CN210282284U - Novel three-axis parallel mechanical arm based on connecting rod sliding block - Google Patents
Novel three-axis parallel mechanical arm based on connecting rod sliding block Download PDFInfo
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- CN210282284U CN210282284U CN201920822050.6U CN201920822050U CN210282284U CN 210282284 U CN210282284 U CN 210282284U CN 201920822050 U CN201920822050 U CN 201920822050U CN 210282284 U CN210282284 U CN 210282284U
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Abstract
A novel three-axis parallel mechanical arm based on a connecting rod slider mainly comprises four parts, namely a lifting device, a chassis, a connecting rod slider mechanism and an end effector; the lifting device mainly comprises a frame, a combined sliding block and a power transmission device, wherein the frame is a triangular prism type three-dimensional frame which is formed by installing a plurality of sectional materials and connecting blocks; the combined sliding block comprises a pin hole block, a cross connecting frame, a connecting sheet, a roller, a double-end screw and the like, is combined and connected into a frame shape and is respectively sleeved on the stand column; the power transmission device comprises motors, synchronous belts and driven wheels, the synchronous belts are fixedly embedded in pin hole blocks of the combined sliding blocks, and the synchronous belts driven by the motors can drive the combined sliding blocks to move up and down along the column; the connecting rod sliding block mechanism comprises a linear guide rail sliding block and a feed driving connecting rod, a combined sliding block connected with the connecting rod moves along the column to enable the guide rail to complete feed motion, and the two sliding blocks are staggered up and down along the column to enable the guide rail to incline. The mechanical arm has simple, ingenious and stable structure, large vertical moving span and can move with multiple degrees of freedom.
Description
Technical Field
The invention belongs to the technical field of machinery, relates to a mechanical arm, and particularly relates to a novel three-axis parallel mechanical arm based on a connecting rod slider, such as a mechanical arm of a library shelving robot, an orchard picking robot and the like.
Background
At present, the vertical span of the bookshelf and the orchard fruit tree in a library is large, the requirement on the vertical stroke of the mechanical arm of a corresponding robot is large, the traditional industrial robot is expensive and complex, the six-degree-of-freedom mechanical arm popular in the market is a small mechanical arm driven by a steering engine, and the large stroke cannot be achieved. At present, some mechanical arms for increasing vertical lifting are arranged, such as the mechanical arms of a scissor-fork type single-column type library robot, but a scissor-fork type platform cannot be inclined, and the cross single-column type.
Disclosure of Invention
In order to overcome the defects of single structure, complex control, high manufacturing cost, high sales amount and the like of the mechanical arm in the prior art, the invention aims to provide the novel three-axis parallel mechanical arm based on the connecting rod slider, which has the advantages of large vertical stroke, stability, reliability, simple structure, easy control, capability of realizing rapid and stable lifting and feeding, is particularly suitable for robots for clamping small articles (such as library shelving robots, orchard picking robots and the like), and can be rapidly designed, developed and manufactured based on most standard parts and the existing end effector.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a novel parallelly connected robotic arm of triaxial based on connecting rod slider which characterized in that mainly comprises chassis 1, elevating gear 2, connecting rod slider mechanism 3 and 4 four bibliographic categories of end effector, wherein:
the chassis 1 is used for being connected with a robot;
the lifting device 2 mainly comprises a triangular prism frame, three combined sliding blocks 2-1 and three power transmission devices, wherein the bottom of the triangular prism frame is connected to the chassis 1, the three combined sliding blocks 2-1 are respectively arranged on three longitudinal axes of the triangular prism frame, and the three power transmission devices respectively drive one combined sliding block 2-1 to vertically slide along the corresponding longitudinal axis;
the connecting rod sliding block mechanism 3 mainly comprises a linear guide rail sliding block and a feed driving connecting rod 3-3, the linear guide rail sliding block mechanism is composed of a guide rail 3-2 and two sliding blocks 3-1 which are positioned on the guide rail 3-2 and slide along the guide rail 3-2, the two sliding blocks 3-1 are respectively arranged on the two combined sliding blocks 2-1, one end of the feed driving connecting rod 3-3 is connected with the tail end of the guide rail 3-2 through a pin, the other end of the feed driving connecting rod is arranged on a third combined sliding block 2-1, the guide rail 3-2 completes feed movement by up-down movement of the third combined sliding block 2-1, and the guide rail 3-2 is inclined by different angles by different up-down;
the end effector 4 is fixedly arranged at the front end of the guide rail 3-2.
The triangular prism frame is formed by splicing three longitudinal standard section long tubes 2-2, six horizontal short tubes 2-7, four bottom edge connecting blocks 2-8 and two tip connecting blocks 2-11, wherein each two bottom edge connecting blocks 2-8 and one tip connecting block 2-11 connect the three short tubes 2-7 into a triangle, the two triangles are respectively arranged at the upper end and the lower end of the three section long tubes 2-2 and are connected at the top points of the triangles, and the section long tubes 2-2 are the longitudinal axis of the triangular prism frame; the combined sliding block 2-1 comprises a pin hole block 2-1-1, the pin hole block 2-1-1 is connected with a cross connecting frame 2-1-3, connecting pieces 2-1-4 are fixedly arranged on two sides of the cross connecting frame 2-1-3, a double-end screw 2-1-6 sleeved with rollers 2-1-7 is connected with the connecting pieces 2-1-4 on two sides to form a frame structure, the long pipe 2-2 penetrates through the frame structure to enable the combined sliding block 2-1 to tightly wrap the long pipe 2-2 of the sectional material to move up and down, and the rollers 2-1-7 act on the long pipe 2-2 of the sectional material; the power transmission device is arranged on the top surface of a bottom edge connecting block 2-8 at the bottom end of the triangular prism frame and comprises a motor 2-4, a motor support frame 2-3, a synchronous belt 2-6 and a driven wheel 2-9, the synchronous belt 2-6 is fixedly embedded in a pin hole block 2-1-1 of the combined sliding block 2-1, and each synchronous belt 2-6 drives the corresponding combined sliding block 2-1 to move up and down along the corresponding section long pipe 2-2 under the driving of the motor 2-4.
Two small rollers 2-1-2 are respectively arranged on the upper and lower parts of the inner side surface of the cross connecting frame 2-1-3, lugs on two sides of the cross connecting frame 2-1-3 are connected with connecting pieces 2-1-4 through bolts, the inner sides of the connecting pieces 2-1-4 are connected with a supporting disc provided with an upper roller 2-1-7 and a lower roller 2-7 through bolts, so that the inner side surface of the whole combined sliding block 2-1 is in close contact with four side surfaces of the long section pipe 2-2 through the rollers to reduce friction, and the positions of the bolts for mounting the rollers and the double-head screws 2-1-6 are adjusted to adapt to section pipes with different sizes.
When the guide rail 3-2 is required to be inclined, the motors 2-4 are arranged to be three independent and respectively control the corresponding combined sliding blocks 2-1 to move under the pulling of the synchronous belts 2-6; when the guide rail 3-2 is not needed to be inclined, the motors 2-4 are arranged into two, namely the combined slide block 2-1 on the two long pipe profiles 2-2 forming a plane is driven by one motor 2-4.
The center of each pin hole block 2-1-1 is provided with a through hole, a bearing for embedding the shaft end of a pin shaft disc 3-4 is arranged in the through hole, each pin hole block 2-1-1 is provided with one pin shaft disc 3-4, the two sliding blocks 3-1 are respectively fixed on one pin shaft disc 3-4, and the other end of the feeding driving connecting rod 3-3 is arranged on a third combined sliding block 2-1 through a third pin shaft disc 3-4, so that the sliding block 3-1 connected with the pin shaft disc 3-4 and one end of the feeding driving connecting rod 3-3 can freely rotate around a shaft to adapt to the inclination of the linear guide rail sliding block.
The chassis 1 mainly comprises a plane thrust bearing 1-1, a bearing support ring 1-2, a flange plate 1-3 connecting plate 1-4 and a bottom motor, wherein the plane thrust bearing 1-1 is embedded in a bearing groove formed by a bottom edge connecting block 2-8 and a tip connecting block 2-11 at the bottom end of a triangular prism frame, the bottom surface of the flange plate 1-3 is fixedly arranged on a support platform and tightly sleeves the bottom of the triangular prism frame, an output shaft of the bottom motor is connected to the connecting plate 1-4, the connecting plate 1-4 is connected to the bottom of the triangular prism frame, and rollers are arranged on the side surfaces and the bottom surfaces of the bottom edge connecting block 2-8 and the tip connecting block 2-11 at the bottom of the triangular prism frame.
The horizontal elongation L' of the robot arm is L1(1-cos θ), and the elongation when the robot arm is tilted upward
Wherein L1 is the effective length of the feed drive link 3-3, θ is the included angle between the feed drive link 3-3 and the horizontal link slider mechanism 3, and θ' is the inclination angle of the guide rail 3-2 on the link slider mechanism 3.
The end effector 4 mainly comprises a steering engine, a U-shaped frame 4-3 and a manipulator 4-4 of an incomplete gear mechanism, and is fixedly arranged at the front end of the guide rail 3-2 by a straight connecting piece 4-2 and an L-shaped connecting piece 4-1.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention has simple structure and appearance, can realize quick manufacture based on most standard parts and the existing small mechanical end effector, realizes vertical lifting and horizontal feeding movement of the mechanical arm by utilizing the ingenious structural mode of the connecting rod sliding block, realizes all-directional inclination, and has lower manufacture cost.
(2) The invention adopts an appearance structure similar to a three-column type 3D printer and uses three synchronous belts and a motor to independently drive, so that the mechanical arm is more stable and the lifting force is large;
(3) the vertical lifting stroke of the invention is large, the length of the feeding driving connecting rod can be adjusted according to the actual requirement of the feeding moving stroke, and the invention is more suitable for the mechanical arms of agricultural picking robots and library automatic shelving robots.
Drawings
Fig. 1 is an isometric view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the lifting device of the present invention.
Fig. 3 is an exploded view of the chassis of the present invention.
Fig. 4 is an isometric view of the explosion and structure of the composite slider of the present invention.
FIG. 5 is a view showing a combination structure of the link-slider mechanism, the combined slider, and the end effector of the present invention.
Fig. 6 is a schematic view of the vertical translational lifting of the arm end of the present invention.
Fig. 7 is a schematic view of the horizontal feed motion of the arm end of the present invention.
FIG. 8 is a schematic view of the arm end tilting up and feeding movement of the present invention.
FIG. 9 is a schematic view of the downward tilting and feeding movements of the arm end of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
As shown in fig. 1, the invention provides a novel three-axis parallel manipulator based on a connecting rod slider, which mainly comprises a chassis 1, a lifting device 2, a connecting rod slider mechanism 3, an end effector 4 and the like.
Referring to fig. 2 and 4, the lifting device 2 mainly comprises a frame, a combined slide block 2-1 and a power transmission device; the frame is a triangular prism frame formed by splicing three standard section long pipes 2-2, six short pipes 2-7 by combining four bottom edge connecting blocks 2-8 and two tip connecting blocks 2-11, wherein every two bottom edge connecting blocks 2-8 and one tip connecting block 2-11 connect the three short pipes 2-7 into a triangle, and the two triangles are respectively arranged at the upper end and the lower end of the three section long pipes 2-2 and are connected at the vertexes of the triangle.
The bottom of the triangular prism frame is connected to a chassis 1, three combined sliding blocks 2-1 are arranged on three long section bar pipes 2-2 respectively, specifically, the combined sliding block 2-1 comprises a pin hole block 2-1-1, the pin hole block 2-1-1 is connected with a cross connecting frame 2-1-3, connecting pieces 2-1-4 are fixedly arranged on two sides of the cross connecting frame 2-1-3, a double-head screw 2-1-6 sleeved with rollers 2-1-7 is connected with the connecting pieces 2-1-4 on two sides to form a frame structure, the long pipe 2-2 penetrates through the frame structure to enable the combined sliding block 2-1 to tightly wrap the long section bar pipe 2-2 to move up and down, and the rollers 2-1-7 act on the long section bar pipe 2-2. Furthermore, two small rollers 2-1-2 can be respectively arranged on the upper side and the lower side of the inner side of the cross connecting frame 2-1-3, lugs on two sides of the cross connecting frame 2-1-3 are connected with connecting pieces 2-1-4 through bolts, the inner sides of the connecting pieces 2-1-4 are connected with supporting discs provided with upper rollers 2-1-7 and lower rollers 2-4 through bolts, so that the inner side of the whole combined sliding block 2-1 is in tight contact with four sides of the long section pipe 2-2 through the rollers to reduce friction, and the positions of the bolts for mounting the rollers and the double-head screws 2-1-6 are adjusted to adapt to section pipes with different sizes.
The three power transmission devices are arranged on the top surfaces of bottom edge connecting blocks 2-8 at the bottom end of the triangular prism frame and respectively drive a combined sliding block 2-1 to slide up and down along a corresponding long section bar pipe 2-2, and specifically, the power transmission device comprises motors 2-4, motor holders 2-3, synchronous belts 2-6 and driven wheels 2-9, the two motors 2-4 are arranged on the two bottom edge connecting blocks 2-8 at the bottom end of the triangular prism frame, the other motor is arranged on a tip connecting block 2-11 at the bottom end of the triangular prism frame through hexagonal prism groove blocks 2-12, output shafts of the motors 2-4 are connected with small synchronous belt wheels 2-5, the synchronous belt driven wheels 2-9 are respectively arranged at corresponding positions at the top of the frame, the synchronous belts 2-6 are fixedly embedded in pin hole blocks 2-1-1 of the combined sliding block, under the drive of a motor 2-4, a combined sliding block 2-1 fixedly connected with a synchronous belt 2-6 moves up and down along a corresponding long pipe 2-2 of the sectional material under the drive of the motor and the transmission action of the belt, and then drives a linear guide rail sliding block and a feed driving connecting rod 3-3 to complete the action.
Referring to fig. 3, a chassis 1 mainly comprises a plane thrust bearing 1-1, a bearing support ring 1-2, a flange plate 1-3, a connecting plate 1-4 and a bottom motor, wherein the plane thrust bearing 1-1 is embedded in a bearing groove (the bottoms of three connecting blocks are provided with concave arc grooves, the three arc grooves are spliced into a whole circular groove after the three connecting blocks are connected with a bottom section pipe so as to be embedded into a circular ring of the plane thrust bearing) formed by two bottom edge connecting blocks 2-8 and a tip connecting block 2-11 at the bottom of a frame, the bottom surface of the flange plate 1-3 is fixedly arranged on a support platform (which can be a trolley top platform) and tightly sleeved on the bottom of the frame to prevent the frame from shaking and overturning, an output shaft of the bottom motor is connected with the connecting plate 1-4, a triangular frame formed by connecting three short pipes 2-7 connected by the bottom edge connecting blocks 2-8 and the tip connecting blocks 2-11 The chassis 1 of the bottom motor is fixedly connected, and the bottom surface lugs of the three connecting blocks are provided with side surface small rollers 2-8-1 and bottom surface small rollers 2-8-2 which are respectively in rolling contact with the inner side surface of the flange plate 1-3 and the supporting flat table surface, so that the whole frame driven by the bottom motor can smoothly rotate around a shaft.
Referring to fig. 1 and 5, the connecting rod-slider mechanism 3 mainly comprises a linear guide rail slider and a feed driving connecting rod 3-3, the linear guide rail-slider mechanism is a standard component and consists of two sliders 3-1 and a guide rail 3-2, the two sliders 3-1 are fixed on a pin shaft disc 3-4, and the shaft end of the pin shaft disc 3-4 is inserted into a bearing hole of a pin hole block 2-1-1 of the combined slider 2-1, so that the slider connected with the pin shaft disc 3-4 and one end of the feed driving connecting rod 3-3 can freely rotate around a shaft to adapt to the inclination of the linear guide rail-slider mechanism; one end of a feed driving connecting rod 3-3 is connected with a guide rail 3-2 through a pin, the other end of the feed driving connecting rod is connected with a pin shaft disc 3-4, and then the feed driving connecting rod is embedded on a combined slide block 2-1 on a long pipe 2-2 of a sectional material positioned at the vertex edge of a triangular frame, the combined slide block 2-1 moves up and down along the pipe to enable the guide rail 3-2 to complete feed movement, as shown in figure 7, the guide rail 3-2 can be inclined at different angles through different up-and-down staggered movement modes of the two slide blocks 3-1 along the pipe, as. When the guide rail 3-2 is required to be inclined, the motors 2-4 are arranged to be three independent and respectively control the corresponding combined sliding blocks 2-1 to move under the pulling of the synchronous belts 2-6; when the guide rail 3-2 is not required to be inclined, the motors 2-4 can be arranged into two, namely the combined slide block 2-1 on the two long pipes 2-2 of the two sectional materials forming the plane is driven by one motor 2-4.
Referring to fig. 5, the end effector 4 is a conventional manipulator, which is composed of a steering engine, a U-shaped frame 4-3, a manipulator 4-4 of an incomplete gear mechanism, and the like, and is fixedly mounted on a counter bore at the front end of a guide rail 3-2 through a straight piece connecting piece 4-2 and an L-shaped connecting piece 4-1 at two sides.
Referring to fig. 6 and 7, in order to complete the vertical translational lifting motion, the two combined sliders 2-1 'and 2-1' connected to the connecting rod slider mechanism 3 need to synchronously move up and down, and the combined slider 2-1 'connected to the feeding driving connecting rod 3-3 also needs to move at the same speed, so that only three independent motors 2-4 at the bottom end need to synchronously operate to drive the three combined sliders 2-1', 2-1 'and 2-1' to synchronously move when the synchronous motion is realized.
Referring to fig. 7, the arm end of the present invention can perform a horizontal feed motion, and when horizontal extension of the end effector 4 is required: only one combined slide block 2-1' connected with the feed driving connecting rod 3-3 is driven by the motor and the synchronous belt 2-6 to move upwards or downwards away from the center of the connecting rod slide block mechanism 3, so that the guide rail 3-2 of the connecting rod slide block mechanism 3 can be driven to extend, and the horizontal feed motion of the mechanical arm is completed; when the combined slide block 2-1' is flush with the connecting rod slide block mechanism 3, the extension amount of the guide rail 3-2 is shortest, and when the connecting end of the feed driving connecting rod 3-3 and the guide rail 3-2 is just about to enter the slide block 3-1, the maximum extension amount of the guide rail 3-2 is obtained; the specific movement parameters can be referred to a mathematical trigonometric function formula, L1 is the effective length of the feed driving connecting rod 3-3, theta is the included angle value theta of the feed driving connecting rod 3-3 and the horizontal state connecting rod sliding block mechanism 3 and is determined by an inclination angle sensor arranged on the feed driving connecting rod 3-3, and the horizontal elongation L 'is determined by adopting the following formula 1-1 under the assumption that L' is the horizontal elongation.
L' ═ L1(1-cos θ) formula 1-1
Referring to fig. 8, the arm end of the present invention can complete the upward tilting and feeding motions, the motor drives the combined slider 2-1 ″ to move upward and simultaneously move the combined slider 2-1 ' downward synchronously, at this time, the tilt angle θ ' of the guide rail 3-2 on the link slider mechanism 3 can be fed back by the tilt angle sensor on the guide rail 3-2, the combined slider 2-1 ″ ' is driven to move upward from the level state away from the center of the link slider mechanism 3, and the guide rail 3-2 of the link slider mechanism 3 can be driven to extend, and the extension L ″ when tilting upward can be determined by the following formula 1-2.
Referring to fig. 9, the arm end of the present invention can complete downward tilting and feeding motions, similar to the above synchronous principle, except that the motor drives the combined slide block 2-1 ″ to move downward and simultaneously move the combined slide block 2-1 'upward synchronously, and then drives the combined slide block 2-1 ″' from a level state downward away from the center of the link slide block mechanism 3 to drive the guide rail 3-2 of the link slide block mechanism 3 to extend, when the combined slide block 2-1 ″ 'and the two combined slide blocks 2-1', 2-1 ″ are on the same straight line, the mechanical arm is in a shortest state, and when the connecting end of the feed driving link 3-3 and the guide rail 3-2 is just about to enter the slide block 3-1, the mechanical arm is in a maximum extension state.
Claims (8)
1. The utility model provides a novel parallelly connected robotic arm of triaxial based on connecting rod slider which characterized in that mainly comprises chassis (1), elevating gear (2), connecting rod slider mechanism (3) and end effector (4) four bibliographic categories, wherein:
the chassis (1) is used for being connected with a robot;
the lifting device (2) mainly comprises a triangular prism frame, three combined sliding blocks (2-1) and three power transmission devices, wherein the bottom of the triangular prism frame is connected to the chassis (1), the number of the combined sliding blocks (2-1) is three, the three combined sliding blocks are respectively arranged on three longitudinal axes of the triangular prism frame, and the number of the power transmission devices is three, and the three combined sliding blocks (2-1) are respectively driven to slide up and down along the corresponding longitudinal axes;
the connecting rod sliding block mechanism (3) mainly comprises a linear guide rail sliding block and a feeding driving connecting rod (3-3), the linear guide rail sliding block mechanism is composed of a guide rail (3-2), two sliding blocks (3-1) which are positioned on the guide rail (3-2) and slide along the guide rail, the two sliding blocks (3-1) are respectively arranged on the two combined sliding blocks (2-1), one end of the feeding driving connecting rod (3-3) is connected with the tail end of the guide rail (3-2) through a pin, the other end of the feeding driving connecting rod is arranged on the third combined sliding block (2-1), the guide rail (3-2) completes feeding movement through up-and-down movement of the third combined sliding block (2-1), and the guide rail (3-2) is inclined at different angles through different up-down movement modes of the two sliding blocks;
the end effector (4) is fixedly arranged at the front end of the guide rail (3-2).
2. The novel three-axis parallel manipulator based on the connecting rod sliding block as claimed in claim 1, wherein the triangular prism frame is formed by splicing three longitudinal standard section bar long pipes (2-2), six horizontal short pipes (2-7) and combining four base side connecting blocks (2-8) and two tip end connecting blocks (2-11), wherein every two base side connecting blocks (2-8) and one tip end connecting block (2-11) connect the three short pipes (2-7) into a triangle, the two triangles are respectively arranged at the upper end and the lower end of the three section bar long pipes (2-2) and connected at the vertex of the triangle, and the section bar long pipes (2-2) are the longitudinal axis of the triangular prism frame; the combined sliding block (2-1) comprises a pin hole block (2-1-1), the pin hole block (2-1-1) is connected with a cross connecting frame (2-1-3), connecting pieces (2-1-4) are fixedly installed on two sides of the cross connecting frame (2-1-3), a double-end screw (2-1-6) sleeved with rollers (2-1-7) is connected with the connecting pieces (2-1-4) on two sides to form a frame structure, the long pipe (2-2) penetrates through the frame structure to enable the combined sliding block (2-1) to tightly wrap the long pipe (2-2) of the sectional material to move up and down, and the rollers (2-1-7) act on the long pipe (2-2) of the sectional material; the power transmission device is arranged on the top surface of a bottom edge connecting block (2-8) at the bottom end of the triangular prism frame and comprises a motor (2-4), a motor supporting frame (2-3), synchronous belts (2-6) and driven wheels (2-9), the synchronous belts (2-6) are fixedly embedded in pin hole blocks (2-1-1) of the combined sliding block (2-1), and under the driving of the motor (2-4), each synchronous belt (2-6) drives the corresponding combined sliding block (2-1) to move up and down along the corresponding long pipe (2-2) of the section bar.
3. The novel three-axis parallel manipulator arm based on link sliders as claimed in claim 2, two small rollers (2-1-2) are respectively arranged at the upper part and the lower part of the inner side surface of the cross connecting frame (2-1-3), lugs at two sides of the cross connecting frame (2-1-3) are connected with connecting pieces (2-1-4) by bolts, the inner sides of the connecting pieces (2-1-4) are connected with supporting discs provided with the upper roller (2-1-7) and the lower roller (2-1-7) by bolts, the inner side surface of the whole combined sliding block (2-1) is in close contact with the four side surfaces of the long section bar pipe (2-2) through rollers to reduce friction, and the positions of bolts and double-headed screws (2-1-6) for mounting the rollers are adjusted to adapt to the section bar pipes with different sizes.
4. The novel three-axis parallel mechanical arm based on the connecting rod sliding block is characterized in that when the guide rail (3-2) is required to be inclined, the motors (2-4) are arranged into three independent parts and respectively control the corresponding combined sliding block (2-1) to move under the pulling of the synchronous belts (2-6); when the guide rail (3-2) is not required to be inclined, the motors (2-4) are arranged into two parts, namely the combined sliding blocks (2-1) on the two long pipes (2-2) of the two profiles forming the plane are driven by one motor (2-4).
5. The novel three-axis parallel manipulator arm based on link sliders as claimed in claim 2, a through hole is arranged in the center of each pin hole block (2-1-1), a bearing for embedding the shaft end of each pin shaft disk (3-4) is arranged in each hole, each pin hole block (2-1-1) is provided with one pin shaft disk (3-4), the two sliding blocks (3-1) are respectively fixed on a pin shaft disc (3-4), the other end of the feed driving connecting rod (3-3) is arranged on a third combined sliding block (2-1) through a third pin shaft disc (3-4), so that the sliding block (3-1) connected with the pin shaft disc (3-4) and one end of the feed driving connecting rod (3-3) can freely rotate around the shaft to adapt to the inclination of the linear guide rail sliding block.
6. The novel three-axis parallel manipulator arm based on the link slider as claimed in claim 2, wherein the chassis (1) mainly comprises a planar thrust bearing (1-1), a bearing support ring (1-2), a flange (1-3), a coupling disk (1-4) and a bottom motor, the planar thrust bearing (1-1) is embedded in a bearing groove formed by a bottom edge connecting block (2-8) at the bottom end of the triangular prism frame and a tip end connecting block (2-11), the bottom surface of the flange (1-3) is fixedly installed on the support platform and tightly sleeved on the bottom of the triangular prism frame, an output shaft of the bottom motor is connected to the coupling disk (1-4), the coupling disk (1-4) is fixedly connected to the bottom of the triangular prism frame, the bottom edge connecting block (2-8) at the bottom of the triangular prism frame and the side surface of the tip end connecting block (2-11), The bottom surfaces are provided with rollers.
7. The novel three-axis parallel manipulator arm based on the link slider as claimed in claim 2, wherein the horizontal elongation L ═ L1(1-cos θ) of the manipulator arm, and the elongation at the time of upward tilting
Wherein L1 is the effective length of the feed driving connecting rod (3-3), theta is the included angle value between the feed driving connecting rod (3-3) and the horizontal connecting rod sliding block mechanism (3), and theta' is the inclined angle of the guide rail (3-2) on the connecting rod sliding block mechanism (3).
8. The novel three-axis parallel mechanical arm based on the connecting rod sliding block as claimed in claim 1, wherein the end effector (4) mainly comprises a steering engine, a U-shaped frame (4-3) and a mechanical arm (4-4) of an incomplete gear mechanism, and is fixedly arranged at the front end of the guide rail (3-2) by a straight connecting piece (4-2) and an L-shaped connecting piece (4-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920822050.6U CN210282284U (en) | 2019-05-31 | 2019-05-31 | Novel three-axis parallel mechanical arm based on connecting rod sliding block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920822050.6U CN210282284U (en) | 2019-05-31 | 2019-05-31 | Novel three-axis parallel mechanical arm based on connecting rod sliding block |
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| Publication Number | Publication Date |
|---|---|
| CN210282284U true CN210282284U (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920822050.6U Expired - Fee Related CN210282284U (en) | 2019-05-31 | 2019-05-31 | Novel three-axis parallel mechanical arm based on connecting rod sliding block |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091319A (en) * | 2019-05-31 | 2019-08-06 | 西北农林科技大学 | A kind of novel parallel three NC axes mechanical arm based on connecting rod slider |
-
2019
- 2019-05-31 CN CN201920822050.6U patent/CN210282284U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091319A (en) * | 2019-05-31 | 2019-08-06 | 西北农林科技大学 | A kind of novel parallel three NC axes mechanical arm based on connecting rod slider |
| CN110091319B (en) * | 2019-05-31 | 2024-02-20 | 西北农林科技大学 | Triaxial parallel mechanical arm based on connecting rod sliding block |
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