CN105538303B - Three-degree-of-freedom high-altitude mounting manipulator for large plates - Google Patents
Three-degree-of-freedom high-altitude mounting manipulator for large plates Download PDFInfo
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- CN105538303B CN105538303B CN201610094117.XA CN201610094117A CN105538303B CN 105538303 B CN105538303 B CN 105538303B CN 201610094117 A CN201610094117 A CN 201610094117A CN 105538303 B CN105538303 B CN 105538303B
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- Prior art keywords
- push rod
- support plate
- rod
- main
- pitching
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A three-degree-of-freedom high-altitude mounting manipulator for large plates is characterized by comprising four vacuum suckers, a sucker rack, a main electric pushing rod, a main electric pushing rod rack, a main support arm, a rotary lead screw pushing rod, an oscillating screw rod pushing rod, a pitching support plate, an oscillating support plate, a spindle, a planar connecting rod and a vacuum pump matched with the vacuum suckers, wherein the bottom edge of the sucker rack can rotate relative to a horizontal plane for +/-20 degrees; when a push rod body of the rotary lead screw push rod extends and retracts, the oscillating support plate is driven to oscillate relative to the pitching support plate by taking a pivot body of a pivot connecting mechanism as a rotation axis, and the maximum included angles between the oscillating support plate and the left and right ends of the pitching support plate are 20 degrees; when a push rod body of the main electric push rod extends and retracts, the pitching support plate is driven to perform pitching movement of 80 degrees.
Description
Technical field
The present invention relates to a kind of mechanical hand, and in particular to a kind of Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator.
Background technology
The curtain wall fitting-out work of heavy construction, mainly using materials such as large glass sheet materials.These sheet materials have quality it is big,
Size is big, and the features such as fragile installation accuracy has high demands, manually installed efficiency of construction is low, poor stability.Therefore, design a kind of
Easy to operate, working stability, strong antijamming capability is suitable for the large-sized sheet material mechanical hand of work high above the ground and has important reality meaning
Justice.Existing high-altitude plate installation mechanical arm can only Jing sheet materials adsorb in arm end, only provide in the handling process of high-altitude
Power-assisted also needs to the position of work high above the ground personnel's hand regulation plate material in installation process, it is impossible to fundamentally realize peace automatically
Dress, overcomes the manually installed problem brought.Therefore provide a kind of can carry out accurate position to the sheet material of rough alignment installation site
The mechanical hand of regulation is put, becomes technical problem underlying when realizing large-sized sheet material high-altitude installation automatization.
The content of the invention
For the deficiencies in the prior art, the technical problem that the present invention is intended to solve is to provide a kind of Three Degree Of Freedom large-sized sheet material
High-altitude installation manipulator.The mechanical hand is installed on the heavy-duty machinery such as crane end, and large-sized sheet material to be installed can be bowed
The regulation of three degree of freedom is faced upward, rotated and swung, the needs of the high-altitude installation exercise of large-sized sheet material are met, so as to realize big template
Automatically install in the high-altitude of material.
It is to solve the problems of the prior art the technical solution used in the present invention：
A kind of Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator is provided, it is characterized in that including four vacuum cups 1, sucker
Frame 2, main electric pushrod 3, main electric pushrod frame 4, master arm 6, rotating threaded shaft push rod 7, swing screw mandrel push rod 8, pitching are supported
Plate 9, swinging support plate 10, main shaft 11, planar linkage 12 and the vacuum pump matched with vacuum cup；
The vacuum cup distributed rectangular is fixed in suction cup carrier, and the sucker end of four vacuum cups is located at same putting down
Face, with the plane as adsorbing plane, the rectangle with four sucker axis and adsorbing plane intersection point composition is as sucker planar rectangular；
Main shaft two ends respectively with suction cup carrier and swinging support plate is vertical is connected, main shaft is perpendicular to adsorbing plane, main-shaft axis
The center of the rectangle that four sucker axis are constituted with adsorbing plane intersection point is located at the intersection point of adsorbing plane, the rotating threaded shaft is pushed away
The ram seat of bar is fixedly connected with swinging support plate, the push rod of rotating threaded shaft push rod parallel to swinging support plate and push rod end with
Suction cup carrier is hinged, and suction cup carrier can be driven to rotate when the push rod of rotating threaded shaft push rod stretches out and withdraws, the suction cup carrier base
Rotation angle range with respect to the horizontal plane is ± 20 °；
The swinging support plate to press close to suction cup carrier one side as front, the back side of swinging support plate and the pivot of pitching gripper shoe
Axle mounting surface is pivotally connected mechanism 13 and connects, and the pivotal axis of the pivotal connection are parallel to swinging support plate, pivot
Projection on axle axis adsorbing plane is overlapped with sucker planar rectangular by the axis of symmetry of upper bottom, and the swing leading screw is pushed away
The ram seat of bar is fixedly connected with pitching gripper shoe, and the push rod end for swinging leading screw push rod is hinged with swinging support plate, works as swing
The push rod of leading screw push rod can drive swinging support plate relative as rotary shaft with the pivot of pivotal connection when stretching out and withdrawing
Pitching gripper shoe swings, and the maximum angle at swinging support plate and pitching gripper shoe or so two ends is 20 ° during swing；
The back side in the pivotal mounting face of the pitching gripper shoe is luffing mechanism mounting surface, in the luffing mechanism mounting surface
Portion has main hinged seat, and master arm end is hinged on luffing mechanism mounting surface by main hinged seat, the main hinged seat
Pivot center is parallel to luffing mechanism mounting surface and vertical with pivotal axis, and the close end of the luffing mechanism mounting surface has and connects
Bar hinged seat, the diameter parallel of the axis of rod hinge connection seat and main hinged seat, the planar linkage is by the third connecting rod being hinged
1201st, the connecting rod 1203 of fourth link 1202 and the 5th is constituted.Fourth link two ends are respectively with the one of third connecting rod and the 5th connecting rod
End is hinged, and the other end of third connecting rod and the 5th connecting rod is respectively hinged at rod hinge connection seat and main as the two ends of planar linkage
Brace middle part, fourth link and the 5th connecting rod angle angle are fixed between 135～145 °, formation L-shaped connecting rod, planar linkage,
The lanar four rod mechanism that master arm is constituted with pitching gripper shoe, the ram seat of the main electric pushrod is hinged on and main
On the main electric pushrod frame that brace root is fixedly connected, the push rod of main electric pushrod is put down with the motion of the lanar four rod mechanism
Face is parallel and push rod end is hinged on the angle that fourth link and the 5th connecting rod are formed.Stretched out by the push rod of main electric pushrod
And withdrawal can drive the pitching gripper shoe i.e. range of pitch motion of 80 ° of sucker suction Planar realization.
Described Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator, is characterized in that the composition lanar four rod mechanism
Third connecting rod length l3, fourth link length l4, the 5th length of connecting rod l5, the distance between rod hinge connection seat and main hinged seat l2,
Main hinged seat away to master arm and the 5th rod hinge connection position apart from l1Relation be, l1：l2：l3：l4：l5=100:170
～175:65～130：40～70:90～210.
Described Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator, is characterized in that the folder of main electric pushrod and master arm
Angle range is 3.5-6 degree.
Technical solution of the present invention has the beneficial effect that：
1) the Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator that mechanical hand of the present invention is provided can realize 80 ° of pitching fortune
Dynamic and ± 20 ° rotations run with swinging, and meet the needs of high-altitude crawl and mounting plate material.
2) structure of rotational motion mechanism is optimized, suction cup carrier is connected in rotation gripper shoe by rotatable main shaft,
Using the rotating threaded shaft push rod drive suction cup carrier rotation being fixed on swinging support plate, compact conformation and as arm end
The rotation of suction cup carrier is not affected by other mechanism kinematics, because when sheet material installation exercise is carried out, suction cup carrier rotation adjusts one
As be last regulating step, therefore the rotational motion mechanism of mechanical hand of the present invention is easily achieved and last is accurately positioned fine setting, energy
Enough improve sheet material installation quality.
3) structure of oscillating motion mechanism and its connection with connecting mechanism for rotating are optimized, swinging support plate is by segmentation
The pivotal connection of arrangement is connected with pitching gripper shoe, and is fixed on leading screw push rod is swung in pitching gripper shoe, by pendulum
Width when swinging support plate known in dynamic leading screw push rod swings using gripper shoe is realized to the spacing of hunting range, simultaneously because pivot
The axis of axle and the orthogonal axe of main shaft, make the motion of swinging support plate easily controllable, and swing leading screw push rod can use less
Thrust and larger stroke realize the weave control of mechanical hand.
4) structure of elevating movement mechanism is optimized, because elevating movement mechanism is to carry out sheet material crawl with master during conveying
Motion is wanted, is required relative to swing and its motion amplitude of rotational motion mechanism and mechanism's bearing capacity all bigger.Therefore adopt
With the combination of equivalent lanar four rod mechanism and main electric pushrod, by the knot of lanar four rod mechanism and main electric pushrod
Structure, meet main electric pushrod and trying one's best motion needs of significantly pitch under little stroke, and main electric pushrod in the process
Push-pull effort excursion is little, load using repeat, be convenient for manually with automatically control.
To sum up, the Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator that the present invention is provided, by the knot for optimizing motion
Structure is designed, and can be applied to the automatic installation exercises in large-sized sheet material high-altitude such as curtain wall installation, and compact conformation is simple, and space utilization is closed
Manage, the elevating movement mechanism as main sheet material main modulation mechanism and the pitching as micro-adjusting mechanism were both each with oscillating motion mechanism
From being independently independent of each other, organic whole is complemented each other to form again, it is reliable, the total quality of arm end is alleviated, transport
Row is convenient for automatic disclosure satisfy that all kinds of high-altitude sheet material installation requirements with artificial control.
Description of the drawings
A kind of overall structure of the embodiment of the Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator that Fig. 1 is provided for the present invention
Schematic diagram；
The plane four of the Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator that Fig. 2 is provided for the specific embodiment of the invention connects
The structure diagram of linkage.
Fig. 3 is pivotally connected for a kind of embodiment of the Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator for providing of the invention
Mechanism structure schematic diagram.
In figure：
1st, sucker, 2, suction cup carrier, 3, main electric pushrod, 4, main electric pushrod frame, 5, vacuum pump, 6, master arm, 7, rotation
Turn leading screw push rod, 8, swing leading screw push rod, 9, pitching gripper shoe, 10 swinging support plates, 11, main shaft, 12, planar linkage, 1201,
Third connecting rod, 1202, fourth link, the 1203, the 5th connecting rod；13rd, pivot axostylus axostyle, 14, beam barrel
Specific embodiment
With reference to embodiment and its accompanying drawing, the invention will be further described, but not in this, as protecting to the application
The restriction of scope.
Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator (abbreviation mechanical hand) that the present invention is provided includes that four vacuum are inhaled
Disk 1, suction cup carrier 2, main electric pushrod 3, main electric pushrod frame 4, master arm 6, rotating threaded shaft push rod 7, swing screw mandrel push rod 8,
Pitching gripper shoe 9, swinging support plate 10, main shaft 11, planar linkage 12 and the vacuum pump matched with vacuum cup
The vacuum cup distributed rectangular is fixed in suction cup carrier, and the sucker end of four vacuum cups is located at same putting down
Face, with the plane as adsorbing plane, the rectangle with four sucker axis and adsorbing plane intersection point composition is as sucker planar rectangular；
Main shaft two ends respectively with suction cup carrier and swinging support plate is vertical is connected, main shaft is perpendicular to adsorbing plane, main-shaft axis
The center of the rectangle that four sucker axis are constituted with adsorbing plane intersection point is located at the intersection point of adsorbing plane, the rotating threaded shaft is pushed away
The ram seat of bar is fixedly connected with swinging support plate, the push rod of rotating threaded shaft push rod parallel to swinging support plate and push rod end with
Suction cup carrier is hinged, and suction cup carrier can be driven to rotate when the push rod of rotating threaded shaft push rod stretches out and withdraws, the suction cup carrier base
Rotation angle range with respect to the horizontal plane is ± 20 °
The swinging support plate to press close to suction cup carrier one side as front, the back side of swinging support plate and the pivot of pitching gripper shoe
Axle mounting surface is pivotally connected mechanism 13 and connects, and the pivotal axis of the pivotal connection are parallel to swinging support plate, pivot
Projection on axle axis adsorbing plane is overlapped with sucker planar rectangular by the axis of symmetry of upper bottom, and the swing leading screw is pushed away
The ram seat of bar is fixedly connected with pitching gripper shoe, and the push rod end for swinging leading screw push rod is hinged with swinging support plate, works as swing
The push rod of leading screw push rod can drive swinging support plate relative as rotary shaft with the pivot of pivotal connection when stretching out and withdrawing
Pitching gripper shoe swings, and the maximum angle at swinging support plate and pitching gripper shoe or so two ends is 20 ° during swing,
The back side in the pivotal mounting face of the pitching gripper shoe is luffing mechanism mounting surface, in the luffing mechanism mounting surface
Portion has main hinged seat, and master arm end is hinged on luffing mechanism mounting surface by main hinged seat, the main hinged seat
Pivot center is parallel to luffing mechanism mounting surface and vertical with pivotal axis, and the close end of the luffing mechanism mounting surface has and connects
Bar hinged seat, the diameter parallel of the axis of rod hinge connection seat and main hinged seat, the planar linkage is by the third connecting rod being hinged
1201st, the connecting rod 1203 of fourth link 1202 and the 5th is constituted.Fourth link two ends are respectively with the one of third connecting rod and the 5th connecting rod
End is hinged, and the other end of third connecting rod and the 5th connecting rod is respectively hinged at rod hinge connection seat and main as the two ends of planar linkage
Brace middle part, fourth link and the 5th connecting rod angle angle are fixed between 135～145 °, formation L-shaped connecting rod, planar linkage,
The lanar four rod mechanism that master arm is constituted with pitching gripper shoe, the ram seat of the main electric pushrod is hinged on and main
On the main electric pushrod frame that brace root is fixedly connected, the push rod of main electric pushrod is put down with the motion of the lanar four rod mechanism
Face is parallel and push rod end is hinged on the angle that fourth link and the 5th connecting rod are formed.Stretched out by the push rod of main electric pushrod
And withdrawal can drive pitching gripper shoe to realize 80 ° of range of pitch motion.
The attachment structure sketch of the lanar four rod mechanism is as shown in figure 3, third connecting rod length l3, fourth link length
l4, the 5th length of connecting rod l5, equivalent length l of the L-shaped connecting rod that the angle that fourth link and the 5th connecting rod are formed is fixed6, connecting rod hinge
The distance between joint chair and main hinged seat are l2, main hinged seat is l away from the distance to master arm and the 5th rod hinge connection position1,
In Fig. 3, AB=l1, AD=l2, CD=l3, CE=l4, BE=l5, BC=l6, the angular range of main electric pushrod and master arm
For 3.5-6 degree, l1：l2：l3：l4：l5=100:170～175:65～130：40～70:90～210, sheet material mounting plane is vertical
X-axis is the horizontal axis perpendicular to sheet material mounting plane in horizontal plane, Fig. 3, and y-axis is hanging down parallel to sheet material mounting plane
Straight coordinate axess.
The lanar four rod mechanism that the present invention is provided has following kinetic characteristic：
Fourth link and the 5th connecting rod form the L-shaped connecting rod that angle is fixed, and can make lanar four rod mechanism motor process
Middle ∠ DCE quickly become big, D points relative to y-axis move when E point amount of movements be significantly less than D point amount of movements, be so achieved that with main electricity
The little shift motion of dynamic push rod realizes the significantly regulation of arm end luffing angle, and in main electric pushrod course of action
In, real load change is less, under conditions of the rated load for making full use of main electric pushrod, substantially reduces electric pushrod
Shift motion, save the space of arm end.Additionally, making main electric pushrod relative to master arm by the mechanism
Rotational angle range is less, it is to avoid active electric pushrod longitudinally significantly swings the adverse effect to mechanical stability.Improve
The kinetic stability of mechanical hand.
Embodiment
Suction cup carrier is the I-shaped structure of crossbeam and longeron composition, and four vacuum cups are located at respectively the end of two longerons
Portion, crossbeam two ends connect respectively the middle part of two longerons, and main shaft is located at crossbeam middle part with the junction of suction cup carrier.The vacuum pump
For anti-leak formula vacuum pump.
Pivotal connection includes pivot axostylus axostyle and the pivot for being separately fixed at swinging support back and pitching gripper shoe
Beam barrel on mounting surface, pivot axostylus axostyle two ends are respectively protruding into different beam barrels, and one end of pivot axostylus axostyle is fixed in beam barrel, another
End can relatively rotate with beam barrel.In order that pitching gripper shoe and swinging support plate more compact structure, the pivotal connection
There are two groups, respectively above and below spindle nose.
The parameter of each connecting rod of lanar four rod mechanism is as follows：AB=l1=122mm, AD=l2=210.34mm, CD=l3
=134mm, CE=l4=72.5mm, BE=l5=201.4mm, l4And l5Between angle ∠ BEC=140 ° wherein lead and electronic push away
The stroke of bar is 200mm, and rated load is 9000N.
The overall structure of the mechanical hand is as shown in Figure 1.Pivotal connection structure is as shown in Figure 2.
Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator (hereinafter referred to as mechanical hand) that the present invention is provided is perpendicular to water
Operational approach when the enterprising andante material of framework of plane is installed is as follows：
1) mechanical hand is installed into the end with hoisting board equipment, is captured using vacuum cup and moved closer to after sheet material
Start installation exercise after installation site；
2) start main electric pushrod, adjust the luffing angle of pitching gripper shoe, make sheet material be substantially at erectility, and connect
Nearly installation site；
3) start and swing leading screw push rod, adjust the pendulum angle of swinging support plate, make sheet material substantially parallel with mounting plane；
4) start rotating threaded shaft push rod, adjust the anglec of rotation of suction cup carrier, make sheet material be directed at installation site, be next step peace
Dress step is ready.
It is distant by ground to the installation overall process of sheet material from crawl sheet material because the working environment of mechanical hand is high-altitude
Control operation.Full-automation is realized, the safety for operator provides guarantee.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry needs
Understand, the invention is not limited in any way for above-described embodiment, it is all to be obtained by the way of equivalent or simple modification, modification
The technical scheme for obtaining, all falls within protection scope of the present invention.
Claims (3)
1. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator, is characterized in that including four vacuum cups, suction cup carrier, leads electronic pushing away
Bar, main electric pushrod frame, master arm, rotating threaded shaft push rod, swing screw mandrel push rod, pitching gripper shoe, swinging support plate, master
Axle, planar linkage and the vacuum pump matched with vacuum cup；
The vacuum cup distributed rectangular is fixed in suction cup carrier, and the sucker end of four vacuum cups is generally aligned in the same plane, with
The plane is adsorbing plane, and the rectangle with four sucker axis and adsorbing plane intersection point composition is as sucker planar rectangular；
Main shaft two ends respectively with suction cup carrier and swinging support plate is vertical is connected, main shaft perpendicular to adsorbing plane, main-shaft axis with inhale
The intersection point of attached plane is located at the center of four sucker axis and the rectangle of adsorbing plane intersection point composition, the rotating threaded shaft push rod
Ram seat is fixedly connected with swinging support plate, and the push rod of rotating threaded shaft push rod is parallel to swinging support plate and push rod end and sucker
Frame is hinged, and suction cup carrier can be driven to rotate when the push rod of rotating threaded shaft push rod stretches out and withdraws, and the suction cup carrier base is relative
In horizontal plane rotation angle range be ± 20 °；
The swinging support plate to press close to suction cup carrier one side as front, with the pivot of pitching gripper shoe pacify by the back side of swinging support plate
Dress face is pivotally connected mechanism's connection, and the pivotal axis of the pivotal connection are parallel to swinging support plate, pivotal axis
Projection on adsorbing plane is overlapped with sucker planar rectangular by the axis of symmetry of upper bottom, described to swing pushing away for leading screw push rod
Pole socket is fixedly connected with pitching gripper shoe, and the push rod end for swinging leading screw push rod is hinged with swinging support plate, pushes away when leading screw is swung
The push rod of bar can drive swinging support plate with the pivot of pivotal connection as rotary shaft relative pitching when stretching out and withdrawing
Fagging swings, and the maximum angle at swinging support plate and pitching gripper shoe or so two ends is 20 ° during swing；
The back side in the pivotal mounting face of the pitching gripper shoe is luffing mechanism mounting surface, luffing mechanism mounting surface middle part tool
There is main hinged seat, master arm end is hinged on luffing mechanism mounting surface by main hinged seat, the rotation of the main hinged seat
Diameter parallel is in luffing mechanism mounting surface and vertical with pivotal axis, and there is the close end of the luffing mechanism mounting surface connecting rod to cut with scissors
Joint chair, the diameter parallel of the axis of rod hinge connection seat and main hinged seat, the planar linkage is by the third connecting rod being hinged, the 4th company
Bar and the 5th connecting rod are constituted, and fourth link two ends are hinged respectively with one end of third connecting rod and the 5th connecting rod, third connecting rod and the
The other end of five connecting rods as the two ends of planar linkage be respectively hinged at rod hinge connection seat and master arm middle part, fourth link and
5th connecting rod angle angle is fixed between 135 °～145 °, forms L-shaped connecting rod, and planar linkage, master arm and pitching are supported
The lanar four rod mechanism that plate is constituted, the ram seat of the main electric pushrod is hinged on the master being fixedly connected with master arm root
On electric pushrod frame, the push rod of main electric pushrod is parallel with the plane of movement of the lanar four rod mechanism and push rod end is hinged
On the angle that fourth link and the 5th connecting rod are formed, being stretched out by the push rod of main electric pushrod and withdrawn can drive pitching
Fagging realizes 80 ° of range of pitch motion.
2. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator as claimed in claim 1, is characterized in that the composition plane four
Third connecting rod length l of linkage3, fourth link length l4, the 5th length of connecting rod l5, rod hinge connection seat and main hinged seat it
Between apart from l2, main hinged seat away to master arm and the 5th rod hinge connection position apart from l1Relation be, l1：l2：l3：l4：
l5=100:170～175:65～130：40～70:90～210.
3. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator as claimed in claim 2, is characterized in that main electric pushrod and master
The angular range of support arm is 3.5 ° -6 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094117.XA CN105538303B (en) | 2016-02-22 | 2016-02-22 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094117.XA CN105538303B (en) | 2016-02-22 | 2016-02-22 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
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| Publication Number | Publication Date |
|---|---|
| CN105538303A CN105538303A (en) | 2016-05-04 |
| CN105538303B true CN105538303B (en) | 2017-04-26 |
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| CN201610094117.XA Expired - Fee Related CN105538303B (en) | 2016-02-22 | 2016-02-22 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
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| CN105538303A (en) | 2016-05-04 |
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