CN109895076A - A kind of four-degree-of-freedheavy-load heavy-load mechanical arm - Google Patents
A kind of four-degree-of-freedheavy-load heavy-load mechanical arm Download PDFInfo
- Publication number
- CN109895076A CN109895076A CN201910233136.XA CN201910233136A CN109895076A CN 109895076 A CN109895076 A CN 109895076A CN 201910233136 A CN201910233136 A CN 201910233136A CN 109895076 A CN109895076 A CN 109895076A
- Authority
- CN
- China
- Prior art keywords
- large arm
- arm
- auxiliary
- load
- main
- 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.)
- Withdrawn
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention proposes a kind of four-degree-of-freedheavy-load heavy-load mechanical arms.It mainly include main large arm, auxiliary large arm, forearm, gripper and posture holding mechanism.Wherein main large arm and auxiliary large arm end pass through support shaft respectively and are connected to waist swing mechanism, and waist swing mechanism is fixed on pedestal, pedestal by bolt with greatly connect.Auxiliary large arm realizes the connection with main large arm by auxiliary large arm pull rod shaft, and forearm is mounted on main large arm front end, and gripper is mounted on forearm front end, and posture holding mechanism guarantees the level of gripper end.The mechanical arm completes different operating by installing different executing agencies additional in gripper end, can be applied to the various fields such as stacking, carrying.The mechanical arm load lifting capacity is up to 3000kg.
Description
Technical field
The present invention relates to a kind of four-degree-of-freedheavy-load heavy-load mechanical arms, belong to robot field.
Background technique
With the development of science and technology with the demand of market development, for industrial robot in raising production efficiency, raising is economical
Benefit guarantees product quality, improves working environment and optimization industrial layout etc. and has played increasingly important role, has become
It is deep to be favored by user for indispensable one of the tool of industrial automation, it dominates the market rapidly.However current, world's weight
The significant portion for carrying Industrial Robot Market share is all occupied by external company, robot, wherein well-known industrial robot four is big
Robot market's share that family occupies reaches more than half.Although strong company, robot, China also has developed in succession
A variety of robots, but their structure is no different with external robot architecture, and load capacity is not strong but involves great expense.
Robot architecture common at present is mostly serial manipulator, and it is empty that serial manipulator is capable of providing more flexible work
Between, so applying in fields such as welding, stacking, sprayings more.But due to the artificial open loop structure of serial machine, thus in joint
Larger moment of flexure is born, this requires connecting rod that there must be enough rigidity, and then becomes heavier.Simultaneously because motor, speed reducer etc.
The additive effect step by step of transmission device error, so that robot end's precision is also by large effect, so serial manipulator
It can not be used to bear heavy duty.Such as the specialized robot of domestic new pine production, loading is 40 tons；Although load capacity reaches, by
In using hydraulic-driven, structure bulky, flexibility are insufficient.
Parallel robot complete machine rigidity is big, and stable structure, bearing capacity is strong, and motional inertia is small, is widely used in high speed
Heavily loaded field；It is believed that still remaining load compared with the problems such as light, speed is lower, structure bulky.Have at present parallel
It is quadrangle closed linkage, four-degree-of-freedom and be suitable for carrying, stacking, de-stacking, vanning, the different areas of activity such as packaging, sorting
Mechanical arm, load are no more than 800kg, and the MPL800 maximum load for such as pacifying river is 800kg, the SRM300A maximum load of new pine is
300kg, Nanjing Ai Sidun ER450 maximum load be 450kg, they all use parallelogram closed linkage.With grabbing
The continuous improvement, the increase of mechanical arm degree of flexibility and the raising of the speed of service of load are taken, current existing mechanical arm is increasingly
Difficulty is met the requirements.
Summary of the invention
In order to solve the technical problems such as low-load existing in the prior art, low speed, flexible deficiency, the invention discloses one
Kind four-degree-of-freedheavy-load heavy-load mechanical arm both has serial machine artificial specifically, belonging to the mechanical arm of parallelogram closed linkage
Make the big feature in space, but also with the features such as parallel robot rigidity is big, load capacity is strong.According to carrying, stacking, de-stacking, dress
The requirement of heavy duty, high speed, high flexibility that the different areas of activity such as case, packaging, sorting propose robot is researched and developed a kind of improved flat
Row quadrangle closed linkage, load be 3000kg four-degree-of-freedheavy-load heavy-load mechanical arm.
The technical solution adopted by the invention is as follows:
A kind of four-degree-of-freedheavy-load heavy-load mechanical arm, including pedestal, waist swing mechanism, main large arm, auxiliary large arm, forearm, posture
Holding mechanism and gripper；
The waist swing mechanism is mounted on the base, driving backspin of the waist swing mechanism in first driving device
Turn；It can be rotated by 360 °；
The end of the main large arm is connected on the waist swing mechanism by main large arm support shaft, main large arm
Front end is connected by arm spindle with the forearm；The main large arm drives forearm to do under the driving of the second driving device
Pitching movement；
The end of the auxiliary large arm is connected on the waist swing mechanism by auxiliary large arm support shaft；Described is auxiliary
The connection with main large arm is realized by auxiliary large arm pull rod shaft in large arm front end；The auxiliary large arm is under the driving of third driving device
Drive main large arm does pitching movement campaign；
The gripper is mounted on forearm front end；The gripper is under the driving of fourth drive device around the rotation of vertical axes
Transhipment is dynamic；
The posture holding mechanism guarantees the level of gripper end.
As further technical solution, the main large arm includes main structure, one end peace of the main structure
Forearm mounting rack is filled, the other end installs the motor mounting rack for installing motor.
The first lead screw is equipped in the main structure, the both ends of first lead screw pass through a bearing block installation
In the main structure, first lead screw and the first feed screw nut cooperate, in first feed screw nut and company
Fitting is connected；Wherein one end of first lead screw drives its rotation by first motor.
More further, it is equipped with sliding rail on the inside of the main structure, sliding block is installed on the sliding rail, it is described
Sliding block be connected with the feed screw nut.
More further, the two sides of the connector are respectively provided with a cylinder connecting shaft, and two cylinders connect axial symmetry,
Each cylinder connecting shaft is hinged with one small arm brace one end, and the small arm brace other end is hinged with forearm rear end.
As further technical solution, the auxiliary large arm includes retracting cylinder, and second is equipped in the retracting cylinder
One end of lead screw, second lead screw is mounted on the retracting cylinder by bearing block, which connects the second motor；Second
The other end of lead screw is mounted in a telescopic rod by bearing block, and second lead screw and the second feed screw nut cooperate,
Second feed screw nut is connected with telescopic rod.
More further, the auxiliary large arm telescopic rod two sides are connected with sliding rail respectively, the cunning with sliding rail cooperation
Block is mounted on auxiliary large arm slider bracket, and auxiliary large arm slider bracket is fixed on the retracting cylinder；Auxiliary large arm sliding block sliding rail pair
The reciprocating motion of auxiliary large arm telescopic rod play the guiding role.
More further, the telescopic rod realizes the connection with main large arm by auxiliary large arm pull rod shaft.
As further technical solution, the forearm includes main structure, is pacified in one end of the main structure
Pacify shaft hole equipped with gripper, the other end of main structure is connected by connecting plate with two symmetrically arranged side plates, in two institutes
Stance adjustment installation axle and arm spindle mounting hole are installed on the side plate stated.
As further technical solution, the posture holding mechanism includes prime pull rod, second pull rod
And crank；
Described one end of prime pull rod and the upper end of gripper is hinged；The other end and crank of prime pull rod
Hingedly；
One end of the second pull rod and waist swing mechanism realize it is hinged, the other end of second pull rod with
Crank is hinged；
The crank is mounted in the stance adjustment installation axle of forearm, is realized hinged with forearm.
The posture holding mechanism makes rotating motion together with waist swing mechanism.Simultaneously with forearm and gripper
It moves and moves to keep the horizontal with ground holding of gripper rotating mechanism.
As further technical solution, it is equipped with ballast box in the end of the auxiliary large arm, ballast box passes through ballast box
Connecting shaft is connected with waist swing mechanism, while being connected by counterweight pull rod with main large arm.
Beneficial effects of the present invention are as follows:
1. heavy-duty machinery arm proposed by the invention, it is structurally characterized in that main large arm, auxiliary large arm are all made of ball screw
Screw rod transmission, so that mechanical arm can achieve higher precision.
2. improving the overall stiffness of heavy-duty machinery arm present invention employs the structural shape of thin-walled and overall skeleton, subtracting
Lightweight.
3. present invention employs parallelogram closed linkage, so that the structure of mechanical arm is more stable；Actuating range is big, work
Pose is adaptable when making, and 360 ° of convolutions may be implemented in waist swing mechanism, and main large arm maximum pendulum angle is 40 °, and forearm is maximum
Pivot angle is 95 °, and front and back working space is up to 2450mm, and the working space promoted up and down is up to 3050mm；Load capacity is reachable
3000kg。
4. parallelogram closed linkage of the invention parallelogram ABCD, DEFG as shown in figure 9, be mainly made of.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is heavy-duty machinery arm overall structure figure；
Fig. 2 is main large arm structural schematic diagram；
Fig. 3, Fig. 4, Fig. 5 are the structural schematic diagrams of auxiliary big arm mechanism；
Fig. 6, Fig. 7 are the structural schematic diagrams of forearm structure；
Fig. 8 is posture holding mechanism schematic diagram；
Fig. 9 is parallelogram closed linkage schematic diagram；
In figure: 1. grippers, 2. gripper installation axles, 3. forearms, 4. prime pull rods, 5. main large arm, 6. waist turn-around machines
Structure, 7. main large arm support shafts, 8. pedestals, 9. main large arm servo motors, 10. waist swing mechanism speed reducers, 11 waist turn-around machines
Structure servo motor, 12. auxiliary large arm, 13. auxiliary large arm support shafts, 14. auxiliary large arm servo motors, 15. ballast boxes, 16. ballast boxes connect
Spindle, 17. ballast box pull rods, 18. second pull rods, 19. auxiliary large arm pull rod shaft, 20. small arm braces, 21. cranks, 22. is small
Arm main shaft, 23. gripper rotating mechanism servo motors, 24. gripper rotating mechanism speed reducers；
5-1. arm spindle mounting hole, the main large arm lower reinforcing plate of 5-2., 5-3. lead screw connector, under the main large arm lead screw of 5-4.
Bearing block, the main large arm motor mounting rack of 5-5., the main large arm lead screw of 5-6., the main large arm feed screw nut of 5-7., in the main large arm of 5-8. plus
Strong plate, the main large arm sliding block of 5-9., the main large arm sliding rail of 5-10., 5-11. forearm mounting rack, the main large arm lead screw top chock of 5-12.；
The auxiliary large arm sliding block of 12-1., the auxiliary large arm sliding rail of 12-2., the auxiliary large arm telescopic rod of 12-3., the auxiliary large arm sliding block branch of 12-4.
Frame, the auxiliary large arm retracting cylinder of 12-5, the auxiliary large arm motor mounting rack of 12-6., the auxiliary large arm lead screw top chock of 12-7, the auxiliary large arm of 12-8.
Lead screw step, the auxiliary large arm lead screw of 12-9., the auxiliary large arm feed screw nut of 12-10.；
3-1. gripper mounting shaft hole, 3-2. forearm plate, 3-3. forearm side plate, 3-4. stance adjustment installation axle, 3-5. forearm
Spindle mounting hole, 3-6. forearm rectangular tube；
4-1 prime pull rod connecting pin, 4-2 prime pull rod connecting pin, 18-1 prime pull rod connecting pin,
18-2 second pull rod connecting pin, 21-1. posture pull rod crank mounting shaft hole.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination；
In order to facilitate narration, if there is "upper", "lower", " left side " " right side " printed words in the present invention, only expression and attached drawing itself
Upper and lower, left and right direction it is consistent, not to structure rise restriction effect, it is only for convenient for description the present invention and simplification retouch
It states, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, and be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
As background technique is introduced, deficiency exists in the prior art, in order to solve technical problem as above, the application
Propose a kind of four-degree-of-freedheavy-load heavy-load mechanical arm.
In a kind of typical embodiment of the application, the invention proposes a kind of four-degree-of-freedheavy-load heavy-load mechanical arms.Mainly
Including main large arm, auxiliary large arm, forearm, gripper and posture holding mechanism.Wherein main large arm and auxiliary large arm end pass through support respectively
To waist swing mechanism, waist swing mechanism is fixed on pedestal axis connection, pedestal by bolt with greatly connect.Auxiliary large arm is logical
The connection of auxiliary large arm pull rod shaft realization and main large arm is crossed, forearm is mounted on main large arm front end, and gripper is mounted on forearm front end, posture
The level of holding mechanism guarantee gripper end.The mechanical arm completes different works by installing different executing agencies additional in gripper end
Make, can be applied to the various fields such as stacking, carrying.The mechanical arm load lifting capacity is up to 3000kg.
Specific the present invention is described in detail with reference to the accompanying drawing, as shown in Figure 1, a kind of four-degree-of-freedheavy-load heavy-load is mechanical
Arm, mainly include pedestal 8, waist swing mechanism 6, main large arm 5, auxiliary large arm 9, forearm 3, ballast box 15, posture holding mechanism and
Gripper 1.Posture holding mechanism 3 is made of second pull rod 18, posture pull rod crank 12, prime pull rod 4.
Wherein main large arm and auxiliary large arm end are connected to waist by main large arm support shaft 7 and auxiliary large arm support shaft 13 respectively
Swing mechanism, waist swing mechanism 6 are set on pedestal, and pedestal is connect by bolt with the earth；Waist swing mechanism 6 can be opposite
360 degree of rotary motion is done in pedestal.
Auxiliary large arm front end realizes the connection with main large arm 5 by auxiliary large arm pull rod shaft 19, and forearm is pacified by arm spindle 22
Mounted in main large arm front end, gripper 1 is mounted on forearm front end, and posture holding mechanism guarantees the level of gripper end.The heavy-duty machinery
The whole 3 d structure model of arm is as shown in Figure 1.
Its power section is made of 4 servo motors, i.e., waist swing mechanism servo motor 11, main large arm servo motor 9,
Auxiliary large arm servo motor 14, gripper rotating mechanism servo motor 24 form.Be able to achieve four kinds of movements: waist swing mechanism is around pedestal
Rotary motion, the rotary motion of ball-screw in main large arm inner cavity, the rotary motion of ball-screw in auxiliary large arm inner cavity
With the rotary motion around vertical axes of gripper rotating mechanism.
Waist swing mechanism 6 is mounted on pedestal 8, is made of two symmetrical large arm supporting structures.Waist swing mechanism
Servo motor 11 drives the rotation of waist articulation level, and then drives main large arm, auxiliary large arm, forearm, posture holding mechanism and gripper
Rotating mechanism and ballast box 15 rotate together.
Main large arm servo motor is mounted on the main rear end large arm motor mounting rack 5-12, and main large arm servo motor connection is slowed down
Machine, the torque actuated of speed reducer output is located at the main large arm lead screw 5-4 rotation of main large arm inner cavity both ends support, with matching
Main large arm feed screw nut 5-5 driving lead screw connector 5-3 moves back and forth in ball-screw axis direction, and then pulls small arm brace
20 driving forearms 3 realize front and back (pitching) movement.
Auxiliary large arm servo motor is mounted on the auxiliary rear end large arm motor mounting rack 12-6, and servo motor connects speed reducer and drives position
Auxiliary large arm lead screw 12-9 rotation in auxiliary large arm inner cavity, matched auxiliary large arm feed screw nut 12-10 drive auxiliary large arm to stretch
Contracting bar 12-3 completes stretching motion on auxiliary large arm lead screw axis, and then drives main large arm by the connection of auxiliary large arm pull rod shaft 19
Front and back (pitching) movement.
Gripper rotating mechanism servo motor 23 is located at the end of forearm, is exported by driving gripper rotating mechanism speed reducer 24
Axis realizes that gripper surrounds the rotation process of vertical axes.The difference of function is realized according to heavy-load robot, gripper as needed can be with
Replacement.By installing different devices additional in industrial robot end effector, corresponding function is completed.
Ballast box 15 is connected by ballast box connecting shaft 16 with waist swing mechanism, while passing through counterweight pull rod 17 and master
Large arm is connected.When main large arm pitch, ballast box is swung up and down therewith, achievees the purpose that holding balances, is anti-tipping.
As shown in Fig. 2, main big arm mechanism includes a main structure, main structure is a rectangular frame structure, rectangle
Stiffening plate (such as main large arm lower reinforcing plate 5-2 and main large arm upper reinforcing plate 5-8 in figure) is installed in frame structure；Main large arm
Lead screw 5-6 is mounted in main structure, and main large arm motor mounting rack 5-5 is installed in one end of main structure；Main structure it is another
End installation forearm mounting rack 5-11；
Main large arm servo motor is mounted on the main rear end large arm motor mounting rack 5-12, and main large arm servo motor connection is slowed down
Machine, the torque actuated of speed reducer output is located at the main large arm lead screw 5-4 rotation of main large arm inner cavity both ends support, with matching
Main large arm feed screw nut 5-5 driving lead screw connector 5-3 moves back and forth in ball-screw axis direction, and then pulls small arm brace
20 driving forearms 3 realize front and back (pitching) movement.
Auxiliary large arm servo motor is mounted on the auxiliary rear end large arm motor mounting rack 12-6, and servo motor connects speed reducer and drives position
Auxiliary large arm lead screw 12-9 rotation in auxiliary large arm inner cavity, matched auxiliary large arm feed screw nut 12-10 drive auxiliary large arm to stretch
Contracting bar 12-3 completes stretching motion on auxiliary large arm lead screw axis, and then drives main large arm by the connection of auxiliary large arm pull rod shaft 19
Front and back (pitching) movement.
Gripper rotating mechanism servo motor 23 is located at the end of forearm, defeated by driving gripper rotating mechanism speed reducer 24
Shaft realizes that gripper surrounds the rotation process of vertical axes.The difference of function is realized according to heavy-load robot, gripper as needed may be used
With replacement.By installing different devices additional in industrial robot end effector, corresponding function is completed.
Ballast box 15 is connected by ballast box connecting shaft 16 with waist swing mechanism, while passing through counterweight pull rod 17 and master
Large arm is connected.When main large arm pitch, ballast box is swung up and down therewith, achievees the purpose that holding balances, is anti-tipping.
As shown in figure 3, figure 4 and figure 5, auxiliary big arm mechanism includes: auxiliary large arm sliding block 12-1, auxiliary large arm sliding rail 12-2, auxiliary big
Arm telescopic rod 12-3, auxiliary large arm slider bracket 12-4, auxiliary large arm retracting cylinder 12-5, auxiliary large arm motor mounting rack 12-6, auxiliary large arm
Lead screw top chock 12-7, auxiliary large arm lead screw step 12-8, auxiliary large arm lead screw 12-9, auxiliary large arm feed screw nut 12-10.
Wherein one end of auxiliary large arm retracting cylinder 12-5 is connected with auxiliary large arm slider bracket 12-4, the other end and auxiliary large arm electricity
Machine mounting rack 12-6 is connected.
Auxiliary large arm lead screw 12-9 is located in the inner cavity of auxiliary large arm, and one end of auxiliary large arm lead screw 12-9 is pacified across auxiliary large arm motor
It shelves and is connected with speed reducer, motor, the other end is connected with auxiliary large arm bearing block.The both ends of auxiliary large arm lead screw pass through auxiliary large arm
Bearing block is fixed, and compared to the axial rigidity that single-ended fixation improves lead screw, the axial rigidity of same diameter lower leading screw is at least big
4 times out, substantially reduce lead screw deformation.
Auxiliary large arm lead screw shaft bearings (auxiliary large arm lead screw top chock 12-7, auxiliary large arm lead screw step 12-8) end is solid
Due on auxiliary large arm retracting cylinder, the other end is fixed on auxiliary large arm motor support frame.
Auxiliary large arm lead screw 12-9 is matched with auxiliary large arm feed screw nut 12-10, after being located at auxiliary large arm motor mounting rack 12-6
The auxiliary large arm servo motor 14 driving lead screw rotation at end, realizes auxiliary large arm feed screw nut 12-10 in auxiliary large arm lead screw axial direction
Linear reciprocating motion.The axial end face of auxiliary large arm feed screw nut is connected with the end of auxiliary large arm telescopic rod simultaneously, therefore auxiliary big
The linear reciprocating motion of arm lead screw will drive the reciprocal telescopic of auxiliary large arm telescopic rod.
The front end of auxiliary large arm telescopic rod realizes the connection of auxiliary large arm Yu main large arm by auxiliary large arm pull rod shaft 19, therefore auxiliary large arm
The reciprocal telescopic movement of telescopic rod will drive the pitching movement of main large arm.
Auxiliary large arm telescopic rod two sides are connected with sliding rail respectively, and auxiliary large arm sliding block is mounted on auxiliary large arm slider bracket, auxiliary
Large arm slider bracket is fixed on auxiliary large arm retracting cylinder.Auxiliary large arm sliding block sliding rail plays guiding to the reciprocating motion of auxiliary large arm telescopic rod
Effect.
Auxiliary large arm motor mounting rack is equipped with auxiliary large arm support shaft, and auxiliary large arm support shaft is fixed on waist swing mechanism.
As shown in Figure 6, Figure 7, forearm structure includes gripper mounting shaft hole 3-1, forearm plate 3-2, forearm side plate 3-3, posture
Adjust installation axle 3-4, arm spindle mounting hole 3-5, forearm rectangular tube 3-6；
Forearm rectangular tube 3-6 is the main structure of forearm rectangular tube 3-6；
Wherein, stance adjustment installation axle 3-4 for realizing posture pull rod crank 21 installation.
The installation of gripper mounting shaft hole 3-1 realization gripper installation axle 2.
Forearm rectangular tube 3-6 realizes the connection with two pieces of forearm side plate 3-3 by 4 pieces of forearm plate 3-2.In forearm rectangular tube
Portion is hollow structure, and material is saved in the case where meeting rigidity requirement, mitigates weight, reduces power of motor.
Forearm rectangular tube rectangular cross-section structure, anti-bending strength is good, and facilitates casting.
In view of the big problem of heavy-duty machinery arm end deflection, forearm rectangular tube section thickness is different, in forearm rectangle
From front to back at 2/3, rectangle tube thickness will be thinner than nose thickness in length of tube direction.
Arm spindle is mounted on the installation that forearm is realized in arm spindle mounting hole 3-5.
As shown in figure 8, posture holding mechanism is mainly by prime pull rod 4, posture pull rod crank 21, second pull rod
18 three parts composition.
Wherein posture pull rod crank 21 is mounted on forearm, and posture pull rod crank mounting shaft hole 21-1 is mounted on forearm 3
On stance adjustment installation axle 3-4, realize hinged with forearm.
21 one end of posture pull rod crank is connected with prime pull rod 4 by prime pull rod mounting hole 4-2, another
End is connected with second pull rod 18 by second pull rod mounting hole 18-2.
Prime pull rod 4 is hinged by prime pull rod mounting hole and the upper end of gripper 1.
Second pull rod 18 is realized hingedly by second pull rod mounting hole 18-1 and waist swing mechanism 6.
As shown in figure 9, prime pull rod 4, posture pull rod crank 21, gripper 1, forearm 3 collectively constitute parallelogram
Closed chain ABCD；Second pull rod 18, posture pull rod crank 21, pedestal 8 collectively constitute parallelogram closed chain DEFG, and two flat
Row quadrangle closed linkage makes the structure of mechanical arm more stable and reliable.
Posture holding mechanism makes rotating motion together with waist swing mechanism.Simultaneously with the movement of forearm and gripper and
Movement is to keep the horizontal with ground holding of gripper rotating mechanism.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm, which is characterized in that including pedestal, waist swing mechanism, main large arm, auxiliary large arm,
Forearm, posture holding mechanism and gripper；
The waist swing mechanism is mounted on the base, and waist swing mechanism rotates under the driving of first driving device；
The end of the main large arm is connected on the waist swing mechanism by main large arm support shaft, the front end of main large arm
It is connected by arm spindle with the forearm；The main large arm drives forearm to do pitching under the driving of the second driving device
Movement；
The end of the auxiliary large arm is connected on the waist swing mechanism by auxiliary large arm support shaft；The auxiliary large arm
The connection with main large arm is realized by auxiliary large arm pull rod shaft in front end；The auxiliary large arm drives under the driving of third driving device
Main large arm does pitching movement campaign；
The gripper is mounted on forearm front end；The gripper is transported under the driving of fourth drive device around the rotation of vertical axes
It is dynamic；
The posture holding mechanism guarantees the level of gripper end.
2. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as described in claim 1, which is characterized in that the main large arm includes main body
Forearm mounting rack is installed in one end of structure, the main structure, and the other end installs the motor mounting rack for installing motor.
The first lead screw is equipped in the main structure, the both ends of first lead screw are mounted on institute by a bearing block
In the main structure stated, first lead screw and the first feed screw nut cooperate, in first feed screw nut and connector
It is connected；Wherein one end of first lead screw drives its rotation by first motor.
3. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as claimed in claim 2, which is characterized in that on the inside of the main structure
Equipped with sliding rail, sliding block is installed on the sliding rail, the sliding block is connected with the feed screw nut.
4. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as claimed in claim 2, which is characterized in that the two sides of the connector are each
Equipped with a cylinder connecting shaft, two cylinders connect axial symmetry, and each cylinder connecting shaft is hinged with one small arm brace one end,
The small arm brace other end is hinged with forearm rear end.
5. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as described in claim 1, which is characterized in that the auxiliary large arm includes flexible
Cylinder, is equipped with the second lead screw in the retracting cylinder, and one end of second lead screw is mounted on described stretch by bearing block
On contracting cylinder, which connects the second motor；The other end of second lead screw is mounted in a telescopic rod by bearing block, and described
Two lead screws and the second feed screw nut cooperate, and are connected in second feed screw nut with telescopic rod.
6. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as claimed in claim 5, which is characterized in that the auxiliary large arm telescopic rod two
Side is connected with sliding rail respectively, is mounted on auxiliary large arm slider bracket with the sliding block of sliding rail cooperation, auxiliary large arm slider bracket
It is fixed on the retracting cylinder；Auxiliary large arm sliding block sliding rail play the guiding role to the reciprocating motion of auxiliary large arm telescopic rod.
7. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as claimed in claim 5, which is characterized in that the telescopic rod passes through auxiliary big
Arm brace axis realizes the connection with main large arm.
8. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as described in claim 1, which is characterized in that the forearm includes main body knot
Structure is equipped with gripper peace shaft hole in one end of the main structure, and the other end of main structure passes through connecting plate and two
Symmetrically arranged side plate is connected, and is equipped with stance adjustment installation axle and arm spindle mounting hole on the side plate described in two.
9. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as claimed in claim 8, which is characterized in that the posture holding mechanism packet
Include prime pull rod, second pull rod and crank；
Described one end of prime pull rod and the upper end of gripper is hinged；The other end and crank of prime pull rod are cut with scissors
It connects；
One end of the second pull rod and waist swing mechanism realize hinged, the other end and crank of second pull rod
Hingedly；
The crank is mounted in the stance adjustment installation axle of forearm, is realized hinged with forearm.
10. a kind of four-degree-of-freedheavy-load heavy-load mechanical arm as described in claim 1, which is characterized in that at the end of the auxiliary large arm
It holds and is equipped with ballast box, ballast box is connected by ballast box connecting shaft with waist swing mechanism, while big by counterweight pull rod and master
Arm is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233136.XA CN109895076A (en) | 2019-03-26 | 2019-03-26 | A kind of four-degree-of-freedheavy-load heavy-load mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233136.XA CN109895076A (en) | 2019-03-26 | 2019-03-26 | A kind of four-degree-of-freedheavy-load heavy-load mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109895076A true CN109895076A (en) | 2019-06-18 |
Family
ID=66953454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910233136.XA Withdrawn CN109895076A (en) | 2019-03-26 | 2019-03-26 | A kind of four-degree-of-freedheavy-load heavy-load mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109895076A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561390A (en) * | 2019-09-04 | 2019-12-13 | 广西大学 | controllable parasitic mechanism type palletizing robot with gravity balance characteristic |
| CN113305817A (en) * | 2021-05-06 | 2021-08-27 | 陈海军 | Material transport robot with strong bearing capacity |
| CN114439252A (en) * | 2021-12-09 | 2022-05-06 | 陕西建工第一建设集团有限公司 | Main arch supporting device for hoisting large-span steel structure roof |
| JP7099658B1 (en) * | 2021-07-19 | 2022-07-12 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| WO2023002641A1 (en) * | 2021-07-19 | 2023-01-26 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| CN118024620A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Wire laying robot and double-robot type automatic wire laying system |
-
2019
- 2019-03-26 CN CN201910233136.XA patent/CN109895076A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561390A (en) * | 2019-09-04 | 2019-12-13 | 广西大学 | controllable parasitic mechanism type palletizing robot with gravity balance characteristic |
| CN110561390B (en) * | 2019-09-04 | 2024-05-14 | 广西大学 | Controllable parasitic mechanism type palletizing robot with gravity balance characteristic |
| CN113305817A (en) * | 2021-05-06 | 2021-08-27 | 陈海军 | Material transport robot with strong bearing capacity |
| JP7099658B1 (en) * | 2021-07-19 | 2022-07-12 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| WO2023002641A1 (en) * | 2021-07-19 | 2023-01-26 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| US11872693B2 (en) | 2021-07-19 | 2024-01-16 | Nsk Ltd. | Robot mechanism and parallel link robot |
| CN114439252A (en) * | 2021-12-09 | 2022-05-06 | 陕西建工第一建设集团有限公司 | Main arch supporting device for hoisting large-span steel structure roof |
| CN118024620A (en) * | 2024-04-15 | 2024-05-14 | 杭州艾美依航空制造装备有限公司 | Wire laying robot and double-robot type automatic wire laying system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109895076A (en) | A kind of four-degree-of-freedheavy-load heavy-load mechanical arm | |
| CN109531543A (en) | Four-freedom-degree parallel-connection robot with double acting platform structure | |
| CN100393484C (en) | Three-translation and one-rotation parallel mechanism | |
| CN104942789B (en) | Four-shaft transfer robot | |
| CN107471197A (en) | A kind of apery both arms multiple degrees of freedom industrial robot | |
| CN104708617B (en) | A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator | |
| CN108608407A (en) | A kind of multi-shaft interlocked robot of telescopic formula | |
| CN113021388B (en) | Multifunctional flexible clamping jaw mechanical arm with gas-magnetic switching function | |
| CN104626093A (en) | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods | |
| CN108621128A (en) | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly | |
| CN107336219A (en) | A kind of parallel institution that there are two movements three to rotate five degree of freedom | |
| CN110561390B (en) | Controllable parasitic mechanism type palletizing robot with gravity balance characteristic | |
| CN107323552A (en) | A kind of removable cargo transportation device | |
| CN104708616B (en) | Three Degree Of Freedom detent mechanism and its telescopically driven multiple degrees of freedom series-parallel robot | |
| CN206066442U (en) | A kind of M types indulge away mechanical hand | |
| CN205363883U (en) | High -speed heavily loaded serial -type parallel robot | |
| CN110181484A (en) | A kind of robot combined in series and parallel | |
| CN210819543U (en) | Controllable parasitic mechanism type palletizing robot with gravity balance characteristic | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN215618066U (en) | Parallel-series-parallel type high-load self-weight ratio mechanical arm | |
| CN105082114A (en) | Robot | |
| CN114378792A (en) | Four-freedom-degree parallel robot mechanism capable of realizing SCARA-like motion | |
| CN113246104A (en) | Parallel-series-parallel type high-load self-weight ratio mechanical arm | |
| CN101863021A (en) | Two-degree-of-freedom parallel mechanism of plane polar coordinate | |
| CN205905020U (en) | Mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190618 |
|
| WW01 | Invention patent application withdrawn after publication |