CN105252521B - Multiple degrees of freedom industrial robot manipulator - Google Patents

Multiple degrees of freedom industrial robot manipulator Download PDF

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Publication number
CN105252521B
CN105252521B CN201510810994.8A CN201510810994A CN105252521B CN 105252521 B CN105252521 B CN 105252521B CN 201510810994 A CN201510810994 A CN 201510810994A CN 105252521 B CN105252521 B CN 105252521B
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China
Prior art keywords
bar
sliding sleeve
telescopic rod
workbench
revolute pair
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CN201510810994.8A
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Chinese (zh)
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CN105252521A (en
Inventor
覃煦
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NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT CO., LTD.
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Nanning Suicong Fuyu Technology Development Co Ltd
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Abstract

Multiple degrees of freedom industrial robot manipulator, one lower end of bar of the manipulator is connected on workbench, one upper end of bar is connected with two one end of bar, two other end of bar is connected on actuator, one lower end of telescopic rod is connected on sliding block, sliding block is installed in sliding slot, one upper end of telescopic rod is connected on sliding sleeve one, sliding sleeve one is sleeved on bar one, two lower end of telescopic rod is connected on workbench, two upper end of telescopic rod is connected to sliding sleeve three, sliding sleeve three is sleeved on bar two, three one end of bar is connected on sliding sleeve two, sliding sleeve two is sleeved on telescopic rod two, three other end of bar is connected on actuator, workbench is installed on trolley.While the present invention has the advantages that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, the quantity of driving lever and controllable motor is also reduced, and reduce the complexity of rack transmission system.

Description

Multiple degrees of freedom industrial robot manipulator
Technical field
The present invention relates to machinery field, is specifically a kind of multiple degrees of freedom industrial robot manipulator.
Background technology
Since the sixties in last century, mechanical arm starts to be widely used in process streams industry, not only alleviates the work of people Make intensity, and be greatly improved processing efficiency.But these mechanical arm overwhelming majority are integrally fixed on pedestal, with work The development of industry and science and technology, the working space of this mechanical arm installed in fixed pedestal are extremely limited, it is impossible to meet actual task Need.For such case, since generation in latter stage 80 year last century, domestic and international many research institutions have carried out to mobile mechanical arm Research.Mobile mechanical arm is mainly made of running gear, mechanical arm and grabbing device, is inheriting tradition machinery arm advantage On the basis of, and the working space of mechanical arm is expanded, make its application range wider, can meet the needs of more real works.Such as The present, it is the inexorable trend and important that mechanical arm develops to install mechanical arm to provide mobile foundation in other words for mechanical arm for mobile platform Developing direction.
The shortcomings that existing moving operation machinery arm is installed on motor on each joint of mechanical arm, this mechanical arm Have:Poor rigidity, amount of spin are big, and reaction is insensitive, is also easy to produce residual oscillation, and joint error easily accumulates, and in the present invention Moving operation machinery arm use with regard to link transmission, whole motors can be installed on trolley, and with three motor phase interworkings Conjunction can realize the shortcomings that being controlled to mechanical arm, overcoming existing mobile mechanical arm, and have easy to operate spirit It is living, it is simple in structure, it is of low cost the advantages that.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of multiple degrees of freedom industrial robot manipulator, traditional liquid is overcome Press the shortcomings of excavator maintenance costs are high, operation noise is big, Hydraulic Elements are of high cost, reaction is not sensitive enough.
To achieve these goals, present invention employs following technical scheme:
Multiple degrees of freedom industrial robot manipulator, including bar one, bar two, bar three, telescopic rod one, telescopic rod two, sliding sleeve one, Sliding sleeve two, sliding sleeve three, sliding block, actuator and workbench,
One lower end of bar is connected on workbench by revolute pair one, and one upper end of bar is connected by revolute pair two and two one end of bar Connecing, two other end of bar is connected on actuator,
One lower end of telescopic rod is connected on sliding block by revolute pair four, and sliding block is installed in sliding slot, and one upper end of telescopic rod turns Dynamic pair five is connected on sliding sleeve one, and sliding sleeve one is sleeved on bar one,
Two lower end of telescopic rod is connected on workbench by revolute pair six, and two upper end revolute pair seven of telescopic rod is connected to cunning Set three, sliding sleeve three is sleeved on bar two,
Three one end of bar is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is sleeved on telescopic rod two, and three other end of bar leads to Revolute pair nine is crossed to be connected on actuator,
Workbench is installed on trolley by revolute pair ten.
Compared with prior art, the beneficial effect that the present invention possesses:
While having the advantages that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, also reduce actively The usage quantity of bar, reduces controllable motor quantity, not only greatly reduces the cost of excavating mechanism of controllable, but also reduces machine The complexity of frame transmission system, is more applicable for manufacturing all kinds of excavators and other engineering machinery.Swing mechanism can be controlled flexibly Operative orientation.Driving link type of drive is flexible and changeable, the drive forms such as servomotor driving, combination drive can be selected, not only ring The advantages that protecting, and be easily achieved remote control, reducing labor strength.
Brief description of the drawings
Fig. 1 is structure diagram of the present invention.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
Multiple degrees of freedom industrial robot manipulator, including bar 1, bar 2 12, bar 3 13, telescopic rod 1, telescopic rod two 32nd, sliding sleeve 1, sliding sleeve 2 22, sliding sleeve 3 23, sliding block 24, actuator 25 and workbench 26,
One 11 lower end of bar is connected on workbench 26 by revolute pair 1, and one 11 upper end of bar passes through revolute pair 22 and bar 2 12 one end connect, and 2 12 other end of bar is connected on actuator 25,
One 3111 lower end of telescopic rod is connected on sliding block 24 by revolute pair 44, and sliding block 24 is installed in sliding slot, telescopic rod One 3111 upper end revolute pairs 55 are connected on sliding sleeve 1, and sliding sleeve 1 is sleeved on bar 1,
2 3212 lower end of telescopic rod is connected on workbench 26 by revolute pair 66, and 2 3212 upper end of telescopic rod rotates Pair 77 is connected to sliding sleeve 3 23, and sliding sleeve 3 23 is sleeved on bar 2 12,
3 13 one end of bar is connected on sliding sleeve 2 22 by revolute pair 88, and sliding sleeve 2 22 is sleeved on telescopic rod 2 3212, bar 3 13 other ends are connected on actuator 25 by revolute pair 99,
Workbench 26 is installed on trolley by revolute pair ten.

Claims (1)

1. multiple degrees of freedom industrial robot manipulator, it is characterised in that including bar one, bar two, bar three, telescopic rod one, telescopic rod 2nd, sliding sleeve one, sliding sleeve two, sliding sleeve three, sliding block, actuator and workbench,
One lower end of bar is connected on workbench by revolute pair one, and one upper end of bar is connected by revolute pair two with two one end of bar, Two other end of bar is connected on actuator,
One lower end of telescopic rod is connected on sliding block by revolute pair four, and sliding block is installed in sliding slot, one upper end revolute pair of telescopic rod Five are connected on sliding sleeve one, and sliding sleeve one is sleeved on bar one,
Two lower end of telescopic rod is connected on workbench by revolute pair six, and two upper end revolute pair seven of telescopic rod is connected to sliding sleeve Three, sliding sleeve three is sleeved on bar two,
Three one end of bar is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is sleeved on telescopic rod two, and three other end of bar is by turning Dynamic pair nine is connected on actuator,
Workbench is installed on trolley by revolute pair ten.
CN201510810994.8A 2015-11-20 2015-11-20 Multiple degrees of freedom industrial robot manipulator Active CN105252521B (en)

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

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CN105252521A CN105252521A (en) 2016-01-20
CN105252521B true CN105252521B (en) 2018-05-01

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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
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
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
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
CN105945921B (en) * 2016-05-15 2019-02-05 泉州多聚财商贸有限公司 A kind of transfer picking mechanism
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
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
CN106400862A (en) * 2016-09-06 2017-02-15 广西大学 High-reliability loader composited with series linkage mechanism
CN106272351A (en) * 2016-09-06 2017-01-04 广西大学 A kind of multi-functional robot palletizer
CN106320407A (en) * 2016-09-06 2017-01-11 广西大学 Multi-angle high-thrust excavator mechanism
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
CN106272352A (en) * 2016-09-06 2017-01-04 广西大学 A kind of parallel institution formula robot palletizer

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CN104552248A (en) * 2014-12-23 2015-04-29 广西大学 Multi-degree-of-freedom controllable mechanism type moving welding robot
CN204712038U (en) * 2015-05-11 2015-10-21 程红印 A kind of high accuracy automobile robot palletizer
CN205290936U (en) * 2015-11-20 2016-06-08 覃煦 Multi freedom industrial robot operates hand

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CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN104552248A (en) * 2014-12-23 2015-04-29 广西大学 Multi-degree-of-freedom controllable mechanism type moving welding robot
CN104440866A (en) * 2014-12-25 2015-03-25 广西大学 Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair
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Address after: 530105 Guangxi - ASEAN Economic and Technological Development Zone Qiaoguang Road No. 98 Building 1 unit 2 earth Pearl District 1001.

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Address before: Qingxiu District, Nanning City, the Guangxi Zhuang Autonomous Region No. 6 530028

Applicant before: Qin Xiu

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