CN105252521A - Multiple-degree-of-freedom industrial robot manipulator - Google Patents
Multiple-degree-of-freedom industrial robot manipulator Download PDFInfo
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- CN105252521A CN105252521A CN201510810994.8A CN201510810994A CN105252521A CN 105252521 A CN105252521 A CN 105252521A CN 201510810994 A CN201510810994 A CN 201510810994A CN 105252521 A CN105252521 A CN 105252521A
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Abstract
The invention relates to a multiple-degree-of-freedom industrial robot manipulator. A lower end of a first rod of the manipulator is connected to a working platform, while an upper end of the first rod is connected with one end of a second rod; the other end of the second rod is connected to an actuator; a lower end of a first expansion link is connected to a slider that is mounted in a sliding groove; an upper end of the first expansion rod is connected to a first sliding sleeve; the first sliding sleeve sleeves the first rod; a lower end of a second expansion link is connected to the working platform, while an upper end of the second expansion link is connected to a third sliding sleeve; the third sliding sleeve sleeves the second rod; one end of a third rod is connected to a second sliding sleeve that sleeves the second expansion link, while the other end of the third rod is connected to the actuator; the working platform is mounted on a trolley. The multiple-degree-of-freedom industrial robot manipulator has the advantages of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism, and furthermore, the number of active rods and controllable motors is further reduced, and the complexity of a frame transmission system is reduced.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of multiple degrees of freedom industrial robot operator.
Background technology
Since the sixties in last century, mechanical arm starts to be widely used in process streams industry, not only alleviates the working strength of people, and improves processing efficiency greatly.But these mechanical arm overwhelming majority are fixed on pedestal, along with the development of industry and science and technology, this working space being arranged on the mechanical arm of fixed pedestal is extremely limited, can not meet actual task needs.For this situation, since generation in latter stage 80 year last century, domestic and international many research institutions have carried out the research to mobile mechanical arm.Mobile mechanical arm is formed primarily of running gear, mechanical arm and grabbing device, on the basis inheriting conventional machine mechanical arm advantage, expands again the working space of mechanical arm, makes its range of application wider, can meet the needs of more real works.Nowadays, for mobile platform fitting machine mechanical arm in other words for mechanical arm provide mobile foundation be mechanical arm development inexorable trend and important development direction.
Existing mobile manipulator mechanical arm is arranged on by motor on each joint of mechanical arm, the shortcoming of this mechanical arm has: poor rigidity, amount of spin are large, react insensitive, easy generation residual oscillation, and joint error easily accumulates, and the mobile manipulator mechanical arm in the present invention adopts with regard to link transmission, can whole motor be arranged on dolly, and cooperatively interact with three motors and just can realize controlling mechanical arm, overcome the shortcoming of existing mobile mechanical arm, and have flexible to operation, the advantages such as structure is simple, with low cost.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of multiple degrees of freedom industrial robot operator is provided, overcome the shortcomings such as conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not.
To achieve these goals, present invention employs following technical scheme:
Multiple degrees of freedom industrial robot operator, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, sliding sleeve three, slide block, actuator and workbench,
Bar one lower end is connected on workbench by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator,
Expansion link one lower end is connected on slide block by revolute pair four, and slide block is arranged in chute, and expansion link one upper end revolute pair five is connected on sliding sleeve one, and sliding sleeve one is enclosed within bar one,
Expansion link two lower end is connected on workbench by revolute pair six, and expansion link two upper end revolute pair seven is connected to sliding sleeve three, and sliding sleeve three is enclosed within bar two,
Bar three one end is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is enclosed within expansion link two, and bar three other end is connected on actuator by revolute pair nine,
Workbench is arranged on dolly by revolute pair ten.
Compared with prior art, the beneficial effect that possesses of the present invention:
Have that conventional hydraulic machine mechanism working space is large, digging force is large, while the stressed advantage such as good, also reduce the usage quantity of driving lever, reduce controllable motor quantity, not only greatly reduce the cost of excavating mechanism of controllable, and reduce the complexity of frame transmission system, be more applicable for and manufacture all kinds of excavator and other engineering machinery.Slew gear can control operative orientation flexibly.Driving link type of drive is flexible and changeable, can select driven by servomotor, the drive forms such as combination drive, not only environmental protection, and is easy to realize Long-distance Control, reduces the advantages such as labor strength.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Multiple degrees of freedom industrial robot operator, comprises bar 1, bar 2 12, bar 3 13, expansion link 1, expansion link 2 32, sliding sleeve 1, sliding sleeve 2 22, sliding sleeve 3 23, slide block 24, actuator 25 and workbench 26,
Bar 1 lower end is connected on workbench 26 by revolute pair 1, and bar 1 upper end is connected with bar 2 12 one end by revolute pair 22, and bar 2 12 other end is connected on actuator 25,
Expansion link 1 lower end is connected on slide block 24 by revolute pair 44, and slide block 24 is arranged in chute, and expansion link 1 upper end revolute pair 55 is connected on sliding sleeve 1, and sliding sleeve 1 is enclosed within bar 1,
Expansion link 2 3212 lower end is connected on workbench 26 by revolute pair 66, and expansion link 2 3212 upper end revolute pair 77 is connected to sliding sleeve 3 23, and sliding sleeve 3 23 is enclosed within bar 2 12,
Bar 3 13 one end is connected on sliding sleeve 2 22 by revolute pair 88, and sliding sleeve 2 22 is enclosed within expansion link 2 3212, and bar 3 13 other end is connected on actuator 25 by revolute pair 99,
Workbench 26 is arranged on dolly by revolute pair ten.
Claims (1)
1. multiple degrees of freedom industrial robot operator, is characterized in that, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, sliding sleeve three, slide block, actuator and workbench,
Bar one lower end is connected on workbench by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator,
Expansion link one lower end is connected on slide block by revolute pair four, and slide block is arranged in chute, and expansion link one upper end revolute pair five is connected on sliding sleeve one, and sliding sleeve one is enclosed within bar one,
Expansion link two lower end is connected on workbench by revolute pair six, and expansion link two upper end revolute pair seven is connected to sliding sleeve three, and sliding sleeve three is enclosed within bar two,
Bar three one end is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is enclosed within expansion link two, and bar three other end is connected on actuator by revolute pair nine,
Workbench is arranged on dolly by revolute pair ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810994.8A CN105252521B (en) | 2015-11-20 | 2015-11-20 | Multiple degrees of freedom industrial robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810994.8A CN105252521B (en) | 2015-11-20 | 2015-11-20 | Multiple degrees of freedom industrial robot manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN105252521A true CN105252521A (en) | 2016-01-20 |
| CN105252521B CN105252521B (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510810994.8A Active CN105252521B (en) | 2015-11-20 | 2015-11-20 | Multiple degrees of freedom industrial robot manipulator |
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| CN (1) | CN105252521B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751207A (en) * | 2016-05-15 | 2016-07-13 | 广西南宁栩兮科技有限公司 | Connecting rod gripper of novel structure |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| CN105773600A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Multi-degree of freedom mounting device |
| CN105798882A (en) * | 2016-05-15 | 2016-07-27 | 广西南宁栩兮科技有限公司 | Reciprocating locating and moving device driven by planet gears |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN105945908A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Swinging opening and closing bucket |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| CN106284450A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of timber loader of new structure |
| CN106272392A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi-angle high thrust moves stacking machine mechanical arm |
| CN106313063A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Electromechanically-controlled large-load palletizing robot |
| CN106320407A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Multi-angle high-thrust excavator mechanism |
| CN106400862A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | High-reliability loader composited with series linkage mechanism |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105945908B (en) * | 2016-05-15 | 2018-11-27 | 广西南宁栩兮科技有限公司 | A kind of swing folding scraper bowl |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| CN105773600A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Multi-degree of freedom mounting device |
| CN105798882A (en) * | 2016-05-15 | 2016-07-27 | 广西南宁栩兮科技有限公司 | Reciprocating locating and moving device driven by planet gears |
| CN105945921A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Load transfer picking mechanism |
| CN105945908A (en) * | 2016-05-15 | 2016-09-21 | 广西南宁栩兮科技有限公司 | Swinging opening and closing bucket |
| CN105798882B (en) * | 2016-05-15 | 2019-07-02 | 广西南宁栩兮科技有限公司 | A kind of reciprocating positioning mobile device of planet wheel drive |
| CN105751207A (en) * | 2016-05-15 | 2016-07-13 | 广西南宁栩兮科技有限公司 | Connecting rod gripper of novel structure |
| CN105773654B (en) * | 2016-05-15 | 2019-06-04 | 浙江思远电子商务有限公司 | A kind of scalable pick-and-place material joint |
| CN105751207B (en) * | 2016-05-15 | 2019-06-04 | 浙江冒个泡电子商务有限公司 | A kind of connecting rod handgrip |
| CN105773599B (en) * | 2016-05-15 | 2019-02-12 | 广西南宁栩兮科技有限公司 | A kind of mechanical arm |
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| CN106400862A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | High-reliability loader composited with series linkage mechanism |
| CN106320407A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Multi-angle high-thrust excavator mechanism |
| CN106313063A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Electromechanically-controlled large-load palletizing robot |
| CN106272392A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi-angle high thrust moves stacking machine mechanical arm |
| CN106284450A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of timber loader of new structure |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
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Effective date of registration: 20180322 Address after: 530105 Guangxi - ASEAN Economic and Technological Development Zone Qiaoguang Road No. 98 Building 1 unit 2 earth Pearl District 1001. Applicant after: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: Qingxiu District, Nanning City, the Guangxi Zhuang Autonomous Region No. 6 530028 Applicant before: Qin Xu |
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Effective date of registration: 20221215 Address after: 571 Langyazhuang Village, Zaoyuan Town, Lanshan District, Linyi City, Shandong Province, 276000 Patentee after: Linyi Chaoling Automation Technology Co.,Ltd. Address before: 530105 Room 1001, Unit 1, Building 2, Dadi Mingzhu Community, No. 98, Qiaoguang Road, Guangxi ASEAN Economic and Technological Development Zone Patentee before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. |