CN105252523B - Controllable-mechanism type industrial robot manipulator - Google Patents

Controllable-mechanism type industrial robot manipulator Download PDF

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Publication number
CN105252523B
CN105252523B CN201510812972.5A CN201510812972A CN105252523B CN 105252523 B CN105252523 B CN 105252523B CN 201510812972 A CN201510812972 A CN 201510812972A CN 105252523 B CN105252523 B CN 105252523B
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CN
China
Prior art keywords
bar
sliding sleeve
expansion link
revolute pair
workbench
Prior art date
Application number
CN201510812972.5A
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Chinese (zh)
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CN105252523A (en
Inventor
周述苍
周述恒
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广州慧谷自动化设备有限公司
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Priority to CN201510812972.5A priority Critical patent/CN105252523B/en
Publication of CN105252523A publication Critical patent/CN105252523A/en
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Publication of CN105252523B publication Critical patent/CN105252523B/en

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Abstract

Controllable-mechanism type industrial robot manipulator, the lower end of bar one of the manipulator is connected on workbench, the upper end of bar one is connected with the one end of bar two, the other end of bar two is connected on actuator, the lower end of expansion link one is connected on workbench, the upper end of expansion link one is connected on sliding sleeve one, sliding sleeve one is enclosed on bar one, the lower end of expansion link two is connected on sliding block, sliding block is arranged in chute, the upper end of expansion link two is connected to sliding sleeve three, sliding sleeve three is enclosed on bar two, the one end of bar three is connected on sliding sleeve two, sliding sleeve two is enclosed on expansion link two, the other end of bar three is connected on actuator, workbench is arranged on dolly.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 frame transmission system.

Description

Controllable-mechanism type industrial robot manipulator
Technical field
The present invention relates to mechanical field, specifically a kind of controllable-mechanism type 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 is 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 up of running gear, mechanical arm and grabbing device, is inheriting tradition machinery arm advantage On the basis of, the working space of mechanical arm is expanded again, makes its application wider, the need for meeting 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 mechanical arm of existing moving operation is arranged on motor on each joint of mechanical arm, the shortcoming of this mechanical arm Have:Poor rigidity, amount of spin are big, react insensitive, are also easy to produce residual oscillation, and joint error is easily accumulated, and in the present invention The mechanical arm of moving operation use with regard to link transmission, whole motors can be arranged on dolly, and with three motor phase interworkings Conjunction can just be realized to be controlled to mechanical arm, overcomes the shortcoming of existing mobile mechanical arm, and with easy to operate spirit It is living, it is simple in construction, the advantages of with low cost.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of controllable-mechanism type industrial robot manipulator, tradition is overcome The shortcomings of hydraulic crawler excavator maintenance costs are high, operation noise is big, Hydraulic Elements cost is high, reaction is not sensitive enough.
To achieve these goals, present invention employs following technical scheme:
Controllable-mechanism type industrial robot manipulator, including bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve First, sliding sleeve two, sliding sleeve three, sliding block, actuator and workbench,
The lower end of bar one is connected on workbench by revolute pair one, and the upper end of bar one is connected by revolute pair two and the one end of bar two Connect, the other end of bar two is connected on actuator,
The lower end of expansion link one is connected on workbench by revolute pair four, and the upper end of expansion link one is connected by revolute pair five On sliding sleeve one, sliding sleeve one is enclosed on bar one,
The lower end of expansion link two is connected on sliding block by revolute pair six, and sliding block is arranged in chute, the upper end of expansion link two turns Dynamic pair seven is connected to sliding sleeve three, and sliding sleeve three is enclosed on bar two,
The one end of bar three is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is enclosed on expansion link two, and the other end of bar three leads to Revolute pair nine is crossed to be connected on actuator,
Workbench is arranged on dolly 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, and reduces machine The complexity of frame transmission system, is more applicable for manufacturing all kinds of excavators and other engineering machinery.Slew gear can be controlled flexibly Operative orientation.Driving link type of drive is flexible and changeable, can select servomotor and drives, the drive form such as combination drive, not only ring The advantages of protecting, and be easily achieved remote control, reduction labor strength.
Brief description of the drawings
Fig. 1 is the structural representation of controllable-mechanism type industrial robot manipulator of the present invention.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
Controllable-mechanism type industrial robot manipulator, including 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, sliding 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 three 23rd, sliding block 24, actuator 25 and workbench 26,
The lower end of bar 1 is connected on workbench 26 by revolute pair 1, and the upper end of bar 1 passes through revolute pair 22 and bar 2 12 one end are connected, and the other end of bar 2 12 is connected on actuator 25,
The lower end of expansion link 1 is connected on workbench 26 by revolute pair 44, and the upper end of expansion link 1 passes through Revolute pair 55 is connected on sliding sleeve 1, and sliding sleeve 1 is enclosed on bar 1,
The lower end of expansion link 2 3212 is connected on sliding block 24 by revolute pair 66, and sliding block 24 is arranged in chute, stretch The upper end revolute pair 77 of bar 2 3212 is connected to sliding sleeve 3 23, and sliding sleeve 3 23 is enclosed on bar 2 12,
The one end of bar 3 13 is connected on sliding sleeve 2 22 by revolute pair 88, and sliding sleeve 2 22 is enclosed on expansion link 2 3212, bar 3 13 other ends are 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 manipulator, it is characterised in that including bar one, bar two, bar three, expansion link one, flexible Bar two, sliding sleeve one, sliding sleeve two, sliding sleeve three, sliding block, actuator and workbench,
The lower end of bar one is connected on workbench by revolute pair one, and the upper end of bar one is connected by revolute pair two with the one end of bar two, The other end of bar two is connected on actuator,
The lower end of expansion link one is connected on workbench by revolute pair four, and the upper end of expansion link one is connected to cunning by revolute pair five On set one, sliding sleeve one is enclosed on bar one,
The lower end of expansion link two is connected on sliding block by revolute pair six, and sliding block is arranged in chute, the upper end revolute pair of expansion link two Seven are connected to sliding sleeve three, and sliding sleeve three is enclosed on bar two,
The one end of bar three is connected on sliding sleeve two by revolute pair eight, and sliding sleeve two is enclosed on expansion link two, and the other end of bar three is by turning Dynamic pair nine is connected on actuator,
Workbench is arranged on dolly by revolute pair ten.
CN201510812972.5A 2015-11-20 2015-11-20 Controllable-mechanism type industrial robot manipulator CN105252523B (en)

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

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Application Number Priority Date Filing Date Title
CN201510812972.5A CN105252523B (en) 2015-11-20 2015-11-20 Controllable-mechanism type industrial robot manipulator

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CN105252523A CN105252523A (en) 2016-01-20
CN105252523B true CN105252523B (en) 2017-10-20

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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
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
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
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
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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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 WITHUB 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 WITHUB automation equipment Co., Ltd.

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 WITHUB 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 WITHUB 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 WITHUB Power Technology Co Ltd

Registration number: Y2019440000257