CN105369840B - A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel - Google Patents
A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel Download PDFInfo
- Publication number
- CN105369840B CN105369840B CN201510760029.4A CN201510760029A CN105369840B CN 105369840 B CN105369840 B CN 105369840B CN 201510760029 A CN201510760029 A CN 201510760029A CN 105369840 B CN105369840 B CN 105369840B
- Authority
- CN
- China
- Prior art keywords
- bar
- expansion link
- revolute pair
- workbench
- sliding sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
Abstract
Multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel, the lower end of expansion link one of the mechanical arm is connected on workbench, the upper end of expansion link one is connected with the one end of bar one, the other end of bar one is connected on actuator, the lower end of bar two is connected on sliding block, sliding block is arranged in the chute on workbench, the upper end of bar two is connected on sliding sleeve one, sliding sleeve one is enclosed on expansion link one, the lower end of expansion link two is connected on workbench, the upper end of expansion link two is connected on sliding sleeve two, sliding sleeve two is enclosed on bar one, the lower end of bar three is connected on workbench, the upper end of bar three is connected to first jiao of triangular connecting plate, the one end of expansion link three is connected on actuator, the other end one of expansion link three is connected on second jiao of triangular connecting plate, the third angle of triangular connecting plate is also connected with expansion link one and bar one simultaneously.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 reduced, the complexity of frame transmission system is reduced.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel.
Background technology
Excavator is a kind of common engineering machinery, is mainly used in various engineer operations.Wherein hydraulic crawler excavator is mesh
Before the class excavator that is widely used, but to there is hydraulic system manufacturing cost high for hydraulic excavator, oil leak etc. easily occurs
Problem.And traditional single-degree-of-freedom mechanical digging machine, it is commonly called as " power shovel ", track that is simple and can not changing output can only be realized,
Therefore it can not be applied as hydraulic excavator in extensive field.
With the development and the raising of control technology of motor technology, controllable mechanism provides wide development for engineering machinery
Space, the multiple degrees of freedom controllable mechanism driven by controlled motor not only have working space big, flexible movements, can complete it is complicated and
Variable movement locus output, while also have manufacturing cost low, the advantages of maintaining is simple, controllable-mechanism type excavator by
In instead of hydraulic drive with multiple degrees of freedom linkage, it is to avoid hydraulic system requirement on machining accuracy is high, maintaining cost
Height, the problems such as easily producing oil leak.But, existing controllable-mechanism type excavator relies primarily on multivariant linkage work
Make, multiple degrees of freedom linkage was controlled in the past, generally require with the control electricity with linkage free degree equivalent amount
Machine is driven control, not only considerably increases manufacturing cost, and add the complexity of frame transmission system, these shortcomings
There is certain restriction in the application of engineering machinery field to multiple degrees of freedom controllable mechanism.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel, 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:
Multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel, including bar one, bar two, bar three, expansion link one, expansion link two, flexible
Bar three, sliding sleeve one, sliding sleeve two, sliding block, triangular connecting plate, actuator and workbench,
The lower end of expansion link one is connected on workbench by revolute pair one, and the upper end of expansion link one passes through revolute pair two and bar
One one end is connected, and the other end of bar one is connected on actuator by revolute pair three,
The lower end of bar two is connected on sliding block by revolute pair four, and sliding block is arranged in the chute on workbench, on bar two
End is connected on sliding sleeve one by revolute pair five, and sliding sleeve one is enclosed on expansion link one,
The lower end of expansion link two is connected on workbench by revolute pair six, and the upper end of expansion link two is connected by revolute pair seven
On sliding sleeve two, sliding sleeve two is enclosed on bar one,
The lower end of bar three is connected on workbench by revolute pair eight, and the upper end of bar three is connected to triangle by revolute pair nine and connected
First jiao of fishplate bar, the one end of expansion link three is connected on actuator by revolute pair ten, and the other end of expansion link three passes through revolute pair
11 are connected on second jiao of triangular connecting plate, the third angle of triangular connecting plate also by revolute pair two simultaneously with expansion link one
Connected with bar one,
Workbench is connected on dolly by revolute pair 12.
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 that multiple degrees of freedom of the present invention becomes born of the same parents' palletizing mechanical arm in parallel.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel, including bar 1, bar 2 13, bar 3 14, expansion link 1, stretches
Contracting bar 2 16, expansion link 3 17, sliding sleeve 1, sliding sleeve 2 19, sliding block 20, triangular connecting plate 21, actuator 22 and work are flat
Platform 23,
The lower end of expansion link 1 is connected on workbench 23 by revolute pair 1, and the upper end of expansion link 1 is by rotating
Pair 22 is connected with the one end of bar 1, and the other end of bar 1 is connected on actuator 24 by revolute pair 33,
The lower end of bar 2 13 is connected on sliding block 20 by revolute pair 44, and sliding block 20 is arranged on the chute on workbench 23
In, the upper end of bar 2 13 is connected on sliding sleeve 1 by revolute pair 55, and sliding sleeve 1 is enclosed on expansion link 1,
The lower end of expansion link 2 16 is connected on workbench 23 by revolute pair 66, and the upper end of expansion link 2 16 is by rotating
Pair 77 is connected on sliding sleeve 2 19, and sliding sleeve 2 19 is enclosed on bar 1,
The lower end of bar 3 14 is connected on workbench 23 by revolute pair 88, and the upper end of bar 3 14 is connected by revolute pair 99
At first jiao of triangular connecting plate 21, the one end of expansion link 3 17 is connected on actuator 22 by revolute pair 10, expansion link three
17 other ends are connected on second jiao of triangular connecting plate 21 by revolute pair 11, and the third angle of triangular connecting plate 21 is also led to
Revolute pair 22 is crossed while being connected with expansion link 1 and bar 1,
Workbench 23 is connected on dolly by revolute pair 12.
Claims (1)
1. multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel, it is characterised in that including bar one, bar two, bar three, expansion link one, flexible
Bar two, expansion link three, sliding sleeve one, sliding sleeve two, sliding block, triangular connecting plate, actuator and workbench,
The lower end of expansion link one is connected on workbench by revolute pair one, the upper end of expansion link one by revolute pair two and bar one by one
End connection, the other end of bar one is connected on actuator by revolute pair three,
The lower end of bar two is connected on sliding block by revolute pair four, and sliding block is arranged in the chute on workbench, and the upper end of bar two leads to
Cross revolute pair five to be connected on sliding sleeve one, sliding sleeve one is enclosed on expansion link one,
The lower end of expansion link two is connected on workbench by revolute pair six, and the upper end of expansion link two is connected to cunning by revolute pair seven
On set two, sliding sleeve two is enclosed on bar one,
The lower end of bar three is connected on workbench by revolute pair eight, and the upper end of bar three is connected to triangular connecting plate by revolute pair nine
First jiao, the one end of expansion link three is connected on actuator by revolute pair ten, and the other end of expansion link three passes through revolute pair 11
Be connected on second jiao of triangular connecting plate, the third angle of triangular connecting plate also by revolute pair two simultaneously with expansion link one and bar
One connection,
Workbench is connected on dolly by revolute pair 12.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510760029.4A CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
Applications Claiming Priority (1)
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---|---|---|---|
CN201510760029.4A CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
Publications (2)
Publication Number | Publication Date |
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CN105369840A CN105369840A (en) | 2016-03-02 |
CN105369840B true CN105369840B (en) | 2017-11-07 |
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CN201510760029.4A Active CN105369840B (en) | 2015-11-10 | 2015-11-10 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
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CN106737574B (en) * | 2016-11-23 | 2019-04-16 | 广西大学 | A kind of controllable link-type gripper |
Citations (6)
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US20050111953A1 (en) * | 2003-11-21 | 2005-05-26 | Westendorf Neal W. | Loader assembly, combination motor vehicle and loader assembly, hydraulic cylinders and methods for operating a loader assembly |
EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
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 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3264398B2 (en) * | 1993-10-15 | 2002-03-11 | 株式会社小松製作所 | Bilateral master-slave operation type control device |
-
2015
- 2015-11-10 CN CN201510760029.4A patent/CN105369840B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050111953A1 (en) * | 2003-11-21 | 2005-05-26 | Westendorf Neal W. | Loader assembly, combination motor vehicle and loader assembly, hydraulic cylinders and methods for operating a loader assembly |
EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
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 |
CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
CN204712038U (en) * | 2015-05-11 | 2015-10-21 | 程红印 | A kind of high accuracy automobile robot palletizer |
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