CN103072145B - The preparation method of a kind of numerical control three sections of mechanical arms and numerical control three sections of mechanical arms - Google Patents
The preparation method of a kind of numerical control three sections of mechanical arms and numerical control three sections of mechanical arms Download PDFInfo
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- CN103072145B CN103072145B CN201210593416.XA CN201210593416A CN103072145B CN 103072145 B CN103072145 B CN 103072145B CN 201210593416 A CN201210593416 A CN 201210593416A CN 103072145 B CN103072145 B CN 103072145B
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Abstract
The invention discloses the preparation method of a kind of numerical control three sections of mechanical arms, it is characterized in that, it comprises the following steps, and (1) prepares numerical control three sections of robot body; (2) on numerical control three sections of robot body, arrange duplication acceleration mechanism, this duplication acceleration mechanism comprises belt drive unit, and belt drive unit connects servomotor; (3) digital control system is set; (4) closed loop feedback subsystem is set in the digital control system described in step (3), each arm position of numerical control three sections of robot body and the speed of service feed back in digital control system by this closed loop feedback subsystem, select to control submodule by digital control system again and carry out computing, operation result is outputted in servomotor; (5) described servomotor carries out action according to transmitting the operation result come in described digital control system, by the action of duplication acceleration mechanism realize this arm synchronous, to extend and under reach accurately and fast.The invention also discloses a kind of numerical control three sections of mechanical arms implementing said method.
Description
Technical field
The present invention relates to mechanical automation control appliance field, be specifically related to the preparation method of a kind of numerical control three sections of mechanical arms, and implement numerical control three sections of mechanical arms of the method.
Background technology
Along with the development of modern industry, people are for enhancing productivity, stabilize and increase product quality, improve workman's working condition, accelerate the consideration realizing industrial production mechanization and automation, invented mechanical arm, and it is widely used in production process, especially in high temperature, high pressure, dust, noise and the occasion with radioactivity and pollution, mechanical arm is widely used especially.Mechanical arm is the new technology occurred in automation field in modern age, and has become an important component part in modern industry production system.Mechanical arm is the one of industrial robot, and it is by manipulator, controller, servo drive system and detect sensing device and form, and is the operation of a kind of apery, automatically controls, can overprogram, can complete the automated production equipment of each section operation at three dimensions.Mechanical arm is applied to automobile industry the earliest, is often applied to welding, sprays paint, loading and unloading and carrying.Mechanical arm extend and expand into brothers and cerebral function, it can replace being engaged in the work in the adverse circumstances such as danger, harmful, poisonous, low temperature and Gao Re, replaces people to be engaged in heavy, the dull duplication of labour, raises labour productivity, guarantee product quality.
In existing traditional injection moulding machinery arm, based on the mechanical arm of single intercept form and bipartial, its arm stroke is subject to the restriction of the arm length of the arm of single intercept form or bipartial, and when arm is in off working state, the arm of arm is often many higher than board height, considerably increases the space hold volume of whole manipulator; Meanwhile, the speed of service of the mechanical arm of single intercept form or bipartial is not only subject to the restriction of type of drive, and is subject to the restriction of itself structure, and current mechanical arm cannot meet more and more higher machinery manufacturing industry development.
Summary of the invention
The object of the invention is for above-mentioned deficiency, the preparation method of a kind of numerical control three sections of mechanical arms is provided, and implement numerical control three sections of mechanical arms of the method, by arranging the arm arm of three sections in mechanical arm, and adopt specific control method and duplication acceleration mechanism, realize whole manipulator take up room reduce and accelerate the manipulator arm speed of service.
The technical scheme that the present invention is adopted for achieving the above object is:
A preparation method for numerical control three sections of mechanical arms, it comprises the following steps,
(1) numerical control three sections of robot body are prepared, it comprises a stiff end, a servomotor, first section of mechanical arm, second section of mechanical arm, numerical control three sections of mechanical arms and is arranged on the guide rail often cut on mechanical arm arm, often cuts mechanical arm and is connected by guide rail; First section of mechanical arm is also connected with stiff end by guide rail, and described servomotor is fixed on stiff end top;
(2) duplication acceleration mechanism is set on numerical control three sections of robot body, this duplication acceleration mechanism comprises belt drive unit, belt drive unit connects servomotor, and belt drive unit drives each arm of numerical control three sections of mechanical arms to do upper and lower translation motion with identical speed;
(3) arrange digital control system, this digital control system comprises the central control module, data operation module, memory storage module and the signal processing module that connect successively; Described digital control system is electrically connected described servomotor; In described central control module, embed that speed mode controls submodule, position mode controls submodule and torque mode controls submodule;
(4) closed loop feedback subsystem is set in the digital control system described in step (3), each arm position of numerical control three sections of robot body and the speed of service feed back in digital control system by this closed loop feedback subsystem, select to control submodule by digital control system again and carry out computing, operation result is outputted in servomotor;
(5) described servomotor carries out action according to transmitting the operation result come in described digital control system, by the action of duplication acceleration mechanism realize numerical control three sections of mechanical arms synchronous, to extend and under reach accurately and fast, make the end of numerical control three sections of mechanical arms of mechanical arm arrive assigned address and run required movement.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, described first driven pulley and the second driven pulley are separately fixed at the two ends up and down of stiff end, described first belt connects described servomotor after walking around described first driven pulley and the second driven pulley, and the two ends of described first belt are separately fixed at the two ends up and down of described first section of mechanical arm.
Described duplication acceleration mechanism also comprises the second belt drive unit, and it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described 3rd driven pulley and the 4th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Described second fixed block is fixed on the outside of described first driven pulley and the second driven pulley, described second belt head and the tail connect, and be flexibly connected described 3rd driven pulley with the 4th driven pulley, be fixedly connected with described second fixed block.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, 3rd fixed block and the 4th fixed block, described 3rd fixed block is fixed on the following side of described first section of mechanical arm, described 4th fixed block is fixed on the following side of described numerical control three sections of mechanical arms, and described 5th driven pulley and the 6th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Be flexibly connected described 5th driven pulley and the 6th driven pulley after described 3rd belt head and the tail connect, and be fixedly connected with described 3rd fixed block and the 4th fixed block; Described second section of mechanical arm connects described first section of mechanical arm by the 3rd belt drive unit, and described numerical control three sections of mechanical arms connect described second section of mechanical arm by the 3rd belt drive unit.
Described numerical control three sections of mechanical arms also comprise a protection chain, and this connects described numerical control three sections of mechanical arm tops and stiff end with comprising chain droop.
A kind of numerical control three sections of mechanical arms implemented said method and prepare, it comprises numerical control three sections of robot body, this numerical control three sections of robot body comprise first section of mechanical arm, second section of mechanical arm, numerical control three sections of mechanical arms and are arranged on the guide rail often cut on mechanical arm arm, often cut mechanical arm and are connected by guide rail; This numerical control three sections of mechanical arms also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of described numerical control three sections of mechanical arms is connected by duplication acceleration mechanism, realize each arm of numerical control three sections of mechanical arms with identical speed sync action.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, described numerical control three sections of robot body arrange stiff end, described servomotor is fixed on stiff end top, described first driven pulley and the second driven pulley are separately fixed at the two ends up and down of stiff end, described first belt connects described servomotor after walking around described first driven pulley and the second driven pulley, and the two ends of described first belt are separately fixed at the two ends up and down of described first section of mechanical arm.
Described duplication acceleration mechanism also comprises the second belt drive unit, and it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described 3rd driven pulley and the 4th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Described second fixed block is fixed on the outside of described first driven pulley and the second driven pulley, described second belt head and the tail connect, and be flexibly connected described 3rd driven pulley with the 4th driven pulley, be fixedly connected with described second fixed block.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, 3rd fixed block and the 4th fixed block, described 3rd fixed block is fixed on the following side of described first section of mechanical arm, described 4th fixed block is fixed on the following side of described numerical control three sections of mechanical arms, and described 5th driven pulley and the 6th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Be flexibly connected described 5th driven pulley and the 6th driven pulley after described 3rd belt head and the tail connect, and be fixedly connected with described 3rd fixed block and the 4th fixed block; Described second section of mechanical arm connects described first section of mechanical arm by the 3rd belt drive unit, and described numerical control three sections of mechanical arms connect described second section of mechanical arm by the 3rd belt drive unit.
Described numerical control three sections of mechanical arms also comprise first section of special aluminium extruded type of mechanical arm, the second section of special aluminium extruded type of mechanical arm, numerical control three sections of special aluminium extruded types of mechanical arm and droop protection chain.
The invention has the beneficial effects as follows: by arranging numerical control three sections of mechanical arms and connecting duplication acceleration mechanism at the arm of each mechanical arm, and the action of servomotor is controlled by special control method, realize three arm synchronous same-speed degree action of numerical control three sections of mechanical arms; The movement velocity of numerical control of the present invention three sections of mechanical arms is 2 times of single sectional type mechanical hand arm of prior art, is 1 times of bipartial mechanical arm; When realizing identical arm stroke, each arm length of numerical control of the present invention three sections of mechanical arms shortens greatly, and the spatial volume of whole numerical control three sections of mechanical arms reduces greatly, particularly highly can reduce 30%.
The present invention is by arranging the protection chain of droop; ensure that the motion of numerical control three sections of mechanical arms is smooth and easy; when numerical control three sections of mechanical arms are in off working state; protection chain takies less spatial volume; significantly can reduce the overall volume of numerical control three sections of mechanical arm equipment, the space shared by reduction equipment.
Adopt special aluminium extruded type as the handle configurations beam of mechanical arm, add the intensity of mechanical arm, weight reduction, be conducive to the speed of service and the precision that increase mechanical arm, alleviate the burden of belt gear and servomotor.
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is further described.
Accompanying drawing explanation
Fig. 1 is the retracted configuration overall structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the extended conformation overall structure schematic diagram of the embodiment of the present invention;
Fig. 3 is another viewing angle constructions schematic diagram of Fig. 2;
Fig. 4 is another viewing angle constructions schematic diagram of Fig. 2;
Fig. 5 is the cross-sectional structure schematic diagram of first section of mechanical arm;
Fig. 6 is the cross-sectional structure schematic diagram of second section of mechanical arm;
In figure:
1. stiff end 2. servomotor 3. first sections of mechanical arms
4. second section of mechanical arm 5. numerical control, three sections of mechanical arms 61. first driven pulley
62. second driven pulley 63. first belt 71. the 3rd driven pulleys
72. the 4th driven pulley 73. second fixed block 74. second belts
81. the 5th driven pulley 82. the 6th driven pulley 83. the 3rd belts
84. the 3rd fixed block 85. the 4th fixed block 9. guide rails
10. protect chain.
Detailed description of the invention
Embodiment: see Fig. 1 to Fig. 6, the preparation method of numerical control three sections of mechanical arms that the present embodiment provides, it comprises the following steps:
(1) numerical control three sections of robot body are prepared, it comprises stiff end 1, servomotor 2, first section of mechanical arm 3, second section of mechanical arm 4, numerical control three sections of mechanical arms 5 and is arranged on the guide rail 9 often cut on mechanical arm arm, often cuts mechanical arm and is connected by guide rail 9; First section of mechanical arm 3 is also connected with stiff end 1 by guide rail 9, and described servomotor 2 is fixed on stiff end 1 top;
(2) duplication acceleration mechanism is set on numerical control three sections of robot body, this duplication acceleration mechanism comprises belt drive unit, belt drive unit connects described servomotor 2, and belt drive unit drives each arm of numerical control three sections of mechanical arms to do upper and lower translation motion with identical speed;
(3) arrange digital control system, this digital control system comprises the central control module, data operation module, memory storage module and the signal processing module that connect successively; Described digital control system is electrically connected described servomotor 2; In described central control module, embed that speed mode controls submodule, position mode controls submodule and torque mode controls submodule; Each controls submodule and embeds corresponding algorithm;
(4) closed loop feedback subsystem is set in the digital control system described in step (3), each arm position of numerical control three sections of robot body and the speed of service feed back in digital control system by this closed loop feedback subsystem, select to control submodule by digital control system again and carry out computing, operation result is outputted in servomotor 2;
(5) described servomotor 2 carries out action according to transmitting the operation result come in described digital control system, by the action of duplication acceleration mechanism realize numerical control three sections of mechanical arms synchronous, to extend and under reach accurately and fast, make the end of numerical control three sections of mechanical arms 5 of mechanical arm arrive assigned address and run required movement.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley 61, second driven pulley 62 and the first belt 63, described first driven pulley 61 and the second driven pulley 62 are fixed on the two ends up and down of stiff end 1 respectively by rotating shaft, the axis of rotation of this two driven pulley is perpendicular to the joint face of stiff end 1, described first belt 63 connects the driving wheel of described servomotor 2 after walking around described first driven pulley 61 and the second driven pulley 62, the two ends of described first belt 63 are separately fixed at the two ends up and down of described first section of mechanical arm 3.
Described duplication acceleration mechanism also comprises the second belt drive unit, it comprises the 3rd driven pulley 71, the 4th driven pulley 72, second fixed block 73 and the second belt 74, and described 3rd driven pulley 71 and the 4th driven pulley 72 are separately positioned on the two ends up and down of described second section of mechanical arm 4; Described second fixed block 73 is with the outside of the rotating shaft of two driven pulleys described first driven pulley 61 and second driven pulley 62 for stiff end 1 is fixed on, described second belt 74 head and the tail connect, and be flexibly connected described 3rd driven pulley 71 with the 4th driven pulley 72, be fixedly connected with described second fixed block 73.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley 81, the 6th driven pulley 82, the 3rd belt 83,3rd fixed block 84 and the 4th fixed block 85, described 3rd fixed block 84 is fixed on the following side of described first section of mechanical arm 3, described 4th fixed block 85 is fixed on the following side of described numerical control three sections of mechanical arms 5, and described 5th driven pulley 81 and the 6th driven pulley 82 are separately positioned on the two ends up and down of described second section of mechanical arm 4; Be flexibly connected described 5th driven pulley 81 and the 6th driven pulley 82 after described 3rd belt 83 head and the tail connect, and be fixedly connected with described 3rd fixed block 84 and the 4th fixed block 85; Described second section of mechanical arm 4 connects described first section of mechanical arm 3 by the 3rd belt drive unit, and described numerical control three sections of mechanical arms 5 connect described second section of mechanical arm 4 by the 3rd belt drive unit.
Described numerical control three sections of mechanical arms also comprise a protection chain 10, and this connects described numerical control three sections of mechanical arm 5 tops and stiff end 1 with comprising chain droop.
A kind of numerical control three sections of mechanical arms implementing said method, it comprises numerical control three sections of robot body, this numerical control three sections of robot body comprise first section of mechanical arm, 3, second section of mechanical arm 4, numerical control three sections of mechanical arms 5 and are arranged on the guide rail 9 often cut on mechanical arm arm, often cut mechanical arm and are connected by guide rail 9; This numerical control three sections of mechanical arms also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of described numerical control three sections of mechanical arms is connected by duplication acceleration mechanism, realize each arm of numerical control three sections of mechanical arms with identical speed sync action.
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley 61, second driven pulley 62 and the first belt 63, described numerical control three sections of robot body arrange stiff end 1, described servomotor 2 is fixed on stiff end 1 top, described first driven pulley 61 and the second driven pulley 62 are separately fixed at the two ends up and down of stiff end 1, described first belt 63 connects described servomotor 2 after walking around described first driven pulley 61 and the second driven pulley 62, and the two ends of described first belt 63 are separately fixed at the two ends up and down of described first section of mechanical arm 3.
Described duplication acceleration mechanism also comprises the second belt drive unit, it comprises the 3rd driven pulley 71, the 4th driven pulley 72, second fixed block 73 and the second belt 74, and described 3rd driven pulley 71 and the 4th driven pulley 72 are separately positioned on the two ends up and down of described second section of mechanical arm 4; Described second fixed block 73 is fixed on same one side of described first driven pulley 61 and the second driven pulley 62, described second belt 74 head and the tail connect, and be flexibly connected described 3rd driven pulley 71 with the 4th driven pulley 72, be fixedly connected with described second fixed block 73.
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley 81, the 6th driven pulley 82, the 3rd belt 83,3rd fixed block 84 and the 4th fixed block 85, described 3rd fixed block 84 is fixed on the following side of described first section of mechanical arm 3, described 4th fixed block 85 is fixed on the following side of described numerical control three sections of mechanical arms 5, and described 5th driven pulley 81 and the 6th driven pulley 82 are separately positioned on the two ends up and down of described second section of mechanical arm 4; Be flexibly connected described 5th driven pulley 81 and the 6th driven pulley 82 after described 3rd belt 83 head and the tail connect, and be fixedly connected with described 3rd fixed block 84 and the 4th fixed block 85; Described second section of mechanical arm 4 connects described first section of mechanical arm 3 by the 3rd belt drive unit, and described numerical control three sections of mechanical arms 5 connect described second section of mechanical arm 4 by the 3rd belt drive unit.
Described numerical control three sections of mechanical arms also comprise first section of special aluminium extruded type of mechanical arm 3, the second section of special aluminium extruded type of mechanical arm 4, numerical control three sections of special aluminium extruded types of mechanical arm 5 and droop protection chain 10.In the present embodiment, second section of special aluminium extruded type of mechanical arm 4 and numerical control, three sections of special aluminium extruded types of mechanical arm 5 adopt mutually isostructural aluminium extruded type, and this aluminium extruded type is provided with a groove, and this groove conveniently arranges guide rail.
Operation principle of the present invention: by operator select control submodule then bronze drum digital control system calculate need run haul distance and the speed of service, operation result is sent in servomotor 2, due to first section of mechanical arm 3 and stiff end 1, first section of mechanical arm 3 and second section of mechanical arm 4, all be connected in the mode of guide rail between second section of mechanical arm 4 and numerical control, three sections of mechanical arms 5 and carry out transmission by duplication acceleration mechanism, the action of servomotor 2 drives the action of duplication acceleration mechanism, thus drive each section of mechanical arm to do translational motion with identical speed by belt drive unit, realize the quick of each section of mechanical arm, accurate translation.The droop protection chain 10 that three sections of manipulator bodies are arranged; it ensures that the cable at the volley of numerical control three sections of mechanical arms can not be damaged; and the protection chain 10 of droop takies less spatial volume when numerical control three sections of mechanical arms are in off working state; the volume of whole numerical control three sections of mechanical arms is reduced, is convenient to numerical control three sections of mechanical arms are installed in narrow space.Use special aluminium extruded type, increase the intensity of mechanical arm, weight reduction simultaneously.
The present invention is not limited to above-mentioned embodiment, adopts or approximation apparatus identical with the above embodiment of the present invention, and other preparation methods for numerical control three sections of mechanical arms obtained and numerical control three sections of mechanical arms, all within protection scope of the present invention.
Claims (4)
1. a preparation method for numerical control three sections of mechanical arms, it is characterized in that, it comprises the following steps,
(1) numerical control three sections of robot body are prepared, it comprises a stiff end, a servomotor, first section of mechanical arm, second section of mechanical arm, numerical control three sections of mechanical arms and is arranged on the guide rail often cut on mechanical arm arm, often cuts mechanical arm and is connected by guide rail; First section of mechanical arm is also connected with stiff end by guide rail, and described servomotor is fixed on stiff end top;
(2) duplication acceleration mechanism is set on numerical control three sections of robot body, this duplication acceleration mechanism comprises belt drive unit, belt drive unit connects servomotor, and belt drive unit drives each arm of numerical control three sections of mechanical arms to do upper and lower translation motion with identical speed;
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, described first driven pulley and the second driven pulley are separately fixed at the two ends up and down of stiff end, described first belt connects described servomotor after walking around described first driven pulley and the second driven pulley, and the two ends of described first belt are separately fixed at the two ends up and down of described first section of mechanical arm;
Described duplication acceleration mechanism also comprises the second belt drive unit, and it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described 3rd driven pulley and the 4th driven pulley are separately positioned on the two ends up and down of described first section of mechanical arm; Described second fixed block is fixed on the outside of described first driven pulley and the second driven pulley, described second belt head and the tail connect, and be flexibly connected described 3rd driven pulley with the 4th driven pulley, be fixedly connected with described second fixed block;
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, 3rd fixed block and the 4th fixed block, described 3rd fixed block is fixed on the following side of described first section of mechanical arm, described 4th fixed block is fixed on the upper lateral part of described numerical control three sections of mechanical arms, and described 5th driven pulley and the 6th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Be flexibly connected described 5th driven pulley and the 6th driven pulley after described 3rd belt head and the tail connect, and be fixedly connected with described 3rd fixed block and the 4th fixed block; Described second section of mechanical arm connects described first section of mechanical arm by the second belt drive unit, and described numerical control three sections of mechanical arms connect described second section of mechanical arm by the 3rd belt drive unit;
(3) arrange digital control system, this digital control system comprises the central control module, data operation module, memory storage module and the signal processing module that connect successively; Described digital control system is electrically connected described servomotor; In described central control module, embed that speed mode controls submodule, position mode controls submodule and torque mode controls submodule;
(4) closed loop feedback subsystem is set in the digital control system described in step (3), each arm position of numerical control three sections of robot body and the speed of service feed back in digital control system by this closed loop feedback subsystem, select to control submodule by digital control system again and carry out computing, operation result is outputted in servomotor;
(5) described servomotor carries out action according to transmitting the operation result come in described digital control system, by the action of duplication acceleration mechanism realize numerical control three sections of mechanical arms synchronous, to extend and under reach accurately and fast, make the end of numerical control three sections of mechanical arms of mechanical arm arrive assigned address and run required movement.
2. the preparation method of numerical control according to claim 1 three sections of mechanical arms, is characterized in that, described numerical control three sections of mechanical arms also comprise a protection chain, and this protection chain droop ground connects described numerical control three sections of mechanical arm tops and stiff end.
3. numerical control three sections of mechanical arms implementing the claims one of 1 to 2 described method and prepare, it is characterized in that, it comprises numerical control three sections of robot body, this numerical control three sections of robot body comprise first section of mechanical arm, second section of mechanical arm, numerical control three sections of mechanical arms and are arranged on the guide rail often cut on mechanical arm arm, often cut mechanical arm and are connected by guide rail; This numerical control three sections of mechanical arms also comprise duplication acceleration mechanism, and this duplication acceleration mechanism comprises belt drive unit, and each arm of described numerical control three sections of mechanical arms is connected by duplication acceleration mechanism, realize each arm of numerical control three sections of mechanical arms with identical speed sync action;
Described duplication acceleration mechanism comprises the first belt drive unit, it comprises the first driven pulley, the second driven pulley and the first belt, described numerical control three sections of robot body arrange stiff end, described servomotor is fixed on stiff end top, described first driven pulley and the second driven pulley are separately fixed at the two ends up and down of stiff end, described first belt connects described servomotor after walking around described first driven pulley and the second driven pulley, and the two ends of described first belt are separately fixed at the two ends up and down of described first section of mechanical arm;
Described duplication acceleration mechanism also comprises the second belt drive unit, and it comprises the 3rd driven pulley, the 4th driven pulley, the second fixed block and the second belt, and described 3rd driven pulley and the 4th driven pulley are separately positioned on the two ends up and down of described first section of mechanical arm; Described second fixed block is fixed on the outside of described first driven pulley and the second driven pulley, described second belt head and the tail connect, and be flexibly connected described 3rd driven pulley with the 4th driven pulley, be fixedly connected with described second fixed block;
Described duplication acceleration mechanism also comprises the 3rd belt drive unit, it comprises the 5th driven pulley, the 6th driven pulley, the 3rd belt, 3rd fixed block and the 4th fixed block, described 3rd fixed block is fixed on the following side of described first section of mechanical arm, described 4th fixed block is fixed on the upper lateral part of described numerical control three sections of mechanical arms, and described 5th driven pulley and the 6th driven pulley are separately positioned on the two ends up and down of described second section of mechanical arm; Be flexibly connected described 5th driven pulley and the 6th driven pulley after described 3rd belt head and the tail connect, and be fixedly connected with described 3rd fixed block and the 4th fixed block; Described second section of mechanical arm connects described first section of mechanical arm by the second belt drive unit, and described numerical control three sections of mechanical arms connect described second section of mechanical arm by the 3rd belt drive unit.
4. numerical control according to claim 3 three sections of mechanical arms; it is characterized in that, described numerical control three sections of mechanical arms also comprise first section of special aluminium extruded type of mechanical arm, the second section of special aluminium extruded type of mechanical arm, numerical control three sections of special aluminium extruded types of mechanical arm and droop protection chain.
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| CN104669298B (en) * | 2013-11-29 | 2017-08-01 | 徐建 | The more piece arm of manipulator |
| CN107915046A (en) * | 2017-11-24 | 2018-04-17 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
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| CN201175912Y (en) * | 2007-12-12 | 2009-01-07 | 北京深浪电子技术有限公司 | Electric multistage telescopic arm and overhead line patrol inspecting robot |
| CN203245890U (en) * | 2012-12-31 | 2013-10-23 | 东莞艾尔发自动化机械有限公司 | Digital controlled three-section mechanical arm |
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| JPH09285989A (en) * | 1996-04-19 | 1997-11-04 | Yamaha Motor Co Ltd | Multistage type extending/contracting device for industrial robot |
| JP2000351138A (en) * | 1999-06-11 | 2000-12-19 | Ichiko Engineering Kk | Automatic removing machine having plural stages of upper and lower arms |
| SE532163C2 (en) * | 2008-03-13 | 2009-11-03 | Esab Ab | Welding faucet with welding head |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0362680A2 (en) * | 1988-10-03 | 1990-04-11 | Peter Hürlimann | Extending and retractable telescopic arm |
| CN201175912Y (en) * | 2007-12-12 | 2009-01-07 | 北京深浪电子技术有限公司 | Electric multistage telescopic arm and overhead line patrol inspecting robot |
| CN203245890U (en) * | 2012-12-31 | 2013-10-23 | 东莞艾尔发自动化机械有限公司 | Digital controlled three-section mechanical arm |
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Effective date of registration: 20161207 Address after: 523000 Guangdong province Dongguan city Dalang town of pine village beauty Road No. 198 Patentee after: Dongguan City Alfa Automation Technology Co. Ltd. Address before: 523000 Dongguan Province, Dalang City, the town of Pine Hill scenic West Road, No. 228 Patentee before: Alfa Automation Technology Limited |