CN205129844U - Industrial robot operation hand of multi -angle work - Google Patents
Industrial robot operation hand of multi -angle work Download PDFInfo
- Publication number
- CN205129844U CN205129844U CN201520935384.6U CN201520935384U CN205129844U CN 205129844 U CN205129844 U CN 205129844U CN 201520935384 U CN201520935384 U CN 201520935384U CN 205129844 U CN205129844 U CN 205129844U
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- CN
- China
- Prior art keywords
- sliding sleeve
- pole
- bar
- revolute pair
- telescopic link
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- Expired - Fee Related
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Abstract
Industrial robot operation hand of multi -angle work, a telescopic link lower extreme of this operation hand is connected on the slider, the slider is installed in the spout on work platform, two one end on a telescopic link upper end and the pole are connected, two other ends on the pole are connected on the executor, a pole lower extreme is connected on work platform, a pole upper end is connected on sliding sleeve no. 3, the three sets sliding sleeves are on pole no. 2, two lower extremes of telescopic link are connected on work platform, two upper ends of telescopic link are connected on sliding sleeve no. 1, the one set sliding sleeve is on pole no. 1, three one end on the pole are connected on sliding sleeve no. 3, three other ends on the pole are connected on the executor, work platform installs on the dolly. The utility model has the advantages of the tradition hydraulic press working space of mechanism is big, digging force is big, the atress good the time, still reduced driving lever and controllable motor's quantity, reduced frame transmission system's complexity in addition.
Description
Technical field
The utility model relates to mechanical field, specifically a kind of industrial robot operator of Multi-angle working.
Background technology
Since the sixties in last century, mechanical arm starts to be widely used in process streams industry, not only alleviates the working strength of people, and improves processing efficiency greatly.But these mechanical arm overwhelming majority are fixed on pedestal, along with the development of industry and science and technology, this working space being arranged on the mechanical arm of fixed pedestal is extremely limited, can not meet actual task needs.For this situation, since generation in latter stage 80 year last century, domestic and international many research institutions have carried out the research to mobile mechanical arm.Mobile mechanical arm is formed primarily of running gear, mechanical arm and grabbing device, on the basis inheriting conventional machine mechanical arm advantage, expands again the working space of mechanical arm, makes its range of application wider, can meet the needs of more real works.Nowadays, for mobile platform fitting machine mechanical arm in other words for mechanical arm provide mobile foundation be mechanical arm development inexorable trend and important development direction.
Existing mobile manipulator mechanical arm is arranged on by motor on each joint of mechanical arm, the shortcoming of this mechanical arm has: poor rigidity, amount of spin are large, react insensitive, easy generation residual oscillation, and joint error easily accumulates, and the mobile manipulator mechanical arm in the utility model adopts with regard to link transmission, can whole motor be arranged on dolly, and cooperatively interact with three motors and just can realize controlling mechanical arm, overcome the shortcoming of existing mobile mechanical arm, and have flexible to operation, the advantages such as structure is simple, with low cost.
Utility model content
The utility model, for the deficiencies in the prior art, provides a kind of industrial robot operator of Multi-angle working, overcomes the shortcomings such as conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not.
To achieve these goals, the utility model have employed following technical scheme:
The industrial robot operator of Multi-angle working, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, sliding sleeve three, slide block, actuator and workbench,
Expansion link one lower end is connected on slide block by revolute pair one, and slide block is arranged in the chute on workbench, and expansion link one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Bar one lower end is connected on workbench by revolute pair four, and bar one upper end is connected on sliding sleeve three by revolute pair five, and sliding sleeve three is enclosed within bar two,
Expansion link two lower end is connected on workbench by revolute pair six, and expansion link two upper end is connected on sliding sleeve one, and sliding sleeve one is enclosed within bar one,
Bar three one end is connected on sliding sleeve three by revolute pair eight, and bar three other end is connected on actuator by revolute pair nine,
Workbench is arranged on dolly by revolute pair ten.
Compared with prior art, the beneficial effect that possesses of the utility model:
Have that conventional hydraulic machine mechanism working space is large, digging force is large, while the stressed advantage such as good, also reduce the usage quantity of driving lever, reduce controllable motor quantity, not only greatly reduce the cost of excavating mechanism of controllable, and reduce the complexity of frame transmission system, be more applicable for and manufacture all kinds of excavator and other engineering machinery.Slew gear can control operative orientation flexibly.Driving link type of drive is flexible and changeable, can select driven by servomotor, the drive forms such as combination drive, not only environmental protection, and is easy to realize Long-distance Control, reduces the advantages such as labor strength.
Accompanying drawing explanation
Fig. 1 is the structural representation of the industrial robot operator of Multi-angle working described in the utility model.
Detailed description of the invention
Below by embodiment, the technical solution of the utility model is further elaborated.
Embodiment 1
The industrial robot operator of Multi-angle working, comprises bar 1, bar 2 12, bar 3 13, expansion link 1, expansion link 2 32, sliding sleeve 1, sliding sleeve 2 22, sliding sleeve 3 23, slide block 24, actuator 25 and workbench 26,
Expansion link 1 lower end is connected on slide block 24 by revolute pair 1, slide block 24 is arranged in the chute on workbench 26, expansion link 1 upper end is connected with bar 2 12 one end by revolute pair 22, and bar 2 12 other end is connected on actuator 25 by revolute pair 33
Bar 1 lower end is connected on workbench 26 by revolute pair 44, and bar 1 upper end is connected on sliding sleeve 3 23 by revolute pair 55, and sliding sleeve 3 23 is enclosed within bar 2 12,
Expansion link 2 32 lower end is connected on workbench 26 by revolute pair 66, and expansion link 2 32 upper end is connected on sliding sleeve 1, and sliding sleeve 1 is enclosed within bar 1,
Bar 3 13 one end is connected on sliding sleeve 3 23 by revolute pair 88, and bar 3 13 other end is connected on actuator 25 by revolute pair 99,
Workbench 26 is arranged on dolly by revolute pair ten.
Claims (1)
1. the industrial robot operator of Multi-angle working, is characterized in that, comprises bar one, bar two, bar three, expansion link one, expansion link two, sliding sleeve one, sliding sleeve two, sliding sleeve three, slide block, actuator and workbench,
Expansion link one lower end is connected on slide block by revolute pair one, and slide block is arranged in the chute on workbench, and expansion link one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on actuator by revolute pair three,
Bar one lower end is connected on workbench by revolute pair four, and bar one upper end is connected on sliding sleeve three by revolute pair five, and sliding sleeve three is enclosed within bar two,
Expansion link two lower end is connected on workbench by revolute pair six, and expansion link two upper end is connected on sliding sleeve one, and sliding sleeve one is enclosed within bar one,
Bar three one end is connected on sliding sleeve three by revolute pair eight, and bar three other end is connected on actuator by revolute pair nine,
Workbench is arranged on dolly by revolute pair ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935384.6U CN205129844U (en) | 2015-11-20 | 2015-11-20 | Industrial robot operation hand of multi -angle work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935384.6U CN205129844U (en) | 2015-11-20 | 2015-11-20 | Industrial robot operation hand of multi -angle work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205129844U true CN205129844U (en) | 2016-04-06 |
Family
ID=55615667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520935384.6U Expired - Fee Related CN205129844U (en) | 2015-11-20 | 2015-11-20 | Industrial robot operation hand of multi -angle work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205129844U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
-
2015
- 2015-11-20 CN CN201520935384.6U patent/CN205129844U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20161120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |