CN105252523A - Controllable mechanism type industrial robot manipulator - Google Patents
Controllable mechanism type industrial robot manipulator Download PDFInfo
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- CN105252523A CN105252523A CN201510812972.5A CN201510812972A CN105252523A CN 105252523 A CN105252523 A CN 105252523A CN 201510812972 A CN201510812972 A CN 201510812972A CN 105252523 A CN105252523 A CN 105252523A
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- sliding sleeve
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- 230000007246 mechanism Effects 0.000 title abstract description 6
- 238000011161 development Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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Abstract
The invention discloses a controllable mechanism type industrial robot manipulator. The lower end of a first rod of the manipulator is connected to a work platform, the upper end of the first rod is connected to one end of a second rod, the other end of the second rod is connected to an actuator, the lower end of a first telescopic rod is connected to the work platform, the upper end of the first telescopic rod is connected to a first slide sleeve, the first slide sleeve is arranged on the first rod in a sleeving mode, the lower end of a second telescopic rod is connected to a slide block, the slide block is installed in a slide groove, the upper end of the second telescopic rod is connected to a third slide sleeve, the third slide sleeve is arranged on the second rod in a sleeving mode, one end of a third rod is connected to a second slide sleeve, the second slide sleeve is arranged on the second telescopic rod in a sleeving mode, the other end of the third rod is connected to the actuator, and the work platform is installed on a trolley. The controllable mechanism type industrial robot manipulator has the advantages of traditional hydraulic mechanisms with large work space is large, large digging force and good stressing performance, the number of driving rods and controllable motors is lowered, and the complexity of a machine frame drive system is lowered.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of controllable-mechanism type 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 controllable-mechanism type 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:
Controllable-mechanism type 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 workbench by revolute pair four, and expansion link one upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one is enclosed within bar one,
Expansion link two lower end is connected on slide block by revolute pair six, and slide block is arranged in chute, 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 the structural representation of controllable-mechanism type industrial robot operator of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Controllable-mechanism type 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, 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 workbench 26 by revolute pair 44, and expansion link 1 upper end is connected on sliding sleeve 1 by revolute pair 55, and sliding sleeve 1 is enclosed within bar 1,
Expansion link 2 3212 lower end is connected on slide block 24 by revolute pair 66, and slide block 24 is arranged in chute, 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. controllable-mechanism type 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 workbench by revolute pair four, and expansion link one upper end is connected on sliding sleeve one by revolute pair five, and sliding sleeve one is enclosed within bar one,
Expansion link two lower end is connected on slide block by revolute pair six, and slide block is arranged in chute, 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 |
|---|---|---|---|
| CN201510812972.5A CN105252523B (en) | 2015-11-20 | 2015-11-20 | Controllable-mechanism type industrial robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510812972.5A CN105252523B (en) | 2015-11-20 | 2015-11-20 | Controllable-mechanism type industrial robot manipulator |
Publications (2)
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| CN105252523A true CN105252523A (en) | 2016-01-20 |
| CN105252523B CN105252523B (en) | 2017-10-20 |
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| CN201510812972.5A Expired - Fee Related CN105252523B (en) | 2015-11-20 | 2015-11-20 | Controllable-mechanism type industrial robot manipulator |
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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 |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| 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 |
| 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 |
| CN106272392A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi-angle high thrust moves stacking machine mechanical arm |
| CN106276234A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Rotary type moves stacking machine mechanical arm |
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN106313063A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Electromechanically-controlled large-load palletizing robot |
| CN108098755A (en) * | 2017-12-27 | 2018-06-01 | 南宁邃丛赋语科技开发有限责任公司 | A kind of intelligent automation industrial machinery arm |
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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 |
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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 |
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Non-Patent Citations (1)
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105773599A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Mechanical arm |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN106276234A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Rotary type 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 |
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| CN106272392A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi-angle high thrust moves stacking machine mechanical arm |
| CN108098755A (en) * | 2017-12-27 | 2018-06-01 | 南宁邃丛赋语科技开发有限责任公司 | A kind of intelligent automation industrial machinery arm |
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| CN105252523B (en) | 2017-10-20 |
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Inventor after: Zhou Shucang Inventor after: Zhou Shuheng Inventor before: Qin Xu |
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Effective date of registration: 20170915 Address after: 510000 Guangdong city of Guangzhou province Panyu District Xiaoguwei Street West Outer Ring Road No. 100, room 216, Museum of science Guangdong University of Technology Applicant after: GUANGZHOU HIGH GENIUS AUTOMATION EQUIPMENT CO.,LTD. Address before: Qingxiu District, Nanning City, the Guangxi Zhuang Autonomous Region No. 6 530028 Applicant before: Qin Xu |
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Address after: 510000 Guangdong city of Guangzhou province Panyu District Xiaoguwei Street West Outer Ring Road No. 100, room 216, Museum of science Guangdong University of Technology Patentee after: GUANGZHOU HUIGU POWER TECHNOLOGY CO.,LTD. Address before: 510000 Guangdong city of Guangzhou province Panyu District Xiaoguwei Street West Outer Ring Road No. 100, room 216, Museum of science Guangdong University of Technology Patentee before: GUANGZHOU HIGH GENIUS AUTOMATION EQUIPMENT CO.,LTD. |
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Denomination of invention: Controllable mechanism type industrial robot manipulator Effective date of registration: 20191213 Granted publication date: 20171020 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU HUIGU POWER TECHNOLOGY CO.,LTD. Registration number: Y2019440000257 |
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Date of cancellation: 20210525 Granted publication date: 20171020 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU HUIGU POWER TECHNOLOGY Co.,Ltd. Registration number: Y2019440000257 |
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Denomination of invention: Industrial robot manipulator with controllable mechanism Effective date of registration: 20210526 Granted publication date: 20171020 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU HUIGU POWER TECHNOLOGY Co.,Ltd. Registration number: Y2021980004019 |
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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: 20171020 Termination date: 20211120 |