CN105082129A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN105082129A CN105082129A CN201510579246.3A CN201510579246A CN105082129A CN 105082129 A CN105082129 A CN 105082129A CN 201510579246 A CN201510579246 A CN 201510579246A CN 105082129 A CN105082129 A CN 105082129A
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- mounting head
- rotating disk
- disk assembly
- mechanical arm
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Abstract
The invention relates to a mechanical arm, and belongs to hoisting carrying machines. A lifting supporting plate is assembled on a base through a lifting unit, a mechanical arm base is fixedly installed on the lifting supporting plate, and a folding or unfolding three-section arm is installed on the mechanical arm base through a rotary disc assembly, an installation head and a stretchable unit which are sequentially connected in series; the rotary disc assembly is formed by a rotating shaft, a rotary wheel, a rotary disc base, a driving belt, a first connecting piece, a second connecting piece and a shape memory polymer driver in an assembled manner; and the lifting unit and the stretchable unit are each formed by shape memory polymer and a shape memory alloy net. According to the mechanical arm, the shape memory characteristic of a shape memory material is creatively used, a traditional mechanical driving mode is replaced with a shape memory effect driving manner, and the mechanical arm has the beneficial effects of being simple in structure, high in positioning accuracy, small in structure weight and flexible and reliable in operation, and reducing the complexity of the operation process.
Description
Technical field
The invention belongs to lifting handling machinery equipment, relates generally to a kind of mechanical arm.
Background technology
Lifting handling machinery can partly or entirely replace operating personnel to produce, and alleviates the labour intensity of operating personnel, realizes producing safely and efficiently.Mechanical arm is a vitals in handling machinery, extends the opereating specification of manipulator.But the Mechanical Driven mode that the many employings of current mechanical arm are traditional, structure is loaded down with trivial details, and quality is large, and control procedure is complicated, and positioning precision is low, limits the scope of application of manipulator to a certain extent.
Summary of the invention
The object of the invention is exactly the deficiency existed for above-mentioned prior art, and design provides a kind of mechanical arm of new construction, reaches the object simplifying structure, weight reduction, handled easily, raising positioning precision.
The object of the invention be achieved in that above pedestal and below lifting gripper shoe between configure six lifting units, described six lifting units upper, lower end respectively by upper securing member and lower securing member and lifting gripper shoe and pedestal affixed, mechanical arm base is packed on lifting gripper shoe upper surface, first rotating disk assembly is packed on mechanical arm base, first mounting head is packed on the first rotating disk assembly, one end and first mounting head of the first telescopic unit are affixed, the other end of described first telescopic unit is fixedly mounted with the second mounting head, second rotating disk assembly is packed in the second mounting head, 3rd mounting head is packed on the second rotating disk assembly, one end and the 3rd mounting head of the second telescopic unit are affixed, the other end of described second telescopic unit is fixedly mounted with the 4th mounting head, 3rd rotating disk assembly is packed in the 4th mounting head, 5th mounting head is packed on the 3rd rotating disk assembly, one end and the 5th mounting head of the 3rd telescopic unit are affixed, the other end of described 3rd telescopic unit is fixedly mounted with the 6th mounting head, 4th rotating disk assembly is packed in the 6th mounting head, described 4th rotating disk assembly is fixedly mounted with the 7th mounting head, described 7th mounting head is equipped with manipulator mounting seat by manipulator rotating disk assembly, described first, two, three, the structure of four rotating disk assemblies and manipulator rotating disk assembly is: on rotary base inside center position, be fixedly mounted with rotating shaft, runner is rotating to be sleeved in rotating shaft, described runner is configured in rotary base inside, rotating band is sleeved on runner, the two ends of described rotating band by two the first connectors respectively with a left side, the shape-memory polymer driver one end on right side is affixed, a described left side, the shape-memory polymer driver other end on right side is affixed with rotary base respectively by two the second connectors, wherein the shape-memory polymer driver of side is in folding shrinking reset condition, the shape-memory polymer driver of opposite side is in expansion and stretches predeformation state, first, second and third telescopic unit described and lifting unit are made up of shape-memory polymer and marmem net respectively, described marmem net is configured in shape-memory polymer crooked position place and is covered containing by entirety, so far forms a kind of mechanical arm.
The invention utilizes the shape memory characteristic of shape-memory material, drives and replaces traditional Mechanical Driven mode, simplify driving system structure, reduce the complexity of control procedure, improve positioning precision with SME.Mechanical arm novel structure, the whole mechanical volume of folded state is little, lightweight, be convenient to deposit and dismounting, mechanical arm operation height and position of manipulator and attitude adjustable, when mechanical arm horizontal spreading, operating radius is larger, expand the range of application of handling machinery, there is application prospect widely in engineering.
Accompanying drawing explanation
Fig. 1 is a kind of mechanical arm general structure schematic diagram being in off working state;
Fig. 2 is in running order a kind of mechanical arm general structure schematic diagram;
Fig. 3 is first, second, third and fourth rotating disk assembly and manipulator rotating disk assembly structure schematic diagram;
Fig. 4 is the A-A profile of Fig. 3;
Fig. 5 is first, second and third telescopic unit and lifting unit structural representation.
In figure, piece number illustrates:
1, pedestal, 2, lower securing member, 3, lifting unit, 4, upper securing member, 5, lifting gripper shoe, 6, mechanical arm base, 7, first rotating disk assembly, 8, first mounting head, 9, first telescopic unit, 10, second mounting head, 11, second rotating disk assembly, 12, 3rd mounting head, 13, second telescopic unit, 14, 4th mounting head, 15, 3rd rotating disk assembly, 16, 5th mounting head, 17, 3rd telescopic unit, 18, 6th mounting head, 19, 4th rotating disk assembly, 20, 7th mounting head, 21, manipulator mounting seat, 22, manipulator rotating disk assembly, 23, rotating shaft, 24, runner, 25, rotary base, 26, rotating band, 27, first connector, 28, shape-memory polymer driver, 29, second connector, 30, shape-memory polymer, 31, marmem net.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention embodiment is described in detail.A kind of mechanical arm, six lifting units 3 are configured between above pedestal 1 and below lifting gripper shoe 5, described six lifting units 3 upper, lower end respectively by upper securing member 4 and lower securing member 2 and lifting gripper shoe 5 and pedestal 1 affixed, mechanical arm base 6 is packed on lifting gripper shoe 5 upper surface, first rotating disk assembly 7 is packed on mechanical arm base 6, first mounting head 8 is packed on the first rotating disk assembly 7, one end and first mounting head 8 of the first telescopic unit 9 are affixed, the other end of described first telescopic unit 9 is fixedly mounted with the second mounting head 10, second rotating disk assembly 11 is packed in the second mounting head 10, 3rd mounting head 12 is packed on the second rotating disk assembly 11, one end and the 3rd mounting head 12 of the second telescopic unit 13 are affixed, the other end of described second telescopic unit 13 is fixedly mounted with the 4th mounting head 14, 3rd rotating disk assembly 15 is packed in the 4th mounting head 14, 5th mounting head 16 is packed on the 3rd rotating disk assembly 15, one end and the 5th mounting head 16 of the 3rd telescopic unit 17 are affixed, the other end of described 3rd telescopic unit 17 is fixedly mounted with the 6th mounting head 18, 4th rotating disk assembly 19 is packed in the 6th mounting head 18, described 4th rotating disk assembly 19 is fixedly mounted with the 7th mounting head 20, described 7th mounting head 20 is equipped with manipulator mounting seat 21 by manipulator rotating disk assembly 22, described first, two, three, four rotating disk assemblies 7, 11, 15, 19 and the structure of manipulator rotating disk assembly 22 be: on rotary base 25 inside center position, be fixedly mounted with rotating shaft 23, runner 24 is rotating to be sleeved in rotating shaft 23, it is inner that described runner 24 is configured in rotary base 25, rotating band 26 is sleeved on runner 24, the two ends of described rotating band 26 by two the first connectors 27 respectively with a left side, shape-memory polymer driver 28 one end on right side is affixed, a described left side, shape-memory polymer driver 28 other end on right side is affixed with rotary base 25 respectively by two the second connectors 29, wherein the shape-memory polymer driver 28 of side is in folding shrinking reset condition, the shape-memory polymer driver 28 of opposite side is in expansion and stretches predeformation state, first, second and third telescopic unit 9,13,17 described and lifting unit 3 are made up of shape-memory polymer 30 and marmem net 31 respectively, and described marmem net 31 is configured in shape-memory polymer 30 crooked position place and is covered containing by entirety.
The invention realizes the process that rotating disk driving machine mechanical arm is launched: the resistance screen electrified regulation built-in to shape-memory polymer driver 28, temperature is made to reach the transition temperature of shape-memory polymer, the SME of shape-memory polymer drives the left side shape-memory polymer driver 28 being in expansion predeformation state recovery of shape occurs and folds, thus drive rotating band 26 along the certain displacement of counterclockwise movement, rotating band 26 drives runner 24 to rotate counterclockwise corresponding angle, make the right side shape-memory polymer driver 28 being in folded state predeformation occur and launch simultaneously, achieve rotating disk and rotate counterclockwise driving, thus driving machine mechanical arm is launched.Its deflection can be controlled by the activation temperature controlling shape-memory polymer driver 28, make the corresponding displacement of rotating band 26 counterclockwise movement, drive runner 24 to rotate corresponding angle, thus the expanded angle of controller mechanical arm.
The invention realizes the folding process of rotating disk driving machine mechanical arm: the resistance screen electrified regulation built-in to shape-memory polymer driver 28, temperature is made to control the transition temperature of shape-memory polymer, the SME of shape-memory material drives the right side shape-memory polymer driver 28 being in expansion predeformation state recovery of shape occurs and folds, thus drive rotating band 26 along the certain displacement of clockwise movement, rotating band 26 drives runner 24 along rotating clockwise corresponding angle, make the left side shape-memory polymer driver 28 being in folded state predeformation occur and launch simultaneously, runner 24 is driven to get back to initial position, thus driving machine mechanical arm folds.Its deflection can be controlled by the activation temperature controlling shape-memory polymer driver 28, make the corresponding displacement of rotating band 26 clockwise movement, drive runner 24 to rotate corresponding angle, thus the folding angles of controller mechanical arm.
When stopping the resistance screen electrified regulation built-in to shape-memory polymer driver 28, runner 24 is rotary base 25 transfixion relatively, and mechanical arm relative mechanical arm base 6 is static.
The invention realizes the flexible process of joint arm.Marmem net 31 electrified regulation built-in to first, second and third telescopic unit 9,13,17 sweep of joint arm, the temperature of sweep is made to control marmem transition temperature, the SME of marmem net 31 drives the telescopic unit being in folded state to launch, and achieves the elongation of joint arm.Again built-in to first, second and third telescopic unit 9,13,17 sweep of joint arm marmem net 31 electrified regulation, the temperature of sweep is made to reach shape-memory polymer 30 transition temperature, the SME of shape-memory polymer 30 drives the joint arm telescopic unit being in deployed condition to be returned to folded state, achieves the contraction of joint arm.
The invention realizes the process of worktable lifting.Marmem net 31 electrified regulation built-in to lifting unit 3 sweep, the temperature of sweep is made to reach marmem transition temperature, the SME of marmem net 31 drives the lifting unit 3 being in folded state to launch, drive lifting gripper shoe 5 to move upward, the rising achieving workbench drives.Again built-in to lifting unit 3 sweep marmem net 31 electrified regulation, the temperature of sweep is made to reach shape-memory polymer 30 transition temperature, the SME of shape-memory polymer 30 drives the lifting unit 3 being in deployed condition to be returned to folded state, lifting gripper shoe 5 is driven to move downward, get back to initial position, the decline achieving workbench drives.When stopping is to marmem net 31 electrified regulation, lifting gripper shoe 5 opposite base 1 transfixion.
Claims (1)
1. a mechanical arm, it is characterized in that: between pedestal (1) top and lifting gripper shoe (5) below, configure six lifting units (3), described six lifting units (3) upper, lower end respectively by upper securing member (4) and lower securing member (2) and lifting gripper shoe (5) and pedestal (1) affixed, mechanical arm base (6) is packed on lifting gripper shoe (5) upper surface, first rotating disk assembly (7) is packed on mechanical arm base (6), first mounting head (8) is packed on the first rotating disk assembly (7), one end and first mounting head (8) of the first telescopic unit (9) are affixed, the other end of described first telescopic unit (9) is fixedly mounted with the second mounting head (10), second rotating disk assembly (11) is packed in the second mounting head (10), 3rd mounting head (12) is packed on the second rotating disk assembly (11), one end and the 3rd mounting head (12) of the second telescopic unit (13) are affixed, the other end of described second telescopic unit (13) is fixedly mounted with the 4th mounting head (14), 3rd rotating disk assembly (15) is packed in the 4th mounting head (14), 5th mounting head (16) is packed on the 3rd rotating disk assembly (15), one end and the 5th mounting head (16) of the 3rd telescopic unit (17) are affixed, the other end of described 3rd telescopic unit (17) is fixedly mounted with the 6th mounting head (18), 4th rotating disk assembly (19) is packed in the 6th mounting head (18), described 4th rotating disk assembly (19) is fixedly mounted with the 7th mounting head (20), by the equipped manipulator mounting seat (21) of manipulator rotating disk assembly (22) in described 7th mounting head (20), described first, two, three, four rotating disk assemblies (7, 11, 15, 19) and the structure of manipulator rotating disk assembly (22) be: on rotary base (25) inside center position, be fixedly mounted with rotating shaft (23), runner (24) is rotating to be sleeved in rotating shaft (23), it is inner that described runner (24) is configured in rotary base (25), rotating band (26) is sleeved on runner (24), the two ends of described rotating band (26) by two the first connectors (27) respectively with a left side, shape-memory polymer driver (28) one end on right side is affixed, a described left side, shape-memory polymer driver (28) other end on right side is affixed with rotary base (25) respectively by two the second connectors (29), wherein the shape-memory polymer driver (28) of side is in folding shrinking reset condition, the shape-memory polymer driver (28) of opposite side is in expansion and stretches predeformation state, first, second and third telescopic unit described (9,13,17) and lifting unit (3) are made up of shape-memory polymer (30) and marmem net (31) respectively, and described marmem net (31) is configured in shape-memory polymer (30) crooked position place and is covered containing by entirety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510579246.3A CN105082129B (en) | 2015-09-06 | 2015-09-06 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510579246.3A CN105082129B (en) | 2015-09-06 | 2015-09-06 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105082129A true CN105082129A (en) | 2015-11-25 |
| CN105082129B CN105082129B (en) | 2017-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510579246.3A Expired - Fee Related CN105082129B (en) | 2015-09-06 | 2015-09-06 | Mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108297125A (en) * | 2018-02-12 | 2018-07-20 | 哈尔滨工业大学 | A kind of flexible rotating joint of fiber crossovers braiding |
| CN108340400A (en) * | 2018-02-12 | 2018-07-31 | 哈尔滨工业大学 | A kind of flexible drive type bidirectional rotation joint of robot |
| CN110366404A (en) * | 2017-02-16 | 2019-10-22 | 科亚公司 | Compression garments |
| US11406561B2 (en) | 2014-02-11 | 2022-08-09 | Koya, Inc. | Compression garment apparatus |
| US11471368B2 (en) | 2020-06-10 | 2022-10-18 | Koya Medical, Inc. | Electro-actuatable compression garments with shape memory elements |
| US11583038B2 (en) | 2020-07-23 | 2023-02-21 | Koya Medical, Inc. | Quick connect anchoring buckle |
| US11672729B2 (en) | 2014-02-11 | 2023-06-13 | Koya Medical, Inc. | Compression garment |
| CN117774000A (en) * | 2024-02-27 | 2024-03-29 | 珠海市玛斯特智能装备有限公司 | Multi-dimensional telescopic adjustable mechanical gripper arm for operation of electroplating automation equipment |
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2015
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11406561B2 (en) | 2014-02-11 | 2022-08-09 | Koya, Inc. | Compression garment apparatus |
| US11903895B2 (en) | 2014-02-11 | 2024-02-20 | Koya Medical, Inc. | Compression garment apparatus |
| US11672729B2 (en) | 2014-02-11 | 2023-06-13 | Koya Medical, Inc. | Compression garment |
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| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108340400B (en) * | 2018-02-12 | 2021-03-30 | 哈尔滨工业大学 | Flexible driving type bidirectional rotary robot joint |
| CN108340400A (en) * | 2018-02-12 | 2018-07-31 | 哈尔滨工业大学 | A kind of flexible drive type bidirectional rotation joint of robot |
| CN108297125A (en) * | 2018-02-12 | 2018-07-20 | 哈尔滨工业大学 | A kind of flexible rotating joint of fiber crossovers braiding |
| US11471368B2 (en) | 2020-06-10 | 2022-10-18 | Koya Medical, Inc. | Electro-actuatable compression garments with shape memory elements |
| US11583038B2 (en) | 2020-07-23 | 2023-02-21 | Koya Medical, Inc. | Quick connect anchoring buckle |
| CN117774000A (en) * | 2024-02-27 | 2024-03-29 | 珠海市玛斯特智能装备有限公司 | Multi-dimensional telescopic adjustable mechanical gripper arm for operation of electroplating automation equipment |
| CN117774000B (en) * | 2024-02-27 | 2024-04-30 | 珠海市玛斯特智能装备有限公司 | Multi-dimensional telescopic adjustable mechanical gripper arm for operation of electroplating automation equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105082129B (en) | 2017-03-22 |
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| CB03 | Change of inventor or designer information |
Inventor after: Yu Yuemin Inventor after: Shi Jianchun Inventor after: Ding Yuanzhu Inventor after: Yu Liyan Inventor after: Qiao Mu Inventor before: Yu Yuemin Inventor before: Ding Yuanzhu Inventor before: Yu Liyan Inventor before: Qiao Mu |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170322 Termination date: 20170906 |