CN105313107B - Rotatable manipulation arm with metamorphic function - Google Patents
Rotatable manipulation arm with metamorphic function Download PDFInfo
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- CN105313107B CN105313107B CN201510760192.0A CN201510760192A CN105313107B CN 105313107 B CN105313107 B CN 105313107B CN 201510760192 A CN201510760192 A CN 201510760192A CN 105313107 B CN105313107 B CN 105313107B
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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 rotary type motion arm with metamorphic function.
Background technology
Traditional serial manipulator has the advantages that structure is simple, low cost, work space are big, comparatively serial machine
People's rigidity low it is impossible to be applied at a high speed, the big occasion carrying；Parallel robot compares with traditional serial manipulator, has
The features such as no cumulative error, precision are higher, compact conformation, large carrying capacity, rigidity are high and end effector inertia is little, drives dress
Put the position being placed on fixed platform or close to fixed platform, such motion parts are lightweight, speed is high, dynamic response is good, has
Work space is big, rigidity is high, bearing capacity is strong, inertia is little and the advantages of end effector high precision, can apply in welding, spray
In the complex jobs such as painting, carrying, handling, assembling, piling, effective raises labour efficiency, in product quality and stability side
Face improves a lot.The robot that this contains parallel closed loop subchain adopts indirect drive manner moreover it is possible to effective reduction drives joint
Required moment.Piling leads to the problems such as robot arm weight is big, poor rigidity, inertia are big, joint error adds up, and mechanism is moved
Mechanical property is poor it is difficult to satisfaction carries at a high speed the requirement of piling.Development with motor technology and the raising of control technology, can
Control mechanical mechanism provides wide development space for engineering machinery, is not only had by motor-driven multiple degrees of freedom controllable mechanism
Have that work space is big, flexible movements, reliability high, also there is low cost of manufacture, the advantages of maintaining is simple simultaneously.
Content of the invention
The present invention is directed to the deficiencies in the prior art, provides a kind of rotary type motion arm with metamorphic function, overcomes biography
The shortcomings of system hydraulic crawler excavator maintenance costs are high, operation noise is big, Hydraulic Elements high cost, reaction are not sensitive.
To achieve these goals, present invention employs technical scheme below：
There is the rotary type motion arm of metamorphic function, bar one, bar two, expansion link one, expansion link two, expansion link three, cunning
Set one, sliding sleeve two, slide block, spring, triangular connecting plate, executor, work platformses and dolly,
Expansion link one lower end is passed through rotation secondary and is connected on work platformses, and expansion link one upper end is passed through rotation secondary two and connected
On sliding sleeve one, sliding sleeve one is enclosed within bar one, and bar one lower end is passed through rotation secondary three and is connected on work platformses, and bar one upper end is passed through
Rotate secondary four to be connected with bar two one end, bar two other end passes through rotation secondary five and is connected on executor,
Expansion link two lower end is passed through rotation secondary six and is connected on slide block, and slide block is arranged in the chute of work platformses, stretches
Bar two upper end is passed through rotation secondary seven and is connected on sliding sleeve two, and sliding sleeve two is enclosed within bar two,
Spring one end is fixed on work platformses, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link three one end is passed through to rotate secondary eight be connected to triangular connecting plate second jiaos, and the other end passes through to rotate secondary nine even
It is connected on executor, the third angle of triangular connecting plate is connected with bar one and bar two also by rotating secondary four simultaneously,
Work platformses pass through rotation secondary ten and are arranged on dolly.
Compared with prior art, the beneficial effect that the present invention possesses：
While having the advantages that conventional hydraulic machine mechanism work 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 drive system, is more applicable for manufacturing all kinds of excavators and other engineering machinery.Slew gear can flexibly control
Operative orientation.Driving link type of drive is flexible and changeable, can be selected for servomotor and drives, the drive form such as combination drive, not only ring
Protect, and be easily achieved remotely control, the advantages of reduce labor strength.
Brief description
Fig. 1 is the structural representation of the rotary type motion arm with metamorphic function of the present invention.
Specific embodiment
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
There is the rotary type motion arm of metamorphic function, bar 1, bar 2 11, expansion link 1, expansion link 2 13, flexible
Bar 3 14, sliding sleeve 1, sliding sleeve 2 16, slide block 17, spring 18, triangular connecting plate 19, executor 20, work platformses 21 and little
Car,
Expansion link 1 lower end is passed through rotation secondary 1 and is connected on work platformses 21, and expansion link 1 upper end is passed through to rotate
Secondary 22 are connected on sliding sleeve 1, and sliding sleeve 1 is enclosed within bar 1, and bar 1 lower end is passed through rotation secondary 33 and is connected to work
On platform 21, bar 1 upper end is passed through rotation secondary 44 and is connected with bar 2 11 one end, and bar 2 11 other end passes through rotation secondary 55 and connects
It is connected on executor 20,
Expansion link 2 13 lower end is passed through rotation secondary 66 and is connected on slide block 17, and slide block 17 is arranged on the cunning of work platformses 21
In groove, expansion link two upper end is passed through rotation secondary 77 and is connected on sliding sleeve 2 16, and sliding sleeve 2 16 is enclosed within bar 2 11,
Spring 18 one end is fixed on work platformses, and spring 18 other end is fixed on first jiao of triangular connecting plate 19,
Expansion link 3 14 one end is passed through to rotate secondary 88 be connected to triangular connecting plate 19 second jiaos, and the other end passes through to rotate
Secondary 99 are connected on executor, and the third angle of triangular connecting plate 19 is connected with bar 1 and bar 2 11 also by rotating secondary 44 simultaneously
Connect,
Work platformses 21 pass through rotation secondary ten and are arranged on dolly.
Claims (1)
1. there is the rotary type motion arm of metamorphic function it is characterised in that including bar one, bar two, expansion link one, expansion link
2nd, expansion link three, sliding sleeve one, sliding sleeve two, slide block, spring, triangular connecting plate, executor, work platformses and dolly,
Expansion link one lower end is passed through rotation secondary and is connected on work platformses, and expansion link one upper end is passed through rotation secondary two and is connected to cunning
On set one, sliding sleeve one is enclosed within bar one, and bar one lower end is passed through rotation secondary three and is connected on work platformses, and bar one upper end is passed through to rotate
Secondary four are connected with bar two one end, and bar two other end passes through rotation secondary five and is connected on executor,
Expansion link two lower end is passed through rotation secondary six and is connected on slide block, and slide block is arranged in the chute of work platformses, expansion link two
Upper end is passed through rotation secondary seven and is connected on sliding sleeve two, and sliding sleeve two is enclosed within bar two,
Spring one end is fixed on work platformses, and the spring other end is fixed on first jiao of triangular connecting plate,
Expansion link three one end is passed through to rotate secondary eight be connected to triangular connecting plate second jiaos, and the other end passes through rotation secondary nine and is connected to
On executor, the third angle of triangular connecting plate is connected with bar one and bar two also by rotating secondary four simultaneously,
Work platformses pass through rotation secondary ten and are arranged on dolly.
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 |
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| Publication Number | Publication Date |
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| CN105313107A CN105313107A (en) | 2016-02-10 |
| CN105313107B true CN105313107B (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510760192.0A Active CN105313107B (en) | 2015-11-10 | 2015-11-10 | Rotatable manipulation arm with metamorphic function |
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| CN105619403B (en) * | 2016-03-28 | 2018-08-28 | 汤志强 | A kind of biomimetic manipulator |
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| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
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| CN106276234A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Rotary type moves stacking machine mechanical arm |
| 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 |
| CN107676586B (en) * | 2017-10-24 | 2019-01-29 | 广西南宁栩兮科技有限公司 | It is a kind of for controlling the rocker arm body of 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 |
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| CN105313107A (en) | 2016-02-10 |
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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. |
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