CN111515933A - Floating-base six-degree-of-freedom mechanical arm - Google Patents
Floating-base six-degree-of-freedom mechanical arm Download PDFInfo
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- CN111515933A CN111515933A CN202010334237.9A CN202010334237A CN111515933A CN 111515933 A CN111515933 A CN 111515933A CN 202010334237 A CN202010334237 A CN 202010334237A CN 111515933 A CN111515933 A CN 111515933A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a floating-base six-degree-of-freedom mechanical arm which comprises a base turntable, a parallel motion compensation platform and a parallel compensation suspension arm, wherein the base turntable is connected with the parallel motion compensation platform; the lower platform of the parallel motion compensation platform is connected with the base turntable and can rotate around the vertical direction under the driving of the base turntable; the lifting cylinder comprises an inner cylinder and an outer cylinder which are connected in a sliding manner, and the inner cylinder is connected with the lower platform through a main hook hinge; the upper platform is fixedly arranged at the top end of the outer layer cylinder; the upper ends of the three groups of linear driving branches are connected with the outer layer cylinder through spherical hinges, and the lower ends of the three groups of linear driving branches are connected with the lower platform; one end of a connecting shaft of the parallel compensation suspension arm is connected with the bottom revolute pair, and the other end of the connecting shaft is connected with the suspension arm rod; the two upper driving branches are respectively positioned at two sides of the boom rod, one end of each upper driving branch is connected with the upper platform through a spherical hinge, and the other end of each upper driving branch is connected with the boom through a spherical hinge; one end of the traction rope is fixedly connected with the boom rod, and the other end of the traction rope is connected to the driving device through a pulley; the lifting hook is arranged on the traction rope.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a floating-base six-degree-of-freedom mechanical arm applied to an ocean ship and a platform.
Background
At present, the attention on the ocean in various countries in the world is higher and higher, the exploitation modes of ocean resources are diversified, and because the operation is carried out under the ocean environment, the robot arm which is overlong, flexible and can compensate is required to be provided, so that a stable working environment can be provided, and the working precision can be guaranteed. The motion compensation platform can also be applied to weapons of ships and warships, provides an accurate attack platform for the weapons, and can accurately strike the enemy position according to the requirements of people.
Most of the traditional motion compensation platforms are used for simulators, and are mostly six degrees of freedom, the working space is small, the control is also complex, the motion compensation platforms really applied to engineering can not bear overlarge load, and the complex and heavy-load working environment is hard to be qualified. Therefore, the research and development of the motion compensation platform which has strong bearing capacity, large working space, high stability and easy control is of great significance.
Disclosure of Invention
The invention aims to provide a floating-base six-degree-of-freedom mechanical arm which is strong in bearing capacity, large in working space, high in stability and easy to control.
The floating-base six-degree-of-freedom mechanical arm according to one embodiment of the present invention includes: the device comprises a base turntable, a parallel motion compensation platform and a parallel compensation suspension arm; wherein the content of the first and second substances,
the parallel motion compensation platform comprises:
the lower platform is connected with the base turntable and can rotate around the vertical direction under the driving of the base turntable;
the lifting cylinder comprises an inner layer cylinder and an outer layer cylinder, and the inner layer cylinder and the outer layer cylinder are in sliding connection through a guide rail and a guide rail groove; the inner layer cylinder is connected with the lower platform through a main hook hinge;
the upper platform is fixedly arranged at the top end of the outer layer cylinder;
the first linear driving branch comprises a first linear driving unit, the upper end of the first linear driving unit is connected with the outer-layer cylinder through a spherical hinge, and the lower end of the first linear driving unit is connected with the lower platform through a first hook hinge;
the second linear driving branch comprises a second linear driving unit, the upper end of the second linear driving unit is connected with the outer-layer cylinder through a spherical hinge, and the lower end of the second linear driving unit is connected with the lower platform through a second hook hinge;
the third linear driving branch comprises two third driving units, the upper ends of the two third driving units are connected with the outer layer barrel through spherical hinges, and the lower ends of the two third driving units are fixedly connected to a cross shaft of the main hook hinge through a third hook hinge; the axes of the first linear driving branch, the second linear driving branch and the third linear driving branch are distributed around the lifting cylinder at intervals;
the parallel compensation boom comprises:
a boom lever;
the bottom revolute pair comprises a fixed part and a movable part, the fixed part is fixedly connected with the upper platform, the movable part is connected with the fixed part through a rotating shaft, and the rotating shaft is parallel to the upper surface of the upper platform;
the first end of the connecting shaft is connected with the bottom revolute pair, the second end of the connecting shaft is connected with the suspension arm rod, the suspension arm rod can rotate relative to the movable part, and the rotating axis of the suspension arm rod is perpendicular to the rotating shaft of the bottom revolute pair;
the two upper driving branches are respectively positioned at two sides of the boom rod, the first ends of the two upper driving branches are connected with the upper platform through a spherical hinge, and the second ends of the two upper driving branches are movably connected with the boom rod through a spherical hinge;
the first end of the traction rope is fixedly connected with the boom rod, and the second end of the traction rope is connected to the driving device through a pulley;
the lifting hook is arranged on the traction rope.
Preferably, the first linear driving branch, the second linear driving branch and the third linear driving branch are asymmetrically distributed relative to the lifting cylinder, a cross shaft of the main hook joint is lengthened in one direction and is provided with a transverse plate, and the two third driving units are respectively connected to two ends of the transverse plate.
Preferably, the first linear driving unit, the second linear driving unit and the third linear driving unit are hydraulic cylinders or electric cylinders.
Preferably, the cross section of an inlayer section of thick bamboo and an outer section of thick bamboo is the hexagon structure, has three long limit and three minor face of alternate distribution, the inlayer of an outer section of thick bamboo is provided with six guide rails, the outside of an inlayer section of thick bamboo be provided with six slide rail grooves of guide rail matched with.
Preferably, the spiders of the first and second hooke joints are parallel to the corresponding edges of the outer barrel.
Preferably, the lower platform is of a herringbone structure, two extension arms extending outwards are arranged on the lower platform, and the first hook joint and the second hook joint are respectively arranged on the extension arms.
Preferably, the third linear driving branch comprises a third driving unit, the upper end of the third driving unit is connected with the inner-layer cylinder through an R pair, and the lower end of the third driving unit is fixedly connected to a cross shaft of the main hook joint through a third hook joint; the axes of the first linear driving branch, the second linear driving branch and the third linear driving branch are distributed around the lifting cylinder at intervals.
The invention has the following effects:
(1) the floating-base six-degree-of-freedom mechanical arm provided by the embodiment of the invention has the advantages of large working space, good stability and high safety, and can balance the influence of the environments such as sea waves and the like. And the device can be installed on large ships, warships, wharves and the like, is suitable for different environments, and meets various requirements.
(2) The 3-UPS + UP structure in the embodiment of the invention realizes the decoupling of the structure by fixedly connecting the third linear driving branch with the main hook hinge of the UP branch, namely the angle change of the lifting cylinder can be obtained by knowing the data of the two driving units in the third linear driving branch, the control is convenient, and the reliability and the stability of the mechanism are enhanced by the two driving units.
(3) The invention not only can stabilize the working platform of the equipment by motion compensation, but also can lead the tail end of the mechanical arm to reach the required pose by controlling the parallel compensation platform and the suspension arm according to different requirements.
Drawings
Fig. 1 is an external perspective view of a floating-base six-degree-of-freedom robot arm according to a first embodiment of the present invention;
FIG. 2 is a perspective view of the parallel motion compensation stage of FIG. 1;
FIG. 3 is an exterior perspective view of the parallel compensating boom of FIG. 1;
FIG. 4 is a diagram of the operating state of the floating base six degree-of-freedom robotic arm of FIG. 1; and
fig. 5 is a schematic diagram of a parallel motion compensation platform of a floating-based six-dof robot according to a second embodiment of the present invention.
In the figure: 1. a base turntable; 2. parallel motion compensation platforms; 3. connecting compensation suspension arms in parallel; 201. an upper platform; 202. an outer layer cylinder; 203. a first linear drive branch; 204. an inner layer cylinder; 205. a main hook joint; 206. a lower platform; 207. a third linear drive branch; 208. a second linear drive branch; 301. a bottom revolute pair; 302. a connecting shaft; 303. an upper drive branch; 304. a boom lever; 305. a hauling rope; 306. and (4) a lifting hook.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Implementation mode one
As shown in fig. 1 to 4, the embodiment of the invention discloses a floating-base six-degree-of-freedom mechanical arm, which comprises a base turntable 1, a parallel motion compensation platform 2 and a parallel compensation suspension arm 3. The floating-base six-degree-of-freedom mechanical arm can be applied to offshore equipment such as ocean working platforms and ships and is used for hoisting cargoes.
As shown in fig. 1 and 2, the base turntable 1 is a movable mechanism, and includes a chassis located below and a turntable located on the chassis, the base can be mounted on a ship, the turntable can be driven by a power device such as a speed reduction motor and rotate relative to the base, and the direction of the rotation axis of the turntable is vertical.
The parallel motion compensation platform 2 includes a lower platform 206, a lifting cylinder, an upper platform 201, a first linear driving branch 203, a second linear driving branch 208, and a third linear driving branch 207.
The lower platform 206 is connected with the base turntable 1 and can rotate around the vertical direction under the driving of the base turntable 1. As can be seen from fig. 2, in this embodiment, the lower platform 206 is a herringbone structure, two extending arms extending outward are disposed on the lower platform 206, and the lower platform 206 is disposed in the herringbone structure, which is beneficial to saving space, reducing mass, and facilitating driving.
The lifting cylinder comprises an inner cylinder 204 and an outer cylinder 202, and the inner cylinder 204 and the outer cylinder 202 form a sliding connection through a guide rail and a guide rail groove. In the present embodiment, the cross-sections of the inner layer cylinder 204 and the outer layer cylinder 202 are both hexagonal structures, and have three long sides and three short sides distributed at intervals. Six guide rails are arranged on the inner layer of the outer layer cylinder 202, and six guide rail grooves matched with the six guide rails are arranged on the outer portion of the inner layer cylinder 204. In another embodiment of the present invention, the inner layer cylinder 204 may be provided with a guide rail, and the outer layer cylinder 202 may be provided with a guide rail groove. The lower end of the inner barrel 204 is connected to a lower platform 206 by a main hook joint 205.
The upper platform 201 is fixedly arranged at the top end of the outer layer cylinder 202, and the upper platform 201 is of a flat plate type structure.
The first linear driving branch 203 comprises a first linear driving unit, the upper end of the first linear driving unit is connected with the outer layer cylinder 202 through a spherical hinge, and the lower end of the first linear driving unit is connected with the lower platform 206 through a first hook hinge.
The second linear driving branch 208 includes a second linear driving unit, an upper end of the second linear driving unit is connected to the outer barrel 202 through a spherical hinge, and a lower end of the second linear driving unit is connected to the lower platform 206 through a second hook hinge.
The third linear driving branch 207 includes two third driving units, the upper ends of the two third driving units are connected to the outer barrel 202 through spherical joints, and the lower ends of the two third driving units are connected to the cross shaft of the main hooke joint 205 through third hooke joints. The axes of the first, second and third linear drive branches 203, 208, 207 are distributed at intervals around the elevator shaft. The first linear driving unit, the second linear driving unit and the third linear driving unit may be hydraulic cylinders or electric cylinders. The first and second hooke joints are mounted to the extension arms of the lower platform 206, respectively. And the spiders of the first and second hooke joints are parallel to the corresponding sides of the outer barrel 202. The "corresponding side" referred to herein means a horizontal side of a plane on the outer barrel 202 for mounting the first and second linear drive branches 203 and 208.
The parallel motion compensation platform 2 of the present embodiment is a 3-UPS + UP structure, the UP branch is a follow-UP branch, and is composed of a lifting barrel and a main hooke joint 205, and the three SPU branches are driving branches, i.e., the first linear driving branch 203, the second linear driving branch 208, and the third linear driving branch 207 are driving branches. The UP branches and each group of driving branches and the upper platform 201 and the lower platform 206 respectively form 3 closed-loop branched chains.
The first linear driving branch 203, the second linear driving branch 208 and the third linear driving branch 207 are asymmetrically distributed relative to the lifting cylinder, a cross shaft of the main hook hinge 205 is lengthened in one direction and is provided with a transverse plate, and the two third linear driving units 207 are respectively connected to two ends of the transverse plate. The extension of the cross machine facilitates the connection of the third linear drive unit 207.
Because the hooke joints at one ends of the two third driving units of the third linear driving branch are both connected to the cross axle of the main hooke joint 205 in the UP branch, partial decoupling of the structure is realized, which is beneficial to controlling the rotation of the upper platform 201 around the cross axle of the main hooke joint 205 in two directions. Meanwhile, the two third driving units are more favorable for driving the load, and the UP branch can increase the rigidity and the strength of the whole mechanism.
The following describes the motion process of the parallel motion compensation stage 2.
When the first, second and third linear drive branches 203, 208 and 207 are simultaneously applied with the same force and extend length, the upper platform 201 is raised.
When the first linear driving branch 203 extends and the second linear driving branch 208 shortens, the upper platform 201 will rotate to the side of the second linear driving branch 208, i.e. the upper platform 201 moves to the right in fig. 2. When the first linear driving branch 203 is shortened and the second linear driving branch 208 is lengthened, the upper platform 201 will rotate toward the first linear driving branch 203, i.e. the upper platform 201 moves to the left in fig. 2. When the upper platform 201 rotates left and right, the extension length of the third linear driving branch 207 does not change, that is, the left and right rotation of the upper platform 201 does not affect the third linear driving branch 207, and the operation control of the motion process is simple.
When the two third driving units of the third linear driving branch 207 are simultaneously extended or compressed and the first linear driving branch 203 and the second linear driving branch 208 are simultaneously compressed or extended, the upper platform 201 may generate a forward or backward movement.
Therefore, the parallel motion compensation platform 2 can realize the rotation in the front-back direction and the left-right direction and the lifting motion of the lifting cylinder.
The parallel compensating boom 3 comprises a bottom revolute pair 301, a connecting shaft 302, a boom stem 304, two upper drive branches 303, a hauling rope 305 and a hook 306.
The bottom revolute pair 301 comprises a fixed part and a movable part, the fixed part is fixedly connected to the upper platform 201, the movable part is connected with the fixed part through a rotating shaft, and the rotating shaft is parallel to the upper surface of the upper platform 201.
The first end of the connecting shaft 302 is connected to the bottom revolute pair 301, the second end thereof is connected to the boom rod 304, the boom rod 304 can be rotated with respect to the movable portion of the bottom revolute pair 301, and the rotation axis of the boom rod 304 is perpendicular to the rotation axis of the bottom revolute pair 301.
Two upper driving branches 303 are respectively located at two sides of the boom rod 304, a first end of the two upper driving branches 303 is connected with the upper platform 201 through a spherical hinge, and a second end thereof is movably connected with the boom rod 304 through a spherical hinge.
A first end of the traction rope 305 is fixedly connected to the boom rod 304, and a second end of the traction rope is connected to a driving device through a pulley, wherein the driving device can be a mechanism such as a winch; the hook 306 is provided on the pull rope 305.
The following describes the motion process of the parallel motion compensation stage 2.
When the two upper driving branches 303 extend or contract at the same time by the same length, the boom rod 304 can rotate around the rotating shaft of the bottom revolute pair 301, so as to realize the pitching motion of the boom rod 304. When the two upper driving branches 303 extend for different lengths, the boom lever 304 can rotate along the rotation axis of the boom lever 304, so as to compensate the unstable hull caused by the waves.
In summary, the floating-base six-degree-of-freedom mechanical arm according to the first embodiment of the present invention can realize six degrees of freedom, which are: rotation of the parallel motion compensation platform 2 relative to the base turntable 1, lifting motion of the parallel motion compensation platform 2, forward and backward rotation of the parallel motion compensation platform 2, pitching motion of the boom arm 304, and rotation of the boom arm 304.
The floating-base six-degree-of-freedom mechanical arm of the embodiment has the following beneficial effects.
(1) The floating-base six-degree-of-freedom mechanical arm provided by the embodiment of the invention has the advantages of large working space, good stability and high safety, and can balance the influence of the environments such as sea waves and the like. And the device can be installed on large ships, warships, wharves and the like, is suitable for different environments, and meets various requirements.
(2) The 3-UPS + UP structure in the embodiment of the invention realizes the decoupling of the structure by fixedly connecting the third linear driving branch with the main hook hinge of the UP branch, namely the angle change of the lifting cylinder can be obtained by knowing the data of the two driving units in the third linear driving branch, the control is convenient, and the reliability and the stability of the mechanism are enhanced by the two driving units.
(3) The invention not only can stabilize the working platform of the equipment by motion compensation, but also can lead the tail end of the mechanical arm to reach the required pose by controlling the parallel compensation platform and the suspension arm according to different requirements.
Second embodiment
As shown in fig. 5, the embodiment of the present invention discloses a floating-base six-degree-of-freedom mechanical arm, which is the same as the first embodiment and is not repeated, except that in this embodiment, the third linear driving branch 207 includes a third driving unit, the third linear driving branch 207 is a UPR mechanism, the upper end of the third driving unit is connected to the inner-layer cylinder 204 through an R pair, and the lower end of the third driving unit is fixedly connected to a cross axle of the main hooke joint 205 through a third hooke joint; the spider of the third hooke joint is coaxial with the spider of the main hooke joint 205. The axes of the first, second and third linear drive branches 203, 208, 207 are distributed at intervals around the elevator shaft.
When the first linear driving branch 203 and the second linear driving branch 208 are simultaneously extended or compressed, the lifting cylinder can realize lifting movement, and at the moment, the third linear driving branch 207 cannot be changed, namely, the lifting is controlled only by considering the length changes of the first linear driving branch 203 and the second linear driving branch 208; when the first linear driving branch 203 extends or compresses and the second linear driving branch 208 compresses or extends at the same time, and the third linear driving branch 207 does not change, the left-right rotation of the upper platform 201 can be realized, and the left-right rotation of the upper platform 201 can be controlled only by considering the length changes of the first linear driving branch 203 and the second linear driving branch 208; when the third linear driving branch 207 is extended or shortened and the first linear driving branch 203 and the second linear driving branch 208 are simultaneously compressed or extended, the upper platform 201 can rotate back and forth, and the angle of the upper platform 201 can be obtained as long as the length of the third linear driving branch 207 is known. This embodiment also enables the upper platform 201 to rotate back and forth, left and right, and move up and down.
The advantage of this embodiment is that only two sets of driving branch parameter changes need to be considered when realizing the lifting and left-right rotation of the upper platform 201, which is convenient for control, and the angle of the front-back rotation of the upper platform 201 is easy to calculate.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A floating-base six-degree-of-freedom mechanical arm is characterized by comprising: a base turntable (100), a parallel motion compensation platform (2) and a parallel compensation suspension arm (3); wherein the content of the first and second substances,
the parallel motion compensation platform (2) comprises:
the lower platform (206) is connected with the base turntable (1) and can rotate around the vertical direction under the driving of the base turntable (1);
the lifting cylinder comprises an inner layer cylinder (204) and an outer layer cylinder (202), and the inner layer cylinder (204) and the outer layer cylinder (202) are in sliding connection through a guide rail and a guide rail groove; the inner barrel (204) is connected with the lower platform (206) through a main hook joint (205);
the upper platform (201) is fixedly arranged at the top end of the outer layer cylinder (202);
the first linear driving branch (203) comprises a first linear driving unit, the upper end of the first linear driving unit is connected with the outer-layer barrel (202) through a spherical hinge, and the lower end of the first linear driving unit is connected with the lower platform (206) through a first hook hinge;
the second linear driving branch (208) comprises a second linear driving unit, the upper end of the second linear driving unit is connected with the outer-layer cylinder (202) through a spherical hinge, and the lower end of the second linear driving unit is connected with the lower platform (206) through a second hook hinge;
the third linear driving branch (207) comprises two third driving units, the upper ends of the two third driving units are connected with the outer-layer barrel (202) through spherical hinges, and the lower ends of the two third driving units are fixedly connected to a cross shaft of the main hook hinge (205) through a third hook hinge; the axes of the first linear driving branch (203), the second linear driving branch (208) and the third linear driving branch (207) are distributed around the lifting cylinder at intervals;
the parallel compensating boom (3) comprises:
a boom lever (304);
the bottom revolute pair (301) comprises a fixed part and a movable part, the fixed part is fixedly connected to the upper platform (201), the movable part is connected with the fixed part through a rotating shaft, and the rotating shaft is parallel to the upper surface of the upper platform (201);
a connecting shaft (302), the first end of which is connected with the bottom revolute pair (301), the second end of which is connected with the boom rod (304), the boom rod (304) can rotate relative to the movable part, and the rotating axis of the boom rod (304) is vertical to the rotating shaft of the bottom revolute pair (301);
the two upper driving branches (303) are respectively positioned at two sides of the boom rod (304), the first ends of the two upper driving branches (303) are connected with the upper platform through spherical hinges, and the second ends of the two upper driving branches are movably connected with the boom rod (304) through spherical hinges;
a traction rope (305), the first end of which is fixedly connected with the boom rod (304), and the second end of which is connected with a driving device through a pulley;
a hook (306) disposed on the pull-cord (305).
2. The floating-base six-degree-of-freedom mechanical arm as claimed in claim 1, wherein the first linear driving branch (203), the second linear driving branch (208) and the third linear driving branch (207) are asymmetrically distributed relative to the lifting cylinder, a cross shaft of the main hook joint (205) is lengthened in one direction and is provided with a transverse plate, and two third driving units are respectively connected to two ends of the transverse plate.
3. The floating-based six-degree-of-freedom robotic arm of claim 1, wherein the first linear drive unit (203), the second linear drive unit (208), and the third linear drive unit (207) are hydraulic cylinders or electric cylinders.
4. The floating-base six-degree-of-freedom mechanical arm according to claim 1, wherein the cross sections of the inner-layer barrel (204) and the outer-layer barrel (202) are both hexagonal structures and have three long sides and three short sides which are distributed at intervals, the inner layer of the outer-layer barrel (202) is provided with six guide rails, and the outer part of the inner-layer barrel (204) is provided with six slide rail grooves matched with the guide rails.
5. The floating-based six-degree-of-freedom robotic arm of claim 4, wherein the cross axes of the first and second hooke's joints are parallel to corresponding sides of the outer barrel (202).
6. The floating-based six-degree-of-freedom robotic arm of claim 1, wherein the lower platform (206) is a herringbone structure, two outwardly extending extension arms are provided on the lower platform (206), and the first and second hooke joints are respectively mounted on the extension arms.
7. The floating-based six-degree-of-freedom mechanical arm according to claim 1, wherein the third linear driving branch (207) comprises a third driving unit, the upper end of the third driving unit is connected with the inner-layer cylinder (204) through an R pair, and the lower end of the third driving unit is fixedly connected to a cross shaft of the main hook joint (205) through a third hook joint; the axes of the first linear driving branch (203), the second linear driving branch (208) and the third linear driving branch (207) are distributed around the lifting cylinder at intervals.
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| CN111923064A (en) * | 2020-09-09 | 2020-11-13 | 芜湖捷和科技有限公司 | Clamping mechanical arm for industrial instrument processing production |
| CN112723194A (en) * | 2021-01-08 | 2021-04-30 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
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| CN111923064A (en) * | 2020-09-09 | 2020-11-13 | 芜湖捷和科技有限公司 | Clamping mechanical arm for industrial instrument processing production |
| CN112723194A (en) * | 2021-01-08 | 2021-04-30 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
| CN112723194B (en) * | 2021-01-08 | 2021-10-26 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
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