CN202438999U - Poly-loop coupled connecting rod work apparatus possessing complex hinge - Google Patents
Poly-loop coupled connecting rod work apparatus possessing complex hinge Download PDFInfo
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- CN202438999U CN202438999U CN2011205537221U CN201120553722U CN202438999U CN 202438999 U CN202438999 U CN 202438999U CN 2011205537221 U CN2011205537221 U CN 2011205537221U CN 201120553722 U CN201120553722 U CN 201120553722U CN 202438999 U CN202438999 U CN 202438999U
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Abstract
The utility model discloses a poly-loop coupled connecting rod work apparatus possessing a complex hinge, wherein a pedestal is provided with three pairs of bases which are arranged symmetrically in parallel, one pair of the bases are hinged to the cylinder sleeve of a driving hydraulic cylinder I, the piston rod of the driving hydraulic cylinder I is respectively hinged to the rocking bars which are hinged to two sides of a small arm, the rocking bars are also respectively hinged to one end of a pull bar, the hinged connection on the rocking bars shows triangular distribution, the other end of the pull bar is hinged to the central section of a large arm, the small arm is also hinged to an end performer, the end performer is hinged to the cylinder sleeve of a driving hydraulic cylinder II, two sides of the large arm are respectively connected with the piston rod end portion of the driving hydraulic cylinder and the piston rod end portion of a driving hydraulic cylinder III to form a complex hinge, the cylinder sleeve of the driving hydraulic cylinder III is hinged to another pair of bases on the pedestal, one end of the large arm is hinged to a pair of bases at the middle of the pedestal, and the other end of the large arm is hinged to the middle of the small arm. According to the utility model, the bearing capability is high, the movement space is large, multiple purposes of one apparatus can be realized, the movement analysis is easy, and real time control is easy.
Description
Technical field
The utility model relates to the connecting rod equipment.Be particularly related to a kind of many loop coupling connecting rod equipment.
Background technology
The connecting rod equipment is the core skeleton of industrial equipment, and developing the mechanism with autonomous property right will be extremely important to the core competitiveness that improves China's industrial equipment.Many loop coupling connecting rod equipment is gone here and there and the series-parallel connection equipment in other words, not only has series connection machinery and makes the big advantage in space by hand, also has the high characteristics of parallel manipulator hand bearing capacity.Chinese patent CN03105161.8 relates to a kind of four-freedom hybrid robot, and it is by the double rotation freedom degrees rotary head structure of two translational freedom degree parallel connection mechanisms, series connection with it and be installed in the structural end effector of said rotary head and constitute.Chinese patent CN200610015114.9 discloses a kind of rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism of realizing, the actuating unit of this mechanism can be realized the complete cycle revolution, and three driving shafts adopt coaxial arrangement, can reduce the quality of moving component.Yet existing similar equipment is not based on that heavy duty designs, and is not suitable for the heavy-duty applications occasion.
Summary of the invention
The purpose of the utility model is to provide a kind of many loop coupling connecting rod equipment that contains multiple hinge that multiple hinge, working space are big, be easy to control that contains.Base is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one through hinge; The piston rod end of this a pair of driving hydraulic cylinder one is connected with a pair of rocking bar that is hinged on forearm one end both sides respectively through hinge; This a pair of rocking bar also is connected with an end of a pair of pull bar respectively through hinge; Distribution hinged triangular in shape on this rocking bar; The other end of above-mentioned pull bar is connected with big arm middle part through hinge, and the other end of above-mentioned forearm is connected with a position of end effector through hinge, and another position of above-mentioned end actuator is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two through hinge; The piston rod end of the piston rod end of one side of big arm and a driving hydraulic cylinder two and a driving hydraulic cylinder three is connected through the hinge and constitutes a compound hinges; The opposite side of big arm also forms a compound hinges through above-mentioned connected mode, and above-mentioned two compound hingeses are symmetric arrangement in the both sides of big arm, and the cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three is connected with the pair of base of the base other end through hinge; One end of above-mentioned big arm is connected through the pair of base of hinge with the base middle part, and the other end of this big arm is connected with above-mentioned forearm middle part through hinge.
Another kind contains in many loop coupling connecting rod equipment of multiple hinge, can exchange the link position of above-mentioned a pair of driving hydraulic cylinder one and a pair of pull bar, and the annexation of other rod members is constant.
The third contains in many loop coupling connecting rod equipment of multiple hinge; Base is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one through hinge; The piston rod end of this a pair of driving hydraulic cylinder one is connected with an end of forearm through hinge; The piston rod end of one position of the other end of this forearm and end effector and driving hydraulic cylinder three is connected through the hinge and forms multiple hinge, and this cylinder sleeve end that drives hydraulic cylinder three is connected with the pair of base of the base other end through hinge, and another position of above-mentioned end actuator is connected with the piston rod end of a pair of driving hydraulic cylinder two through hinge; The cylinder sleeve end of this driving hydraulic cylinder two is connected with a pair of rocking bar that is hinged on both sides, above-mentioned forearm middle part through hinge; This rocking bar also is connected with an end of a pair of pull bar through hinge, the distribution hinged triangular in shape on this rocking bar, and the other end of above-mentioned pull bar is connected with big arm middle part through hinge; One end of this big arm is connected through the pair of base of hinge with the base middle part, and this big arm other end and forearm middle part are connected through the hinge.
In many loop coupling connecting rod equipment that the 4th kind contains multiple hinge; The third cylinder sleeve end that drives hydraulic cylinder three containing in many loop coupling connecting rod equipment of multiple hinge is connected through the hinge at big arm middle part; One end of a pair of pull bar is connected through the hinge respectively on rocking bar; The other end of this pull bar is connected through the hinge on base, and the annexation of other rod members is constant.
In many loop coupling connecting rod equipment that the 5th kind contains multiple hinge; The piston rod end of a pair of driving hydraulic cylinder two in the 4th kind of many loop coupling connecting rod equipment that contains multiple hinge is connected through the hinge at the middle part of big arm; the piston rod end of an end of forearm and a position of end effector and driving hydraulic cylinder three is connected through the hinge and forms multiple hinge; the cylinder sleeve end of this driving hydraulic cylinder three is connected through the hinge on rocking bar, and the annexation of other rod members is constant.
Above-mentioned cylinder sleeve and the piston rod position that respectively drives hydraulic cylinder can be exchanged.
The utility model is that the plane mechanism by two symmetrical, parallel constitutes from the base to the end effector, each plane mechanism, and end effector all is 3 to the free degree of base.Guaranteeing that the shape and size of each rod member can change according to actual conditions under the constant situation of interconnected relationship between rod member number and the rod member.
The utility model has the following advantages compared with prior art:
(1) has the big and high advantage of parallel institution bearing capacity of serial mechanism working space concurrently.
(2) a tractor serves several purposes be can realize, can pick-and-place operation or heavy duty excavation be carried out weight.
(3) Kinematic Analysis of having cut with scissors feature reduction again.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model.
Fig. 2 is the three-dimensional simplified schematic diagram of the excavation user mode of the utility model.
Fig. 3 is the three-dimensional simplified schematic diagram of the extracting user mode of the utility model.
Fig. 4 is the utility model embodiment 2 three-dimensional simplified schematic diagram.
Fig. 5 is the utility model embodiment 3 three-dimensional simplified schematic diagram.
Fig. 6 is the utility model embodiment 4 three-dimensional simplified schematic diagram.
Fig. 7 is the utility model embodiment 5 three-dimensional simplified schematic diagram.
In the accompanying drawing, 1-base, 2-drive hydraulic cylinder one, 3-rocking bar, 4-forearm, 5-end effector, the big arm of 6-, 7-driving hydraulic cylinder two, 8-driving hydraulic cylinder three, 9-pull bar.
The specific embodiment
In a kind of three-dimensional simplified schematic diagram of many loop coupling equipment that contains multiple hinge shown in Figure 1; Base 1 is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 1 through hinge R1; The piston rod end of this a pair of driving hydraulic cylinder one is connected with a pair of rocking bar 3 that is hinged on forearm 4 one end both sides through hinge R3 respectively through hinge R2; This a pair of rocking bar also is connected with an end of a pair of pull bar 9 respectively through hinge R4, the distribution hinged triangular in shape on this rocking bar, and the other end of above-mentioned pull bar is connected with big arm 6 middle parts through hinge R10; The other end of above-mentioned forearm is connected with a position of end effector 5 through hinge R5; Another position of above-mentioned end actuator is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 27 through hinge R6; The both sides of big arm connect the multiple hinge that constitutes two parallel symmetries through hinge R8 respectively with the piston rod end of the piston rod end of above-mentioned a pair of driving hydraulic cylinder two, a pair of driving hydraulic cylinder 38; The cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three is connected with the pair of base of the base other end through hinge R7; The lower end of above-mentioned big arm is connected with the pair of base at base middle part through hinge R9, and the upper end of this big arm is connected with above-mentioned forearm middle part through hinge R11.
In the three-dimensional simplified schematic diagram of the excavation user mode of the utility model shown in Figure 2, end effector is a shovel mechanism, the same Fig. 1 of the annexation between other rod member.
In the three-dimensional simplified schematic diagram of the excavation user mode of the utility model shown in Figure 3, end effector is the handgrip mechanism that is installed, the same Fig. 1 of the annexation between other rod member.
In a kind of many loop coupling connecting rod equipment embodiment 2 three-dimensional simplified schematic diagram that contain multiple hinge shown in Figure 4; The piston rod end of a pair of driving hydraulic cylinder 1 is connected on the rocking bar 3 through hinge R4; The cylinder sleeve end of this driving hydraulic cylinder one is connected on the big arm 6 through hinge R10; One end of a pair of pull bar 9 is connected on the rocking bar through hinge R2, and the other end of this pull bar is connected through hinge R1 on the pair of base of base 1 one ends, and the annexation of other rod members is identical with Fig. 1.
Contain in many loop coupling connecting rod equipment embodiment 3 three-dimensional simplified schematic diagram of multiple hinge a kind of shown in Fig. 5; Base 1 is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder 1 through hinge R1; The piston rod end of this a pair of driving hydraulic cylinder one is connected with an end of forearm 4 through hinge R2; One position of the other end of this forearm and end effector 5 and the piston rod end that drives hydraulic cylinder 38 are connected to form to answer through hinge R6 cuts with scissors; This cylinder sleeve end that drives hydraulic cylinder three is connected with the pair of base of the base other end through hinge R8; Another position of above-mentioned end actuator is connected with the piston rod end of a pair of driving hydraulic cylinder 27 through hinge R7, and the cylinder sleeve end of this driving hydraulic cylinder two is connected with a pair of rocking bar 3 that is hinged on both sides, forearm middle part through hinge R3 through hinge R4, and this rocking bar also is connected with an end of a pair of pull bar 9 through hinge R5; Distribution hinged triangular in shape on this rocking bar; The other end of above-mentioned pull bar is connected with big arm 6 middle parts through hinge R9, and the bottom of this big arm is connected with the pair of base at base middle part through hinge R10, and this big arm upper end is connected through hinge R11 with the forearm middle part.
In a kind of many loop coupling connecting rod equipment embodiment 4 three-dimensional simplified schematic diagram that contain multiple hinge shown in Figure 6; A cylinder sleeve end that drives hydraulic cylinder 38 is connected big arm 6 middle parts through hinge R8; One end of a pair of pull bar 9 is connected on the rocking bar 3 through hinge R3 respectively; The other end of this pull bar is connected on the base 1 through hinge R10, the same Fig. 5 of the annexation of other rod members.
In a kind of many loop coupling connecting rod equipment embodiment 5 three-dimensional simplified schematic diagram that contain multiple hinge shown in Figure 7; The piston rod end of a pair of driving hydraulic cylinder 27 is connected the middle part of big arm 6 through hinge R8; an end of forearm 4 is connected to form through hinge R6 with the piston rod end of a position of end effector 5 and a pair of driving hydraulic cylinder 38 answers hinge; the cylinder sleeve end of this driving hydraulic cylinder three is connected on the rocking bar 3 through hinge R5, the same Fig. 6 of the annexation of other rod members.
Claims (8)
1. many loop coupling connecting rod equipment that contains multiple hinge; It is characterized in that: base (1) is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) through hinge; The piston rod end of this a pair of driving hydraulic cylinder one (2) is connected with a pair of rocking bar (3) that is hinged on forearm (4) one end both sides respectively through hinge; This a pair of rocking bar (3) also is connected with an end of a pair of pull bar (9) respectively through hinge; Distribution hinged triangular in shape on this rocking bar (3); The other end of above-mentioned pull bar (9) is connected with big arm (6) middle part through hinge, and the other end of above-mentioned forearm (4) is connected with a position of end effector (5) through hinge, and another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) through hinge; The piston rod end of the piston rod end of one side of big arm (6) and a driving hydraulic cylinder two (7) and a driving hydraulic cylinder three (8) is connected through the hinge and constitutes a compound hinges; The opposite side of big arm (6) also forms a compound hinges through above-mentioned connected mode; Above-mentioned two compound hingeses are symmetric arrangement in the both sides of big arm (6); The cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three (8) is connected with the pair of base of base (1) other end through hinge; One end of above-mentioned big arm (6) is connected through the pair of base of hinge with base (1) middle part, and the other end of this big arm (6) is connected with above-mentioned forearm (4) middle part through hinge.
2. many loop coupling connecting rod equipment that contains multiple hinge; It is characterized in that: base (1) is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with an end of a pair of pull bar (9) through hinge; The other end of this a pair of pull bar (9) is connected with a pair of rocking bar (3) that is hinged on forearm (4) one end both sides respectively through hinge; This a pair of rocking bar (3) also is connected with the piston rod end of a pair of driving hydraulic cylinder one (2) respectively through hinge; Distribution hinged triangular in shape on this rocking bar (3); The cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder one (2) is connected through the middle part of hinge with big arm (6); The other end of above-mentioned forearm (4) is connected with a position of end effector (5) through hinge; Another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) through hinge, and the piston rod end of a side of big arm (6) and a driving hydraulic cylinder two (7) and the piston rod end of a driving hydraulic cylinder three (8) are connected through the hinge and constitute a compound hinges, and the opposite side of big arm (6) also forms a compound hinges through above-mentioned connected mode; Above-mentioned two compound hingeses are symmetric arrangement in the both sides of big arm (6); The cylinder sleeve end of above-mentioned a pair of driving hydraulic cylinder three (8) is connected with the pair of base of base (1) other end through hinge, and an end of above-mentioned big arm (6) is connected through the pair of base of hinge with base (1) middle part, and the other end of this big arm (6) is connected with above-mentioned forearm (4) middle part through hinge.
3. many loop coupling connecting rod equipment that contains multiple hinge; It is characterized in that: base (1) is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) through hinge; The piston rod end of this a pair of driving hydraulic cylinder one (2) is connected with an end of forearm (4) through hinge; The piston rod end of one position of the other end of this forearm (4) and end effector (5) and driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge; This cylinder sleeve end that drives hydraulic cylinder three (8) is connected with the pair of base of base (1) other end through hinge; Another position of above-mentioned end actuator (5) is connected with the piston rod end of a pair of driving hydraulic cylinder two (7) through hinge, and the cylinder sleeve end of this a pair of driving hydraulic cylinder two (7) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part through hinge respectively, and this rocking bar (3) also is connected with an end of a pair of pull bar (9) through hinge; Distribution hinged triangular in shape on this rocking bar; The other end of above-mentioned pull bar (9) is connected through the middle part of hinge with big arm (6), and an end of this big arm (6) is connected through the pair of base of hinge with base (1) middle part, and this big arm (6) other end is connected with forearm (4) middle part.
4. many loop coupling connecting rod equipment that contains multiple hinge; It is characterized in that: base (1) is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) through hinge; The piston rod end of this a pair of driving hydraulic cylinder one (2) is connected with an end of forearm (4) through hinge; The piston rod end of one position of the other end of this forearm (4) and end effector (5) and driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge; This cylinder sleeve end that drives hydraulic cylinder three (8) is connected through the middle part of hinge with big arm (6); One end of this big arm (6) is connected with the pair of base of base (1) other end through hinge; The other end of this big arm (6) is connected with the middle part of forearm (4) through hinge, and another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) through hinge, and the piston rod end of this driving hydraulic cylinder two (7) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part through hinge; This rocking bar (3) also is connected the distribution hinged triangular in shape on this rocking bar through hinge with an end of a pair of pull bar (9); The other end of above-mentioned pull bar (9) is connected through the pair of base of hinge with base (1) middle part.
5. many loop coupling connecting rod equipment that contains multiple hinge; It is characterized in that: base (1) is provided with the pedestal of three pairs of parallel symmetries; The pair of base of one of which end is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder one (2) through hinge; The piston rod end of this a pair of driving hydraulic cylinder one (2) is connected with an end of forearm (4) through hinge; The piston rod end of the other end of this forearm (4) and end effector (5) one positions and a pair of driving hydraulic cylinder three (8) is connected through the hinge and forms multiple hinge; The cylinder sleeve end of this a pair of driving hydraulic cylinder three (8) is connected with a pair of rocking bar (3) that is hinged on both sides, forearm (4) middle part through hinge respectively; This rocking bar (3) also is connected with an end of a pair of pull bar (9) through hinge, the distribution hinged triangular in shape on this rocking bar, and the other end of above-mentioned pull bar (9) is connected through the pair of base of hinge with base (1) middle part; Another position of above-mentioned end actuator (5) is connected with the cylinder sleeve end of a pair of driving hydraulic cylinder two (7) through hinge; The piston rod end of this a pair of driving hydraulic cylinder two (7) is connected with big arm (6) through hinge respectively, and an end of this big arm (6) and above-mentioned forearm (4) middle part are connected through the hinge, and the other end of this big arm (6) is connected with the pair of base of base (1) other end through hinge.
6. according to a kind of many loop coupling connecting rod equipment that contains multiple hinge described in claim 3 or 4, it is characterized in that: above-mentioned one drives hydraulic cylinder three (8), and the less hydraulic cylinder of available a pair of specification replaces.
7. according to claim 1,2,3, a kind of many loop coupling connecting rod equipment that contains multiple hinge described in 4 or 5, it is characterized in that: above-mentioned a pair of driving hydraulic cylinder one (2), can use hydraulic cylinder one replacement that specification is bigger.
8. according to claim 1,2,3, a kind of many loop coupling connecting rod equipment that contains multiple hinge described in 4 or 5, it is characterized in that: above-mentioned cylinder sleeve and the piston rod position that respectively drives hydraulic cylinder can be exchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205537221U CN202438999U (en) | 2011-12-27 | 2011-12-27 | Poly-loop coupled connecting rod work apparatus possessing complex hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205537221U CN202438999U (en) | 2011-12-27 | 2011-12-27 | Poly-loop coupled connecting rod work apparatus possessing complex hinge |
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| Publication Number | Publication Date |
|---|---|
| CN202438999U true CN202438999U (en) | 2012-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205537221U Withdrawn - After Issue CN202438999U (en) | 2011-12-27 | 2011-12-27 | Poly-loop coupled connecting rod work apparatus possessing complex hinge |
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| CN (1) | CN202438999U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528818A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
-
2011
- 2011-12-27 CN CN2011205537221U patent/CN202438999U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528818A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
| CN102528818B (en) * | 2011-12-27 | 2014-06-11 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120919 Effective date of abandoning: 20140611 |
|
| RGAV | Abandon patent right to avoid regrant |