CN205290955U - Controllable mechanism formula arm - Google Patents
Controllable mechanism formula arm Download PDFInfo
- Publication number
- CN205290955U CN205290955U CN201520935393.5U CN201520935393U CN205290955U CN 205290955 U CN205290955 U CN 205290955U CN 201520935393 U CN201520935393 U CN 201520935393U CN 205290955 U CN205290955 U CN 205290955U
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- CN
- China
- Prior art keywords
- revolute pair
- pole
- bar
- sliding sleeve
- work platform
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- Expired - Fee Related
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Abstract
Controllable mechanism formula arm, the pole lower extreme of this arm pass through revolute pair no. 1 and connect on work platform, and a pole upper end is passed through two one end on revolute pair no. 2 and the pole and is connected, and two other ends on the pole pass through three connections of revolute pair on the executor, the telescopic link lower extreme passes through revolute pair no. 4 to be connected on the slider, and during the spout on work platform was installed to the slider, the telescopic link upper end was connected on slider no. 2 through revolute pair no. 5, and the two sets sliders are on pole no. 2, and three lower extremes on the pole pass through revolute pair six to be connected on work platform, and the revolute pair is passed through to three upper ends on the pole, and it is connected on sliding sleeve no. 1, and the one set sliding sleeve is on pole no. 1, and work platform passes through revolute pair eight and 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
This utility model relates to mechanical field, specifically controllable-mechanism type mechanical arm.
Background technology
Robot palletizer is widely used in the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc. Existing robot palletizer mainly has cartesian co-ordinate type, circular cylindrical coordinate type and three kinds of structure types of joint type. Wherein joint type robot palletizer is because its compact conformation, flexible movements, the advantage such as floor space is little, work space is big, progressively becomes the primary structure form of robot palletizer. But the drive motor of the robot palletizer of this quasi-tradition fisher's formula cascaded structure will be arranged on joint, cause the problems such as robot arm weight is big, poor rigidity, inertia are big, joint error is accumulative, mechanism dynamic poor-performing, it is difficult to meet the requirement carrying at a high speed piling.
Along with motor technology development and control technology raising, controllable mechanical mechanism is that engineering machinery provides wide development space, not only had that work space is big by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Utility model content
This utility model is for the deficiencies in the prior art, it is provided that a kind of controllable-mechanism type mechanical arm, overcomes the shortcomings such as conventional hydraulic excavator maintenance cost is high, operation noise is big, Hydraulic Elements cost is high, reaction is sensitive not.
To achieve these goals, this utility model have employed techniques below scheme:
Controllable-mechanism type mechanical arm, including bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, executor and work platforms,
Bar one lower end is connected on work platforms by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on executor by revolute pair three,
Described expansion link lower end is connected on slide block by revolute pair four, and slide block is arranged in the chute on work platforms, and expansion link upper end is connected on slide block two by revolute pair five, and slide block two is enclosed within bar two,
Bar three lower end is connected on work platforms by revolute pair six, and by revolute pair, it is connected on sliding sleeve one in bar three upper end, and sliding sleeve one is enclosed within bar one,
Work platforms is arranged on dolly by revolute pair eight.
Compared with prior art, the beneficial effect that this utility model possesses:
While there is the advantages such as conventional hydraulic machine mechanism work space is big, digging force is big, stress is 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 drive system, it is more applicable for all kinds of excavators of manufacture and other engineering machinery. Slew gear can control operative orientation flexibly. Driving link type of drive is flexible and changeable, can be selected for the drive forms such as driven by servomotor, combination drive, not only environmental protection, and is easily achieved long-range control, reduces the advantages such as labor strength.
Accompanying drawing explanation
Fig. 1 is the structural representation of controllable-mechanism type mechanical arm described in the utility model.
Detailed description of the invention
By the examples below the technical solution of the utility model is further elaborated.
Embodiment 1
Controllable-mechanism type mechanical arm, including bar 1, bar 29, bar 3 10, expansion link 11, sliding sleeve 1, sliding sleeve 2 13, slide block 14, executor 15 and work platforms 16,
Bar 1 lower end is connected on work platforms 16 by revolute pair 1, and bar 1 upper end is connected with bar 29 one end by revolute pair 22, and bar 29 other end is connected on executor 15 by revolute pair 33,
Described expansion link 11 lower end is connected on slide block 14 by revolute pair 44, and slide block 14 is arranged in the chute on work platforms 16, and expansion link 11 upper end is connected on slide block 14 2 by revolute pair 55, and slide block 14 2 is enclosed within bar 29,
Bar 3 10 lower end is connected on work platforms 16 by revolute pair 66, and bar 3 10 upper end is connected on sliding sleeve 1 by revolute pair 77, and sliding sleeve 1 is enclosed within bar 1,
Work platforms 16 is arranged on dolly by revolute pair eight.
Claims (1)
1. controllable-mechanism type mechanical arm, it is characterised in that include bar one, bar two, bar three, expansion link, sliding sleeve one, sliding sleeve two, slide block, executor and work platforms,
Bar one lower end is connected on work platforms by revolute pair one, and bar one upper end is connected with bar two one end by revolute pair two, and bar two other end is connected on executor by revolute pair three,
Described expansion link lower end is connected on slide block by revolute pair four, and slide block is arranged in the chute on work platforms, and expansion link upper end is connected on slide block two by revolute pair five, and slide block two is enclosed within bar two,
Bar three lower end is connected on work platforms by revolute pair six, and by revolute pair, it is connected on sliding sleeve one in bar three upper end, and sliding sleeve one is enclosed within bar one,
Work platforms is arranged on dolly by revolute pair eight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935393.5U CN205290955U (en) | 2015-11-20 | 2015-11-20 | Controllable mechanism formula arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935393.5U CN205290955U (en) | 2015-11-20 | 2015-11-20 | Controllable mechanism formula arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290955U true CN205290955U (en) | 2016-06-08 |
Family
ID=56461246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520935393.5U Expired - Fee Related CN205290955U (en) | 2015-11-20 | 2015-11-20 | Controllable mechanism formula arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290955U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364923A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Controllable mechanism type mechanical arm |
-
2015
- 2015-11-20 CN CN201520935393.5U patent/CN205290955U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364923A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Controllable mechanism type mechanical arm |
| CN105364923B (en) * | 2015-11-20 | 2018-04-24 | 肖珍兵 | Controllable-mechanism type mechanical arm |
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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: 20160608 Termination date: 20161120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |