CN203485207U - Secondary arm structure used in power assisting manipulator - Google Patents
Secondary arm structure used in power assisting manipulator Download PDFInfo
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- CN203485207U CN203485207U CN201320492961.XU CN201320492961U CN203485207U CN 203485207 U CN203485207 U CN 203485207U CN 201320492961 U CN201320492961 U CN 201320492961U CN 203485207 U CN203485207 U CN 203485207U
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- secondary arm
- arm
- armed lever
- inferior
- rod
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Abstract
The utility model relates to a manipulator, and particularly to a secondary arm structure used in power assisting machinery for settling a defect of low stability in secondary arm linkage performance in the prior manipulator. The secondary arm structure is composed of a main secondary arm rod, an auxiliary secondary arm row which is arranged parallelly to the main secondary arm rod, and a secondary arm bracket. The main secondary arm is arranged above the auxiliary secondary arm rod. The front ends and the bottom ends of the main secondary arm rod and the auxiliary secondary arm rod are respectively connected with a front arm bracket and the secondary arm bracket. The main secondary arm rod, the auxiliary secondary arm rod, the secondary arm bracket and the front arm bracket form a parallelogram four-connecting-rod mechanism. According to the secondary arm structure, through forming the parallelogram four-connecting-rod mechanism by the main secondary arm rod, the auxiliary secondary arm rod, the secondary arm bracket and the front arm bracket, integral linkage performance of the secondary arm is improved for improving control precision of the main arm to the front arm.
Description
Technical field
The utility model relates to a kind of manipulator, especially a kind of inferior arm configuration for boosting manipulator.
Background technology
In existing mechanical arm, inferior arm, as for connecting the linkage unit between principal arm and forearm, plays an important role always.Yet, because existing arm component is generally to adopt hydraulic way to move, although its structure is very simple,, the accurate or existing problems of interlock performance and location, thus the interlock performance between principal arm and forearm affected.
Summary of the invention
For the weak point existing in the problems referred to above, the utility model provides a kind of inferior arm configuration for boosting manipulator, has advantages of that device structure is simple, interlock performance is good.
For achieving the above object, the utility model provides a kind of inferior arm configuration for boosting manipulator, inferior-defective armed lever and inferior arm bearing by the setting in parallel of primary and secondary armed lever form, described primary and secondary armed lever, be arranged on the upper end of described inferior-defective armed lever, the front end of described primary and secondary armed lever and described inferior-defective armed lever and end are flexibly connected with described arm bearing with forearm bearing respectively, and described primary and secondary armed lever, described inferior-defective armed lever, described arm bearing and described forearm bearing form parallel four-bar linkage.
The above-mentioned inferior arm configuration for boosting manipulator, wherein, described primary and secondary armed lever consists of square tube and the linkage board that is arranged on its end, and described linkage board is arranged on described square tube outside, and is to be all connected with described arm bearing.
The above-mentioned inferior arm configuration for boosting manipulator, wherein, the quantity of described linkage board is two.
The above-mentioned inferior arm configuration for boosting manipulator, wherein, described linkage board is also connected with cylinder and stroke limit part in principal arm.
Compared with prior art, the utlity model has following advantage:
The utility model, by primary and secondary armed lever, inferior-defective armed lever, inferior arm bearing and forearm bearing are formed to parallel four-bar linkage, makes the interlock performance of time arm integral body better, to improve the control accuracy of principal arm to forearm.
Accompanying drawing explanation
Fig. 1 is structure chart of the present utility model;
Fig. 2 is the structure chart of primary and secondary armed lever in Fig. 1;
Fig. 3 is the structure chart of time arm bearing in Fig. 1.
Main element symbol description is as follows:
3-arm bearing of 1-primary and secondary armed lever 2-inferior-defective armed lever
4-square tube 5-linkage board 6-forearm bearing
7-cylinder coupling assembling 8-stroke limit part
The specific embodiment
As shown in Figure 1 to Figure 3, this arm configuration consists of inferior-defective armed lever 2 and the inferior arm bearing 3 of primary and secondary armed lever 1, setting in parallel, primary and secondary armed lever 1 and the upper end that is arranged on inferior-defective armed lever 2, the front end of primary and secondary armed lever 1 and inferior-defective armed lever 2 and end are flexibly connected with time arm bearing 3 with forearm bearing 6 respectively.In the present embodiment, its movable connection method is bearing pin connected mode.
Primary and secondary armed lever 1 consists of square tube 4 and the linkage board 5 that is arranged on its end, and the end of square tube is to be all connected with inferior arm bearing with the middle-end of linkage board.The quantity of linkage board 3 is two, and is arranged on respectively on square tube outer wall.The structure of square tube 4 and inferior-defective armed lever 2 and measure-alike.The end of linkage board connects with the cylinder in principal arm by cylinder coupling assembling 7, and wherein, cylinder coupling assembling is the assembly that bearing pin and bearing form.In addition, it is also connected with the stroke limit part 8 in principal arm by subterminal position.
Primary and secondary armed lever, inferior-defective armed lever, inferior arm bearing and forearm bearing form one group of parallel four-bar linkage.When cylinder pulls principal arm bar to swing, primary and secondary armed lever remains parallel with inferior-defective armed lever, and forearm supporting bearing hole axial line also remains parallel with time arm axial line.
Only as described above, be only preferred embodiment of the present utility model, professional who are familiar with this art such as, and after understanding technological means of the present utility model, natural energy, according to actual needs, is changed under instruction of the present utility model.Therefore all equal variation and modifications of doing according to the utility model claim, once should still belong in the scope that the utility model patent contains.
Claims (4)
1. the inferior arm configuration for boosting manipulator, it is characterized in that, inferior-defective armed lever and inferior arm bearing by primary and secondary armed lever, setting in parallel form, described primary and secondary armed lever and the upper end that is arranged on described inferior-defective armed lever, the front end of described primary and secondary armed lever and described inferior-defective armed lever and end are flexibly connected with described arm bearing with forearm bearing respectively, and described primary and secondary armed lever, described inferior-defective armed lever, described arm bearing and described forearm bearing form parallel four-bar linkage.
2. the inferior arm configuration for boosting manipulator according to claim 1, it is characterized in that, described primary and secondary armed lever consists of square tube and the linkage board that is arranged on its end, and described linkage board is arranged on described square tube outside, and is to be all connected with described arm bearing.
3. the inferior arm configuration for boosting manipulator according to claim 2, is characterized in that, the quantity of described linkage board is two.
4. the inferior arm configuration for boosting manipulator according to claim 3, is characterized in that, described linkage board is also connected with cylinder and stroke limit part in principal arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320492961.XU CN203485207U (en) | 2013-08-13 | 2013-08-13 | Secondary arm structure used in power assisting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320492961.XU CN203485207U (en) | 2013-08-13 | 2013-08-13 | Secondary arm structure used in power assisting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203485207U true CN203485207U (en) | 2014-03-19 |
Family
ID=50256063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320492961.XU Expired - Fee Related CN203485207U (en) | 2013-08-13 | 2013-08-13 | Secondary arm structure used in power assisting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203485207U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207797A (en) * | 2020-10-09 | 2021-01-12 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
-
2013
- 2013-08-13 CN CN201320492961.XU patent/CN203485207U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207797A (en) * | 2020-10-09 | 2021-01-12 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
| CN112207797B (en) * | 2020-10-09 | 2023-02-03 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140319 Termination date: 20150813 |
|
| EXPY | Termination of patent right or utility model |