CN104924291A - Electromagnetically controlled hoisting force arm - Google Patents

Electromagnetically controlled hoisting force arm Download PDF

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Publication number
CN104924291A
CN104924291A CN201510307896.2A CN201510307896A CN104924291A CN 104924291 A CN104924291 A CN 104924291A CN 201510307896 A CN201510307896 A CN 201510307896A CN 104924291 A CN104924291 A CN 104924291A
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CN
China
Prior art keywords
arm
hinged
movable disk
disc
moving disc
Prior art date
Application number
CN201510307896.2A
Other languages
Chinese (zh)
Inventor
姜雪娇
Original Assignee
上海应用技术学院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 上海应用技术学院 filed Critical 上海应用技术学院
Priority to CN201510307896.2A priority Critical patent/CN104924291A/en
Publication of CN104924291A publication Critical patent/CN104924291A/en

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Abstract

The invention relates to an electromagnetically controlled hoisting force arm. A base moving disc is arranged on a chassis, a right side column moving disc and a left side moving disc are fixed to the base moving disc. A force rod is hinged between the right side column moving disc and the left side moving disc, the top end of the force rod is hinged to a plumbing arm, and a C-shaped rod is hinged to one side of the top end. A triangular plate is hinged to the front end of the plumbing arm, and the rear end is hinged to the base moving disc through an arc-shaped arm. A movable disc electromagnetic motor is arranged on the base moving disc. A right side electromagnetic motor is arranged on the right side column moving disc. A left side electromagnetic motor is arranged on the left side column moving disc. A magnetic suction disc is arranged under the triangular plate, and the left side electromagnetic motor is arranged on the magnetic suction disc. A complicated mechanical operating system is integrated in one mechanical arm, and multifunctional and multiple-working-direction integration is achieved. A series of plumbing arm is added in the mechanical arm, and the purpose of manual fine position adjustment is achieved. On the drive aspect, a traditional exposed hydraulic rod mode is abandoned, and a flexible electromagnetic motor mode is adopted.

Description

The lifting arm of force of Electromagnetic Control
Technical field
The present invention relates to a kind of lifting arm of force, especially a kind of lifting arm of force of Electromagnetic Control.
Background technology
Mechanical arm is widely used in the fields such as semiconductor manufacturing, industry, medical treatment, military affairs and space probation.Mechanical arm can accept instruction, accurately navigates to three-dimensional (or two dimension) spatially certain and a bit carries out operation.Mechanical arm is the automated machine device obtaining at present most broad practice in robot technical field, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations.Although their form is had nothing in common with each other, they have a common feature, can accept instruction exactly, accurately navigate to three-dimensional (or two dimension) spatially certain and a bit carry out operation.Mechanical arm is divided into multi-joint manipulator arm according to the difference of version, rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc.The stationarity of action, the speed of motion and positioning precision when the rigidity of usual arm directly has influence on arm grabbing workpiece.As poor rigidity then can cause side direction torsional deflection in the flexural deformation of arm in vertical plane and horizontal plane, arm will produce vibration, or during action, workpiece is stuck cannot work.For this reason, arm generally all adopts the good guide post of rigidity to strengthen the rigidity of arm, and the rigidity of each supporting, connector also will have certain requirement, to guarantee to bear required driving force.The structure of arm wants compact small and exquisite, just can do arm motion brisk, flexible.Movement arm installs additional rolling bearing or adopts spherical guide that arm motion also can be made brisk, steady.In addition, right cantilevered manipulator, also will consider that part is arranged on arm, and weight when will calculate arm moving parts is exactly to the gravity torque of revolution, lifting, centre of support.Gravity torque is very unfavorable to arm motion, and gravity torque is excessive, can cause the vibration of arm, when being elevated, a kind of countersunk head phenomenon also can occur, also can motion-affecting flexibility, and time serious, arm and column can be stuck.So arm center of gravity will be made by the centre of gyration when designing arm as far as possible, or as far as possible close from the centre of gyration, to reduce inclined moment.For the manipulator that both arms operate simultaneously, then the layout of two-arm should be made to be symmetrical in center, to reach balance as far as possible.
Summary of the invention
The present invention is the lifting arm of force that will provide a kind of Electromagnetic Control, this lifting arm of force adds a series of cantilever in mechanical arm, achieving can the object of artificial trim locations, and has abandoned traditional exposed hydraulic stem pattern, have employed electromagnetic machine pattern flexibly.
For achieving the above object, the present invention adopts following technical scheme:
A kind of lifting arm of force of Electromagnetic Control, comprise chassis, base runner dish, movable disk electromagnetic machine, right side electromagnetic machine, right side post movable disk, gas bar, power bar, plumbing arm, arched arm, set square, magnetic-disc, flexible lamp magneto, left side movable disk, pull bar, C shape bar, drawbar, left side electromagnetic machine, described chassis is provided with base runner dish, described base runner dish is fixed with right side post movable disk, left side movable disk; Hinged strong bar between described right side post movable disk and left side movable disk, power masthead end is hinged with plumbing arm, and side, top is hinged with C shape bar; Described plumbing arm front end is hinged with set square, and described plumbing arm rear end is hinged on base runner dish by arched arm; Described base runner dish is provided with movable disk electromagnetic machine; Described right side post movable disk is provided with right side electromagnetic machine; Described left side movable disk is provided with left side electromagnetic machine; Described set square has magnetic-disc, and magnetic-disc is provided with left side electromagnetic machine; Gas bar is connected with between described right side post movable disk and power capital end; Described C shape bar front end by drawbar and set square hinged, C shape rod rear end by pull bar and left side movable disk hinged.
Fixed pedestal is provided with in described chassis.
Beneficial effect of the present invention: by the mechanical movement system globe area of a set of complexity in a mechanical arm, achieves the integration of multi-functional, multiple operative orientation; In mechanical arm, add a series of cantilever, achieving can the object of artificial trim locations; In transmission, abandoned traditional exposed hydraulic stem pattern, have employed electromagnetic machine pattern flexibly, this feature is the maximum innovation of the present invention.
Accompanying drawing explanation
Fig. 1 is the lifting arm of force overall structure schematic diagram of Electromagnetic Control of the present invention;
Fig. 2 is the lifting arm of force power section assembling assumption diagram of Electromagnetic Control of the present invention;
Fig. 3 is the lifting arm of force power section detaching structure figure of Electromagnetic Control of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-3, the specific embodiment of the present invention is made a detailed explanation.
As shown in Figure 1 to Figure 3, a lifting arm of force for Electromagnetic Control, its major constituents has: chassis 1, fixed pedestal 2, base runner dish 3, movable disk electromagnetic machine 4, right side electromagnetic machine 5, right side post movable disk 6, gas bar 7, power bar 8, plumbing arm 9, arched arm 10, set square 11, magnetic-disc 12, flexible lamp magneto 13, left side movable disk 14, pull bar 15, C shape bar 16, drawbar 17, left side electromagnetic machine 18.
Be provided with fixed pedestal 2 in chassis 1, chassis 1 is provided with base runner dish 3, described base runner dish 3 is fixed with right side post movable disk 6, left side movable disk 14; Hinged strong bar 8 between right side post movable disk 6, left side movable disk 14, power bar 8 top is articulated with on plumbing arm 9; Plumbing arm 9 one end is hinged with set square 11, and the other end is hinged with arched arm 10, and arched arm 10 end is articulated with on base runner dish 3.C shape bar 16 one end is articulated with on pull bar 15, and pull bar 15 end is articulated with in the movable disk 14 of left side; C shape bar 16 other end is articulated with on drawbar 17, and drawbar 17 end is articulated with set square 11.Set square 11 has magnetic-disc 12, and magnetic-disc 12 is provided with left side electromagnetic machine 13.Base runner dish 3 is provided with movable disk electromagnetic machine 4; Described right side post movable disk 6 is provided with right side electromagnetic machine 5; Left side movable disk 14 is provided with left side electromagnetic machine 18.Gas bar 7 is provided with between right side post movable disk 6 and power post 8 top.
Core of the present invention is the mobility flexibly utilizing electromagnetic motor, defines the formation of whole mechanical arm.Abandon traditional hydraulic power, make the precise effect of controlling better.

Claims (2)

1. the lifting arm of force of an Electromagnetic Control, comprise chassis (1) base runner dish (3), movable disk electromagnetic machine (4), right side electromagnetic machine (5), right side post movable disk (6), gas bar (7), power bar (8), plumbing arm (9), arched arm (10), set square (11), magnetic-disc (12), flexible lamp magneto (13), left side movable disk (14), pull bar (15), C shape bar (16), drawbar (17), left side electromagnetic machine (18), it is characterized in that: described chassis (1) is provided with base runner dish (3), described base runner dish (3) is fixed with right side post movable disk (6), left side movable disk (14), hinged strong bar (8) between described right side post movable disk (6) and left side movable disk (14), power bar (8) top is hinged with plumbing arm (9), and side, top is hinged with C shape bar (16), described plumbing arm (9) front end is hinged with set square (11), and described plumbing arm (9) rear end is hinged on base runner dish (3) by arched arm (10), described base runner dish (3) is provided with movable disk electromagnetic machine (4), described right side post movable disk (6) is provided with right side electromagnetic machine (5), described left side movable disk (14) is provided with left side electromagnetic machine (18), described set square (11) has magnetic-disc (12), and magnetic-disc (12) is provided with left side electromagnetic machine (13), gas bar (7) is connected with between described right side post movable disk (6) and power post (8) top, described C shape bar (16) front end is hinged by drawbar (17) and set square (11), and C shape bar (16) rear end is hinged by pull bar (15) and left side movable disk (14).
2. the lifting arm of force of Electromagnetic Control according to claim 1, is characterized in that: be provided with fixed pedestal (2) in described chassis (1).
CN201510307896.2A 2015-06-08 2015-06-08 Electromagnetically controlled hoisting force arm CN104924291A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510307896.2A CN104924291A (en) 2015-06-08 2015-06-08 Electromagnetically controlled hoisting force arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510307896.2A CN104924291A (en) 2015-06-08 2015-06-08 Electromagnetically controlled hoisting force arm

Publications (1)

Publication Number Publication Date
CN104924291A true CN104924291A (en) 2015-09-23

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CN201510307896.2A CN104924291A (en) 2015-06-08 2015-06-08 Electromagnetically controlled hoisting force arm

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10249758A (en) * 1997-02-03 1998-09-22 Motoman Inc Manipulator
JP2003039352A (en) * 2001-07-30 2003-02-13 Kawasaki Heavy Ind Ltd Robot
CN103010764A (en) * 2012-12-19 2013-04-03 广州市万世德包装机械有限公司 Parallel rod stacker crane robot
CN103921269A (en) * 2014-04-23 2014-07-16 重庆社平科技有限公司 Self-adaption mechanical arm
CN203792330U (en) * 2014-04-23 2014-08-27 重庆社平科技有限公司 Self-adaption mechanical arm
CN204036467U (en) * 2014-06-20 2014-12-24 杭州航颂科技有限公司 A kind of multi-spindle machining arm mechanism
CN204136065U (en) * 2014-08-21 2015-02-04 中山市乾润精密钢球制造有限公司 Cold headers manipulator
CN104589333A (en) * 2015-01-27 2015-05-06 浙江理工大学 Stacking mechanical arm with five degrees of freedom

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10249758A (en) * 1997-02-03 1998-09-22 Motoman Inc Manipulator
JP2003039352A (en) * 2001-07-30 2003-02-13 Kawasaki Heavy Ind Ltd Robot
CN103010764A (en) * 2012-12-19 2013-04-03 广州市万世德包装机械有限公司 Parallel rod stacker crane robot
CN103921269A (en) * 2014-04-23 2014-07-16 重庆社平科技有限公司 Self-adaption mechanical arm
CN203792330U (en) * 2014-04-23 2014-08-27 重庆社平科技有限公司 Self-adaption mechanical arm
CN204036467U (en) * 2014-06-20 2014-12-24 杭州航颂科技有限公司 A kind of multi-spindle machining arm mechanism
CN204136065U (en) * 2014-08-21 2015-02-04 中山市乾润精密钢球制造有限公司 Cold headers manipulator
CN104589333A (en) * 2015-01-27 2015-05-06 浙江理工大学 Stacking mechanical arm with five degrees of freedom

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Application publication date: 20150923