CN106313066A - Multi-purpose mechanical arm device based on plane quadrilateral mechanism - Google Patents
Multi-purpose mechanical arm device based on plane quadrilateral mechanism Download PDFInfo
- Publication number
- CN106313066A CN106313066A CN201610824296.8A CN201610824296A CN106313066A CN 106313066 A CN106313066 A CN 106313066A CN 201610824296 A CN201610824296 A CN 201610824296A CN 106313066 A CN106313066 A CN 106313066A
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- CN
- China
- Prior art keywords
- arm
- functional module
- drive
- quadrilateral mechanism
- plane quadrilateral
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a multi-purpose mechanical arm device based on a plane quadrilateral mechanism. The multi-purpose mechanical arm device comprises a functional module, a steering engine, a drive arm, a driven arm and a fixed carrier; the steering engine is arranged on the fixed carrier; the drive arm and the driven arm are spaced with each other and are parallel to each other; the upper end of the drive arm and the upper end of the driven arm are rotatably connected with the functional module through hinges, separately; the lower end of the drive arm is connected with the rotary shaft of the steering engine; the lower end of the driven arm is rotatably connected with a positioning plate of the steering engine through a hinge; and when the rotary shaft of the steering engine rotates, the drive arm synchronously swings along with the rotary shaft, so that the driven arm and the functional module are driven to carry out corresponding action in a running track of the drive arm. According to the multi-purpose mechanical arm device disclosed by the invention, the technical means are simple and convenient, and the steering engine is used for controlling motion angle size of the drive arm and the driven arm, so that the functional module realizes position control on the functional module on different positions of the space, is different under different situations and is used for meeting functional needs under the special situations.
Description
Technical field
The present invention relates to the mechanical arm for robot, particularly relate to a kind of multipurpose machine based on plane quadrilateral mechanism
Mechanical arm device.
Background technology
Current rate of industrial development is increasingly faster, and wherein hiding danger also gets more and more, and much manufactures high-risk
The production of product (such as nuclear fuel material, the industrial chemicals etc. of high-risk) is easy to contingency, so, when contingency occurs
Time, the scene of the accident must have one to be apparent from by we, but owing to a lot of hazardous environments do not allow us to be directly entered,
Instrument must be sent to replace the data at our scene of collecting, so the scene of the accident effectively could be controlled.
Summary of the invention
It is an object of the invention to overcome the shortcoming and defect of above-mentioned prior art, it is provided that a kind of simple in construction, motion spirit
The multi-purpose machinery arm assembly based on plane quadrilateral mechanism lived.
The present invention is achieved through the following technical solutions:
A kind of multi-purpose machinery arm assembly based on plane quadrilateral mechanism, including functional module 2, steering wheel 1, drive arm 3,
Slave arm 4 and immobilization carrier 5；Described steering wheel 1 is arranged on immobilization carrier 5；Described driving arm 3 and slave arm 4 are spaced also
Parallel to each other；The upper end of described driving arm 3 and slave arm 4 is rotationally connected functional module 2 by hinge respectively, drives arm 3 times
End connects the rotating shaft of steering wheel 1, and the lower end of slave arm 4 is rotationally connected the location-plate of steering wheel 1 by hinge；When the rotating shaft of steering wheel 1 turns
Time dynamic, drive arm 3 to follow its synchronous hunting, and then it is corresponding dynamic to drive slave arm 4 and functional module 2 to make in its running orbit
Make.
Described functional module 2 is fixture, by the handgrip of fixture, with to the gripping of differing heights article and placement.
Described driving arm 3 and slave arm 4 are the mechanical arm of rigidity or flexibility.The motor of described steering wheel 1 uses alternating current-direct current
Servomotor or motor.The body of described driving arm 3 is flat structure, and the body of slave arm 4 is cylindrical structure.
The present invention, relative to prior art, has such advantages as and effect:
The present invention is applied to high-risk field, when functional module 2 is sensor, the mankind can be difficult to the high-risk entered
Region realizes remotely monitoring and remotely operation, thus protects human body.The nuclear power station of nuclear leakage, high-risk industrial chemicals is such as occurred to let out
Factory of dew etc..
When the present invention is applied to industrial circle, by immobilization carrier 5, the present invention is fixed on specific support, makes industry
Robot, it is achieved to the monitoring in industrial flow, operation, it is possible to liberation labour force, it is achieved operate fast and accurately.
When the present invention is applied to toy for children field, this device can be reduced to toy for children, by this device
Control, cultivate manipulative ability and the operational capacity of child.
Technical measure is simple and easy to do, and steering wheel 1 is used for controlling to drive arm 3 and the angular dimension of slave arm 4 motion, from
And realizing the functional module 2 diverse location in space, it is achieved the position control to functional module 2, functional module 2 is in different situations
Under different, be used for meet the function needs under particular context.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1.The invention discloses a kind of multi-purpose machinery arm assembly based on plane quadrilateral mechanism, including merit
Energy module 2, steering wheel 1, driving arm 3, slave arm 4 and immobilization carrier 5；Described steering wheel 1 is arranged on immobilization carrier 5；Described driving
Arm 3 and slave arm 4 are spaced and parallel to each other；The upper end of described driving arm 3 and slave arm 4 is rotationally connected by hinge respectively
Functional module 2, drives the lower end of arm 3 to connect the rotating shaft of steering wheel 1, and the lower end of slave arm 4 is rotationally connected determining of steering wheel 1 by hinge
Position plate；When the axis of rotation of steering wheel 1, drive arm 3 to follow its synchronous hunting, and then drive slave arm 4 and functional module 2 at it
Corresponding actions is made in running orbit.
Described functional module 2 is fixture, by the handgrip of fixture, with to the gripping of differing heights article and placement.
Described driving arm 3 and slave arm 4 are the mechanical arm of rigidity or flexibility, it is also possible to be monoblock type or removable fractal
Formula.
The motor of described steering wheel 1 uses alternating current-direct current servomotor or motor.In the less demanding situation of control accuracy
Under, for realizing higher cost performance, it would however also be possible to employ the motor of relatively low accuracy controls.
The body of described driving arm 3 is flat structure, and the body of slave arm 4 is cylindrical structure.Certainly according to tool
Body requirement, it is possible to use other shapes.
Factory under environment is contaminated state, functional module 2 is chosen as sensor, by all kinds of number of sensor collection
According to.It is transported in the environment being contaminated by certain class load mode (such as wireless remote-vehicle), changes biography by controlling steering wheel 1
The space upper-lower position of sensor, adjusting remote car towards the space right position that can control sensor.So, it becomes possible to real
Data acquisition referring now to contaminated area diverse location.
As it has been described above, just can preferably realize the present invention.
Embodiments of the present invention are also not restricted to the described embodiments, other any spirit without departing from the present invention
With the change made under principle, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in the present invention's
Within protection domain.
Claims (6)
1. a multi-purpose machinery arm assembly based on plane quadrilateral mechanism, it is characterised in that: include functional module (2), rudder
Machine (1), driving arm (3), slave arm (4) and immobilization carrier (5)；
Described steering wheel (1) is arranged on immobilization carrier (5)；Described driving arm (3) and slave arm (4) are spaced and put down each other
OK；
The upper end of described driving arm (3) and slave arm (4) is rotationally connected functional module (2) by hinge respectively, drives arm (3)
Lower end connects the rotating shaft of steering wheel (1), and the lower end of slave arm (4) is rotationally connected the location-plate of steering wheel (1) by hinge；Work as steering wheel
(1), during axis of rotation, drive arm (3) to follow its synchronous hunting, and then drive slave arm (4) and functional module (2) in its fortune
Corresponding actions is made in row track.
Multi-purpose machinery arm assembly based on plane quadrilateral mechanism the most according to claim 1, it is characterised in that: described merit
Can module (2) be fixture, by the handgrip of fixture, with to the gripping of differing heights article and placement.
Multi-purpose machinery arm assembly based on plane quadrilateral mechanism the most according to claim 1, it is characterised in that drive described in:
Swing arm (3) and slave arm (4) are the mechanical arm of rigidity or flexibility.
Multi-purpose machinery arm assembly based on plane quadrilateral mechanism the most according to claim 3, it is characterised in that: described rudder
The motor of machine (1) uses alternating current-direct current servomotor or motor.
Multi-purpose machinery arm assembly based on plane quadrilateral mechanism the most according to claim 3, it is characterised in that drive described in:
The body of swing arm (3) is flat structure.
Multi-purpose machinery arm assembly based on plane quadrilateral mechanism the most according to claim 3, it is characterised in that: described from
The body of swing arm (4) is cylindrical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824296.8A CN106313066A (en) | 2016-09-14 | 2016-09-14 | Multi-purpose mechanical arm device based on plane quadrilateral mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824296.8A CN106313066A (en) | 2016-09-14 | 2016-09-14 | Multi-purpose mechanical arm device based on plane quadrilateral mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313066A true CN106313066A (en) | 2017-01-11 |
Family
ID=57786948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610824296.8A Pending CN106313066A (en) | 2016-09-14 | 2016-09-14 | Multi-purpose mechanical arm device based on plane quadrilateral mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313066A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11872702B2 (en) | 2018-09-13 | 2024-01-16 | The Charles Stark Draper Laboratory, Inc. | Robot interaction with human co-workers |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513734A (en) * | 2009-03-02 | 2009-08-26 | 江阴纳尔捷机器人有限公司 | Synchronous robot group with single task |
| WO2013075245A1 (en) * | 2011-11-25 | 2013-05-30 | Robotiq Inc. | A gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN103522303A (en) * | 2013-10-30 | 2014-01-22 | 重庆科技学院 | Explosive ordnance disposal device of explosive ordnance disposal robot and control system and method thereof |
| CN204414105U (en) * | 2015-02-09 | 2015-06-24 | 郭启 | A kind of medical bone surgery auxiliary manipulator |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
-
2016
- 2016-09-14 CN CN201610824296.8A patent/CN106313066A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513734A (en) * | 2009-03-02 | 2009-08-26 | 江阴纳尔捷机器人有限公司 | Synchronous robot group with single task |
| WO2013075245A1 (en) * | 2011-11-25 | 2013-05-30 | Robotiq Inc. | A gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN103522303A (en) * | 2013-10-30 | 2014-01-22 | 重庆科技学院 | Explosive ordnance disposal device of explosive ordnance disposal robot and control system and method thereof |
| CN204414105U (en) * | 2015-02-09 | 2015-06-24 | 郭启 | A kind of medical bone surgery auxiliary manipulator |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11872702B2 (en) | 2018-09-13 | 2024-01-16 | The Charles Stark Draper Laboratory, Inc. | Robot interaction with human co-workers |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |