CN110142750A - A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method - Google Patents
A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method Download PDFInfo
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- CN110142750A CN110142750A CN201910522450.XA CN201910522450A CN110142750A CN 110142750 A CN110142750 A CN 110142750A CN 201910522450 A CN201910522450 A CN 201910522450A CN 110142750 A CN110142750 A CN 110142750A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 8
- CBVWMGCJNPPAAR-HJWRWDBZSA-N (nz)-n-(5-methylheptan-3-ylidene)hydroxylamine Chemical compound CCC(C)C\C(CC)=N/O CBVWMGCJNPPAAR-HJWRWDBZSA-N 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000005069 ears Anatomy 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a kind of multiple degrees of freedoms to realize the mechanical arm done more physical exercises and method, it solves mechanical arm in the prior art there are torques small, the problem of cannot achieve more movement, with the movement that can be realized the multiple freedom degrees of mechanical arm, the motion range of mechanical arm is widened, and the beneficial effect that overall cost is low, scheme are as follows: a kind of mechanical arm that multiple degrees of freedom realization is done more physical exercises, including pedestal, cyclotron mechanism is arranged in the side of pedestal；First arm, the first arm are the first telescoping mechanism, and telescopic mechanism is set between pedestal and cyclotron mechanism, the flexible rotational motion for driving cyclotron mechanism of the first arm；Second arm, the second arm side are connect with cyclotron mechanism, and the other side is connect with middle bracket, and the second arm is obliquely installed the second telescoping mechanism, and the second telescoping mechanism drives the second arm to realize pitching movement relative to cyclotron mechanism；Third arm, third arm side and middle bracket are articulated and connected, and the third telescoping mechanism of a pair of of reversed arrangement is arranged in third arm.
Description
Technical field
The present invention relates to mechanical arm fields, realize the mechanical arm done more physical exercises and method more particularly to a kind of multiple degrees of freedom.
Background technique
In existing industrial production, a variety of mechanical arms are used, mechanical arm helps worker's production and processing or complete independently
Production and processing, can effectively mitigate labor intensity and labour pressure, the form of mechanical arm is varied at present, but inventor
It was found that mechanical arm such as not can be implemented simultaneously pitching, wave and rotate at the movement, and that there are torques is smaller for the mechanical arm of existing majority,
The shortcoming of higher cost, manufacturer more in this way are hung back to using mechanical arm.
Summary of the invention
For overcome the deficiencies in the prior art, the mechanical arm done more physical exercises, energy are realized the present invention provides a kind of multiple degrees of freedom
The movement for enough realizing the multiple freedom degrees of mechanical arm, has widened the motion range of mechanical arm, and overall cost is low, has biggish
Torque.
A kind of concrete scheme for the mechanical arm that multiple degrees of freedom realization is done more physical exercises is as follows:
A kind of mechanical arm that multiple degrees of freedom realization is done more physical exercises, comprising:
Cyclotron mechanism is arranged in the side of pedestal, pedestal；
First arm, the first arm are the first telescoping mechanism, and telescopic mechanism is set between pedestal and cyclotron mechanism, and the first arm is stretched
Contracting drives the rotational motion of cyclotron mechanism；
Second arm, the second arm side are connect with cyclotron mechanism, and the other side is connect with middle bracket, and the second arm is obliquely installed
Two telescoping mechanisms, the second telescoping mechanism drive the second arm to realize pitching movement relative to cyclotron mechanism；
Third arm, third arm side and middle bracket are articulated and connected, and the third that a pair of of reversed arrangement is arranged in third arm is stretched
Contracting mechanism, third telescoping mechanism drive third arm relative to realizing oscillating motion between middle part.
Further, the cyclotron mechanism is floating bearing, and convolution bearing is set to supporting plate transmission shaft side, supporting plate transmission shaft
It is arranged across supporting plate, the pedestal is fixed on supporting plate.
Further, circular discs are arranged in the convolution bearing upper surface, and circular discs are fixed with side bracket, side bracket and
Branch board mount is arranged in the second arm connection, circular discs side, and first arm one end is connect with pedestal, the other end and supporting plate
Bracket connection.
Further, first arm is electric pushrod, and at low cost and torque is big.
Further, second arm includes fagging, and fagging one end is hinged by the first pin shaft with the side bracket
Connection, the other end and middle bracket of fagging are articulated and connected by the 4th pin shaft, and three sections of the side setting of fagging is sequentially connected
Connecting plate, adjacent connecting plate connect in obtuse angle, and wherein the connecting plate of side is connect with the first pin shaft, the connecting plate of the other side with
The connection of 4th pin shaft.
Further, second arm further includes the first hydraulic stem and the second hydraulic stem, first hydraulic stem one end with it is described
The side of fagging connects, and the other end is connect with the side bracket by the second pin shaft, the side of second hydraulic stem one end and fagging
Portion's connection, the other end are connect with the middle bracket by third pin shaft, the angle between the first hydraulic stem and the second hydraulic stem
For obtuse angle, and two hydraulic stems are oppositely arranged.
Further, fagging in the middle part of the middle bracket, middle part fagging side are connect with second arm, the other side and
The third arm connection, the two sides setting middle part side plate of middle part fagging, middle side are connect with second hydraulic stem.
Further, the third arm and the middle bracket are articulated and connected by the 5th pin shaft, the two sides of the 5th pin shaft
It is respectively provided with the 6th pin shaft, third arm includes the bottom plate connecting with middle bracket, and bottom plate is arranged two the 7th pin shafts, and the 6th of side the
Third hydraulic stem is set between pin shaft and the 7th pin shaft, it is hydraulic that the 4th is arranged between the 6th pin shaft of the other side and the 7th pin shaft
Bar, third hydraulic stem and the 4th hydraulic stem is arranged in parallel but the two hydraulic stems are oppositely arranged.
Further, the third arm is equipped with the 5th hydraulic stem, and the 5th hydraulic stem one end and third arm pass through the 8th pin shaft
Connection, the other end are connect with the 4th arm by the 9th pin shaft, and the 9th pin shaft realizes the connection of third arm and the 4th arm.
Further, encoder is arranged in the cyclotron mechanism, and obliquity sensor is arranged with the second arm of real-time detection in the second arm
Pitch angle, gyroscope is arranged in third arm, and the 4th arm is equally arranged gyroscope, encoder, obliquity sensor and gyroscope point
It is not connect with controller.
For overcome the deficiencies in the prior art, the mechanical arm done more physical exercises is realized the present invention also provides a kind of multiple degrees of freedom
Application method, including following content:
First telescoping mechanism carries out stretching motion, drives cyclotron mechanism rotation, corresponding that the second arm and third arm is driven to realize
Rotation；
Second telescoping mechanism carries out stretching motion, and the second arm is driven to realize pitching motion up and down relative to floating bearing；
A pair of of third telescoping mechanism realizes reversed stretching motion, so that third arm be driven to realize oscillating motion.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention is by the setting of multiple arms, it can be achieved that rotation, pitching movement, oscillating motion, can be realized six freely
Degree movement, has widened the working range of mechanical arm.
2) present invention realizes multi-motion form by being reliably connected for multiple mechanical arms by the setting of mechanical arm, full
Sufficient use demand, and entirety has the characteristics that at low cost, torque is big, safe and reliable.
3) present invention, can Real-time Feedback mechanical arm space bit by the setting of encoder, obliquity sensor, gyroscope etc.
Appearance, convenient for the control acted to mechanical arm.
3) for the present invention by the setting of multiple hydraulic stems, hydraulic stem thrust is big and stablizes, and effectively reduces cost, by electronic
The setting of push rod effectively pushes the rotation of mechanical arm, has the characteristics that at low cost and torque is big.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 is mechanical arm overall schematic one in the embodiment of the present invention；
Fig. 2 is mechanical arm overall schematic two in the embodiment of the present invention；
Fig. 3 is enlarged drawing at the first arm in the embodiment of the present invention；
Fig. 4 is inside enlarged drawing at the second arm in the embodiment of the present invention；
Fig. 5 is the second arm enlarged drawing in the embodiment of the present invention；
Fig. 6 is third arm inside enlarged drawing in the embodiment of the present invention；
Fig. 7 is third arm enlarged drawing in the embodiment of the present invention；
Wherein, 1. pedestal, 2. electric pushrods, 3. supporting plates, 4. supporting plate transmission shafts, 5. floating bearings, 6. side brackets, 7.
Two arms, 8. middle brackets, 9. third arms, 10. the 4th arms, 11. second gyroscopes, 12. supports, 13. first gyroscopes, 14. tops
Plate, 15. middle part faggings, 16. first connecting plates, 17. second connecting plates, 18. third connecting plates, 19. diagonal braces, 20. first protection
Plate, 21. first pin shafts, 22. the 4th pin shafts, 23. middle part side plates, 24. half plates, 25. the 6th pin shafts, 26. third protective plates, 27.
9th pin shaft, 28. the 5th pin shafts, 29. self lubrication bearings, 30. upper supporting plate brackets, 31. lower carrier plate brackets, 32. encoder brackets,
33. the second pin shaft, 34. third pin shafts, 35. second hydraulic stems, 36. second middle part pin shafts, 37. first middle part pin shafts, 38. first
Hydraulic stem, 39. obliquity sensors, 40. inner reinforced plates, 41. third hydraulic stems, 42. the 4th hydraulic stems, 43. the 5th hydraulic stems, 44.
8th pin shaft, 45. bottom plates, 46. the 7th pin shafts, 47. faggings, 48. circular discs.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the present invention.Unless another
It indicates, all technical and scientific terms used herein has usual with general technical staff of the technical field of the invention
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 exemplary embodiments of the present invention.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.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this hair
It is bright to propose a kind of multiple degrees of freedom and realize that the mechanical arm done more physical exercises with reference to the accompanying drawings of the specification does further the present invention
It illustrates.
In a kind of typical embodiment of the invention, as depicted in figs. 1 and 2, a kind of multiple degrees of freedom, which is realized, does more physical exercises
Mechanical arm, the pedestal 1 including being fixed on supporting plate 3, pedestal 1 have the height of setting, and supporting plate is fixed and (is securable to desktop), base
Seat 1 is connect with the first arm, and the first arm is horizontally disposed with relative to supporting plate 3 and the first arm is relative to supporting plate 3 height of setting, and first
Arm is linear pushing mechanism, and in the present embodiment, linear pushing mechanism is electric pushrod 2, and pedestal is fixed in one end of electric pushrod 2
1 side, the other end are connect with the branch board mount for being set to 5 side of floating bearing, and floating bearing outer ring is fixed with supporting plate, in inner ring
Supporting plate transmission shaft 4 is arranged in portion, and supporting plate transmission shaft 4 is arranged across supporting plate 3, and floating bearing inner ring 5 is connect with side bracket, side branch
Frame and the second arm 7 are articulated and connected, and such electric pushrod 2 is flexible to drive the rotation of 5 inner ring of floating bearing, and then drives 7 phase of the second arm
Rotational motion for side bracket.
Circular discs 48 are fixedly installed in 5 inner ring upper surface of floating bearing, and branch board mount, branch board mount is arranged in 48 side of circular discs
Including upper supporting plate bracket 30 and lower carrier plate bracket 31, connect as shown in figure 3, being arranged between upper supporting plate bracket 30 and lower carrier plate bracket 31
Spindle, the push rod end of electric pushrod 2 are vertically arranged with axis connection, connecting shaft is connect.
Wherein, supporting plate transmission shaft 4 is circumferential, and the rotation that encoder is used to measure floating bearing is arranged by encoder bracket 32
Angle, encoder bracket 32 are fixedly connected with supporting plate 3, and side bracket 6 is arranged the first pin shaft 21 with the second arm 7 and connect, the first pin
Axis 21 is equipped with self lubrication bearing 29.
Second arm 7 be longer than third arm setting, the second arm 7 can relative to side bracket 6 realize pitching movement, specific second
Arm 7 includes fagging 47, and one end of fagging 47 is connect with side bracket by the first pin shaft 21, the other end and middle part branch of fagging 47
Frame 8 by the 4th pin shaft 22 connect, 47 side of fagging be arranged three sections of sequentially connected connecting plates, be followed successively by the first connecting plate 16,
Second connecting plate 17 and third connecting plate 18, adjacent connecting plate connect in obtuse angle, wherein third connecting plate 18 and the first pin shaft
21 connections, the first connecting plate 16 are connect with the 4th pin shaft hinge 22, and inner reinforced plate 40, tool are arranged between fagging 47 and corresponding connecting plate
As shown in figure 4, including the first inner reinforced plate, the second inner reinforced plate and third inner reinforced plate, three inner reinforced plate interval set distances are arranged body,
It is additionally provided with obliquity sensor 39 in 16 inner surface of the first connecting plate, is arranged between middle bracket 8 and side bracket 6 a pair of hydraulic
The side of mechanism, i.e. the first hydraulic stem 38 and the second hydraulic stem 35,38 one end of the first hydraulic stem and fagging 47 passes through the first middle part
Pin shaft 37 connects, and the other end is connect with side bracket 6 by the second pin shaft 33, and the side of 35 one end of the second hydraulic stem and fagging is logical
The connection of the second middle part pin shaft 36 is crossed, the other end is connect with middle bracket 8 by third pin shaft 34, the first middle part pin shaft 37 and second
There is set distance between middle part pin shaft 36, under normality, the angle between the first hydraulic stem 38 and the second hydraulic stem 35 is obtuse angle, and
The two hydraulic stems are oppositely arranged (not in same straight line), and the second arm 7 passes through the stretching motion of the first hydraulic stem 38, drive second
Arm 7 realizes pitching motion up and down, by the stretching motion of the second hydraulic stem 35, third arm 9 and middle part branch relative to floating bearing 5
Frame 8 realizes pitching movement relative to the second arm 7.
It picks up the ears it should be noted that side bracket 6 includes two, picks up the ears for two to connect by the way that diagonal brace 19 and circular discs 48 are fixed
It connects, 19 part of diagonal brace covers 48 top of circular discs and side, and 19 side of diagonal brace is that L-type is used for and picks up the ears to connect, so that the
Two arms 7 are set to the oblique upper of floating bearing 5, and then raise the second arm 7 and third arm 9, pick up the ears to be set to floating bearing and circular discs
48 side, middle bracket 8 include middle part fagging 15, and the two sides setting middle part side plate 23 of middle part fagging 15, the second arm 7 is multiple
The two sides of connecting plate are respectively provided with the second protective plate to protect internal a pair of of hydraulic mechanism.
The middle part side plate of 8 two sides of middle bracket is nearly triangle, the other side of the middle bracket 8 relative to the second arm 7
Third arm 9, third arm 9 and middle bracket 8 is arranged to be articulated and connected by the 5th pin shaft 28, in the 5th pin shaft 28 and the 4th pin shaft
Heart line is arranged in a mutually vertical manner.
The both ends of 5th pin shaft 28 are supported by half plate 24 connecting with middle bracket 8, as shown in Figure 6 and Figure 7, two halves plate
Two the 6th pin shafts 25 are set in the two sides of the 5th pin shaft 28 between 24, third arm 9 includes the bottom connecting with one of half plate
Two the 7th pin shafts 46 are arranged in plate 45, bottom plate 45, and third hydraulic stem is arranged between the 6th pin shaft 25 of side and the 7th pin shaft 46
41, the 4th hydraulic stem 42 is set between the 6th pin shaft 25 of the other side and the 7th pin shaft 46, and third hydraulic stem 41 and the 4th is hydraulic
Bar 42 is arranged in parallel but the two hydraulic stems are oppositely arranged, by the reversed stretching motion of the two hydraulic stems, then drives
Third arm realizes yaw movements relative to six pin shafts, that is, middle bracket.
Third protective plate 26 is arranged in the side of bottom plate 45, and top plate 14 is arranged in the top of bottom plate, for third arm internal junction
Structure is protected, and the 8th pin shaft 44 is additionally provided on the inside of bottom plate 45, and the 8th pin shaft 44 is vertical with third hydraulic stem, the 8th pin shaft 44
It is connect with the 4th arm 10 by the 5th hydraulic stem 43, the 5th hydraulic stem 43 is set among third hydraulic stem 41 and the 4th hydraulic stem 42
Lower part, 43 one end of the 5th hydraulic stem and the 8th pin shaft 44 be connected, the 5th 43 other ends of hydraulic stem, that is, telescopic rod end and the 4th
Arm 10 is articulated and connected, and the 4th arm 10 is shorter than third arm 9 and is arranged, and the 4th arm includes support 12, the support and third of the 4th arm 10
The third protective plate 26 of arm 9 is connected by the 9th pin shaft 27, and the telescopic rod end of the 5th hydraulic stem is connect with the 9th pin shaft 27, is led to
The stretching motion of the 5th hydraulic stem 43 is crossed, the 4th arm is driven to realize the pitching motion relative to third arm.
Above-mentioned electric pushrod, each hydraulic cylinder are connect with programmable PLC controller, and controller controls each mechanism
Successively movement, controller also connect with obliquity sensor 39, encoder, and obliquity sensor is used to measure the pitch angle of the second arm
Degree, and third arm be arranged the first gyroscope 13, the 4th arm be arranged the second gyroscope 11, can the 3rd 9 arm swing of real-time detection angle
The pitch angle of degree and the 4th arm 10, and then the spatial position of mechanical arm tail end can be calculated.
In addition, it is necessary to explanation, electric pushrod and each hydraulic stem are replaced by other actuating units.
Multiple degrees of freedom electro-hydraulic servo mixing machinery arm provided in this embodiment, can be realized the movement of six degree of freedom, specifically
Application method is as follows:
Electric pushrod 2 in first arm realizes stretching motion, drives floating bearing 5 to rotate by supporting plate bracket, corresponding band
Dynamic second arm and third arm are realized relative to supporting plate 3 to be rotated；
Second arm 7 passes through the stretching motion of the first hydraulic stem 38, and the second arm 7 is driven to realize upper nutation relative to floating bearing
Movement is faced upward, by the stretching motion of the second hydraulic stem 35, third arm 9 and middle bracket 8 is driven to realize pitching relative to the second arm
Movement；
Third hydraulic stem 41 and the 4th hydraulic stem 42 realize reversed stretching motion in third arm, to drive third arm opposite
Oscillating motion is realized in middle bracket；
5th telescopic rod 43 is flexible, and the 4th arm 10 is driven to realize pitching movement relative to third arm.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises characterized by comprising
Cyclotron mechanism is arranged in the side of pedestal, pedestal；
First arm, the first arm are the first telescoping mechanism, and telescopic mechanism is set between pedestal and cyclotron mechanism, the first arm telescopic band
The rotational motion of dynamic cyclotron mechanism；
Second arm, the second arm side are connect with cyclotron mechanism, and the other side is connect with middle bracket, and the second arm is obliquely installed second and stretches
Contracting mechanism, the second telescoping mechanism drive the second arm to realize pitching movement relative to cyclotron mechanism；
Third arm, third arm side and middle bracket are articulated and connected, and the third telescopic machine of a pair of of reversed arrangement is arranged in third arm
Structure, third telescoping mechanism drive third arm relative to realizing oscillating motion between middle part.
2. a kind of multiple degrees of freedom according to claim 1 realizes the mechanical arm done more physical exercises, which is characterized in that the convolution machine
Structure is floating bearing, and convolution bearing is set to supporting plate transmission shaft side, and supporting plate transmission shaft is arranged across supporting plate, and the pedestal is fixed on
Supporting plate.
3. a kind of multiple degrees of freedom according to claim 2 realizes the mechanical arm done more physical exercises, which is characterized in that the rotary shaft
Upper surface setting circular discs are held, circular discs are fixed with side bracket, and side bracket is connect with second arm, circular discs side
Branch board mount is set, and first arm one end is connect with pedestal, and the other end is connect with branch board mount.
4. a kind of multiple degrees of freedom according to claim 1 realizes the mechanical arm done more physical exercises, which is characterized in that the convolution machine
Encoder is arranged in structure, and obliquity sensor is arranged in the second arm, and gyroscope, encoder, obliquity sensor and gyroscope is arranged in third arm
It is connect respectively with controller.
5. a kind of multiple degrees of freedom according to claim 3 realizes the mechanical arm done more physical exercises, which is characterized in that second arm
Including fagging, fagging one end and the side bracket are articulated and connected by the first pin shaft, the other end and middle bracket of fagging
It is articulated and connected by the 4th pin shaft, three sections of sequentially connected connecting plates are arranged in the side of fagging, and adjacent connecting plate connects in obtuse angle
It connects, wherein the connecting plate of side is connect with the first pin shaft, and the connecting plate of the other side is connect with the 4th pin shaft.
6. a kind of multiple degrees of freedom according to claim 5 realizes the mechanical arm done more physical exercises, which is characterized in that second arm
Further include the first hydraulic stem and the second hydraulic stem, first hydraulic stem one end is connect with the side of the fagging, the other end with it is described
Side bracket is connected by the second pin shaft, and the side of second hydraulic stem one end and fagging connects, the other end and the middle bracket
It is connected by third pin shaft, the angle between the first hydraulic stem and the second hydraulic stem is obtuse angle.
7. a kind of multiple degrees of freedom according to claim 5 realizes the mechanical arm done more physical exercises, which is characterized in that the middle part branch
Fagging in the middle part of frame, middle part fagging side are connect with second arm, and the other side is connect with the third arm, middle part fagging
Two sides setting middle part side plate, middle side are connect with second hydraulic stem.
8. a kind of multiple degrees of freedom according to claim 5 realizes the mechanical arm done more physical exercises, which is characterized in that the third arm
Be articulated and connected with the middle bracket by the 5th pin shaft, the two sides of the 5th pin shaft are respectively provided with the 6th pin shaft, third arm include with
The bottom plate of middle bracket connection, bottom plate are arranged two the 7th pin shafts, third are arranged between the 6th pin shaft of side and the 7th pin shaft
The 4th hydraulic stem, third hydraulic stem and the 4th hydraulic stem phase is arranged in hydraulic stem between the 6th pin shaft of the other side and the 7th pin shaft
It is mutually arranged in parallel but the two hydraulic stems is oppositely arranged.
9. a kind of multiple degrees of freedom according to claim 1 realizes the mechanical arm done more physical exercises, which is characterized in that the third arm
Equipped with the 5th hydraulic stem, the 5th hydraulic stem one end is connect with third arm by the 8th pin shaft, and the other end and the 4th arm pass through the 9th
Pin shaft connection, the 9th pin shaft realize the connection of third arm and the 4th arm.
10. a kind of multiple degrees of freedom according to claim 1 to 9 realizes the application method for the mechanical arm done more physical exercises,
It is characterised in that it includes following content:
First telescoping mechanism carries out stretching motion, drives cyclotron mechanism rotation, corresponding that the second arm and third arm is driven to realize rotation；
Second telescoping mechanism carries out stretching motion, and the second arm is driven to realize pitching motion up and down relative to floating bearing；
A pair of of third telescoping mechanism realizes reversed stretching motion, so that third arm be driven to realize oscillating motion.
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| CN201910522450.XA CN110142750A (en) | 2019-06-17 | 2019-06-17 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
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| CN201910522450.XA CN110142750A (en) | 2019-06-17 | 2019-06-17 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
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Cited By (3)
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| CN110630596A (en) * | 2019-10-17 | 2019-12-31 | 山东大学 | Underwater redundant hydraulic mechanical arm and working method thereof |
| CN111941398A (en) * | 2020-08-18 | 2020-11-17 | 山东大学日照智能制造研究院 | Multi-mechanical-arm machining system and working method |
| CN112571406A (en) * | 2020-11-30 | 2021-03-30 | 山东大学日照智能制造研究院 | Electro-hydraulic hybrid drive special robot and control method |
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