CN203045725U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN203045725U CN203045725U CN 201220678514 CN201220678514U CN203045725U CN 203045725 U CN203045725 U CN 203045725U CN 201220678514 CN201220678514 CN 201220678514 CN 201220678514 U CN201220678514 U CN 201220678514U CN 203045725 U CN203045725 U CN 203045725U
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- China
- Prior art keywords
- connecting rod
- swing arm
- parallelogram
- swing
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model provides a mechanical arm. The mechanical arm comprises a first four-connecting-rod mechanism, wherein the first four-connecting-rod mechanism is composed of a first swing arm, a second connecting rod, a third connecting rod and a fourth swing arm. A first power source is used for driving the first swing arm to swing, a second power source is used for driving the fourth swing arm to swing, and the swing rotary axis of the first swing arm and the swing rotary axis of the fourth swing arm are in the same straight line. The mechanical arm is further provided with a first parallelogram four-connecting-rod mechanism and a second parallelogram four-connecting-rod mechanism, wherein the first parallelogram four-connecting-rod mechanism and the second parallelogram four-connecting-rod mechanism are arranged on the outer side of the first four-connecting-rod mechanism. The mechanical arm can enable a mechanical arm executing mechanism to achieve displacement between a left station and a right station or between a front station and a back station, and to carry out work of vertical movements on stations, directions of installation seats of the mechanical arm executing mechanism on the two stations are not changed when the work is finished, the unchanged working angle of the mechanical arm executing mechanism installed on the installation seats is ensured. In addition, the mechanical arm is simple in whole structure, low in energy consumption of movements, and high in efficiency.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
Usually, need move both vertically and the manipulator of horizontal movement is configured the two cover mutually perpendicular dynamical system of operative orientation and mutually perpendicular mobile guiding devices, the movement locus of manipulator is also synthetic by the motion of both direction.Although this class manipulator control logic is fairly simple, the overall structure more complicated, parts are many, and translational speed is also relatively slow.
Summary of the invention
Technical problem to be solved in the utility model provide a kind of manipulator executing agency can about or displacement and do installation position constant new mechanical arm of direction on two stations of knee-action, simple in structure and manipulator executing agency at station between former and later two stations.For this reason, the utility model is by the following technical solutions: it comprises first quadric chain, described first quadric chain is made of first swing arm, second connecting rod, third connecting rod and the 4th swing arm, and first end of the swinging end of first swing arm and second connecting rod is hinged, first end of second end of second connecting rod and third connecting rod is hinged, the swinging end of second end of third connecting rod and the 4th swing arm is hinged; First swing arm drives swing by first power source, and the 4th swing arm drives swing by second power source, and the swing rotation of first swing arm and the swing rotation of the 4th swing arm are on same straight line;
Described manipulator also is provided with first parallelogram four-bar linkage and second parallelogram four-bar linkage in the outside of first quadric chain;
First parallelogram four-bar linkage is in the outside of the 4th swing arm, described the 4th swing arm is a wherein bar of first parallelogram four-bar linkage, described first parallelogram four-bar linkage also comprises and first pull bar, fixed bar and the first connecting rod of the 4th swing arm for the end-to-end relation, first end and the fixture of first pull bar are hinged, second end of first pull bar and first end of first connecting rod are hinged, form described fixed bar between described fixture and the 4th swing arm power link corresponding with second power source;
Second parallelogram four-bar linkage is in the outside of third connecting rod, and described third connecting rod is a wherein connecting rod of described second parallelogram four-bar linkage or is that one section of a wherein connecting rod of second parallelogram four-bar linkage or a described wherein connecting rod are a section of third connecting rod; Described second parallelogram four-bar linkage comprises also and second pull bar, four connecting rod and the mounting rod of third connecting rod for the end-to-end relation that first end of second pull bar and second end of the 4th connecting rod are hinged; The 4th connecting rod and first connecting rod constitute the corner connecting rod, the hinged rotation of second end of its pivot center and third connecting rod and the swinging end of the 4th swing arm is on same straight line, perhaps the 4th connecting rod and first connecting rod link together and rotate synchronously, and the hinged rotation of second end of its pivot center and third connecting rod and the swinging end of the 4th swing arm is on same straight line;
The mounting rod of described second parallelogram four-bar linkage and the rod member of its adjacent side are hinged, and the mount pad of manipulator executing agency is set thereon.
On the basis of adopting technique scheme, the utility model also can adopt following further technical scheme:
Described third connecting rod is a section of a wherein connecting rod of described second parallelogram four-bar linkage, and the mounting rod of second parallelogram four-bar linkage has extension outside the hinged end of itself and second pull bar, and described mount pad is arranged on the described extension.
Described fixture is installed on the installing rack of second power source.
Described first power source and second power source are servomotor.
Owing to adopt the technical solution of the utility model, first swing arm of the present utility model, the 4th swing arm is independently controlled by first power source and second power source respectively, first parallelogram four-bar linkage moves under the effect of first quadric chain, and second parallelogram four-bar linkage moves under the acting in conjunction of first quadric chain and first parallelogram four-bar linkage.Displacement and do the work of knee-action at station about the utility model can make manipulator executing agency finish or between former and later two stations, and when finishing above-mentioned work, be installed in that manipulator executing agency can make three quadric chain co-operatings by the rotation of swing arm on the mount pad, carry out knee-action on the station and directly go to, and on two stations, the direction of mount pad is constant, and the operating angle of the manipulator executing agency that assurance is installed on it is also constant.And overall structure of the present utility model is simple, the action energy consumption is low, efficient is high.
Description of drawings
Fig. 1 is the front view of embodiment provided by the utility model.
Fig. 2 is the stereogram of embodiment provided by the utility model.
Fig. 3 is the decomposing schematic representation of embodiment provided by the utility model.
The specific embodiment
With reference to accompanying drawing.The utility model comprises the first quadric chain A, described first quadric chain is made of first swing arm 1, second connecting rod 2, third connecting rod 3 and the 4th swing arm 4, and first end of the swinging end 11 of first swing arm and second connecting rod is 21 hinged, first end of second end 22 of second connecting rod and third connecting rod is 31 hinged, the swinging end 41 of second end 32 of third connecting rod and the 4th swing arm is hinged; First swing arm 1 drives swing by first power source 100, and the 4th swing arm 4 drives swing by second power source 200, and the swing rotation of the swing rotation of first swing arm 1 and the 4th swing arm 4 is on same straight line;
Described manipulator also is provided with the first parallelogram four-bar linkage B and the second parallelogram four-bar linkage C in the outside of first quadric chain;
First parallelogram four-bar linkage is in the outside of the 4th swing arm 4, described the 4th swing arm 4 is a wherein bar of first parallelogram four-bar linkage, described first parallelogram four-bar linkage also comprises with the 4th swing arm 4 and is end-to-end relation's first pull bar 5, fixed bar and first connecting rod 61, first end 51 and the fixture 7 of first pull bar 5 are hinged, second end 52 of first pull bar 5 and first end 611 of first connecting rod are hinged, form described fixed bar between described fixture 7 and the 4th swing arm 4 power link 42 corresponding with second power source;
Second parallelogram four-bar linkage is in the outside of third connecting rod 3, and described third connecting rod 3 is for a wherein connecting rod of described second parallelogram four-bar linkage or be that one section of a wherein connecting rod of second parallelogram four-bar linkage or a described wherein connecting rod are a section of third connecting rod; Described second parallelogram four-bar linkage also comprises with third connecting rod 3 and is end-to-end relation's second pull bar 8, the 4th connecting rod 62 and mounting rod 9; First end 81 of second pull bar and second end 621 of the 4th connecting rod are hinged; The 4th connecting rod 62 and first connecting rod 61 constitute corner connecting rod 6, the hinged rotation of second end 32 of its pivot center and third connecting rod and the swinging end of the 4th swing arm 41 also is that second end 32 of corner connecting rod 6, third connecting rod and the swinging end 41 of the 4th swing arm are enclosed within on the same axle on same straight line; In the enforcement, the 4th connecting rod and first connecting rod can be the parts of two independent splits also, but are joined together synchronous rotation, and the hinged rotation of second end of its pivot center and third connecting rod and the swinging end of the 4th swing arm is on same straight line.
The mounting rod 9 of described second parallelogram four-bar linkage is hinged with the rod member of its adjacent side, and the mount pad 90 of manipulator executing agency is set thereon.
As shown in the figure, in the present embodiment, described third connecting rod 3 is a section of a wherein connecting rod of described second parallelogram four-bar linkage, third connecting rod 3 and constitute the described wherein connecting rod 30 of second parallelogram four-bar linkage at the extension 31 of its first end, the mounting rod 9 of second parallelogram four-bar linkage has extension 91 outside the hinged end 91 of itself and second pull bar 8, described mount pad 90 is arranged on the described extension 91.
Described fixture 7 is installed on the installing rack 201 of second power source, and also being installing rack 201 is being in structure between fixture 7 and the power link 42 simultaneously also as the described fixed bar of first parallelogram four-bar linkage.Drawing reference numeral 101 is the installing rack of first power source.
Described first power source 100 and second power source 200 are servomotor.
The executing agency of described manipulator can be according to the function of required realization, and adopts sucker, grappling fixture or other mechanism.
Claims (4)
1. manipulator, it is characterized in that it comprises first quadric chain, described first quadric chain is made of first swing arm, second connecting rod, third connecting rod and the 4th swing arm, and first end of the swinging end of first swing arm and second connecting rod is hinged, first end of second end of second connecting rod and third connecting rod is hinged, the swinging end of second end of third connecting rod and the 4th swing arm is hinged; First swing arm drives swing by first power source, and the 4th swing arm drives swing by second power source, and the swing rotation of first swing arm and the swing rotation of the 4th swing arm are on same straight line;
Described manipulator also is provided with first parallelogram four-bar linkage and second parallelogram four-bar linkage in the outside of first quadric chain;
First parallelogram four-bar linkage is in the outside of the 4th swing arm, described the 4th swing arm is a wherein bar of first parallelogram four-bar linkage, described first parallelogram four-bar linkage also comprises and first pull bar, fixed bar and the first connecting rod of the 4th swing arm for the end-to-end relation, first end and the fixture of first pull bar are hinged, second end of first pull bar and first end of first connecting rod are hinged, form described fixed bar between described fixture and the 4th swing arm power link corresponding with second power source;
Second parallelogram four-bar linkage is in the outside of third connecting rod, and described third connecting rod is a wherein connecting rod of described second parallelogram four-bar linkage or is that one section of a wherein connecting rod of second parallelogram four-bar linkage or a described wherein connecting rod are a section of third connecting rod; Described second parallelogram four-bar linkage comprises also and second pull bar, four connecting rod and the mounting rod of third connecting rod for the end-to-end relation that first end of second pull bar and second end of the 4th connecting rod are hinged; The 4th connecting rod and first connecting rod constitute the corner connecting rod, the hinged rotation of second end of its pivot center and third connecting rod and the swinging end of the 4th swing arm is on same straight line, perhaps the 4th connecting rod and first connecting rod link together and rotate synchronously, and the hinged rotation of second end of its pivot center and third connecting rod and the swinging end of the 4th swing arm is on same straight line;
The mounting rod of described second parallelogram four-bar linkage and the rod member of its adjacent side are hinged, and the mount pad of manipulator executing agency is set thereon.
2. a kind of manipulator as claimed in claim 1, it is characterized in that described third connecting rod is a section of a wherein connecting rod of described second parallelogram four-bar linkage, the mounting rod of second parallelogram four-bar linkage has extension outside the hinged end of itself and second pull bar, described mount pad is arranged on the described extension.
3. a kind of manipulator as claimed in claim 1 is characterized in that described fixture is installed on the installing rack of second power source.
4. a kind of manipulator as claimed in claim 1 or 2 is characterized in that described first power source and second power source are servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220678514 CN203045725U (en) | 2012-08-23 | 2012-12-07 | Mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220421133.2 | 2012-08-23 | ||
| CN201220421133 | 2012-08-23 | ||
| CN 201220678514 CN203045725U (en) | 2012-08-23 | 2012-12-07 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203045725U true CN203045725U (en) | 2013-07-10 |
Family
ID=47958762
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105332038A Pending CN103009377A (en) | 2012-08-23 | 2012-12-07 | Mechanical hand |
| CN 201220678514 Expired - Lifetime CN203045725U (en) | 2012-08-23 | 2012-12-07 | Mechanical arm |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105332038A Pending CN103009377A (en) | 2012-08-23 | 2012-12-07 | Mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN103009377A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009377A (en) * | 2012-08-23 | 2013-04-03 | 杭州永创智能设备股份有限公司 | Mechanical hand |
| CN108274114A (en) * | 2018-01-25 | 2018-07-13 | 苏州小男孩智能科技有限公司 | Laser ablation telecentricity stabilizing mechanism |
| CN117302960A (en) * | 2023-12-01 | 2023-12-29 | 广州九红智能装备有限公司 | Adjustable feeding and discharging mechanical arm |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612253B (en) * | 2013-11-28 | 2015-08-12 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN104476305A (en) * | 2014-11-11 | 2015-04-01 | 沈阳新松机器人自动化股份有限公司 | Manipulator |
| CN106393082A (en) * | 2016-11-25 | 2017-02-15 | 江门市神川自动化设备有限公司 | Automatic feeding manipulator device |
| CN108689091B (en) * | 2018-05-12 | 2020-06-09 | 芜湖凯德机械制造有限公司 | Rotary feeding device for pipe parts |
| CN110856929A (en) * | 2018-08-24 | 2020-03-03 | 连云港冠创家具有限公司 | Gantry crane folding mechanism |
| CN111285316A (en) * | 2020-02-26 | 2020-06-16 | 上海新威圣制药机械有限公司 | Bottle conveying mechanism applied to pharmaceutical machinery |
| CN111376235B (en) * | 2020-03-31 | 2022-07-15 | 哈尔滨工业大学 | A heavy-duty four-degree-of-freedom four-parallel four-link actuator |
| CN114303683A (en) * | 2020-09-29 | 2022-04-12 | 广州极飞科技股份有限公司 | Actuating drive mechanism and topping device |
| CN114303684A (en) * | 2020-09-29 | 2022-04-12 | 广州极飞科技股份有限公司 | Actuating drive mechanism and topping device |
| CN112754669B (en) * | 2021-01-19 | 2024-12-20 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Active arm of surgical robot and surgical robot |
| CN113231227A (en) * | 2021-05-06 | 2021-08-10 | 清华大学 | Spraying robot |
| CN113524154B (en) * | 2021-07-20 | 2022-11-08 | 江苏科技大学 | Non-contact sucker carrying device with force feedback speed limiting function and control method |
| CN114313482A (en) * | 2022-02-15 | 2022-04-12 | 河南中烟工业有限责任公司 | Touch pressure bar cigarette missing pack detection device |
| CN117001650A (en) * | 2023-08-15 | 2023-11-07 | 苏州旭昕羿智能科技有限公司 | A mechanical stable movement method and related devices |
| CN117864762A (en) * | 2024-03-11 | 2024-04-12 | 常州湖南大学机械装备研究院 | Testing device for switch outside door |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6840732B2 (en) * | 2000-10-24 | 2005-01-11 | Ulvac, Inc. | Transport apparatus and vacuum processing system using the same |
| DE10108321A1 (en) * | 2001-02-21 | 2002-08-29 | A & F Automation & Foerdertech | Handling device in particular in a packaging machine |
| CN2741730Y (en) * | 2004-09-08 | 2005-11-23 | 温兆麟 | Two freedom moving plane shunting mechanism |
| DE102005014863A1 (en) * | 2005-03-30 | 2006-10-05 | Focke & Co.(Gmbh & Co. Kg) | Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material |
| JP2008173757A (en) * | 2007-01-22 | 2008-07-31 | Yamatake Corp | Five-barrel haptic device |
| CN101444431B (en) * | 2008-12-23 | 2010-07-07 | 天津大学 | Three-dimensional force feedback master manipulator of assisted minimally invasive surgical robot |
| CN202388499U (en) * | 2012-01-06 | 2012-08-22 | 沈阳新松机器人自动化股份有限公司 | Multi-joint robot |
| CN103009377A (en) * | 2012-08-23 | 2013-04-03 | 杭州永创智能设备股份有限公司 | Mechanical hand |
-
2012
- 2012-12-07 CN CN2012105332038A patent/CN103009377A/en active Pending
- 2012-12-07 CN CN 201220678514 patent/CN203045725U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009377A (en) * | 2012-08-23 | 2013-04-03 | 杭州永创智能设备股份有限公司 | Mechanical hand |
| CN108274114A (en) * | 2018-01-25 | 2018-07-13 | 苏州小男孩智能科技有限公司 | Laser ablation telecentricity stabilizing mechanism |
| CN117302960A (en) * | 2023-12-01 | 2023-12-29 | 广州九红智能装备有限公司 | Adjustable feeding and discharging mechanical arm |
| CN117302960B (en) * | 2023-12-01 | 2024-02-20 | 广州九红智能装备有限公司 | Adjustable feeding and discharging mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103009377A (en) | 2013-04-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130710 |
|
| CX01 | Expiry of patent term |