CN104942799A - Compact-structure multifunctional robot - Google Patents
Compact-structure multifunctional robot Download PDFInfo
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- CN104942799A CN104942799A CN201510378718.9A CN201510378718A CN104942799A CN 104942799 A CN104942799 A CN 104942799A CN 201510378718 A CN201510378718 A CN 201510378718A CN 104942799 A CN104942799 A CN 104942799A
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Abstract
The invention discloses a compact-structure multifunctional robot. The compact-structure multifunctional robot comprises an installation base, an arc-shaped planar rail, an arc-shaped rack, a rack driving mechanism, a stretchable mechanism, a working arm and a working head. The working head is arranged at one end of the working arm. The arc-shaped planar rail is sleeved with the installation base, is matched with the installation base through a sliding pair or a rolling pair and is in an arc shape with the curved and non-closed center line. The arc-shaped rack is fixedly installed on the arc-shaped planar rail. Teeth of the arc-shaped rack can be installed towards the inner side or the outer side of the arc-shaped planar rail. The working arm is arranged at the tail end of the arc-shaped rack. The working head can be stretched under the driving of the stretchable mechanism. Before operation is carried out, a user only needs to know the position of the center line of a pipe and does not need to know the accurate position of the contour of the pipe, and the compact-structure multifunctional robot has the advantages that the freedom degree required by achieving operation movement around the whole circumference of the pipe is small, the manufacturing cost is low, and use and maintaining are convenient.
Description
Technical field
The present invention relates to Machining Technology field, particularly relate to a kind of multi-purpose robot of compact conformation.
Background technology
Along with the development of automated arm and Robotics, various co-ordinate-type lathe, machining center and joint type industrial robot are come out one after another, and define co-ordinate-type and articulated type two class popular motion platform gradually, connect different work head in this two type games platform end, various job task can be completed.
But for workpieces manipulating object, there is following shortcoming in this two classes popular motion platform: one, realizes the complicated movement of complete cycle operation, needs more than three frees degree to link; Its two, this two type games platform adopts spatial data to drive the operation of operation head, thus needs the accurate dimension knowing workpiece profile in advance; Its three, because operation head needs to reach accurate locus, just require that each free degree of this two type games platform has high precision, thus cost is high.
Summary of the invention
The object of the invention is to the multi-purpose robot proposing a kind of compact conformation, can not only to plate and curved surface operation, all kinds of workpiece operation task can also be applicable to well, comprising center line is spatial form or close-shaped complex part, when being applied to workpiece operation, have that cost is low, only need clear and definite workpiece centre line position before operation and without the need to knowing workpiece profile exact position, realize the advantages such as the free degree needed for the workpiece complete cycle Working motion is few, maintenance easy to use.
For reaching this object, the present invention by the following technical solutions:
A kind of multi-purpose robot of compact conformation; Comprise mount pad, arc-shaped rack, arc-plane track, rack drives mechanism, telescoping mechanism, working arm and working head, one end of described working arm is located at by described working head; Arc-plane track is set with in described mount pad, described arc-plane track is coordinated by sliding pair or rolling pair with described mount pad, centered by described arc-plane track, line bends and the arc line shaped do not closed, described arc-shaped rack is fixedly installed in described arc-plane track, the tooth of described arc-shaped rack can be installed to the inner side of arc-plane track or outside, described working arm is arranged on the end of described arc-shaped rack, and described working head is scalable under described telescoping mechanism drives;
Described rack drives mechanism comprises gear and gear driven mechanism, described gear is installed on described mount pad, described arc-shaped rack and described gears meshing, described gear driven mechanism drives described gear to rotate on described arc-shaped rack, thus drives described arc-plane track along the orbital motion in described mount pad.
Further, described mount pad comprises the diapire of the described left side wall of left side wall, right side wall and connection and right side wall, described arc-plane track is arranged at described left side wall and right side wall, the axle of described gear is installed between described left side wall and right side wall, the inner side of described arc-shaped rack or arranged outside tooth, described arc-shaped rack be restricted to described gear, left side wall, between right side wall and diapire.
Further, described left side wall and right side wall be respectively equipped with can around vertical axes rotate plane roller, the external cylindrical surface of described plane roller and the front and back side plane of described arc-plane track tangent;
The front and back side plane of described arc-plane track is respectively equipped with the cambered surface track adapted with its arc, and described left side wall and right side wall are respectively equipped with can around two of a horizontal axis cambered surface roller; On the same side of described arc-plane track, the both sides that cambered surface roller described in two is separately positioned on described cambered surface track are also tangent with the internal and external cambered surface of cambered surface track respectively.
Further, the end of described arc-plane track is provided with the pedestal of the tangential direction perpendicular to described arc-shaped rack, and described pedestal is to the lateral expansion of described arc-shaped rack.
Further, the end of described arc-shaped rack is provided with the telescopic arm pedestal of the tangential direction perpendicular to described arc-shaped rack, and described working arm is arranged on described telescopic arm pedestal; Described telescopic arm pedestal is integrated with described arc-shaped gear and makes or be fixedly connected with by screw, and described telescoping mechanism is arranged on described telescopic arm pedestal.
Further, described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working arm is installed on described working head pedestal.
Further, described working arm stretches to the inner ring side of described arc-shaped rack.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the drive of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described flexible sprocket wheel by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described working head pedestal.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
Further, described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
Beneficial effect of the present invention: working head adaptability clamping becomes to be used for the machining tool of the operations such as grinding, polishing, welding, spraying, boring, riveted joint, only need clear and definite pipe fitting position of center line before operation and without the need to knowing pipe profiles exact position, there is advantages such as realizing the free degree needed for the pipe fitting complete cycle Working motion is few, cost is low, maintenance easy to use.
Accompanying drawing explanation
Fig. 1 is the stereogram of one embodiment of the present of invention;
Fig. 2 is the front view of one embodiment of the present of invention;
Fig. 3 is the structural representation of the embodiment 1 of telescoping mechanism in the present invention;
Fig. 4 is the structural representation of the embodiment 2 of telescoping mechanism in the present invention;
Fig. 5 is the structural representation of the embodiment 3 of telescoping mechanism in the present invention;
Fig. 6 is the structural representation of the embodiment 4 of telescoping mechanism in the present invention.
Wherein: mount pad 1, left side wall 101, right side wall 102, diapire 103, plane roller 104, cambered surface roller 105;
Arc-plane track 2, arc-shaped rack 201, cambered surface track 202;
Gear 3, telescopic arm pedestal 304;
Upper side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, working head pedestal 405, nut 406, screw mandrel 407, screw mandrel
Actuating unit 408; Upper siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418, telescopic belt wheel 419, flexible tooth bar 426, flexible gear 427, expansion teeth wheel power machine structure 428; Flexible slide rail 431, flexible slide block 432, telescopic screw rod 433, telescopic screw rod actuating unit 434;
Working arm 5, working head 6, workpiece 7, pedestal 8.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figures 1 and 2, a kind of multi-purpose robot of compact conformation; Comprise mount pad 1, arc-plane track 2, arc-shaped rack 201, rack drives mechanism, telescoping mechanism, working arm 5 and working head 6, one end of described working arm 5 is located at by described working head 6; Arc-plane track 2 is set with in described mount pad 1, described arc-plane track 2 is coordinated by sliding pair or rolling pair with described mount pad 1, centered by described arc-plane track 2, line bends and the arc line shaped do not closed, described arc-shaped rack 201 is fixedly installed in described arc-plane track 2, the tooth of described arc-shaped rack 201 can be installed to the inner side of arc-plane track 2 or outside, described working arm 5 is arranged on the end of described arc-shaped rack 201, and described working head 6 is scalable under described telescoping mechanism drives;
Described rack drives mechanism comprises gear 3 and gear driven mechanism, described gear 3 is installed on described mount pad 1, and engage with described arc-shaped rack 201, described gear driven mechanism drives described gear 3 to rotate on described arc-shaped rack 201, thus drives described arc-plane track 2 to rotate in the left and right sides of described mount pad 1.
Arc-plane track 2 be centered by line bend and close arc-plane track, gear 3 is the driven wheel of arc-shaped rack 2, and workpiece 7 is fixed on static workbench by fixture.Working arm 5 is fixed on arc-shaped rack 2, rotated by gear driven mechanism (not shown) driven wheel 3, arc-plane track 2 is rotated in the left and right sides of described mount pad 1, thus drive working arm 5 to rotate around workpiece 7, fulfiled assignment by the flexible of working arm 5 again, arc-plane track 2 drives working arm 5 to move disposablely can not complete complete cycle operation, and the operation of remaining part needs first to allow arc-plane track 2 integral-rotation 180 degree, then complete cycle operation of having moved.
When carrying out complete cycle operation to workpiece 7 local, arc-plane track 2 drives the motion of working arm 5 and self stretching motion of working arm 5, makes working head 6 keep contacting with workpiece 7; To in homogeneous tube operation process, space orientation and orientation can be carried out by XYZBCD six degree of freedom digital control platform, arc-shaped rack 201 (arc-plane track 2) is made to straddle on workpiece 7, and make the center line place plane of arc-shaped rack 201 be remained vertical with workpiece 7 by the center line straddling position, in each local job position, by successively twice motion of the D free degree, i.e. twice motion of arc-shaped rack 510 arcuately guide rail 508, complete cycle operation is carried out to workpiece 7, and then completes homogeneous tube operation by feed motion.
In the technical program, working head can be the machining tool for operations such as grinding, polishing, welding, spraying, boring, riveted joints, only need clear and definite pipe fitting position of center line before operation and without the need to knowing pipe profiles exact position, there is advantages such as realizing the free degree needed for the pipe fitting complete cycle Working motion is few, cost is low, maintenance easy to use.
Described mount pad 1 comprises left side wall 101, right side wall 102 and is connected the diapire 103 of described left side wall 101 and right side wall 102, described arc-plane track 2 is arranged at described left side wall and right side wall, the axle of described gear 3 is installed between described left side wall 101 and right side wall 102, the inner side of described arc-shaped rack 201 or arranged outside tooth, described arc-shaped rack 201 be restricted to described gear 3, left side wall 101, between right side wall 102 and diapire 103.
Such mount pad 1 structure is simple, and arc-shaped rack 201 rotates good stability when running, and ensures machining accuracy.
In the present embodiment, described left side wall 101 and right side wall 102 be respectively equipped with can around vertical axes rotate plane roller 104, the external cylindrical surface of described plane roller 104 and the front and back side plane of described arc-plane track 2 tangent;
The front and back side plane of described arc-plane track 2 is respectively equipped with the cambered surface track 202 adapted with its arc, and described left side wall and right side wall are respectively equipped with can around two of a horizontal axis cambered surface roller 105; On the same side of described arc-plane track 2, the both sides that cambered surface roller 105 described in two is separately positioned on described cambered surface track 202 are also tangent with the internal and external cambered surface of cambered surface track 202 respectively.
When gear 3 rotates, arc-shaped rack 202 drives arc-plane track 2 to move thereupon, in mount pad 1, rotates between the plane roller 104 of arc-plane track 2 on left side wall and right side wall; Cambered surface track 202 slides between the cambered surface roller 105 of both sides; Plane roller 104 and cambered surface roller 105 maintain the motion path of arc-plane track 2 and arc-shaped rack 202, ensure that processing runs stable.
The end of described arc-plane track 2 is provided with the pedestal 8 of the tangential direction perpendicular to described arc-shaped rack 201, and described pedestal 8 is to the lateral expansion of described arc-shaped rack 201.
Pedestal 8, to the lateral expansion of described arc-shaped rack 201, limits the slewing area of arc-shaped rack 201, prevents it from coming off from arc-plane track 2.
The end of described arc-shaped rack 201 is provided with the telescopic arm pedestal 304 of the tangential direction perpendicular to described arc-shaped rack 201, and described working arm 5 is arranged on described telescopic arm pedestal 304; Described telescopic arm pedestal 304 is integrated with described arc-shaped rack 201 and makes or be fixedly connected with by screw, and described telescoping mechanism is arranged on described telescopic arm pedestal 304.
Described telescopic arm pedestal 304 and described arc-shaped rack 201 are integrated to be made, and is then directly arranged on telescopic arm pedestal 304 by working arm 5 and telescoping mechanism, and compact conformation, saves space, easy for installation.
Embodiment 1
As shown in Figure 3, described telescoping mechanism comprises side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, working head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408; Described upper side rails 401 and lower side rails 402 are installed on described telescopic arm pedestal 304, described upper side slide 403 and lower sliding block 404 slide along described upper side rails 401 and lower side rails 402 respectively, described working head pedestal 405 is fixedly installed in described upper side slide 403 and lower sliding block 404 simultaneously, described nut 406 be fixedly installed in described working head pedestal 405 and with described screw mandrel 407 threaded engagement, described screw mandrel actuating unit 408 is installed on described telescopic arm pedestal 304 and drives described screw mandrel 407 to rotate, and described working arm 5 is installed on described working head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 to rotate, after screw mandrel 407 and nut 406 relatively rotate, upper side slide 403 on the working head pedestal 405 of hold-down nut 406 and lower sliding block 404 respectively along upper side rails 401, lower side rails 402 moving linearly, then the working head 6 being fixed on working head pedestal 405 simultaneously by with do away from or near the rectilinear motion of workpiece.
Described working arm 5 stretches to the inner ring side of described arc-shaped rack 201.Then arc-shaped rack 201 extends to the inside, saves installing space, is convenient to the flexible processing of working arm 5, improves working (machining) efficiency.
Embodiment 2
As shown in Figure 4, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, working head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418 and telescopic belt wheel 419; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described working head pedestal 405 is fixedly connected with described telescopic belt 417 by described contiguous block 416, described telescopic belt 417 is enclosed within described telescopic belt wheel 419, and under the drive of described telescopic belt actuating unit 418, drive described working head pedestal 405.
Working head pedestal 405 is fixedly connected with telescopic belt 417 by contiguous block 416, driving telescopic belt to take turns 419 rotations by telescopic belt actuating unit 418 drives telescopic belt 417 to operate, thus drives the orbiting motion that working arm pedestal 304 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment, the flexible kind of drive of working arm 5 is belt transmission, similarly, also can use chain drive: bel-drivenn precision is high, be applicable to the transmission of light small workpiece; The bearing capacity of chain drive is large, is applicable to the transmission of large-scale workpiece.
Embodiment 3
As shown in Figure 5, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, working head pedestal 405, flexible tooth bar 426, flexible gear 427 and expansion teeth wheel power machine structure 428; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described flexible gear 427 and expansion teeth wheel power machine structure 428 are installed on described telescopic arm pedestal 304, described flexible tooth bar 426 is fixedly installed in described working head pedestal 405, and described flexible gear 427 engages with described flexible tooth bar 426.
It is rack pinion that working arm 5 realizes the flexible kind of drive, and transmission is accurate.Wherein, working head pedestal 405 is fixedly connected with flexible tooth bar 426, flexible gear 427 is arranged on working head pedestal 405, moved by the rotary actuation of flexible gear 427 tooth bar 426 that stretches, thus drive the orbiting motion that working head pedestal 405 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment; flexible tooth bar 426 is arranged on working head pedestal 405, and flexible gear 427 is arranged on telescopic arm pedestal 304, according to concrete open operating mode; both installation sites can exchange mutually, and the structure before and after exchanging all drops in the protection domain of the technical program.
Embodiment 4
As shown in Figure 6, described telescoping mechanism comprises a flexible slide rail 431, flexible slide block 432, working head pedestal 405, telescopic screw rod 433 and a telescopic screw rod actuating unit 434;
Described flexible slide rail 431 is installed on described telescopic arm pedestal 304, described flexible slide block 432 slides on described flexible slide rail 431, described telescopic screw rod 433 is installed on described telescopic arm pedestal 304 and is engaged in the nut of described working head pedestal 405 setting, and described telescopic screw rod 433 drives described working head pedestal 405 to move under the driving of described telescopic screw rod actuating unit 434.
Telescoping mechanism can use single track, when less with guide rail vertical direction moment of torsion, adopt this mode to save cost, reduces structure and taken up space.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (10)
1. a multi-purpose robot for compact conformation, is characterized in that: comprise mount pad, arc-shaped rack, arc-plane track, rack drives mechanism, telescoping mechanism, working arm and working head, one end of described working arm is located at by described working head; Arc-plane track is set with in described mount pad, described arc-plane track is coordinated by sliding pair or rolling pair with described mount pad, centered by described arc-plane track, line bends and the arc line shaped do not closed, described arc-shaped rack is fixedly installed in described arc-plane track, the tooth of described arc-shaped rack can be installed to the inner side of arc-plane track or outside, described working arm is arranged on the end of described arc-shaped rack, and described working head is scalable under described telescoping mechanism drives;
Described rack drives mechanism comprises gear and gear driven mechanism, described gear is installed on described mount pad, described arc-shaped rack and described gears meshing, described gear driven mechanism drives described gear to rotate on described arc-shaped rack, thus drives described arc-plane track along the orbital motion in described mount pad.
2. the multi-purpose robot of a kind of compact conformation according to claim 1, it is characterized in that: described mount pad comprises the diapire of the described left side wall of left side wall, right side wall and connection and right side wall, described arc-plane track is arranged at described left side wall and right side wall, the axle of described gear is installed between described left side wall and right side wall, the inner side of described arc-shaped rack or arranged outside tooth, described arc-shaped rack be restricted to described gear, left side wall, between right side wall and diapire.
3. the multi-purpose robot of a kind of compact conformation according to claim 2, it is characterized in that: described left side wall and right side wall be respectively equipped with can around vertical axes rotate plane roller, the external cylindrical surface of described plane roller and the front and back side plane of described arc-plane track tangent;
The front and back side plane of described arc-plane track is respectively equipped with the cambered surface track adapted with its arc, and described left side wall and right side wall are respectively equipped with can around two of a horizontal axis cambered surface roller; On the same side of described arc-plane track, the both sides that cambered surface roller described in two is separately positioned on described cambered surface track are also tangent with the internal and external cambered surface of cambered surface track respectively.
4. the multi-purpose robot of a kind of compact conformation according to claim 2, is characterized in that: the end of described arc-plane track is provided with the pedestal of the tangential direction perpendicular to described arc-shaped rack, and described pedestal is to the lateral expansion of described arc-shaped rack.
5. the multi-purpose robot of a kind of compact conformation according to claim 1, is characterized in that: the end of described arc-shaped rack is provided with the telescopic arm pedestal of the tangential direction perpendicular to described arc-shaped rack, and described working arm is arranged on described telescopic arm pedestal; Described telescopic arm pedestal is integrated with described arc-shaped gear and makes or be fixedly connected with by screw, and described telescoping mechanism is arranged on described telescopic arm pedestal.
6. the multi-purpose robot of a kind of compact conformation according to claim 5, is characterized in that: described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working arm is installed on described working head pedestal.
7. the multi-purpose robot of a kind of compact conformation according to claim 6, is characterized in that: described working arm stretches to the inner ring side of described arc-shaped rack.
8. the multi-purpose robot of a kind of compact conformation according to claim 5, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the drive of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described flexible sprocket wheel by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described working head pedestal.
9. the multi-purpose robot of a kind of compact conformation according to claim 5, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
10. the multi-purpose robot of a kind of compact conformation according to claim 5, is characterized in that: described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
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| CN201510378718.9A CN104942799A (en) | 2015-06-30 | 2015-06-30 | Compact-structure multifunctional robot |
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| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
| CN114051849A (en) * | 2021-11-16 | 2022-02-18 | 广东电网有限责任公司 | Tree obstacle clearing device |
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| CN106003139A (en) * | 2016-06-30 | 2016-10-12 | 泰马克精密铸造（苏州）有限公司 | Mechanical arm C-shaft turnover mechanism |
| CN106426278A (en) * | 2016-08-30 | 2017-02-22 | 成都宝科生物科技有限公司 | Open-chain type robot arm |
| CN106767609A (en) * | 2016-11-30 | 2017-05-31 | 江西洪都航空工业集团有限责任公司 | One kind measurement control stick gearshift |
| CN108582030A (en) * | 2018-07-18 | 2018-09-28 | 东北林业大学 | A kind of small-sized arc-shaped guide rail with slidably pedestal |
| CN109093591A (en) * | 2018-08-17 | 2018-12-28 | 安徽星宇生产力促进中心有限公司 | A kind of crawler type pickup robot and its application method |
| CN108999438A (en) * | 2018-10-12 | 2018-12-14 | 李璐彤 | A kind of convenient and fast urban cells parking device |
| CN109434747A (en) * | 2018-11-15 | 2019-03-08 | 盐田国际集装箱码头有限公司 | A kind of device for replacing locomotive brake shoe |
| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
| CN114051849A (en) * | 2021-11-16 | 2022-02-18 | 广东电网有限责任公司 | Tree obstacle clearing device |
| CN114051849B (en) * | 2021-11-16 | 2022-10-04 | 广东电网有限责任公司 | Tree obstacle clearing device |
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