CN207290086U - A kind of new serial-parallel mirror mechanical arm - Google Patents
A kind of new serial-parallel mirror mechanical arm Download PDFInfo
- Publication number
- CN207290086U CN207290086U CN201720853272.5U CN201720853272U CN207290086U CN 207290086 U CN207290086 U CN 207290086U CN 201720853272 U CN201720853272 U CN 201720853272U CN 207290086 U CN207290086 U CN 207290086U
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- arm
- motor
- connecting rod
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Abstract
The utility model discloses a kind of new serial-parallel mirror mechanical arm, can meet the application demand when complex parts processing, particular surroundings operation, high-precision technical requirements.The serial-parallel mirror mechanical arm, by setting serial mechanism part ring flange to connect right motor and right arm, crank connects left motor and connecting rod, common driving platform movement, parallel institution part is moved by motor direct-drive swing rod at the same time, and serial parallel mechanism acts at the same time makes workbench realize spheric motion.Mechanical arm system is set to obtain larger working space while rigidity and bearing capacity is improved.
Description
Technical field
A kind of mechanical arm is the utility model is related to, especially a kind of new serial-parallel mirror mechanical arm.
Background technology
It is known：Most of series connection mechanical arms that we see in daily life have rigidity is small, bearing capacity is insufficient,
The shortcomings of end effector mechanism error accumulation is big, motion mode is single, and parallel institution then has the problem of working space is small.Can not
Meet the application demand when complex parts processing, particular surroundings operation, high-precision technical requirements.
Meanwhile the serial-parallel mirror mechanism of multi-point cooperative operation is the development priority and heat of complicated machinery equipment field from now on
Point, has huge application prospect, is increasingly becoming the important development direction of theory of mechanisms research.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of new string that can realize spheric motion and mixes
Join mechanical arm.
Technical solution is used by the utility model solves its technical problem：A kind of new serial-parallel mirror mechanical arm, string
Joining mechanism section includes rotary table, base electrical machinery, left motor, crank, connecting rod, right motor, right arm, left arm, support
Bar, axis 2, support base, support base connecting rod, ring flange, large arm connecting rod, axis 1, platform；Parallel institution part includes parallel machine
Structure supporting rack, electric machine support, motor, swing rod, workbench；
Base electrical machinery is provided with above the rotary table of the serial mechanism part, both sides are provided with support base；It is described
Left motor, right motor are separately mounted on seat supported on both sides；The right motor is connected by ring flange with right arm；Institute
Left motor is stated by crank with connecting rod to be connected, left arm then empty set on Left-side support seat；Further, the support base leads to
Support base connecting rod is crossed to be connected；The left arm, right arm are connected by large arm connecting rod；Further, the left arm, the right side
Arm, connecting rod, supporting rod are connected by axis 1；Further, the left arm, right arm, connecting rod are connected with platform by axis 2, even
Extension bar is then connected by pin with platform.
The platform is connected by screw thread pair with parallel institution supporting rack.The electric machine support is supported with parallel institution
Platform is connected through a screw thread；Further, each motor shaft is directly connected by revolute pair with swing rod；The swing rod passes through
Screw thread pair is connected with workbench.
The beneficial effects of the utility model are：Serial-parallel mirror mechanical arm described in the utility model, by setting cascade machine
Structure part ring flange connection right motor and right arm, crank connection left motor and connecting rod, it is common to drive platform movement, while simultaneously
Connection mechanism section is moved by motor direct-drive swing rod, and serial parallel mechanism acts at the same time makes workbench realize spheric motion.Make
Mechanical arm system obtains larger working space while rigidity and bearing capacity is improved.
Brief description of the drawings
Fig. 1 is the stereogram of serial-parallel mirror mechanical arm in the utility model embodiment；
Fig. 2 is the exploded perspective view of serial-parallel mirror mechanical arm in the utility model embodiment；
Fig. 3 is parallel institution schematic diagram in the utility model embodiment；
Indicated in figure：1- rotary tables, 2- base electrical machineries, 3- left motors, 4- cranks, 5- connecting rods, 6- right sides electricity
Machine, 7- right arms, 8- left arms, 9- supporting rods, the big axis of 10-, 11- support bases, 12- support base connecting rods, 13- ring flanges, 14- large arm
Connecting rod, the small axis of 15-, 16- platforms, 17- parallel institution supporting racks, 18- electric machine supports, 19- swing rods, 20- workbench, 21- electricity
Machine.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
As shown in Figure 1-Figure 3, serial-parallel mirror mechanical arm described in the utility model, including rotary table 1, base electrical machinery
2nd, left motor 3, crank 4, connecting rod 5, right motor 6, right arm 7, left arm 8, supporting rod 9, big axis 10, support base 11, support base
Connecting rod 12, ring flange 13, large arm connecting rod 14, small axis 15, platform 16, parallel institution supporting rack 17, electric machine support 18, swing rod
19th, workbench 20, motor 21.
The top of rotary table 1 of the serial mechanism part is provided with base electrical machinery 2, and both sides are provided with support base 11；
The left motor 3, right motor 6 are separately mounted on seat 11 supported on both sides；The right motor 6 passes through ring flange 13 and the right side
Arm 7 is connected；The left motor 3 is connected by crank 4 with connecting rod 5, left arm 8 then empty set on Left-side support seat 11；Into
One step, the support base 11 is connected by support base connecting rod 12；The left arm 8, right arm 7 pass through 14 phase of large arm connecting rod
Connection；Further, the left arm 8, right arm 7, connecting rod 5, supporting rod 9 are connected by big axis 10；Further, the left arm
8th, right arm 7, connecting rod 5 are connected with platform 16 by small axis 15, and supporting rod 9 is then connected by pin with platform 16.
The platform 16 is connected by screw thread pair with parallel institution supporting rack 17.The electric machine support 18 and parallel machine
Structure supporting rack 18 is connected through a screw thread；Further, the motor 21 is directly connected by revolute pair with swing rod 19；The pendulum
Bar 19 is connected by screw thread pair with workbench 20.
In summary：Serial-parallel mirror mechanical arm described in the utility model, by setting serial mechanism part ring flange 13
Right motor 6 and right arm 7 are connected, crank 4 connects left motor 3 and connecting rod 5, common to drive platform 16 to move, while parallel machine
Structure part directly drives swing rod 19 by motor 21 and moves, and serial parallel mechanism acts at the same time makes workbench 20 realize spheric motion.
Mechanical arm system is set to obtain larger working space while rigidity and bearing capacity is improved.
Claims (1)
1. new serial-parallel mirror mechanical arm, it is characterised in that：Including rotary table（1）, base electrical machinery（2）, left motor
（3）, crank（4）, connecting rod（5）, right motor（6）, right arm（7）, left arm（8）, supporting rod（9）, big axis（10）, support base
（11）, support base connecting rod（12）, ring flange（13）, large arm connecting rod（14）, small axis（15）, platform（16）, parallel institution branch
Support（17）, electric machine support（18）, swing rod（19）, workbench（20）, motor（21）；
The rotary table of serial mechanism part（1）Top is provided with base electrical machinery（2）, both sides are provided with support base（11）；Institute
State left motor（3）, right motor（6）It is separately mounted to seat supported on both sides（11）On；The right motor（6）Pass through ring flange
（13）With right arm（7）It is connected；The left motor（3）Pass through crank（4）With connecting rod（5）It is connected, left arm（8）Then empty set exists
Left-side support seat（11）On；The support base（11）Pass through support base connecting rod（12）It is connected；The left arm（8）, right arm（7）
Pass through large arm connecting rod（14）It is connected；The left arm（8）, right arm（7）, connecting rod（5）, supporting rod（9）Pass through big axis（10）Phase
Connection；The left arm（8）, right arm（7）, connecting rod（5）With platform（16）Pass through small axis（15）It is connected, supporting rod（9）Then pass through
Pin and platform（16）Connection；
The platform（16）Pass through screw thread pair and parallel institution supporting rack（17）It is connected；The electric machine support（18）With it is in parallel
Mechanism supports frame（17）It is connected through a screw thread；The motor（21）Directly pass through revolute pair and swing rod（19）It is connected；The pendulum
Bar（19）Pass through screw thread pair and workbench（20）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720853272.5U CN207290086U (en) | 2017-07-14 | 2017-07-14 | A kind of new serial-parallel mirror mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720853272.5U CN207290086U (en) | 2017-07-14 | 2017-07-14 | A kind of new serial-parallel mirror mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290086U true CN207290086U (en) | 2018-05-01 |
Family
ID=62451052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720853272.5U Expired - Fee Related CN207290086U (en) | 2017-07-14 | 2017-07-14 | A kind of new serial-parallel mirror mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290086U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246104A (en) * | 2021-06-02 | 2021-08-13 | 中国科学院苏州生物医学工程技术研究所 | Parallel-series-parallel type high-load self-weight ratio mechanical arm |
-
2017
- 2017-07-14 CN CN201720853272.5U patent/CN207290086U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246104A (en) * | 2021-06-02 | 2021-08-13 | 中国科学院苏州生物医学工程技术研究所 | Parallel-series-parallel type high-load self-weight ratio mechanical arm |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20210714 |