CN105397803A - Multi-degree-of-freedom mechanical arm - Google Patents
Multi-degree-of-freedom mechanical arm Download PDFInfo
- Publication number
- CN105397803A CN105397803A CN201510810962.8A CN201510810962A CN105397803A CN 105397803 A CN105397803 A CN 105397803A CN 201510810962 A CN201510810962 A CN 201510810962A CN 105397803 A CN105397803 A CN 105397803A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- rod
- bar
- sliding sleeve
- mechanical arm
- 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.)
- Granted
Links
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The invention relates to a multi-degree-of-freedom mechanical arm. The lower end of a stretching rod of the mechanical arm is connected to a sliding block through a first revolute pair, the sliding block is installed in a sliding groove in a working platform, the upper end of the stretching rod is connected with one end of a second rod through a second revolute pair, and the other end of the second rod is connected to an actuator through a third revolute pair; the lower end of a first rod is connected to the working platform through a fourth revolute pair, the other end of the first rod is connected to a second sliding sleeve through a fifth revolute pair, and the second rod is sleeved with the second sliding sleeve; and the lower end of a third rod is connected to the working platform through a sixth revolute pair, the upper end of the third rod is connected to a first sliding sleeve through a seventh revolute pair, the second rod is sleeved with the first sliding sleeve, and the working platform is installed on a trolley through an eighth revolute pair. According to the multi-degree-of-freedom mechanical arm, the beneficial effects of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism are achieved; and meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is reduced.
Description
Technical field
The present invention relates to mechanical field, specifically multi-degree-of-freemechanical mechanical arm.
Background technology
Robot palletizer is widely used in the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and joint type three kinds of structure types.Wherein joint type robot palletizer because its compact conformation, flexible movements, the advantage such as floor space is little, working space is large, progressively become the primary structure form of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all will be arranged on joint, cause 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, a kind of multi-degree-of-freemechanical mechanical arm is provided, 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:
Multi-degree-of-freemechanical mechanical arm, comprises bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, actuator and workbench,
Described expansion link lower end is connected on slide block by revolute pair one, and slide block is arranged in the chute on workbench, and expansion link upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Bar one lower end is connected on workbench by revolute pair four, and bar one other end is connected on sliding sleeve two by revolute pair five, and sliding sleeve two is enclosed within bar two,
Bar three lower end is connected on workbench by revolute pair six, and bar three upper end is connected on sliding sleeve one by revolute pair seven, and sliding sleeve one is enclosed within bar two,
Workbench is arranged on dolly by revolute pair eight.
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 of multi-degree-of-freemechanical mechanical arm of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Multi-degree-of-freemechanical mechanical arm, comprises bar 1, bar 29, bar 3 10, expansion link 11, sliding sleeve 1, sliding sleeve 2 13, slide block 14, actuator 15 and workbench 16,
Described expansion link 11 lower end is connected on slide block 14 by revolute pair 1, and slide block 14 is arranged in the chute on workbench 16, and expansion link 11 upper end is connected with bar 29 one end by revolute pair 22, and bar 29 other end is connected on actuator 15 by revolute pair 33,
Bar 1 lower end is connected on workbench 16 by revolute pair 44, and bar 1 other end is connected on sliding sleeve 2 13 by revolute pair 55, and sliding sleeve 2 13 is enclosed within bar 29,
Bar 3 10 lower end is connected on workbench 16 by revolute pair 66, and bar 3 10 upper end is connected on sliding sleeve 1 by revolute pair 77, and sliding sleeve 1 is enclosed within bar 29,
Workbench 16 is arranged on dolly by revolute pair eight.
Claims (1)
1. multi-degree-of-freemechanical mechanical arm, is characterized in that, comprises bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, actuator and workbench,
Described expansion link lower end is connected on slide block by revolute pair one, and slide block is arranged in the chute on workbench, and expansion link upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Bar one lower end is connected on workbench by revolute pair four, and bar one other end is connected on sliding sleeve two by revolute pair five, and sliding sleeve two is enclosed within bar two,
Bar three lower end is connected on workbench by revolute pair six, and bar three upper end is connected on sliding sleeve one by revolute pair seven, and sliding sleeve one is enclosed within bar two,
Workbench is arranged on dolly by revolute pair eight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810962.8A CN105397803B (en) | 2015-11-20 | 2015-11-20 | Multi-degree-of-freemechanical mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810962.8A CN105397803B (en) | 2015-11-20 | 2015-11-20 | Multi-degree-of-freemechanical mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397803A true CN105397803A (en) | 2016-03-16 |
| CN105397803B CN105397803B (en) | 2017-12-08 |
Family
ID=55463723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510810962.8A Expired - Fee Related CN105397803B (en) | 2015-11-20 | 2015-11-20 | Multi-degree-of-freemechanical mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105397803B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07112377A (en) * | 1993-10-15 | 1995-05-02 | Komatsu Ltd | Operating device in bilateral master slave operation system |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| 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 |
-
2015
- 2015-11-20 CN CN201510810962.8A patent/CN105397803B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07112377A (en) * | 1993-10-15 | 1995-05-02 | Komatsu Ltd | Operating device in bilateral master slave operation system |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 于靖军等: "《机器人机构学的数学基础》", 31 July 2008 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105397803B (en) | 2017-12-08 |
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Effective date of registration: 20171107 Address after: 401344 Chongqing District of Banan City Shilong Town Dalian Village Dragon Tsui Group No. 114 Applicant after: Chongqing wonderful biological science and Technology Co.,Ltd. Address before: 545000 the Guangxi Zhuang Autonomous Region three road Liunan District of Liuzhou City No. 2B Airlines C District 13 Building 2 unit 502 room Applicant before: Zhu Qiang Qin |
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Effective date of registration: 20180201 Address after: 401320 Banan District, Banan District, Chongqing, No. 8-29, Yu Nan Road, No. 8-29 Patentee after: Chongqing Boshi Intellectual Property Service Co.,Ltd. Address before: 401344 Chongqing District of Banan City Shilong Town Dalian Village Dragon Tsui Group No. 114 Patentee before: Chongqing wonderful biological science and Technology Co.,Ltd. |
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Effective date of registration: 20190419 Address after: 528478, 7 floor, 1 Xin Mei Street, five Sha Industrial Zone, Zhongshan, Guangdong. Patentee after: ZHONGSHAN LEI SHUO LIGHTING TECHNOLOGY Co.,Ltd. Address before: 401320 Banan District, Banan District, Chongqing, No. 8-29, Yu Nan Road, No. 8-29 Patentee before: Chongqing Boshi Intellectual Property Service Co.,Ltd. |
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Effective date of registration: 20191112 Address after: 221000 room 1025, building E2, software park, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Dashi Information Technology Co.,Ltd. Address before: 528478, 7 floor, 1 Xin Mei Street, five Sha Industrial Zone, Zhongshan, Guangdong. Patentee before: ZHONGSHAN LEI SHUO LIGHTING TECHNOLOGY Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171208 |