CN105397803B - Multi-degree-of-freemechanical mechanical arm - Google Patents

Multi-degree-of-freemechanical mechanical arm Download PDF

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Publication number
CN105397803B
CN105397803B CN201510810962.8A CN201510810962A CN105397803B CN 105397803 B CN105397803 B CN 105397803B CN 201510810962 A CN201510810962 A CN 201510810962A CN 105397803 B CN105397803 B CN 105397803B
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CN
China
Prior art keywords
bar
revolute pair
workbench
sliding sleeve
mechanical arm
Prior art date
Application number
CN201510810962.8A
Other languages
Chinese (zh)
Other versions
CN105397803A (en
Inventor
覃珠强
Original Assignee
重庆妙坤生物科技有限责任公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 重庆妙坤生物科技有限责任公司 filed Critical 重庆妙坤生物科技有限责任公司
Priority to CN201510810962.8A priority Critical patent/CN105397803B/en
Publication of CN105397803A publication Critical patent/CN105397803A/en
Application granted granted Critical
Publication of CN105397803B publication Critical patent/CN105397803B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages

Abstract

Multi-degree-of-freemechanical mechanical arm, the expansion link lower end of the mechanical arm is connected on sliding block by revolute pair one, sliding block is arranged in the chute on workbench, expansion link upper end is connected by revolute pair two with the one end of bar two, the other end of bar two is connected on actuator by revolute pair three, the lower end of bar one is connected on workbench by revolute pair four, the other end of bar one is connected on sliding sleeve two by revolute pair five, sliding sleeve two is enclosed on bar two, the lower end of bar three is connected on workbench by revolute pair six, the upper end of bar three is connected on sliding sleeve one by revolute pair seven, sliding sleeve one is enclosed on bar two, workbench is arranged on dolly by revolute pair eight.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 also reduced, and reduce the complexity of frame transmission system.

Description

Multi-degree-of-freemechanical mechanical arm
Technical field
The present invention relates to mechanical field, specifically multi-degree-of-freemechanical mechanical arm.
Background technology
Robot palletizer is widely used in lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying In the automatic transporting operation of stacking, container etc..Existing robot palletizer mainly have cartesian co-ordinate type, circular cylindrical coordinate type and Three kinds of structure types of joint type.Wherein joint type robot palletizer is because its compact-sized, flexible movements, floor space be small, work Make the advantages that space is big, progressively turn into the primary structure form of robot palletizer.But this quasi-tradition fisher's formula cascaded structure The motor of robot palletizer will be arranged on joint, cause that robot arm weight is big, poor rigidity, inertia are big, joint The problems such as deviation accumulation, mechanism dynamic poor-performing, it is difficult to meet the requirement for carrying stacking at a high speed.
With the development of motor technology and the raising of control technology, controllable mechanical mechanism provides wide for engineering machinery Development space, not only have that working space big, flexible movements, reliability are high by motor-driven multiple degrees of freedom controllable mechanism, Also there is the advantages that manufacturing cost is low, and maintaining is simple simultaneously.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of multi-degree-of-freemechanical mechanical arm, overcomes conventional hydraulic excavator to tie up Repair the shortcomings of cost of upkeep is 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:
Multi-degree-of-freemechanical mechanical arm, including bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, sliding block, actuator with And workbench,
The expansion link lower end is connected on sliding block by revolute pair one, and sliding block is arranged in the chute on workbench, Expansion link upper end is connected by revolute pair two with the one end of bar two, and the other end of bar two is connected on actuator by revolute pair three,
The lower end of bar one is connected on workbench by revolute pair four, and the other end of bar one is connected to sliding sleeve by revolute pair five On two, sliding sleeve two is enclosed on bar two,
The lower end of bar three is connected on workbench by revolute pair six, and the upper end of bar three is connected to sliding sleeve one by revolute pair seven On, sliding sleeve one is enclosed on bar two,
Workbench is arranged on dolly by revolute pair eight.
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, it 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, the drive forms such as servomotor driving, combination drive can be selected, not only ring Protect, and be easily achieved remote control, the advantages that reducing labor strength.
Brief description of the drawings
Fig. 1 is the structural representation of multi-degree-of-freemechanical mechanical arm of the present invention.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
Multi-degree-of-freemechanical mechanical arm, including bar 1, bar 29, bar 3 10, expansion link 11, sliding sleeve 1, sliding sleeve 2 13, sliding block 14th, actuator 15 and workbench 16,
The lower end of expansion link 11 is connected on sliding block 14 by revolute pair 1, and sliding block 14 is arranged on workbench 16 Chute in, the upper end of expansion link 11 is connected by revolute pair 22 with the one end of bar 29, the other end of bar 29 pass through revolute pair 33 connect It is connected on actuator 15,
The lower end of bar 1 is connected on workbench 16 by revolute pair 44, and the other end of bar 1 is connected by revolute pair 55 On sliding sleeve 2 13, sliding sleeve 2 13 is enclosed on bar 29,
The lower end of bar 3 10 is connected on workbench 16 by revolute pair 66, and the upper end of bar 3 10 is connected by revolute pair 77 On sliding sleeve 1, sliding sleeve 1 is enclosed on bar 29,
Workbench 16 is arranged on dolly by revolute pair eight.

Claims (1)

1. multi-degree-of-freemechanical mechanical arm, it is characterised in that including bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, sliding block, Actuator and workbench,
The expansion link lower end is connected on sliding block by revolute pair one, and sliding block is arranged in the chute on workbench, is stretched Bar upper end is connected by revolute pair two with the one end of bar two, and the other end of bar two is connected on actuator by revolute pair three,
The lower end of bar one is connected on workbench by revolute pair four, and the other end of bar one is connected to sliding sleeve two by revolute pair five On, sliding sleeve two is enclosed on bar two,
The lower end of bar three is connected on workbench by revolute pair six, and the upper end of bar three is connected on sliding sleeve one by revolute pair seven, Sliding sleeve one is enclosed on bar two,
Workbench is arranged on dolly by revolute pair eight.
CN201510810962.8A 2015-11-20 2015-11-20 Multi-degree-of-freemechanical mechanical arm CN105397803B (en)

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 CN105397803A (en) 2016-03-16
CN105397803B true CN105397803B (en) 2017-12-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510810962.8A CN105397803B (en) 2015-11-20 2015-11-20 Multi-degree-of-freemechanical mechanical arm

Country Status (1)

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CN (1) CN105397803B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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