CN205905021U - Multi freedom installation device - Google Patents
Multi freedom installation device Download PDFInfo
- Publication number
- CN205905021U CN205905021U CN201620438181.0U CN201620438181U CN205905021U CN 205905021 U CN205905021 U CN 205905021U CN 201620438181 U CN201620438181 U CN 201620438181U CN 205905021 U CN205905021 U CN 205905021U
- Authority
- CN
- China
- Prior art keywords
- expansion link
- passed
- connecting rod
- sliding sleeve
- scraper bowl
- 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.)
- Expired - Fee Related
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Abstract
The utility model provides a multi freedom installation device, the root of first scraper bowl and second scraper bowl passes through a revolute pair installation and is in the same place, big underarm end is connected on the base through revolute pair no. 2, first telescopic link one end is passed through revolute pair no. 3 and is connected on the base, the first telescopic link other end passes through revolute pair no. 4 and is connected with triangular connecting plate's first angle, triangular connecting plate's second angle is passed through revolute pair no. 5 and is connected on big arm, triangular connecting plate's third angle is passed through revolute pair six and is connected with the one end of second telescopic link, the other end of second telescopic link is connected in the pivot of revolute pair no. 1, first sliding sleeve suit is connected in big arm upper end on the second telescopic link and through revolute pair seven. This device motion inertia is little, and dynamic performance is good, the requirement of can better satisfied high speed carrying the pile up neatly.
Description
Technical field
This utility model is related to mechanical field, specifically a kind of multiple degrees of freedom erecting device.
Background technology
Increased by the demand picking that mechanical arm carries out object.Pick refer to from the mixed and disorderly multiple objects piled up according to
One object of secondary holding is simultaneously transported to the place specified.In the case that the mixed and disorderly object piled up is picked, for arranging
The cost spatially of each parts feeder, for operating the temporal cost of each parts feeder to have time-varying many.
Traditional mechanical arm has the advantages that structure is simple, low cost, work space are big, but, comparatively cascade machine
Device people's rigidity low it is impossible to be applied at a high speed, the big occasion carrying；Piling leads to that robot arm weight is big, poor rigidity, inertia
Greatly, the problems such as joint error adds up, mechanism dynamic poor-performing is it is difficult to meet the requirement carrying at a high speed piling.With motor
The development of technology and the raising of control technology, controllable mechanical mechanism provides wide development space for engineering machinery, also exists
New requirements at the higher level are proposed on serviceability.
Utility model content
This utility model is directed to the deficiencies in the prior art, provides a kind of multiple degrees of freedom erecting device.
To achieve these goals, this utility model employs technical scheme below:
A kind of multiple degrees of freedom erecting device, including the first scraper bowl, the second scraper bowl, large arm, base, the first expansion link, triangle
Connecting plate, the second expansion link, the first sliding sleeve, first connecting rod, the 3rd expansion link, second connecting rod, the second sliding sleeve, third connecting rod,
Four expansion links, fourth link, the 3rd sliding sleeve and walking mechanism,
The root of the first scraper bowl and the second scraper bowl passes through rotation secondary and is installed together,
Large arm lower end is passed through rotation secondary two and is connected on base, and first expansion link one end is passed through rotation secondary three and is connected to base
On, the first expansion link other end is connected with first jiao of triangular connecting plate by rotation secondary four, and second jiao of triangular connecting plate leads to
Cross rotation secondary five to be connected in large arm, the third angle of triangular connecting plate is passed through rotation secondary six and is connected with one end of the second expansion link,
The other end of the second expansion link is connected in the rotating shaft rotating secondary, and the first sliding sleeve is sleeved on the second expansion link and by rotating
Secondary seven are connected to large arm upper end,
First connecting rod one end is passed through rotation secondary eight and is connected in large arm, and the first connecting rod other end passes through to rotate secondary nine and the 3rd
Expansion link one end connects, and the 3rd expansion link other end passes through rotation secondary ten and is connected to the first scraper bowl back, and second connecting rod one end leads to
Cross rotation secondary 11 to be connected in the front half section of the second expansion link, the second connecting rod other end passes through rotation secondary 12 and is connected to second
On sliding sleeve, the second sliding sleeve is sleeved on the 3rd expansion link,
Third connecting rod one end is passed through to rotate secondary 13 and is connected in large arm, the third connecting rod other end pass through to rotate secondary 14 with
4th expansion link one end connects, and the 4th expansion link other end passes through rotation secondary 15 and is connected to the second scraper bowl back, fourth link
One end is passed through rotation secondary 16 and is connected in the front half section of the second expansion link, and the fourth link other end passes through rotation secondary 17 and connects
On the 3rd sliding sleeve, the 3rd sliding sleeve is sleeved on the 4th expansion link,
Base passes through rotation secondary 18 and is connected in walking mechanism.
Compared with prior art, the beneficial effect that this utility model possesses:
This utility model has that no cumulative error, precision are higher, compact conformation, large carrying capacity, rigidity are high and end is held
The features such as row device inertia is little, driving means are placed in the position on fixed platform or close to fixed platform, and such motion parts are lightweight,
Speed is high, and dynamic response is good, has that work space is big, rigidity is high, bearing capacity is strong, inertia is little and end effector precision height etc.
Advantage, can apply in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency,
Improve a lot in terms of product quality and stability.Not only have that work space is big, flexible movements, reliability high, also simultaneously
There is low cost of manufacture, the advantages of maintaining is simple.
Brief description
Fig. 1 is the structural representation one of multiple degrees of freedom erecting device of the present invention.
Fig. 2 is the structural representation two of multiple degrees of freedom erecting device of the present invention.
Specific embodiment
Below by embodiment, the technical solution of the utility model is further elaborated.
Embodiment 1
A kind of multiple degrees of freedom erecting device, stretches including the first scraper bowl 18, the second scraper bowl 19, large arm 20, base 21, first
Bar 22, triangular connecting plate 23, the second expansion link 24, the first sliding sleeve 25, first connecting rod 26, the 3rd expansion link 27, second connecting rod 28,
Second sliding sleeve 29, third connecting rod 30, the 4th expansion link 31, fourth link 32, the 3rd sliding sleeve 33 and walking mechanism,
The root of the first scraper bowl 18 and the second scraper bowl 19 passes through rotation secondary 1 and is installed together,
Large arm 20 lower end is passed through rotation secondary 22 and is connected on base 21, and the first expansion link 22 one end is passed through rotation secondary 33 and connected
It is connected on base 21, the first expansion link 22 other end is connected with first jiao of triangular connecting plate 23 by rotation secondary 44, triangle is even
Second jiao of fishplate bar 23 passes through to rotate secondary 55 and is connected in large arm 20, the third angle of triangular connecting plate 23 pass through to rotate secondary 66 with
One end of second expansion link 24 connects, and the other end of the second expansion link 24 is connected in the rotating shaft rotating secondary 1, the first sliding sleeve 25
It is sleeved on the second expansion link 24 and be connected to large arm 20 upper end by rotating secondary 77,
First connecting rod 26 one end is passed through rotation secondary 88 and is connected in large arm, and first connecting rod 26 other end passes through to rotate secondary 99
It is connected with the 3rd expansion link 27 one end, the 3rd expansion link 27 other end passes through rotation secondary 10 and is connected to the first scraper bowl 18 back,
Second connecting rod 28 one end is passed through rotation secondary 11 and is connected in the front half section of the second expansion link 24, and second connecting rod 28 other end leads to
Cross rotation secondary 12 to be connected on the second sliding sleeve 29, the second sliding sleeve 29 is sleeved on the 3rd expansion link 27,
Third connecting rod 30 one end is passed through rotation secondary 13 and is connected in large arm, and it is secondary that third connecting rod 30 other end passes through rotation
14 are connected with the 4th expansion link 31 one end, and the 4th expansion link 31 other end passes through rotation secondary 15 and is connected to the second scraper bowl
19 backs, fourth link 32 one end is passed through rotation secondary 16 and is connected in the front half section of the second expansion link 24, fourth link 32
The other end passes through rotation secondary 17 and is connected on the 3rd sliding sleeve 33, and the 3rd sliding sleeve 33 is sleeved on the 4th expansion link 31,
Base 21 passes through rotation secondary 18 and is connected in walking mechanism.
Claims (1)
1. a kind of multiple degrees of freedom erecting device is it is characterised in that including the first scraper bowl, the second scraper bowl, large arm, base, first stretching
Contracting bar, triangular connecting plate, the second expansion link, the first sliding sleeve, first connecting rod, the 3rd expansion link, second connecting rod, the second sliding sleeve,
Three connecting rods, the 4th expansion link, fourth link, the 3rd sliding sleeve and walking mechanism,
The root of the first scraper bowl and the second scraper bowl passes through rotation secondary and is installed together,
Large arm lower end is passed through rotation secondary two and is connected on base, and first expansion link one end is passed through rotation secondary three and is connected on base,
The first expansion link other end is connected with first jiao of triangular connecting plate by rotation secondary four, and second jiao of triangular connecting plate is passed through to turn
Dynamic secondary five are connected in large arm, and the third angle of triangular connecting plate is passed through rotation secondary six and is connected with one end of the second expansion link, and second
The other end of expansion link is connected in the rotating shaft rotating secondary, and the first sliding sleeve is sleeved on the second expansion link and by rotating secondary seven
It is connected to large arm upper end,
First connecting rod one end is passed through rotation secondary eight and is connected in large arm, and the first connecting rod other end is flexible by rotating the secondary nine and the 3rd
Bar one end connects, and the 3rd expansion link other end passes through rotation secondary ten and is connected to the first scraper bowl back, and second connecting rod one end is passed through to turn
Dynamic secondary 11 are connected in the front half section of the second expansion link, and the second connecting rod other end passes through rotation secondary 12 and is connected to the second sliding sleeve
On, the second sliding sleeve is sleeved on the 3rd expansion link,
Third connecting rod one end is passed through rotation secondary 13 and is connected in large arm, and the third connecting rod other end passes through to rotate secondary 14 and the 4th
Expansion link one end connects, and the 4th expansion link other end passes through rotation secondary 15 and is connected to the second scraper bowl back, fourth link one end
It is connected in the front half section of the second expansion link by rotating secondary 16, the fourth link other end passes through to rotate secondary 17 and is connected to the
On three sliding sleeves, the 3rd sliding sleeve is sleeved on the 4th expansion link,
Base passes through rotation secondary 18 and is connected in walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438181.0U CN205905021U (en) | 2016-05-15 | 2016-05-15 | Multi freedom installation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620438181.0U CN205905021U (en) | 2016-05-15 | 2016-05-15 | Multi freedom installation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205905021U true CN205905021U (en) | 2017-01-25 |
Family
ID=57815357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620438181.0U Expired - Fee Related CN205905021U (en) | 2016-05-15 | 2016-05-15 | Multi freedom installation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205905021U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-05-15 CN CN201620438181.0U patent/CN205905021U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 Termination date: 20190515 |