CN210616535U - Reconfigurable multi-configuration extensible numerical control manipulator mechanism - Google Patents
Reconfigurable multi-configuration extensible numerical control manipulator mechanism Download PDFInfo
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- CN210616535U CN210616535U CN201921069983.9U CN201921069983U CN210616535U CN 210616535 U CN210616535 U CN 210616535U CN 201921069983 U CN201921069983 U CN 201921069983U CN 210616535 U CN210616535 U CN 210616535U
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- 238000003466 welding Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 22
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000008521 reorganization Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
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Abstract
The utility model discloses a reconfigurable multi-configuration numerical control manipulator mechanism that can expand, this manipulator mechanism's main connecting rod links to each other with the base through ninth round pin axle, first circular arc baffle and second circular arc baffle welding are on the main connecting rod, the main connecting rod left and right sides has milled long spout and short spout respectively, first rotation subunit inboard is opened there is first circular arc spout, first circular arc slider is installed in first circular arc spout, and can follow first circular arc spout and rotate, third rotation subunit inboard is opened there is second circular arc spout, second circular arc slider is installed in second circular arc spout, and can follow the rotation of second circular arc spout, first rotation subunit and third rotation subunit welding are on the main connecting rod. The numerical control mechanical mobile phone has strong scalability, can be automatically reconfigured according to the working requirement, and meets the requirements of high flexibility and high bearing capacity.
Description
Technical Field
The utility model relates to a numerical control machinery technical field especially relates to a reconfigurable multi-configuration deployable numerical control manipulator mechanism.
Background
The industry 4.0 is the aim of being realized in effort in China, the pace of the industry is gradually close to that of China, in recent years, in order to improve the productivity of a factory, a mechanical arm is introduced to a factory with a large size and a small size, the manufacturing is advanced to self-energy, the motion precision, the working space and the bearing capacity of the mechanical arm are main factors influencing the price of the mechanical arm, the prices of the mechanical arms with different bearing capacities and working spaces are far away, a six-degree-of-freedom serial mechanical arm is generally adopted in the current factory, the mechanical arm is flexible in motion and high in precision, but has obvious defects of insufficient bearing capacity and working space, and therefore, in order to solve the problems that the existing serial mechanical arm is low in bearing capacity, insufficient in working space and the like, a reconfigurable multi-configuration extensible numerical control mechanical arm is needed to be designed to meet the requirements of modern mechanical.
At present, an innovative utility model design of a manipulator mechanism with multiple configurations, strong expandability and large bearing capacity is not found.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a reconfigurable multi-configuration extensible numerical control manipulator mechanism to solve the problem that above-mentioned prior art exists, it has the ability of configuration reorganization, motion that can be nimble has stronger bearing capacity and extensibility again.
In order to achieve the above object, the utility model provides a following scheme: the utility model provides a reconfigurable multi-configuration expandable numerical control manipulator mechanism, which comprises a main connecting rod, a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod, wherein the main connecting rod is connected with the base through a ninth pin shaft, and the left side and the right side of the main connecting rod are respectively milled with a long chute and a short chute;
the first rotating pair unit and the third rotating pair unit are welded on the main connecting rod, a first arc chute is formed in the inner side of the first rotating pair unit, and a first arc sliding block is installed in the first arc chute and can rotate along the first arc chute; a second arc chute is formed in the inner side of the third rotating pair unit, and a second arc sliding block is installed in the second arc chute and can rotate along the second arc chute; the fifth connecting rod is arranged in the long sliding groove of the main connecting rod and can move along the long sliding groove, the second rotating pair unit is welded on the fifth connecting rod, the first bolt is welded on the second rotating pair unit, and the seventh connecting rod is connected with the fifth connecting rod through a fifth pin shaft;
the second connecting rod is arranged in the short chute of the main connecting rod and can move along the short chute, a stop block is welded at one end of the second connecting rod, a fourth rotating pair unit is welded at the other end of the second connecting rod, a second bolt is welded on the fourth rotating pair unit, a connecting block is welded on the fourth rotating pair unit, one end of a sliding rod is welded on the connecting block, the other end of the sliding rod is connected with the stop block through a second pin shaft, a sliding block is arranged on the sliding rod and can move along the sliding rod, the fourth connecting rod is connected with the connecting block through an eighth pin shaft and can rotate around the eighth pin shaft, the sixth connecting rod is connected with the connecting block through a seventh pin shaft and can rotate around the seventh pin shaft, one end of the third connecting rod is connected with the fourth connecting rod through a fourth pin shaft, the other end of the third connecting rod is connected with the sliding block through a third pin shaft, one end of the first connecting rod is connected with the sixth connecting rod through, the other end is connected with the sliding block through a first pin shaft.
Furthermore, a first arc baffle and a second arc baffle are welded on the main connecting rod, and the second arc baffle is located at the top connecting end of the main connecting rod.
Furthermore, the third revolute pair unit is welded on the main connecting rod, and the circle center of the third revolute pair unit is higher than the radius of the section 1/8 of the main connecting rod.
Furthermore, a first bolt is welded on the second revolute pair unit and drives the first arc sliding block to rotate, and the first arc sliding block form a revolute pair.
Furthermore, a second bolt is welded on the fourth revolute pair unit and drives the second arc sliding block to rotate to form a revolute pair.
Further, the end of the second connecting rod is welded with the stop block, and the stop block is used for limiting the movement of the sliding block.
The utility model discloses for prior art gain following technological effect:
1. the numerical control manipulator mechanism can convert a moving pair into a rotating pair, has the capacity of mechanism recombination, can obtain higher motion flexibility, and also has higher bearing capacity.
2. The numerical control manipulator mechanism has strong extensibility and can be switched between a plane state and a space state.
3. The numerical control manipulator mechanism is simple in structure and large in working space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front view of a fourth configuration of the numerical control manipulator mechanism according to the present invention.
Fig. 2 is a schematic structural diagram of a fifth configuration of the numerical control manipulator mechanism according to the present invention.
Fig. 3 is an assembly schematic diagram of each part on the left side surface of the main connecting rod of the numerical control manipulator mechanism of the present invention.
Fig. 4 is an assembly schematic diagram of each part on the right side of the main connecting rod of the numerical control manipulator mechanism of the present invention.
Fig. 5 is an assembly schematic diagram of the numerical control manipulator mechanism of the present invention in the state of unfolding each part on the second connecting rod.
Fig. 6 is an assembly schematic diagram of the second connecting rod of the numerical control manipulator mechanism of the present invention in a closed state of each part.
Fig. 7 is an assembly schematic diagram of each part on the fifth connecting rod of the numerical control manipulator mechanism of the present invention.
Fig. 8 is a schematic diagram of a second circular arc slider of the numerical control manipulator mechanism of the present invention.
Fig. 9 is a schematic diagram of the first circular arc slider of the numerical control manipulator mechanism of the present invention.
Fig. 10 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the initial configuration.
Fig. 11 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the second configuration.
Fig. 12 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the third configuration.
Fig. 13 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the fourth configuration.
Labeled as: 1. a first link; 2. a second link; 3. a first pin shaft; 4. a second pin shaft; 5. a slider; 6. a third pin shaft; 7. a third link; 8. a fourth link; 9. a fourth pin shaft; 10. a fifth link; 11. a fifth pin shaft; 12. a base; 13. a sixth pin shaft; 14. a sixth link; 15. a seventh pin shaft; 16. an eighth pin shaft; 17. a second arc slider; 18. a main link; 19. a first arc baffle; 20. a ninth pin shaft; 21. a first rotary pair unit; 22. a first arc slider; 23. a third rotation pair unit; 24. a second arc chute; 25. a short chute; 26. a first arc chute; 27. a long chute; 28. a second arc baffle; 29. a slide bar; 30. a second bolt; 31. connecting blocks; 32. a fourth rotation pair unit; 33. a first latch; 34. a second rotation pair unit; 35. a second jack; 36. a first jack; 37. a seventh connecting rod; 38. and a stop block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a reconfigurable multi-configuration extensible numerical control manipulator mechanism to solve the problem that above-mentioned prior art exists, it has the ability of configuration reorganization, motion that can be nimble has stronger bearing capacity and extensibility again.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Referring to fig. 1-13, fig. 1 is a front view of a fourth configuration of a numerically controlled mechanical arm mechanism according to the present invention; fig. 2 is a schematic structural diagram of a fifth configuration of the numerical control manipulator mechanism according to the present invention; fig. 3 is an assembly schematic diagram of each component on the left side surface of the main connecting rod of the numerical control manipulator mechanism of the present invention; fig. 4 is an assembly schematic diagram of parts on the right side of the main link of the numerical control manipulator mechanism of the present invention; fig. 5 is an assembly schematic diagram of the numerical control manipulator mechanism of the present invention in an expanded state of each component on the second connecting rod; fig. 6 is an assembly schematic diagram of the second connecting rod of the numerical control manipulator mechanism according to the present invention in a closed state of each part; fig. 7 is an assembly schematic diagram of parts on a fifth connecting rod of the numerical control manipulator mechanism according to the present invention; fig. 8 is a schematic view of a second circular slider of the numerical control manipulator mechanism according to the present invention; fig. 9 is a schematic view of a first circular arc slider of the numerical control manipulator mechanism according to the present invention; fig. 10 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in an initial configuration; fig. 11 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the second configuration; fig. 12 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in a third configuration; fig. 13 is a schematic structural diagram of the numerical control manipulator mechanism according to the present invention in the fourth configuration.
As shown in fig. 1-13, the utility model provides a reconfigurable multi-configuration expandable numerical control manipulator mechanism, the specific structure and connection relationship are:
the main connecting rod 18 is connected with the base 12 through a ninth pin shaft 20, a first arc baffle 19 and a second arc baffle 28 are welded on the main connecting rod 18, the left side and the right side of the main connecting rod 18 are respectively milled with a long chute 27 and a short chute 25, the inner side of a first rotating auxiliary unit 21 is provided with a first arc chute 26, a first arc slide block 22 is arranged in the first arc chute 26 and can rotate along the first arc chute 26, the inner side of a third rotating auxiliary unit 23 is provided with a second arc chute 24, a second arc slide block 17 is arranged in the second arc chute 24 and can rotate along the second arc chute 24, the first rotating auxiliary unit 21 and the third rotating auxiliary unit 23 are welded on the main connecting rod 18, the second rotating auxiliary unit 34 is welded on a fifth connecting rod 10, a first bolt 33 is welded on the second rotating auxiliary unit 34, the fifth connecting rod 10 is arranged in the long chute 27 of the main connecting rod 18 and can move along the long chute 27, a seventh connecting rod 37 is connected with the fifth connecting rod 10 through a fifth pin 11, a stopper 38 is welded at one end of the second connecting rod 2, a fourth rotating pair unit 32 is welded at the other end of the second connecting rod 2, a second pin 30 is welded on the fourth rotating pair unit 32, a connecting block 31 is welded on the fourth rotating pair unit 32, one end of a sliding rod 29 is welded on the connecting block 31, the other end is connected with the stopper 38 through a second pin 4, a sliding block 5 is installed on the sliding rod 29 and can move along the sliding rod 29, a fourth connecting rod 8 is connected with the connecting block 31 through an eighth pin 16 and can rotate around the eighth pin 16, a sixth connecting rod 14 is connected with the connecting block 31 through a seventh pin 15 and can rotate around the seventh pin 15, one end of a third connecting rod 7 is connected with the fourth connecting rod 8 through a fourth pin 9, the other end is connected with the sliding block 5 through a third pin 6, one end of a first connecting rod 1 is connected with the sixth connecting rod 14 through a sixth pin 13, the other end is connected with the sliding block 5 through a first pin shaft 3, and the second connecting rod 2 is arranged in a short sliding chute 25 of the main connecting rod 18 and can move along the short sliding chute 25.
The utility model discloses a theory of operation is:
when the mechanism is in an initial state, the fifth link 10 can move along the long chute 27 on the main link 18, so that the fifth link 10 can be extended and contracted, the second link 2 can move along the short chute 25 on the main link 18, so that the second link 2 can be extended and contracted, and the main link 18 can rotate around the ninth pin shaft 20, at this time, if the fifth link 10 is moved to the innermost end of the long chute 27, the second link 2 is moved to the innermost end of the short chute 25, and the main link 18 rotates to be parallel to the base 12, the mechanism can be in a planar configuration as shown in fig. 9, and the occupied space of the mechanism is the minimum in the configuration; when the fifth connecting rod 10 moves to the top end of the long sliding chute 27 along the long sliding chute 27, the second rotating pair unit 34 welded on the fifth connecting rod 10 enters the first rotating pair unit 21, the first bolt 33 on the second rotating pair unit 34 is also inserted into the first insertion hole 36 on the first arc slide block 22, at this time, the second rotating pair unit 34 and the first arc slide block 22 can be regarded as a whole, because the first arc slide block 22 can move along the first arc sliding chute 26, therefore, the second rotating pair unit 34 can also rotate under the driving of the first arc slide block 22, so as to drive the fifth connecting rod 10 to rotate, at this time, the connection relationship between the fifth connecting rod 10 and the main connecting rod 18 is converted from moving pair connection to rotating pair connection, and the mechanism enters a second configuration state, as shown in fig. 10; when the mechanism is in the second configuration, the mechanism is flexible, but the bearing capacity is low, if the bearing capacity needs to be improved during work, the seventh connecting rod 37 can be rotated, when the seventh connecting rod 37 is blocked by the second arc baffle 28, the seventh connecting rod 37, the fifth connecting rod 10 and the main connecting rod 18 form a triangular stable structure, the bearing capacity of the mechanism is improved, the mechanism enters the third configuration, as shown in fig. 11, in the third configuration, the mechanism has the triangular stable structure, and meanwhile, the second connecting rod 2 and parts on the second connecting rod can also enable the mechanism to have strong flexibility, so that the third configuration not only has high bearing capacity but also has high flexibility; when the second connecting rod 2 moves to the top end of the short sliding chute 25 along the short sliding chute 25, the fourth rotating pair unit 32 welded on the second connecting rod 2 enters the third rotating pair unit 23, and the second bolt 30 on the fourth rotating pair unit 32 is also inserted into the second insertion hole 35 on the second arc slide block, at this time, the fourth rotating pair unit 32 and the second arc slide block 17 can be regarded as a whole, because the second arc slide block 17 can move along the second arc sliding chute 24, therefore, the fourth rotating pair unit 32 can also rotate under the driving of the second arc slide block 17, so as to drive the second connecting rod 2 to rotate, at this time, the connection relationship between the second connecting rod 2 and the main connecting rod 18 is converted from moving pair connection to rotating pair connection, and the mechanism enters a fourth configuration state, as shown in fig. 13.
The sliding block 5 can move along the sliding rod 29, when the sliding block 5 moves from inside to outside, the third pin 6 can drive the third connecting rod 7 to move, the first pin 3 can drive the first connecting rod 1 to move, the third connecting rod 7 pushes the fourth connecting rod 8 away under the action of the fourth pin 9, the first connecting rod 1 pushes the sixth connecting rod 14 away under the action of the sixth pin 13, when the sliding block 5 moves to the position of the stop block, the sliding block 5 can not move any more, at the moment, the first connecting rod 1 and the third connecting rod 7 are in the same straight line, and the first connecting rod 1, the third connecting rod 7, the fourth connecting rod 8 and the sixth connecting rod 14 form a triangle as shown in fig. 5. When the sliding block 5 moves from outside to inside, the third pin 6 drives the third connecting rod 7 to move, the first pin 3 drives the first connecting rod 1 to move, the third connecting rod 7 closes the fourth connecting rod 8 under the action of the fourth pin 9, the first connecting rod 1 closes the sixth connecting rod 14 under the action of the sixth pin 13, and when the fourth connecting rod 8 and the sixth connecting rod 14 are combined into one rod, the sliding block 5 cannot move inwards any more, as shown in fig. 6. The second link 2 and the components thereof can be regarded as a deployable mechanism.
When the mechanism is in the fourth configuration, the mechanism has a triangular stable structure, the second connecting rod 2 is connected with the main connecting rod 18 through a revolute pair, and all parts on the second connecting rod 2 also move flexibly, so that the fourth configuration has flexibility and high bearing capacity. When the mechanism needs stronger bearing capacity, the sliding block 5 can be moved from inside to outside to the position of the stop block 38, the first connecting rod 1, the third connecting rod 7, the fourth connecting rod 8 and the sixth connecting rod 14 form a triangle, then the second connecting rod 2 is rotated, when the intersection of the first connecting rod 1 and the sixth connecting rod 14 is blocked by the first arc baffle 19, the second connecting rod 2 cannot continue to rotate, at the moment, the mechanism is in a fifth configuration, and when the fifth configuration is adopted, the mechanism consists of double triangles, the structure is very stable, and the bearing capacity is highest.
The utility model discloses a concrete example is applied to explain the principle and the implementation mode of the utility model, and the explanation of the above example is only used to help understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (6)
1. The utility model provides a but reconfigurable multi-configuration expansion numerical control manipulator mechanism which characterized in that: the connecting rod mechanism comprises a main connecting rod, a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod, wherein the main connecting rod is connected with the base through a ninth pin shaft, and the left side and the right side of the main connecting rod are respectively milled with a long sliding chute and a short sliding chute;
the first rotating pair unit and the third rotating pair unit are welded on the main connecting rod, a first arc chute is formed in the inner side of the first rotating pair unit, and a first arc sliding block is installed in the first arc chute and can rotate along the first arc chute; a second arc chute is formed in the inner side of the third rotating pair unit, and a second arc sliding block is installed in the second arc chute and can rotate along the second arc chute; the fifth connecting rod is arranged in the long sliding groove of the main connecting rod and can move along the long sliding groove, the second rotating pair unit is welded on the fifth connecting rod, the first bolt is welded on the second rotating pair unit, and the seventh connecting rod is connected with the fifth connecting rod through a fifth pin shaft;
the second connecting rod is arranged in the short chute of the main connecting rod and can move along the short chute, a stop block is welded at one end of the second connecting rod, a fourth rotating pair unit is welded at the other end of the second connecting rod, a second bolt is welded on the fourth rotating pair unit, a connecting block is welded on the fourth rotating pair unit, one end of a sliding rod is welded on the connecting block, the other end of the sliding rod is connected with the stop block through a second pin shaft, a sliding block is arranged on the sliding rod and can move along the sliding rod, the fourth connecting rod is connected with the connecting block through an eighth pin shaft and can rotate around the eighth pin shaft, the sixth connecting rod is connected with the connecting block through a seventh pin shaft and can rotate around the seventh pin shaft, one end of the third connecting rod is connected with the fourth connecting rod through a fourth pin shaft, the other end of the third connecting rod is connected with the sliding block through a third pin shaft, one end of the first connecting rod is connected with the sixth connecting rod through, the other end is connected with the sliding block through a first pin shaft.
2. The reconfigurable multi-configuration expandable numerically controlled manipulator mechanism according to claim 1, characterized in that: the connecting rod is welded with a first arc baffle and a second arc baffle, and the second arc baffle is located at the top connecting end of the connecting rod.
3. The reconfigurable multi-configuration expandable numerically controlled manipulator mechanism according to claim 1, characterized in that: the third rotating pair unit is welded on the main connecting rod, and the circle center of the third rotating pair unit is higher than the radius distance of 1/8 of the section of the main connecting rod.
4. The reconfigurable multi-configuration expandable numerically controlled manipulator mechanism according to claim 1, characterized in that: the first bolt is welded on the second revolute pair unit and drives the first arc sliding block to rotate, and the first arc sliding block form a revolute pair.
5. The reconfigurable multi-configuration expandable numerically controlled manipulator mechanism according to claim 1, characterized in that: and a second bolt is welded on the fourth revolute pair unit and drives the second arc sliding block to rotate, and the second arc sliding block form a revolute pair.
6. The reconfigurable multi-configuration expandable numerically controlled manipulator mechanism according to claim 1, characterized in that: the end part of the second connecting rod is welded with the stop block, and the stop block is used for limiting the movement of the sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921069983.9U CN210616535U (en) | 2019-07-10 | 2019-07-10 | Reconfigurable multi-configuration extensible numerical control manipulator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921069983.9U CN210616535U (en) | 2019-07-10 | 2019-07-10 | Reconfigurable multi-configuration extensible numerical control manipulator mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN210616535U true CN210616535U (en) | 2020-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921069983.9U Expired - Fee Related CN210616535U (en) | 2019-07-10 | 2019-07-10 | Reconfigurable multi-configuration extensible numerical control manipulator mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394799A (en) * | 2019-07-10 | 2019-11-01 | 柳州铁道职业技术学院 | A kind of restructural more Gou Taikezhan digital control mechanical arms mechanism |
-
2019
- 2019-07-10 CN CN201921069983.9U patent/CN210616535U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394799A (en) * | 2019-07-10 | 2019-11-01 | 柳州铁道职业技术学院 | A kind of restructural more Gou Taikezhan digital control mechanical arms mechanism |
| CN110394799B (en) * | 2019-07-10 | 2024-03-08 | 柳州铁道职业技术学院 | Reconfigurable multi-configuration extendable numerical control manipulator mechanism |
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Granted publication date: 20200526 |