CN102794760A - Four freedom degree numerical control mechanical arm - Google Patents
Four freedom degree numerical control mechanical arm Download PDFInfo
- Publication number
- CN102794760A CN102794760A CN2012101864878A CN201210186487A CN102794760A CN 102794760 A CN102794760 A CN 102794760A CN 2012101864878 A CN2012101864878 A CN 2012101864878A CN 201210186487 A CN201210186487 A CN 201210186487A CN 102794760 A CN102794760 A CN 102794760A
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- China
- Prior art keywords
- revolute pair
- rocking bar
- rotating
- pair
- rotating pair
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Abstract
A four freedom degree numerical control mechanical arm comprises a machine frame (0), a guide rail (1), a sliding seat (2), a rotating disc (3), a first rocking bar (4), a second rocking bar (5), a connecting bar (6), a rotating arm (7) and an operation arm (8), wherein the sliding seat (2) and the guide rail (1) which is fixed on the machine frame (0) form a first moving pair (P) and then the the sliding seat (2) and the rotating disc (3) form a second rotating pair (R2). One end of the first rocking bar (4) and one end of the second rocking bar (5) respectively form a third rotating pair (R3) and a fourth rotating pair (R4) together with the rotating disc (3), and then the other end of the first rocking bar (4) and the other end of the second rocking bar (5) respectively form a sixth rotating pair (R6) and a fifth rotating pair (R5) to be connected with the connecting bar (6) at different positions. The rotating arm (7) provided with the operation arm (8) is connected with the connecting bar (6) through a seventh rotating pair (R7). The axes of the third rotating pair (R3), the fourth rotating pair (R4), the fifth rotating pair (R5) and the sixth rotating pair (R6) are mutually parallel and perpendicular to the axis of the seventh rotating pair (R7). The four freedom degree numerical control mechanical arm has the advantages of simple structure, large working space, high work efficiency and the like, and is easy to control.
Description
Technical field
The present invention relates to a kind of robot mechanical arm operating mechanism that is used for automatic production line, specifically, invent a kind of digital-control type robot mechanical arm that opens and closes chain combination, applicable to operations such as the extracting of various automatic production lines, clamping, assemblings.
Background technology
Industrialization is made towards scale, automation development; Example: on the production lines such as component of machine, electronic product, motor manufacturing, need several work such as extracting, clamping, assembling, at present; Great majority adopt operating personnel to accomplish; Automatization level is not high, and not only production efficiency is low, and at the bottom of the product quality.
Therefore, in above-mentioned production line, for effectively enhancing productivity, improve the quality of products, the person's of lightening one's labor labour intensity needs the various robot mechanical arms of invention to replace manual work.
Summary of the invention
The present invention can overcome above-mentioned defective; Can in big working space, accomplish actions such as a series of extracting, clamping, assembling; Its technical scheme is: a kind of four-degree-of-freedom numerical controlled machinery hand; Comprise frame (0), guide rail (1), slide (2), rotating disk (3), first rocking bar (4), second rocking bar (5), connecting rod (6), turning arm (7) and operator (8), after it is characterized in that slide (2) and being fixed on guide rail (1) the formation moving sets one (P) on the frame (0), constitute revolute pair two (R with rotating disk (3) again
2), and an end of first rocking bar (4), second rocking bar (5) constitutes revolute pair three (R with rotating disk (3) respectively
3), revolute pair four (R
4) after, their other end is respectively again with revolute pair six (R
6), revolute pair five (R
5), being connected not existing together with connecting rod (6), the turning arm (7) that operator (8) are installed is again with revolute pair seven (R
7) be connected on the connecting rod (6), and revolute pair three (R
3), revolute pair four (R
4), revolute pair five (R
5), revolute pair six (R
6) axis be parallel to each other, but with revolute pair seven (R
7) axis perpendicular.Wherein, moving sets one (P), revolute pair two (R
2), revolute pair three (R
3) or revolute pair four (R
4), and revolute pair seven (R
7) for driving the joint, belong to four frees degree.
This numerical control manipulator mechanism has following characteristics: (1) mechanism adopts and opens and closes the kinematic chain mode, has positive and negative the separating of kinematics of parsing, and control easily; (2) working space is very big; (3) mechanism structure is simple, and motion flexibly, and is easily manufactured.
Description of drawings
Accompanying drawing 1 is a structural scheme of mechanism of the present invention.
The specific embodiment
Through accompanying drawing and embodiment technology of the present invention is given to explain further below.
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention; Its technical scheme is: a kind of four-degree-of-freedom numerical controlled machinery hand; Comprise frame 0, guide rail 1, slide 2, rotating disk 3, first rocking bar 4, second rocking bar 5, connecting rod 6, turning arm 7 and operator 8; Slide 2 be fixed on after guide rail 1 on the frame 0 constitutes moving sets one P, constitute revolute pairs two R with rotating disk 3 again
2, and an end of first rocking bar 4, second rocking bar 5 constitutes revolute pairs three R with rotating disk 3 respectively
3, revolute pair four R
4After, their other end is respectively again with revolute pair six R
6, revolute pair five R
5, being connected not existing together with connecting rod 6, the turning arm 7 that operator 8 is installed is again with revolute pair seven R
7Be connected on the connecting rod 6, and revolute pair three R
3, revolute pair four R
4, revolute pair five R
5, revolute pair six R
6Axis be parallel to each other, but with revolute pair seven R
6Axis perpendicular.Wherein, moving sets one P, revolute pair two R
2, revolute pair three R
3And revolute pair seven R
7For driving the joint, therefore, be four frees degree.
Its operation principle is: slide 2 can move on guide rail 1, realize long stroke working space, and rotating disk 3 can turn round 0-360 °, realizes all around station manipulation; Revolute pair three R
3Driving can make connecting rod 6 on different given stations, realize the operation of diverse location, revolute pair seven R
7Driving can make the workpiece operation attitude that produces required different angles behind the operator 8 clamping workpiece.This numerical control manipulator has advantages such as control is easy, working space is very big, simple in structure, easily manufactured.
Claims (1)
1. four-degree-of-freedom numerical controlled machinery hand; Comprise frame (0), guide rail (1), slide (2), rotating disk (3), first rocking bar (4), second rocking bar (5), connecting rod (6), turning arm (7) and operator (8); After it is characterized in that slide (2) and being fixed on guide rail (1) the formation moving sets one (P) on the frame (0), constitute revolute pair two (R with rotating disk (3) again
2), an end of face first rocking bar (4), second rocking bar (5) constitutes revolute pair three (R with rotating disk (3) respectively
3), revolute pair four (R
4) after, their other end is respectively again with revolute pair six (R
6), revolute pair five (R
5), being connected not existing together with connecting rod (6), the turning arm (7) that operator (8) are installed is again with revolute pair seven (R
7) be connected on the connecting rod (6), and revolute pair three (R
3), revolute pair four (R
4), revolute pair five (R
5), revolute pair six (R
6) axis be parallel to each other, but with revolute pair seven (R
7) axis perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101864878A CN102794760A (en) | 2012-06-08 | 2012-06-08 | Four freedom degree numerical control mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101864878A CN102794760A (en) | 2012-06-08 | 2012-06-08 | Four freedom degree numerical control mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102794760A true CN102794760A (en) | 2012-11-28 |
Family
ID=47194186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101864878A Pending CN102794760A (en) | 2012-06-08 | 2012-06-08 | Four freedom degree numerical control mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102794760A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276234A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Rotary type moves stacking machine mechanical arm |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | Material-fetching arm for larger or midium punching machine |
| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| JP2003209155A (en) * | 2002-01-17 | 2003-07-25 | Jel:Kk | Conveying arm |
| CN201058432Y (en) * | 2007-07-13 | 2008-05-14 | 肖永祥 | Hot pick-off machine |
| CN101992397A (en) * | 2010-10-12 | 2011-03-30 | 常州大学 | Biaxial numerical control translational type parallel operating arm |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
| CN202241276U (en) * | 2011-08-30 | 2012-05-30 | 比亚迪股份有限公司 | Six-axis manipulator |
-
2012
- 2012-06-08 CN CN2012101864878A patent/CN102794760A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195420Y (en) * | 1994-03-30 | 1995-04-26 | 张镇献 | Material-fetching arm for larger or midium punching machine |
| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| JP2003209155A (en) * | 2002-01-17 | 2003-07-25 | Jel:Kk | Conveying arm |
| CN201058432Y (en) * | 2007-07-13 | 2008-05-14 | 肖永祥 | Hot pick-off machine |
| CN101992397A (en) * | 2010-10-12 | 2011-03-30 | 常州大学 | Biaxial numerical control translational type parallel operating arm |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN202241276U (en) * | 2011-08-30 | 2012-05-30 | 比亚迪股份有限公司 | Six-axis manipulator |
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
Non-Patent Citations (1)
| Title |
|---|
| 黄秀琴等: "一种新型四自由度并联机构的运动学分析", 《机械设计》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276234A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Rotary type moves stacking machine mechanical arm |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
| CN116488047B (en) * | 2023-06-21 | 2023-09-12 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121128 |