CN105773600A - Multi-degree of freedom mounting device - Google Patents

Multi-degree of freedom mounting device Download PDF

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Publication number
CN105773600A
CN105773600A CN201610319522.7A CN201610319522A CN105773600A CN 105773600 A CN105773600 A CN 105773600A CN 201610319522 A CN201610319522 A CN 201610319522A CN 105773600 A CN105773600 A CN 105773600A
Authority
CN
China
Prior art keywords
revolute pair
expansion link
rod
sliding sleeve
triangular
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.)
Pending
Application number
CN201610319522.7A
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Chinese (zh)
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi Province Ningxuxi Technology Co Ltd
Original Assignee
Guangxi Province Ningxuxi Technology Co Ltd
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 Guangxi Province Ningxuxi Technology Co Ltd filed Critical Guangxi Province Ningxuxi Technology Co Ltd
Priority to CN201610319522.7A priority Critical patent/CN105773600A/en
Publication of CN105773600A publication Critical patent/CN105773600A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type

Abstract

The invention discloses a multi-degree of freedom mounting device. The multi-degree of freedom mounting device is characterized in that the root parts of a first scraper bucket and a second scraper bucket are mounted together through a revolute pair I; the lower end of a big arm is connected on a base through a revolute pair II; one end of a first telescopic rod is connected on the base through a revolute pair III; the other end of the first telescopic rod is connected with a first angle of a triangular connecting plate through a revolute pair IV; a second angle of the triangular connecting plate is connected on the big arm through a revolute pair V; a third angle of the triangular connecting plate is connected with one end of a second telescopic rod through a revolute pair VI; the other end of the second telescopic rod is connected on a rotating shaft of the revolute pair I; and a first sliding sleeve is mounted on the second telescopic rod in a sleeving manner, and is connected at the upper end of the big arm through a revolute pair VII. According to the multi-degree of freedom mounting device, the movement inertia is low, the dynamic performance is good, and the requirement of high-speed transportation and stacking can be met relatively well.

Description

A kind of multiple degrees of freedom erecting device
Technical field
The present invention relates to mechanical field, specifically a kind of multiple degrees of freedom erecting device.
Background technology
The demand picked being carried out object by mechanical arm increases.Pick and refer to and hold an object successively and be transported to the place specified from the mixed and disorderly multiple objects piled up.When the mixed and disorderly object piled up is picked, for arranging the cost spatially of each parts feeder, the temporal cost for operating each parts feeder has time-varying many.
Traditional mechanical arm has the advantages such as simple in construction, cost is low, work space is big, but, serial manipulator rigidity is low comparatively speaking, it is impossible to be applied at a high speed, the occasion of big carrying;Piling causes the problems such as robot arm weight is big, poor rigidity, inertia are big, joint error is accumulative, mechanism dynamic poor-performing, it is difficult to meet the requirement carrying at a high speed piling.Along with motor technology development and control technology raising, controllable mechanical mechanism is that engineering machinery provides wide development space, also proposes new requirements at the higher level in serviceability.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of multiple degrees of freedom erecting device.
To achieve these goals, present invention employs techniques below scheme:
A kind of multiple degrees of freedom erecting device, including the first scraper bowl, the second scraper bowl, large arm, base, the first expansion link, triangular connecting plate, the second expansion link, the first sliding sleeve, first connecting rod, the 3rd expansion link, second connecting rod, the second sliding sleeve, third connecting rod, the 4th expansion link, fourth link, the 3rd sliding sleeve and walking mechanism
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on base by revolute pair two, first expansion link one end is connected on base by revolute pair three, the first expansion link other end is connected with first jiao of triangular connecting plate by revolute pair four, second jiao of triangular connecting plate is connected in large arm by revolute pair five, the third angle of triangular connecting plate is connected with one end of the second expansion link by revolute pair six, the other end of the second expansion link is connected in the rotating shaft of revolute pair one, first sliding sleeve is sleeved on the second expansion link and is connected to large arm upper end by revolute pair seven
First connecting rod one end is connected in large arm by revolute pair eight, the first connecting rod other end is connected with the 3rd expansion link one end by revolute pair nine, the 3rd expansion link other end is connected to the first scraper bowl back by revolute pair ten, second connecting rod one end is connected in the first half section of the second expansion link by revolute pair 11, the second connecting rod other end is connected on the second sliding sleeve by revolute pair 12, second sliding sleeve is sleeved on the 3rd expansion link
Third connecting rod one end is connected in large arm by revolute pair 13, the third connecting rod other end is connected with the 4th expansion link one end by revolute pair 14, the 4th expansion link other end is connected to the second scraper bowl back by revolute pair 15, fourth link one end is connected in the first half section of the second expansion link by revolute pair 16, the fourth link other end is connected on the 3rd sliding sleeve by revolute pair 17,3rd sliding sleeve is sleeved on the 4th expansion link
Base is connected in walking mechanism by revolute pair 18.
Compared with prior art, the beneficial effect that the present invention possesses:
The present invention has without cumulative error, precision compared with high, compact conformation, the feature such as bearing capacity is big, rigidity is high and end effector inertia is little, driving device is placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, have that work space is big, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.Not only have that work space is big, flexible movements, reliability high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation one of multiple degrees of freedom erecting device of the present invention.
Fig. 2 is the structural representation two of multiple degrees of freedom erecting device of the present invention.
Detailed description of the invention
By the examples below technical scheme is further elaborated.
Embodiment 1
A kind of multiple degrees of freedom erecting device, including first scraper bowl the 18, second scraper bowl 19, large arm 20, base the 21, first expansion link 22, triangular connecting plate the 23, second expansion link the 24, first sliding sleeve 25, first connecting rod the 26, the 3rd expansion link 27, second connecting rod the 28, second sliding sleeve 29, third connecting rod the 30, the 4th expansion link 31, fourth link the 32, the 3rd sliding sleeve 33 and walking mechanism
The root of the first scraper bowl 18 and the second scraper bowl 19 is installed together by revolute pair 1,
Large arm 20 lower end is connected on base 21 by revolute pair 22, first expansion link 22 one end is connected on base 21 by revolute pair 33, first expansion link 22 other end is connected with first jiao of triangular connecting plate 23 by revolute pair 44, second jiao of triangular connecting plate 23 is connected in large arm 20 by revolute pair 55, the third angle of triangular connecting plate 23 is connected with one end of the second expansion link 24 by revolute pair 66, the other end of the second expansion link 24 is connected in the rotating shaft of revolute pair 1, first sliding sleeve 25 is sleeved on the second expansion link 24 and is connected to large arm 20 upper end by revolute pair 77,
First connecting rod 26 one end is connected in large arm by revolute pair 88, first connecting rod 26 other end is connected with the 3rd expansion link 27 one end by revolute pair 99,3rd expansion link 27 other end is connected to the first scraper bowl 18 back by revolute pair 10, second connecting rod 28 one end is connected in the first half section of the second expansion link 24 by revolute pair 11, second connecting rod 28 other end is connected on the second sliding sleeve 29 by revolute pair 12, second sliding sleeve 29 is sleeved on the 3rd expansion link 27
Third connecting rod 30 one end is connected in large arm by revolute pair 13, third connecting rod 30 other end is connected with the 4th expansion link 31 one end by revolute pair 14,4th expansion link 31 other end is connected to the second scraper bowl 19 back by revolute pair 15, fourth link 32 one end is connected in the first half section of the second expansion link 24 by revolute pair 16, fourth link 32 other end is connected on the 3rd sliding sleeve 33 by revolute pair 17,3rd sliding sleeve 33 is sleeved on the 4th expansion link 31
Base 21 is connected in walking mechanism by revolute pair 18.

Claims (1)

1. a multiple degrees of freedom erecting device, it is characterized in that, including the first scraper bowl, the second scraper bowl, large arm, base, the first expansion link, triangular connecting plate, the second expansion link, the first sliding sleeve, first connecting rod, the 3rd expansion link, second connecting rod, the second sliding sleeve, third connecting rod, the 4th expansion link, fourth link, the 3rd sliding sleeve and walking mechanism
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on base by revolute pair two, first expansion link one end is connected on base by revolute pair three, the first expansion link other end is connected with first jiao of triangular connecting plate by revolute pair four, second jiao of triangular connecting plate is connected in large arm by revolute pair five, the third angle of triangular connecting plate is connected with one end of the second expansion link by revolute pair six, the other end of the second expansion link is connected in the rotating shaft of revolute pair one, first sliding sleeve is sleeved on the second expansion link and is connected to large arm upper end by revolute pair seven
First connecting rod one end is connected in large arm by revolute pair eight, the first connecting rod other end is connected with the 3rd expansion link one end by revolute pair nine, the 3rd expansion link other end is connected to the first scraper bowl back by revolute pair ten, second connecting rod one end is connected in the first half section of the second expansion link by revolute pair 11, the second connecting rod other end is connected on the second sliding sleeve by revolute pair 12, second sliding sleeve is sleeved on the 3rd expansion link
Third connecting rod one end is connected in large arm by revolute pair 13, the third connecting rod other end is connected with the 4th expansion link one end by revolute pair 14, the 4th expansion link other end is connected to the second scraper bowl back by revolute pair 15, fourth link one end is connected in the first half section of the second expansion link by revolute pair 16, the fourth link other end is connected on the 3rd sliding sleeve by revolute pair 17,3rd sliding sleeve is sleeved on the 4th expansion link
Base is connected in walking mechanism by revolute pair 18.
CN201610319522.7A 2016-05-15 2016-05-15 Multi-degree of freedom mounting device Pending CN105773600A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610319522.7A CN105773600A (en) 2016-05-15 2016-05-15 Multi-degree of freedom mounting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610319522.7A CN105773600A (en) 2016-05-15 2016-05-15 Multi-degree of freedom mounting device

Publications (1)

Publication Number Publication Date
CN105773600A true CN105773600A (en) 2016-07-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610319522.7A Pending CN105773600A (en) 2016-05-15 2016-05-15 Multi-degree of freedom mounting device

Country Status (1)

Country Link
CN (1) CN105773600A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107309904A (en) * 2017-07-04 2017-11-03 广西大学 A kind of multiple degrees of freedom clamps arm robot
CN107510507A (en) * 2017-09-26 2017-12-26 广西南宁栩兮科技有限公司 A kind of surgical Aided Machine arm
CN107669337A (en) * 2017-09-26 2018-02-09 广西南宁栩兮科技有限公司 A kind of operation robotic manipulation device

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009214194A (en) * 2008-03-07 2009-09-24 Okura Yusoki Co Ltd Stacking device, and stacking method
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103726532A (en) * 2013-12-17 2014-04-16 广西大学 Controllable symmetrical-and-parallel mechanism type loader
CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105252521A (en) * 2015-11-20 2016-01-20 覃煦 Multiple-degree-of-freedom industrial robot manipulator
CN105313107A (en) * 2015-11-10 2016-02-10 南宁邃丛赋语科技开发有限责任公司 Rotatable manipulation arm with metamorphic function
CN105328712A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Multi-freedom-degree industrial machine operation arm mechanism
CN105328695A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Controllable mechanism type movable mechanical arm
CN105397804A (en) * 2015-11-20 2016-03-16 覃珠强 Industrial robot manipulator capable of achieving multi-angle working
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm
CN205905021U (en) * 2016-05-15 2017-01-25 广西南宁栩兮科技有限公司 Multi freedom installation device

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009214194A (en) * 2008-03-07 2009-09-24 Okura Yusoki Co Ltd Stacking device, and stacking method
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103726532A (en) * 2013-12-17 2014-04-16 广西大学 Controllable symmetrical-and-parallel mechanism type loader
CN105313107A (en) * 2015-11-10 2016-02-10 南宁邃丛赋语科技开发有限责任公司 Rotatable manipulation arm with metamorphic function
CN105328712A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Multi-freedom-degree industrial machine operation arm mechanism
CN105328695A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Controllable mechanism type movable mechanical arm
CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105252521A (en) * 2015-11-20 2016-01-20 覃煦 Multiple-degree-of-freedom industrial robot manipulator
CN105397804A (en) * 2015-11-20 2016-03-16 覃珠强 Industrial robot manipulator capable of achieving multi-angle working
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm
CN205905021U (en) * 2016-05-15 2017-01-25 广西南宁栩兮科技有限公司 Multi freedom installation device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107309904A (en) * 2017-07-04 2017-11-03 广西大学 A kind of multiple degrees of freedom clamps arm robot
CN107510507A (en) * 2017-09-26 2017-12-26 广西南宁栩兮科技有限公司 A kind of surgical Aided Machine arm
CN107669337A (en) * 2017-09-26 2018-02-09 广西南宁栩兮科技有限公司 A kind of operation robotic manipulation device

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Application publication date: 20160720

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