Multiple degrees of freedom industrial robot manipulator
The present invention relates to machinery field, is specifically a kind of multiple degrees of freedom industrial robot manipulator.
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
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.
Technical scheme is further elaborated below by embodiment.
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.