CN105313107A - Rotatable manipulation arm with metamorphic function - Google Patents
Rotatable manipulation arm with metamorphic function Download PDFInfo
- Publication number
- CN105313107A CN105313107A CN201510760192.0A CN201510760192A CN105313107A CN 105313107 A CN105313107 A CN 105313107A CN 201510760192 A CN201510760192 A CN 201510760192A CN 105313107 A CN105313107 A CN 105313107A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- rod
- bar
- sliding sleeve
- expansion link
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000005516 engineering processes Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
Provided is a rotatable manipulation arm with a metamorphic function. The lower end of a first telescopic rod of the manipulation arm is connected to a working platform, and the upper end of the first telescopic rod is connected to a first sliding sleeve. A first rod is sleeved with the first sliding sleeve, the lower end of the first rod is connected to the working platform, and 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 second telescopic rod is connected to a sliding block which is mounted in a sliding groove of the working platform, and the upper end of the second telescopic rod is connected to a second sliding sleeve. The second rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the working platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The rotatable manipulation arm has the advantages of being large in working space, high in digging force, good in stress and the like as a traditional hydraulic mechanism; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is lowered.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of have the rotary type motion arm becoming born of the same parents' function.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying, parallel robot is compared with traditional serial manipulator, have without accumulated error, precision is higher, compact conformation, bearing capacity is large, the feature such as the high and end effector inertia of rigidity is little, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, there is working space large, rigidity is high, bearing capacity is strong, little and the end effector precision advantages of higher of inertia, welding can be applied in, spraying, carrying, handling, assembling, in the complex jobs such as piling, effective raises labour efficiency, improve a lot in product quality and stability.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.Piling causes the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that engineering machinery provides wide development space, not only have that working space is large by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of and there is the rotary type motion arm becoming born of the same parents' function, 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:
There is the rotary type motion arm becoming born of the same parents' function, bar one, bar two, expansion link one, expansion link two, expansion link three, sliding sleeve one, sliding sleeve two, slide block, spring, triangular connecting plate, actuator, workbench and dolly,
Expansion link one lower end is connected on workbench by revolute pair one, expansion link one upper end is connected on sliding sleeve one by revolute pair two, sliding sleeve one is enclosed within bar one, bar one lower end is connected on workbench by revolute pair three, bar one upper end is connected with bar two one end by revolute pair four, bar two other end is connected on actuator by revolute pair five
Expansion link two lower end is connected on slide block by revolute pair six, and slide block is arranged in the chute of workbench, and expansion link two upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar two,
Spring one end is fixed on workbench, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link three one end is connected to second jiao of triangular connecting plate by revolute pair eight, and the other end is connected on actuator by revolute pair nine, and the triangle of triangular connecting plate is also connected with bar one and bar two by revolute pair four simultaneously,
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 with the rotary type motion arm becoming born of the same parents' function of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
There is the rotary type motion arm becoming born of the same parents' function, bar 1, bar 2 11, expansion link 1, expansion link 2 13, expansion link 3 14, sliding sleeve 1, sliding sleeve 2 16, slide block 17, spring 18, triangular connecting plate 19, actuator 20, workbench 21 and dolly
Expansion link 1 lower end is connected on workbench 21 by revolute pair 1, expansion link 1 upper end is connected on sliding sleeve 1 by revolute pair 22, sliding sleeve 1 is enclosed within bar 1, bar 1 lower end is connected on workbench 21 by revolute pair 33, bar 1 upper end is connected with bar 2 11 one end by revolute pair 44, bar 2 11 other end is connected on actuator 20 by revolute pair 55
Expansion link 2 13 lower end is connected on slide block 17 by revolute pair 66, and slide block 17 is arranged in the chute of workbench 21, and expansion link two upper end is connected on sliding sleeve 2 16 by revolute pair 77, and sliding sleeve 2 16 is enclosed within bar 2 11,
Spring 18 one end is fixed on workbench, and spring 18 other end is fixed on first jiao of triangular connecting plate 19,
Expansion link 3 14 one end is connected to second jiao of triangular connecting plate 19 by revolute pair 88, and the other end is connected on actuator by revolute pair 99, and the triangle of triangular connecting plate 19 is also connected with bar 1 and bar 2 11 by revolute pair 44 simultaneously,
Workbench 21 is arranged on dolly by revolute pair ten.
Claims (1)
1. there is the rotary type motion arm becoming born of the same parents' function, it is characterized in that, bar one, bar two, expansion link one, expansion link two, expansion link three, sliding sleeve one, sliding sleeve two, slide block, spring, triangular connecting plate, actuator, workbench and dolly,
Expansion link one lower end is connected on workbench by revolute pair one, expansion link one upper end is connected on sliding sleeve one by revolute pair two, sliding sleeve one is enclosed within bar one, bar one lower end is connected on workbench by revolute pair three, bar one upper end is connected with bar two one end by revolute pair four, bar two other end is connected on actuator by revolute pair five
Expansion link two lower end is connected on slide block by revolute pair six, and slide block is arranged in the chute of workbench, and expansion link two upper end is connected on sliding sleeve two by revolute pair seven, and sliding sleeve two is enclosed within bar two,
Spring one end is fixed on workbench, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link three one end is connected to second jiao of triangular connecting plate by revolute pair eight, and the other end is connected on actuator by revolute pair nine, and the triangle of triangular connecting plate is also connected with bar one and bar two by revolute pair four simultaneously,
Workbench is arranged on dolly by revolute pair ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760192.0A CN105313107B (en) | 2015-11-10 | 2015-11-10 | Rotatable manipulation arm with metamorphic function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760192.0A CN105313107B (en) | 2015-11-10 | 2015-11-10 | Rotatable manipulation arm with metamorphic function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105313107A true CN105313107A (en) | 2016-02-10 |
| CN105313107B CN105313107B (en) | 2017-02-22 |
Family
ID=55241921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510760192.0A CN105313107B (en) | 2015-11-10 | 2015-11-10 | Rotatable manipulation arm with metamorphic function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105313107B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619403A (en) * | 2016-03-28 | 2016-06-01 | 汤志强 | Bionic mechanical arm |
| 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 |
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| 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 |
| CN107676586A (en) * | 2017-10-24 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of rocker arm body for being used to control video camera shooting angle |
| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
| CN107795804A (en) * | 2017-10-24 | 2018-03-13 | 广西南宁栩兮科技有限公司 | A kind of video camera intelligence rocking arm of servomotor driving |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3437590A1 (en) * | 1984-10-13 | 1986-04-24 | Friedhelm Schwarz | DEVICE FOR GENERATING CARTESE HORIZONTAL AND VERTICAL MOVEMENTS |
| JP4022461B2 (en) * | 2002-10-11 | 2007-12-19 | 株式会社ジェーイーエル | Transfer arm |
| CN202411268U (en) * | 2011-12-23 | 2012-09-05 | 浙江金刚汽车有限公司 | Automatic feeding mechanical arm for punching machine |
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103790191A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Hybrid-drive excavating machine with metamorphic mechanism |
| CN104493809A (en) * | 2014-12-10 | 2015-04-08 | 广西大学 | Metamorphic mechanism type wheel type mobile robot palletizer mechanism |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
-
2015
- 2015-11-10 CN CN201510760192.0A patent/CN105313107B/en active IP Right Grant
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3437590A1 (en) * | 1984-10-13 | 1986-04-24 | Friedhelm Schwarz | DEVICE FOR GENERATING CARTESE HORIZONTAL AND VERTICAL MOVEMENTS |
| JP4022461B2 (en) * | 2002-10-11 | 2007-12-19 | 株式会社ジェーイーエル | Transfer arm |
| CN202411268U (en) * | 2011-12-23 | 2012-09-05 | 浙江金刚汽车有限公司 | Automatic feeding mechanical arm for punching machine |
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103790191A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Hybrid-drive excavating machine with metamorphic mechanism |
| CN104493809A (en) * | 2014-12-10 | 2015-04-08 | 广西大学 | Metamorphic mechanism type wheel type mobile robot palletizer mechanism |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619403A (en) * | 2016-03-28 | 2016-06-01 | 汤志强 | Bionic mechanical arm |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN106313063A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Electromechanically-controlled large-load palletizing robot |
| 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 |
| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
| CN107676586A (en) * | 2017-10-24 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of rocker arm body for being used to control video camera shooting angle |
| CN107795804B (en) * | 2017-10-24 | 2019-04-23 | 芜湖翡叶动力科技有限公司 | A kind of video camera intelligence rocker arm of servo motor driving |
| CN107795804A (en) * | 2017-10-24 | 2018-03-13 | 广西南宁栩兮科技有限公司 | A kind of video camera intelligence rocking arm of servomotor driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105313107B (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737577B (en) | A kind of Six-DOF industrial robot driven containing ball screw assembly, | |
| CN102039240B (en) | Spraying robot mechanism | |
| CN104440866B (en) | A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair | |
| CN102085659B (en) | Space-controlled five degree of freedom twelve-rod welding robot mechanism | |
| CN202169229U (en) | Industrial spraying robot | |
| CN202542490U (en) | Transporting and stacking robot | |
| CN103569873B (en) | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers | |
| CN105252521B (en) | Multiple degrees of freedom industrial robot manipulator | |
| CN202580477U (en) | Spiral pipe robot | |
| CN103009384A (en) | Controllable stacking robot | |
| CN102922511A (en) | Three-move one-rotation four-freedom degree space parallel connection mechanism | |
| CN104589333B (en) | There is the stacking machine mechanical arm of five degree of freedom | |
| US20170174450A1 (en) | Cable-strut combination driven parallel robotic palletizer | |
| CN103737581B (en) | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled | |
| CN103056875A (en) | Large-work-space controllable-mechanism stacker crane | |
| CN102390460B (en) | Twelve-degree-of-freedom four-footed walker with hybrid leg structure | |
| CN105500338A (en) | Double-arm SCARA (selective compliance assembly robot arm) industrial robot | |
| CN104096998A (en) | Multi-degree of freedom parallel mechanism type spot welding robot | |
| CN101161428B (en) | Plane parallel mechanism with constrained branched chain and its extended mechanical hand | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN105773654B (en) | A kind of scalable pick-and-place material joint | |
| CN103707292B (en) | Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist | |
| CN204657779U (en) | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot | |
| CN104552243B (en) | A kind of controllable-mechanism type becomes born of the same parents' wheeled mobile welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200928 Address after: 226300 Jinbei Village, Jinsha Town, Tongzhou District, Nantong City, Jiangsu Province Patentee after: TONGZHOU XINGCHEN MACHINERY Co.,Ltd. Address before: Dormitory 207, complex building 1, No.19 Wuhua Avenue, Guangxi ASEAN Economic and Technological Development Zone, Nanning City, Guangxi Zhuang Autonomous Region Patentee before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. |