CN106142135A - A kind of quadrangular mechanical arm driving mechanism - Google Patents
A kind of quadrangular mechanical arm driving mechanism Download PDFInfo
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- CN106142135A CN106142135A CN201510179503.4A CN201510179503A CN106142135A CN 106142135 A CN106142135 A CN 106142135A CN 201510179503 A CN201510179503 A CN 201510179503A CN 106142135 A CN106142135 A CN 106142135A
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- China
- Prior art keywords
- drive mechanism
- quadrangular
- mechanical arm
- guide rail
- arm driving
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Abstract
A kind of quadrangular mechanical arm driving mechanism, described development agency is four sets；Described X is connected by fixture with described Y-direction drive mechanism to drive mechanism, and described X is to drive mechanism, described Y-direction drive mechanism and described cooperation moving guide rail the most on the same line；Four overlap described development agency forms a quadrangular by the mutual pivot joint of connector；The articulated section often overlapping described development agency is the 3rd articulated section；Four described connectors of described quadrangular lowermost end, one of them is fixed on described fixture；The other three is connected to drive mechanism, described Y-direction drive mechanism and described cooperation moving guide rail with described X respectively；Described quadrangular along described X to the X direction guiding rail of drive mechanism, the Y-direction guide rail of described Y-direction drive mechanism and described cooperation moving guide rail simultaneous retractable.The present invention is by above structure, and when mechanical arm extends or shrinks simultaneously, it is motionless, and entirety moves to a direction, improves synchronicity, stability and bearing capacity.
Description
Technical field
The present invention relates to machinery manufacturing technology field, particularly relate to a kind of quadrangular mechanical arm driving mechanism.
Background technology
Development agency has at present and is widely applied very much and develops, as folding tent, contractile door curtain,
Elevator, foldable desk lamp or mechanical arm etc..Its feature is that magnification is big, and extensible distance is with big
Span, and it is the least to be taken up space after it shrinks, and is therefore applied in many industries.Great majority at present
The application of development agency uses one side development agency or the development agency of double flat row, as door curtain uses
Being one side development agency, elevator uses the development agency of double flat row.The master of most development agency
Wanting shortcoming is that the intensity of the structure on its Impact direction and rigidity are not enough to bear by under multi-direction power effect
The load-bearing effect of this power, is susceptible to askew folding, and safety is the highest.Additionally, the load of current development agency
Lotus ability is the highest, and these weakness limit its wider application.If using the development agency of double flat row,
Although load-carrying ability can be strengthened, but the asynchronous problem of work between two development agencies, can be there is, lead
The work platforms causing elevator runs the problems such as unstable.
The mechanical arm being composited by multiple scissors mechanisms, its structure is more stable, will become the one of mechanical arm
Individual important development direction.As a newer mechanical arm field, its drive structure need more research and
Development.
Summary of the invention
It is an object of the invention to propose a kind of quadrangular mechanical arm driving mechanism.
For reaching this purpose, the present invention by the following technical solutions:
A kind of quadrangular mechanical arm driving mechanism, including development agency, X to drive mechanism, Y-direction drive mechanism
With cooperation moving guide rail；
Described development agency is formed by overlapping the head and the tail pivot joint of V shape rod member more；Described V shape rod member is by two connections
The intersection pivot joint of bar medium position forms, and the articulated section that described connecting rod medium position intersects is the first articulated section,
The head and the tail articulated sections overlapping described V shape rod member are the second articulated section more；Described development agency is four sets；
Described X is connected by fixture with described Y-direction drive mechanism to drive mechanism, and described cooperation is mobile to be led
One end of rail is mounted on described fixture, and described X is to drive mechanism, described Y-direction drive mechanism and institute
State cooperation moving guide rail the most on the same line；
Four overlap described development agency forms a quadrangular by the mutual pivot joint of connector；Often can open up machine described in set
The articulated section of structure is the 3rd articulated section；Four described connectors of described quadrangular lowermost end, one of them is solid
Due to described fixture；The other three respectively with described X to drive mechanism, described Y-direction drive mechanism and institute
State cooperation moving guide rail to connect；Described quadrangular along described X to the X direction guiding rail of drive mechanism, described Y-direction
The Y-direction guide rail of drive mechanism and described cooperation moving guide rail simultaneous retractable.
Preferably, described fixture is hollow fixed bin.
Preferably, described X includes X direction guiding rail to drive mechanism, X to screw mandrel, X to feed screw nut's seat and X
To driving means, described X is fixed on described X direction guiding rail to one end of screw mandrel, and the other end and described X are to driving
The outfan of dynamic device connects；Described X is installed on described X on screw mandrel to feed screw nut's seat, along described X
Direction guiding rail moves；One described connector of described quadrangular lowermost end is mounted on described X to screw mandrel spiral shell
Female seat.
Preferably, described Y-direction drive mechanism includes Y-direction guide rail, Y-direction screw mandrel, Y-direction feed screw nut's seat and Y
To driving means, described Y-direction guide rail is fixed in one end of described Y-direction screw mandrel, and the other end drives with described Y-direction
The outfan of dynamic device connects；Described Y-direction feed screw nut's seat is installed on described Y-direction screw mandrel, along described X
Direction guiding rail moves；One described connector of described quadrangular lowermost end is mounted on described Y-direction screw mandrel spiral shell
Female seat.
Preferably, described cooperation moving guide rail includes line slideway and the slide block moved along described line slideway；
One described connector of described quadrangular lowermost end is mounted on described slide block.
Preferably, described first driving means is motor or piston cylinder, and it is mounted on described hollow fixing
In box.
Preferably, described second driving means is motor or machine driving, and it is mounted on described hollow solid
Determine in box.
Preferably, described X is mutually perpendicular to described Y-direction drive mechanism to drive mechanism.
Preferably, described cooperation moving guide rail respectively with described X to drive mechanism and described Y-direction drive mechanism
Become the angle of 45 degree.
Preferably, described connector is made up of two connecting plates constituting V-arrangement.
Accompanying drawing explanation
Fig. 1 is schematic top plan view during quadrangular mechanical arm of the present invention contraction.
Partial schematic diagram when Fig. 2 is that in the present invention, quadrangular mechanical arm stretches.
Fig. 3 is the structural representation of connector of the present invention.
Wherein: 1 is connecting rod, 2 is the first articulated section, and 3 is the second articulated section, and 7 is fixture, and 8 for even
Fitting, 9 is the 3rd articulated section, and 41 is X direction guiding rail, 42 be X to screw mandrel, 43 be X to feed screw nut's seat,
44 be X to driving means, 51 is Y-direction guide rail, and 52 is Y-direction screw mandrel, and 53 is Y-direction feed screw nut's seat,
54 is Y-direction driving means, and 61 is line slideway, and 62 is slide block, and 81 is connecting plate.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
A kind of quadrangular mechanical arm driving mechanism, including development agency, X to drive mechanism, Y-direction drive mechanism
With cooperation moving guide rail；
Described development agency is formed by overlapping the head and the tail pivot joint of V shape rod member more；Described V shape rod member is by two connections
The intersection pivot joint of bar 1 medium position forms, and the articulated section that described connecting rod medium position intersects is the first articulated section 2,
The head and the tail articulated sections overlapping described V shape rod member are the second articulated section 3 more；Described development agency is four sets；
Described X is connected by fixture 7 with described Y-direction drive mechanism to drive mechanism, and described cooperation moves
One end of guide rail is mounted on described fixture 7, described X to drive mechanism, described Y-direction drive mechanism and
Described cooperation moving guide rail is the most on the same line；
Four overlap described development agency forms a quadrangular by the mutual pivot joint of connector 8；Often can open up described in set
The articulated section of mechanism is the 3rd articulated section 9；Four described connectors 8, Qi Zhongyi of described quadrangular lowermost end
Individual it is fixed on described fixture 7；The other three respectively with described X to drive mechanism, described Y-direction drive mechanism
Connect with described cooperation moving guide rail；Described quadrangular along described X to the X direction guiding rail of drive mechanism, described Y
To Y-direction guide rail and the described cooperation moving guide rail simultaneous retractable of drive mechanism.
Development agency is used V shape member structure pivot joint to connect by connecting rod 1, steady when flexible of fork structure
Qualitative height, uses four set development agencies to be combined into a quadrangular mechanical arm, mutually plays a supporting role, and
And axial all directions stress-bearing capability strengthens, quadrangular mechanical arm rigidity on multi-direction and intensity is made to increase
Greatly, making to bear enabling capabilities and become big, magnification increases, load-carrying ability increases, and the scope of application is more extensive.
Four overlap described development agency telescopic direction unanimously, flexible stable, simple in construction, produce simple.
And use described X to drive mechanism, described Y-direction drive mechanism and described cooperation travel mechanism and institute
Stating quadrangular mechanical arm to coordinate, a vertex position of described quadrangular mechanical arm is fixing, improves institute
State synchronicity when triangular prism mechanical arm stretches and stability to same direction.
Preferably, described fixture 7 is hollow fixed bin.
Described hollow fixed bin is for installing driving of described first drive mechanism and described second drive mechanism
Dynamic device, makes structure compacter.
Preferably, described X includes X direction guiding rail 41 to drive mechanism, X to screw mandrel 42, X to feed screw nut
Seat 43 and X is to driving means, and described X is fixed on described X direction guiding rail 41 to one end of screw mandrel 42, another
End is connected to the outfan of driving means with described X；Described X to feed screw nut's seat 43 be installed on described X to
On screw mandrel 42, move along described X direction guiding rail 41；One described connector 8 of described quadrangular lowermost end
It is mounted on described X to feed screw nut's seat 43.
Preferably, described Y-direction drive mechanism includes Y-direction guide rail 51, Y-direction screw mandrel 52, Y-direction feed screw nut
Seat 53 and Y-direction driving means, one end of described Y-direction screw mandrel 42 is fixed on described Y-direction guide rail 41, another
End is connected with the outfan of described Y-direction driving means；Described Y-direction feed screw nut's seat 53 is installed on described Y-direction
On screw mandrel 52, move along described Y-direction guide rail 51；One described connector 8 of described quadrangular lowermost end
It is mounted on described Y-direction feed screw nut's seat 53.
Use screw mandrel to drive and realize described triangular prism mechanical arm simultaneous retractable, simple in construction, low cost, drive
Precision is high, it is not easy to breaks down, and easily keeps in repair.
Preferably, described cooperation moving guide rail includes line slideway 61 and moves along described line slideway 61
Slide block 63；One described connector 8 of described quadrangular lowermost end is mounted on described slide block 62.
Use described line slideway 61 and described slide block 62 to carry out cooperation mobile, improve described four ribs further
Synchronicity when post mechanical arm stretches and stability, and simple in construction, low cost.
Preferably, described first driving means is motor, and it is mounted in described hollow fixed bin.
Preferably, described second driving means is motor, and it is mounted in described hollow fixed bin.
Motor drive efficiency is high, and low cost is placed in described hollow fixed bin and makes structure compacter.
Preferably, described X is mutually perpendicular to described Y-direction drive mechanism to drive mechanism.
Also having other a kind of optimal way, described first driving means is piston cylinder, and it is mounted on institute
State in hollow fixed bin；Described second driving means is machine driving, and it is mounted on described hollow fixing
In box.
Use piston cylinder and mechanical transmission structure simple, low cost.
Described X is mutually perpendicular to be optimum structure to drive mechanism and described Y-direction drive mechanism, it is ensured that described four
Prism mechanical arm stretches
Preferably, described cooperation moving guide rail respectively with described X to drive mechanism and described Y-direction drive mechanism
Become the angle of 45 degree.
Described X is mutually perpendicular to described Y-direction drive mechanism to drive mechanism, and described cooperation moving guide rail
The angle of 45 degree is become to be described quadrangular mechanical arm with described X to drive mechanism and described Y-direction drive mechanism
Optimum structure, it is ensured that the smoothness of described quadrangular mechanical arm simultaneous retractable, and it is not easy distortion.
Preferably, as described in Figure 3, described connector 8 is made up of two connecting plates 81 constituting V-arrangement.Knot
Structure is simple, makes simple, low cost, and convenient installation connects.
The know-why of the present invention is described above in association with specific embodiment.These describe and are intended merely to explain this
The principle of invention, and limiting the scope of the invention can not be construed to by any way.Based on herein
Explaining, those skilled in the art need not pay performing creative labour can associate other tool of the present invention
Body embodiment, within these modes fall within protection scope of the present invention.
Claims (10)
1. a quadrangular mechanical arm driving mechanism, it is characterised in that: include that development agency, X are to driving machine
Structure, Y-direction drive mechanism and cooperation moving guide rail；
Described development agency is formed by overlapping the head and the tail pivot joint of V shape rod member more；Described V shape rod member is by two connections
The intersection pivot joint of bar medium position forms, and the articulated section that described connecting rod medium position intersects is the first articulated section,
The head and the tail articulated sections overlapping described V shape rod member are the second articulated section more；Described development agency is four sets；
Described X is connected by fixture with described Y-direction drive mechanism to drive mechanism, and described cooperation is mobile to be led
One end of rail is mounted on described fixture, and described X is to drive mechanism, described Y-direction drive mechanism and institute
State cooperation moving guide rail the most on the same line；
Four overlap described development agency forms a quadrangular by the mutual pivot joint of connector；Often can open up machine described in set
The articulated section of structure is the 3rd articulated section；Four described connectors of described quadrangular lowermost end, one of them is solid
Due to described fixture；The other three respectively with described X to drive mechanism, described Y-direction drive mechanism and institute
State cooperation moving guide rail to connect；Described quadrangular along described X to the X direction guiding rail of drive mechanism, described Y-direction
The Y-direction guide rail of drive mechanism and described cooperation moving guide rail simultaneous retractable.
Quadrangular mechanical arm driving mechanism the most according to claim 1, it is characterised in that: described fixing
Part is hollow fixed bin.
Quadrangular mechanical arm driving mechanism the most according to claim 2, it is characterised in that: described X to
Drive mechanism includes X direction guiding rail, X to screw mandrel, X to feed screw nut's seat and X to driving means, described X to
Described X direction guiding rail is fixed in one end of screw mandrel, and the other end is connected to the outfan of driving means with described X；
Described X is installed on described X on screw mandrel to feed screw nut's seat, moves along described X direction guiding rail；Described four ribs
One described connector of post lowermost end is mounted on described X to feed screw nut's seat.
Quadrangular mechanical arm driving mechanism the most according to claim 3, it is characterised in that: described Y-direction
Drive mechanism includes Y-direction guide rail, Y-direction screw mandrel, Y-direction feed screw nut's seat and Y-direction driving means, described Y-direction
Described Y-direction guide rail is fixed in one end of screw mandrel, and the other end is connected with the outfan of described Y-direction driving means；
Described Y-direction feed screw nut's seat is installed on described Y-direction screw mandrel, moves along described X direction guiding rail；Described four ribs
One described connector of post lowermost end is mounted on described Y-direction feed screw nut's seat.
Quadrangular mechanical arm driving mechanism the most according to claim 1, it is characterised in that: described cooperation
Moving guide rail includes line slideway and the slide block moved along described line slideway；The one of described quadrangular lowermost end
Individual described connector is mounted on described slide block.
Quadrangular mechanical arm driving mechanism the most according to claim 3, it is characterised in that: described first
Driving means is motor or piston cylinder, and it is mounted in described hollow fixed bin.
Quadrangular mechanical arm driving mechanism the most according to claim 4, it is characterised in that: described second
Driving means is motor or machine driving, and it is mounted in described hollow fixed bin.
Quadrangular mechanical arm driving mechanism the most according to claim 1, it is characterised in that: described X to
Drive mechanism is mutually perpendicular to described Y-direction drive mechanism.
Quadrangular mechanical arm driving mechanism the most according to claim 8, it is characterised in that: described cooperation
Moving guide rail becomes the angle of 45 degree respectively with described X to drive mechanism and described Y-direction drive mechanism.
Quadrangular mechanical arm driving mechanism the most according to claim 1, it is characterised in that: described company
Fitting is made up of two connecting plates constituting V-arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510179503.4A CN106142135A (en) | 2015-04-15 | 2015-04-15 | A kind of quadrangular mechanical arm driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510179503.4A CN106142135A (en) | 2015-04-15 | 2015-04-15 | A kind of quadrangular mechanical arm driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142135A true CN106142135A (en) | 2016-11-23 |
Family
ID=58058254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510179503.4A Pending CN106142135A (en) | 2015-04-15 | 2015-04-15 | A kind of quadrangular mechanical arm driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142135A (en) |
-
2015
- 2015-04-15 CN CN201510179503.4A patent/CN106142135A/en active Pending
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Application publication date: 20161123 |