A kind of have the rotary type motion arm becoming born of the same parents' function
The present invention relates to mechanical field, specifically a kind of have the rotary type motion arm becoming born of the same parents' function.
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.
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.