teaching box
Programming could realize that existing programming mode mainly has following several forms：1st, On-line programming by demonstration:In robot site, by
Operator moves by doing and illustrating or using teaching box guided robot terminal by working trajectory route, and recorder person joint's angle
Information, during work, track and operation when controller reads the positional information of storage and drives the robot to repeat teaching；2nd, machine
People's off-line programing:The geometrical model of robot and its working environment is established using computer graphics, robot is completed
Task carries out segregation reasons and programming, and carries out dynamic graphics simulation to the result of programming, will finally meet the programming knot of requirement
Fruit is transmitted to robot control system；3. Programming by Virtual Demonstration System:Using calculate three-dimensional geometric shapes construction virtual environment and
Virtual robot, robot mechanism, scene and constraints are introduced in dummy model, operator's Virtual Environment-Oriented, is passed through
The end effector of man-machine interface guided robot in virtual scene carries out Virtual Demonstration, produces robot manipulating task track, raw
Into robot language program, and corresponding simulation and optimization is carried out, send robot execution to.
A kind of six-bar linkage teaching apparatus of six-joint robot of entitled the one of Application No. 201420858567.8, the hair
It is bright to have compared with other six-bar linkage machineries：Robot can be departed from and directly carry out teaching operation, it is only necessary to when data are extracted,
Conversion and implantation, the working time of robot is not interfered with, reduces entreprise cost；Actuating station adds application device, ripe
Application device progress teaching can directly be manipulated by practicing worker, while the encoder being arranged on each link joint is whole mistake
The angle change of journey is recorded in real time, and then the data of record are extracted, and by conversion, is implanted to purpose robot
On, such robot can replicate the working trajectory and pattern of experienced operator completely, and whole teaching process is without teaching engineer
Intervention, and experienced operator is not required to the too many robot application knowledge of GPRS, can directly teaching robot's operation more facilitate
Quick teaching is more directly perceived, time saving and energy saving；The working trajectory of experienced operator can be replicated completely, and it is unnecessary during teaching
Displacement is few, and the track data of record is accurate, and track adjustment work is few, it is ensured that the uniformity of product quality；But the invention
Fail the mechanical arm for solving existing six-bar linkage, the adjustable setting in orientation is only carried out to clamping part, other connecting rods are regulation manually
Direction, so when mechanical arm works, flexibility ratio is inadequate, and adjusts process length manually, loses time, reduces operating efficiency
Problem, and the mechanical arm of existing six-bar linkage are directly connected to using rotating shaft mode more between connecting rod connection, are so not only led
Cause between connecting rod tension force is slack and undisciplined to start slow, and easily cause and rock the problem of causing inner body breakage, therefore design a kind of
The six-bar linkage robot arm device of the adjustable free degree.
(1) what traditional robot arm device used is typically two connecting rods or the operation of three connecting rods, and range of movement is small, angle
It is low, and cause the load-bearing of single connecting rod to be deepened because connecting rod is less, if things go on like this cause mechanical linkage to damage；
(2) existing six-bar linkage robot arm device only carries out the adjustable setting in orientation to clamping part, and other connecting rods are hand
Dynamic regulation direction, so when mechanical arm works, flexibility ratio is inadequate, and adjusts process length manually, loses time, reduces work
Efficiency；
(3) existing six-bar linkage robot arm device is more between connecting rod connection is directly connected to using rotating shaft mode, so not
Only result in that tension force between connecting rod is slack and undisciplined to be started slow, and easily cause to rock and cause inner body damaged.
The content of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of six-bar linkage mechanical arm dress of adjustable free degree
To put, both solved typically two connecting rods or the operation of three connecting rods that traditional six-bar linkage robot arm device uses, range of movement is small,
Angle is low, and causes the load-bearing of single connecting rod to be deepened because connecting rod is less, if things go on like this causes mechanical linkage to damage problem,
Solve existing six-bar linkage robot arm device again and the adjustable setting in orientation is only carried out to clamping part, other connecting rods are tune manually
Direction is saved, so flexibility ratio is inadequate when mechanical arm works, and adjusts process length manually, loses time, reduces operating efficiency
The problem of, also solve existing six-bar linkage robot arm device and be directly connected to more using rotating shaft mode between connecting rod connection, this
Sample does not only result in that tension force between connecting rod is slack and undisciplined to be started slow, and easily causes and rocks the problem of causing inner body breakage.
The technical solution adopted for the present invention to solve the technical problems is：A kind of six-bar linkage mechanical arm of the adjustable free degree
Device, including mechanical arm connecting seat, mechanical arm connecting seat upper end are connected with heavy-duty motor, and the upper end of heavy-duty motor is connected with
Swingle, the left end of swingle are connected with dead axle bent rod, and the lower left of dead axle bent rod, which is connected with machinery, stretches and argue for the sake of arguing, and machinery is stretched
The lower end argued for the sake of arguing is connected with manipulator connecting rod, and the lower end of manipulator connecting rod is connected with clamping manipulator, swingle and dead axle
By adjustable rotary axis connection between bent rod, flexible gas is provided between the lower end of swingle and the left end of dead axle bent rod
Cylinder, connected between telescopic cylinder and dead axle bent rod by cylinder connection piece, left end and the machinery of dead axle bent rod stretch what is argued for the sake of arguing
Lower end is connected with direction regulator；
The clamping manipulator includes two symmetrical large joint handgrips, and the upper end of the large joint handgrip is connected with little Guan
Handgrip is saved, is provided with handgrip connecting shaft at the upper end center of the Minor articulus handgrip, the handgrip connecting shaft upper end is connected with
Regulation core is connect, the connection regulation core upper end is connected with clamping cylinder；
The direction regulator rises and falls cylinder including arm, the arm rise and fall cylinder surface on be provided with cylinder body stator,
Arm cylinder upper end of rising and falling is connected with length-adjusting rod, and arm cylinder lower end of rising and falling is connected with the portion of propping up, and the arm rises
Fall cylinder to be fixed on jointly in adjustable fix bar with the cylinder body stator；
The adjustable rotary rotating shaft includes rotation fixed cover, and the rotation fixed cover left end is connected with rotation clamping part, described
Rotate the upper end of fixed cover and the left-hand end of the rotation clamping part is provided with and screws ring.
As a kind of preferable technical scheme of the present invention, the bottom end of the swingle is interspersed to be provided with horizontal direction balance
Bar.
As a kind of preferable technical scheme of the present invention, sliding groove is provided with the inner surface of the clamping manipulator side.
As a kind of preferable technical scheme of the present invention, the large joint handgrip connects into " 3 " with the Minor articulus handgrip
Font, and on symmetrical at handgrip connecting shaft.
As a kind of preferable technical scheme of the present invention, described prop up is provided with arch blade outside portion.
As a kind of preferable technical scheme of the present invention, the direction regulator stretches the outer of junction of arguing for the sake of arguing with the machinery
Surface is provided with damping spring.
As a kind of preferable technical scheme of the present invention, the outer surface for screwing ring is provided with sawtooth lines.
As a kind of preferable technical scheme of the present invention, chip shield is provided with the inner surface of the rotation clamping part.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) the logical mechanical arm connecting seat upper end of designing of the present invention is connected with heavy-duty motor, and the upper end of heavy-duty motor connects
Swingle is connected to, the left end of swingle is connected with dead axle bent rod, and the lower left of dead axle bent rod, which is connected with machinery, stretches and argue for the sake of arguing, machine
Tool stretches the lower end argued for the sake of arguing and is connected with manipulator connecting rod, and the lower end of manipulator connecting rod is connected with clamping manipulator, swingle with
By adjustable rotary axis connection between dead axle bent rod, it is provided between the lower end of swingle and the left end of dead axle bent rod flexible
Cylinder, connected between telescopic cylinder and dead axle bent rod by cylinder connection piece, the left end of dead axle bent rod is stretched with machinery argues for the sake of arguing
Lower end be connected with direction regulator, what six-bar linkage design solved that traditional robot arm device uses is typically two connecting rods or three
Connecting rod operates, and range of movement is small, and angle is low, and causes the load-bearing of single connecting rod to be deepened because connecting rod is less, if things go on like this
Mechanical linkage is caused to damage.
(2) present invention is risen and fallen cylinder by the arm on design orientation adjuster, arm rise and fall cylinder surface on be provided with cylinder
Body stator, arm cylinder upper end of rising and falling are connected with length-adjusting rod, and arm cylinder lower end of rising and falling is connected with the portion of propping up, and arm rises and falls cylinder
It is fixed on jointly in adjustable fix bar with cylinder body stator, realizes the clamping of control clamping manipulator and rotation or lifting, solution
Certainly existing six-bar linkage robot arm device only carries out the adjustable setting in orientation to clamping part, and other connecting rods are manual regulation side
To so when mechanical arm works, flexibility ratio is inadequate, and adjusts process length manually, loses time, reduces asking for operating efficiency
Topic.
(3) for the present invention using rotation fixed cover is set in adjustable rotary rotating shaft, rotation fixed cover left end is connected with rotating clamp
Portion is held, the upper end of fixed cover is rotated and the left-hand end of rotation clamping part is provided with and screws ring, realize and both can guarantee that normal rotation
Turn, and can clamp linkage, it is how direct using rotating shaft mode between connecting rod connection to solve existing six-bar linkage robot arm device
Connection, does not only result in that tension force between connecting rod is slack and undisciplined to be started slow so, and easily causes to rock and causes inner body damaged.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is clamping manipulator structural representation of the present invention；
Fig. 3 is the direction regulator structural representation of the present invention；
Fig. 4 is the adjustable rotary axle construction schematic diagram of the present invention.
In figure：1- mechanical arm connecting seats, 2- heavy-duty motors, 3- swingles, 4- dead axle bent rods, 5- telescopic cylinders, 6-
Cylinder connection piece, 7- adjustable rotary rotating shafts, 8- direction regulators, 9- machineries, which are stretched, argues for the sake of arguing, 10- manipulator connecting rods, 11- clamping machineries
Hand, 12- large joint handgrips, 13- Minor articulus handgrips, 14 handgrip connecting shafts, 15- sliding grooves, 16- clamping cylinders, 17- connections regulation
Core, 18- cylinder body stators, fix bar that 19- is adjustable, 20- prop up portion, 21- length-adjusting rods, and 22- screws ring, and 23- rotations are fixed
Set, 24- sawtooth lines, 25- rotation clamping parts, 27- chip shields, 28- arms rise and fall cylinder, 29- damping springs, 30- balancing poles.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
The direction and position term that the present invention is previously mentioned, for example, " on ", " in ", " under ", "front", "rear", "left", "right", " interior ", "
Outside ", " side " etc., only it is direction and position with reference to annexed drawings.Therefore, the direction and position term used is to illustrate
And understand the present invention, and it is not used to the limitation present invention.
Embodiment：
The invention provides a kind of six-bar linkage robot arm device of the adjustable free degree, including one kind are adjustable as shown in Figure 1
Save the six-bar linkage robot arm device of the free degree, it is characterised in that：Including mechanical arm connecting seat 1, the upper end of mechanical arm connecting seat 1
Heavy-duty motor 2 is connected with, the upper end of the heavy-duty motor 2 is connected with swingle 3, and the left end of the swingle 3 is connected with
Dead axle bent rod 4, the lower left of the dead axle bent rod 4, which is connected with machinery, stretches and argues for the sake of arguing 9, and the machinery is stretched 9 lower end of arguing for the sake of arguing and connected
Manipulator connecting rod 10 is connected to, the lower end of the manipulator connecting rod 10 is connected with clamping manipulator 11, the swingle 3 and institute
State and connected by adjustable rotary rotating shaft 7 between dead axle bent rod 4, the lower end of the swingle 3 and the left end of the dead axle bent rod 4
Between be provided with telescopic cylinder 5, connected between the telescopic cylinder 5 and the dead axle bent rod 4 by cylinder connection piece 6, institute
State the left end of dead axle bent rod 4 and the machinery stretches 9 lower end of arguing for the sake of arguing and is connected with direction regulator 8.
As shown in figure 1, the bottom end of heretofore described swingle 3 is interspersed to be provided with horizontal direction balancing pole 30, adjust
Balancing pole 30 avoids imbalance from causing 3 a certain lateral wearing of swingle serious, influences normal use to ensure the balance of swingle 3.
As shown in Fig. 2 the heretofore described clamping manipulator 11 includes two symmetrical large joint handgrips 12, it is described
The upper end of large joint handgrip 12 is connected with Minor articulus handgrip 13, and handgrip company is provided with the upper end center of the Minor articulus handgrip 13
Spindle 14, the upper end of handgrip connecting shaft 14 are connected with connection regulation core 17, and connection regulation core 17 upper end is connected with clamping
Cylinder 16.
As shown in Fig. 2 being provided with sliding groove 15 on the heretofore described side inner surface of clamping manipulator 11, ensure connection
Adjust core 17 inside clamping manipulator 11 slidably.
As shown in Fig. 2 heretofore described large joint handgrip 12 connects into the figure of three with the Minor articulus handgrip 13, and
On symmetrical at handgrip connecting shaft 14, realize that large joint handgrip 12 and Minor articulus handgrip 13 can classify the different size of thing of crawl
Body.
As shown in figure 3, the heretofore described direction regulator 8 rises and falls cylinder 28 including arm, the arm rises and falls cylinder
It is provided with cylinder body stator 18 on 28 surface, the arm upper end of cylinder 28 of rising and falling is connected with length-adjusting rod 21, the arm
The lower end of cylinder 28 of rising and falling is connected with the portion of propping up 20, the arm rise and fall cylinder 28 be fixed on jointly with the cylinder body stator 18 it is adjustable solid
In fixed pole 19.
As shown in figure 3, heretofore described prop up is provided with arch blade 26 outside portion 20, domes ensure to prop up portion
20 toughness.
As shown in figure 3, the outer surface that heretofore described direction regulator 8 stretches 9 junctions of arguing for the sake of arguing with the machinery is set
There is damping spring 29, avoid direction regulator 8 from causing itself regulation too fast at work, damage connecting rod or direction regulator 8
Itself.
As shown in figure 4, the heretofore described adjustable rotary rotating shaft 7 includes rotation fixed cover 23, the rotation fixed cover
23 left ends are connected with rotation clamping part 25, and the upper end of the rotation fixed cover 23 and the left-hand end of the rotation clamping part 25 are all provided with
It is equipped with and screws ring 22.
As shown in figure 4, the heretofore described outer surface for screwing ring 22 is provided with sawtooth lines 24, increase frictional force,
Ensure the comfortableness rotated.
As shown in figure 4, being provided with chip shield 27 on the inner surface of heretofore described rotation clamping part 25, avoid stating rotation
Turn connecting rod in clamping part 25 when rotated, the rotation inwall of clamping part 25 is caused to wear.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4：The present invention at work, fixes mechanical arm connecting seat 1, Ran Hou first
First adjusted before opening and screw ring 22 in adjustable rotary rotating shaft 7 between each connecting rod, guarantee is not in rock, and this is to start work
Make, beat heavy-duty motor 2 first so that swingle 3 stops the rotation when rotating the article for finding and needing to clamp, now using flexible
Cylinder 5 opens the angle and height of control dead axle bent rod 4, then again by direction regulator 8, due on direction regulator 8
Arm rise and fall cylinder 28, arm rise and fall cylinder 28 surface on be provided with cylinder body stator 18, the arm upper end of cylinder 28 of rising and falling is connected with
Length-adjusting rod 21, the arm lower end of cylinder 28 of rising and falling are connected with the portion of propping up 20, and the arm cylinder 28 that rises and falls is jointly solid with cylinder body stator 18
Be scheduled in adjustable fix bar 19, arm rise and fall cylinder 28 move drive prop up portion 20 go racking machinery stretch argue for the sake of arguing 9 or stretching 9, adjust
After section is good, include two symmetrical large joint handgrips 12 using clamping manipulator 11, the upper end of large joint handgrip 12 is connected with small
Joint handgrip 13, handgrip connecting shaft 14 is provided with the upper end center of Minor articulus handgrip 13, the upper end of handgrip connecting shaft 14 is connected with
Connection regulation core 17, connection regulation core 17 upper end are connected with the structure of clamping cylinder 16, and direction regulator 8 can drive connection regulation core
17 move back and forth, and when connection regulation core 17 rises handgrip connecting shaft 14 can be driven to rise, then large joint handgrip 12 and little Guan
Section handgrip 13 can inwardly close up realization clamping, and when connection regulation core 17 declines, large joint handgrip 12 can be opened with Minor articulus handgrip 13
Open, be connected with each other and rotate using rotation fixed cover 23 is set in adjustable rotary rotating shaft 7 between each arm in clamping, rotation is fixed
Cover 23 left ends and be connected with rotation clamping part 25, the upper end and the left-hand end of rotation clamping part 25 for rotating fixed cover 23 are provided with rotation
Tight ring, realize and both can guarantee that normal rotation, and can clamp linkage, avoid the danger rocked, stop after mechanical arm completion task
Only all power set, the good six-bar linkage mechanical arm of folding and unfolding wait use next time.
In summary, the main characteristic of the invention lies in that：
(1) the logical mechanical arm connecting seat upper end of designing of the present invention is connected with heavy-duty motor, and the upper end of heavy-duty motor connects
Swingle is connected to, the left end of swingle is connected with dead axle bent rod, and the lower left of dead axle bent rod, which is connected with machinery, stretches and argue for the sake of arguing, machine
Tool stretches the lower end argued for the sake of arguing and is connected with manipulator connecting rod, and the lower end of manipulator connecting rod is connected with clamping manipulator, swingle with
By adjustable rotary axis connection between dead axle bent rod, it is provided between the lower end of swingle and the left end of dead axle bent rod flexible
Cylinder, connected between telescopic cylinder and dead axle bent rod by cylinder connection piece, the left end of dead axle bent rod is stretched with machinery argues for the sake of arguing
Lower end be connected with direction regulator, what six-bar linkage design solved that traditional robot arm device uses is typically two connecting rods or three
Connecting rod operates, and range of movement is small, and angle is low, and causes the load-bearing of single connecting rod to be deepened because connecting rod is less, if things go on like this
Mechanical linkage is caused to damage.
(2) present invention is risen and fallen cylinder by the arm on design orientation adjuster, arm rise and fall cylinder surface on be provided with cylinder
Body stator, arm cylinder upper end of rising and falling are connected with length-adjusting rod, and arm cylinder lower end of rising and falling is connected with the portion of propping up, and arm rises and falls cylinder
It is fixed on jointly in adjustable fix bar with cylinder body stator, realizes the clamping of control clamping manipulator and rotation or lifting, solution
Certainly existing six-bar linkage robot arm device only carries out the adjustable setting in orientation to clamping part, and other connecting rods are manual regulation side
To so when mechanical arm works, flexibility ratio is inadequate, and adjusts process length manually, loses time, reduces asking for operating efficiency
Topic.
(3) for the present invention using rotation fixed cover is set in adjustable rotary rotating shaft, rotation fixed cover left end is connected with rotating clamp
Portion is held, the upper end of fixed cover is rotated and the left-hand end of rotation clamping part is provided with and screws ring, realize and both can guarantee that normal rotation
Turn, and can clamp linkage, it is how direct using rotating shaft mode between connecting rod connection to solve existing six-bar linkage robot arm device
Connection, does not only result in that tension force between connecting rod is slack and undisciplined to be started slow so, and easily causes to rock and causes inner body damaged.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (8)
- A kind of 1. six-bar linkage robot arm device of the adjustable free degree, it is characterised in that：It is described including mechanical arm connecting seat (1) Mechanical arm connecting seat (1) upper end is connected with heavy-duty motor (2), and the upper end of the heavy-duty motor (2) is connected with swingle (3), the left end of the swingle (3) is connected with dead axle bent rod (4), and the lower left connection of the dead axle bent rod (4) is organic Tool is stretched argue for the sake of arguing (9), and the machinery stretches the lower end of (9) of arguing for the sake of arguing and is connected with manipulator connecting rod (10), the manipulator connecting rod (10) lower end is connected with clamping manipulator (11), passes through adjustable rotary between the swingle (3) and the dead axle bent rod (4) Rotating shaft (7) is connected, and telescopic cylinder is provided between the lower end of the swingle (3) and the left end of the dead axle bent rod (4) (5), it is connected between the telescopic cylinder (5) and the dead axle bent rod (4) by cylinder connection piece (6), the dead axle bending The left end of bar (4) stretches the lower end of (9) of arguing for the sake of arguing with the machinery and is connected with direction regulator (8)；The clamping manipulator (11) includes two symmetrical large joint handgrips (12), and the upper end of the large joint handgrip (12) connects Minor articulus handgrip (13) is connected to, handgrip connecting shaft (14) is provided with the upper end center of the Minor articulus handgrip (13), it is described to grab Hand connecting shaft (14) upper end is connected with connection regulation core (17), and described connection regulation core (17) upper end is connected with clamping cylinder (16)；The direction regulator (8) is risen and fallen cylinder (28) including arm, the arm rise and fall cylinder (28) surface on be provided with cylinder body Stator (18), arm cylinder (28) upper end of rising and falling are connected with length-adjusting rod (21), and the arm rises and falls cylinder (28) lower end It is connected with the portion of propping up (20), the arm cylinder (28) that rises and falls is fixed on adjustable fix bar jointly with the cylinder body stator (18) (19) on；The adjustable rotary rotating shaft (7) includes rotation fixed cover (23), and described rotation fixed cover (23) left end is connected with rotation clamping The left-hand end of portion (25), the upper end of the rotation fixed cover (23) and the rotation clamping part (25), which is provided with, screws ring (22)。
- A kind of 2. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：The rotation The bottom end of bull stick (3) is interspersed to be provided with horizontal direction balancing pole (30).
- A kind of 3. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：The folder Hold and be provided with sliding groove (15) on the inner surface of manipulator (11) side.
- A kind of 4. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：It is described big Joint handgrip (12) connects into the figure of three with the Minor articulus handgrip (13), and symmetrical on handgrip connecting shaft (14) place.
- A kind of 5. six-bar linkage robot arm device of adjustable free degree according to claim 4, it is characterised in that：The support Rise and be provided with arch blade (26) outside portion (20).
- A kind of 6. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：The side The outer surface that position adjuster (8) stretches (9) junction of arguing for the sake of arguing with the machinery is provided with damping spring (29).
- A kind of 7. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：The rotation The outer surface of tight ring (22) is provided with sawtooth lines (24).
- A kind of 8. six-bar linkage robot arm device of adjustable free degree according to claim 1, it is characterised in that：The rotation Turn to be provided with chip shield (27) on the inner surface of clamping part (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768563.9A CN107378987A (en) | 2017-08-31 | 2017-08-31 | A kind of six-bar linkage robot arm device of the adjustable free degree |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768563.9A CN107378987A (en) | 2017-08-31 | 2017-08-31 | A kind of six-bar linkage robot arm device of the adjustable free degree |
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| CN107378987A true CN107378987A (en) | 2017-11-24 |
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| CN201710768563.9A Withdrawn CN107378987A (en) | 2017-08-31 | 2017-08-31 | A kind of six-bar linkage robot arm device of the adjustable free degree |
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| CN108767716A (en) * | 2018-05-28 | 2018-11-06 | 国网山东省电力公司济南市章丘区供电公司 | A kind of deformable up-flow wick gripper |
| CN108858155A (en) * | 2018-08-31 | 2018-11-23 | 中交第三航务工程勘察设计院有限公司 | A kind of mechanical arm with walking function |
| CN109719718A (en) * | 2019-02-22 | 2019-05-07 | 南京工业大学 | Adjustable mechanical arm device |
| CN110142756A (en) * | 2019-03-29 | 2019-08-20 | 盐城工学院 | A kind of six-joint robot that can be achieved to be precisely controlled |
| CN113649995A (en) * | 2021-09-03 | 2021-11-16 | 江苏昱博自动化设备有限公司 | Spring self-balancing assistance manipulator capable of meeting different load requirements |
| CN114043453A (en) * | 2021-10-27 | 2022-02-15 | 中国船舶重工集团公司第七一六研究所 | Three-level limit supporting passive wearable lower limb exoskeleton robot |
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| CN202292777U (en) * | 2011-10-14 | 2012-07-04 | 北京建筑工程学院 | Shaft-less separated rotation joint device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469299A (en) * | 2018-03-13 | 2018-08-31 | 四川众望安全环保技术咨询有限公司 | A kind of four-freedom degree clamping device of laser vibration measurer |
| CN108767716A (en) * | 2018-05-28 | 2018-11-06 | 国网山东省电力公司济南市章丘区供电公司 | A kind of deformable up-flow wick gripper |
| CN108858155A (en) * | 2018-08-31 | 2018-11-23 | 中交第三航务工程勘察设计院有限公司 | A kind of mechanical arm with walking function |
| CN108858155B (en) * | 2018-08-31 | 2024-03-12 | 中交第三航务工程勘察设计院有限公司 | Mechanical arm with walking function |
| CN109719718A (en) * | 2019-02-22 | 2019-05-07 | 南京工业大学 | Adjustable mechanical arm device |
| CN110142756A (en) * | 2019-03-29 | 2019-08-20 | 盐城工学院 | A kind of six-joint robot that can be achieved to be precisely controlled |
| CN113649995A (en) * | 2021-09-03 | 2021-11-16 | 江苏昱博自动化设备有限公司 | Spring self-balancing assistance manipulator capable of meeting different load requirements |
| CN113649995B (en) * | 2021-09-03 | 2022-08-30 | 江苏昱博自动化设备有限公司 | Spring self-balancing assistance manipulator capable of meeting different load requirements |
| CN114043453A (en) * | 2021-10-27 | 2022-02-15 | 中国船舶重工集团公司第七一六研究所 | Three-level limit supporting passive wearable lower limb exoskeleton robot |
| CN114043453B (en) * | 2021-10-27 | 2023-07-28 | 中国船舶集团有限公司第七一六研究所 | Three-stage limiting supported passive wearable lower limb exoskeleton robot |
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