CN221416663U - Terminal gesture keeping type mechanical arm based on parallel four-bar linkage - Google Patents
Terminal gesture keeping type mechanical arm based on parallel four-bar linkage Download PDFInfo
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Abstract
The utility model discloses a tail end posture keeping type mechanical arm based on parallel four-bar linkages, which comprises a mechanical arm unit, wherein the mechanical arm unit comprises a base, a main shaft is arranged on the base, front and rear arm plates are respectively and fixedly connected with the front and rear of the main shaft upwards, an upper shaft is rotatably connected between the upper ends of the front and rear arm plates through a bearing, and the upper shaft is upwards connected with a bearing platform through a connecting column; the middle part of the upper shaft is fixedly connected with an upper connecting rod, the left end of the upper connecting rod is hinged with a left connecting rod, the right end of the upper connecting rod is hinged with a right connecting rod, the lower end of the left connecting rod is hinged on a left hinging seat, and the left hinging seat is fixedly connected on the base; the lower end of the right connecting rod is hinged on a right hinging seat which is fixedly connected on the base. The rotation friction resistance of the bearing is far smaller than the resistance when the driven shaft is forced to rotate by a transmission mechanism such as a chain and the like, so that the utility model has the advantage of lower energy consumption compared with the prior art, and simultaneously, the utility model has the advantage that the angle of the bearing platform is kept constant in the swinging process of the mechanical arm.
Description
Technical Field
The utility model relates to the technical field of machinery, in particular to a mechanical structure for transporting materials and the like, wherein the inclination angle of a bearing platform needs to be kept unchanged.
Background
In the prior art, scene requirements for position conversion of materials or personnel widely exist in various industries.
In the prior art, for a bearing platform structure during position conversion, the technology for keeping the posture (the inclination angle is unchanged) is very complex, and a sensor for measuring the inclination angle, a driving device for driving the bearing platform to rotate so as to offset the inclination angle change in the motion, an electric control device for enabling the rotation speed and the rotation direction of the driving bearing platform to be opposite to the inclination angle change direction and the same in speed, and a corresponding algorithm are needed. The technology is complex in structure and high in cost, on one hand, the inclination angle change is counteracted to have hysteresis, on the other hand, the active rotation angle for counteracting the inclination angle change is difficult to be well matched with the actual angle, and in a word, the active rotation for counteracting the inclination angle change and the inclination angle change of the bearing platform structure cannot be completely synchronous, so that the posture (inclination angle) of the bearing platform structure is in a fluctuation rather than a stable state in operation.
For this reason, the applicant has developed a technique for keeping the posture of the table structure unchanged in position conversion with a purely mechanical structure without the need of a sensor and an electronic control device and an algorithm, and has filed and patented an utility model patent with a patent number 2023205835308, named end posture-keeping swing arm mechanism, and has been granted. The patent relies on a chain transmission mechanism, a synchronous belt transmission mechanism or a gear transmission mechanism, and the rotation generated by a driven shaft is offset by the transmission mechanism to change the angle caused by revolution, so that the device is applied to occasions where only the position of an operation object is needed to be changed without changing the posture of the operation object, has simple structure, no electric control, low cost and no hysteresis caused by the electric control in the background technology, and the angle of a bearing platform is stable without fluctuation in the movement process (revolution process). However, in this patent technology, the transmission mechanism (chain or belt or gear transmission mechanism) has a large resistance when the driven shaft is forced to rotate, and the energy consumption has a further reduced space.
Disclosure of utility model
The utility model aims to provide a tail end posture keeping mechanical arm based on parallel four-bar linkage, which eliminates a transmission mechanism and eliminates the resistance of a chain or belt or gear transmission mechanism when forcing a driven shaft to rotate by keeping the angle of a tail end bearing platform constant based on the principle of parallel four-bar linkage.
In order to achieve the above purpose, the end gesture maintaining type mechanical arm based on the parallel four-bar linkage comprises a mechanical arm unit, wherein the mechanical arm unit comprises a base, a main shaft is arranged on the base, extends along the front-back direction and is driven by an external power device; the front part of the main shaft is upwards fixedly connected with a front arm plate, and the rear part of the main shaft is upwards fixedly connected with a rear arm plate;
an upper shaft is rotationally connected between the upper ends of the front arm plate and the rear arm plate through a bearing, and is fixedly connected with a bearing platform upwards through a connecting column, and the bearing platform is used for bearing materials or equipment;
The middle part of the upper shaft is fixedly connected with an upper connecting rod, the left end of the upper connecting rod is hinged with a left connecting rod, the right end of the upper connecting rod is hinged with a right connecting rod, the lower end of the left connecting rod is hinged on a left hinging seat, and the left hinging seat is fixedly connected on the base; the lower end of the right connecting rod is hinged to a right hinging seat which is fixedly connected to the base;
The hinge point at the lower end of the left connecting rod and the hinge point at the lower end of the right connecting rod are used as two end points of a virtual lower connecting rod, and the position of the virtual lower connecting rod is constant; the virtual lower connecting rod, the left connecting rod, the right connecting rod and the upper connecting rod are positioned in the same plane to form a parallel four-bar mechanism, the left connecting rod and the right connecting rod are parallel to each other, and the upper connecting rod and the virtual lower connecting rod are parallel to each other.
The front end part of the main shaft is rotationally connected to a front hinging seat through a bearing, and the front hinging seat is fixedly connected to the front part of the base;
The rear end part of the main shaft is rotationally connected to a rear hinging seat through a bearing, and the rear hinging seat is fixedly connected to the rear part of the base;
the mechanical arm unit is provided with two or more sets;
And in the two sets of mechanical arm units which are connected with each other, the base of the mechanical arm unit at the opposite upper stage is fixedly connected with the bearing platform of the mechanical arm unit at the opposite lower stage.
The utility model has the following advantages:
In the utility model, the virtual lower connecting rod, the left connecting rod, the right connecting rod and the upper connecting rod are positioned in the same plane to form a parallel four-bar mechanism, no matter what angle the main shaft swings to, the upper connecting rod is parallel to the virtual lower connecting rod, and the position of the virtual lower connecting rod is constant (the position is not changed along with the rotation of the main shaft), so that the angle of the upper connecting rod is always unchanged, and the angles of the upper shaft and the bearing platform are always unchanged. Because a chain or belt transmission mechanism is not needed, the structure is simplified, the resistance of the chain or belt transmission mechanism in operation is avoided, and the operation energy consumption is greatly reduced.
The utility model is applied to the occasion that only the position of the operation object is required to be changed without changing the posture of the operation object, and a chain or belt transmission mechanism is not required, so that the cost is low, and the angle of the bearing platform is not changed along with the swing of the mechanical arm in the operation process (in the rotation of the main shaft).
Through multistage connection, the conveying range of the mechanical arm can be very conveniently expanded, so that the bearing platform of the mechanical arm unit at the uppermost stage (last stage) reaches a wider space.
The rotation friction resistance of the bearing is far smaller than the resistance when the driven shaft is forced to rotate by the chain (or synchronous belt or gear) transmission mechanism, so the utility model has the advantage of lower energy consumption compared with the terminal gesture maintaining technology that the driven shaft is forced to rotate by the transmission mechanism to offset the revolution angle.
The utility model has the advantages of no transmission mechanism, simpler overall structure, lower cost and relatively higher popularization and application value.
Drawings
FIG. 1 is a schematic view of a single mechanical arm unit under a swing angle;
FIG. 2 is a right side view of FIG. 1;
fig. 3 is a schematic perspective view of the mechanical arm unit at the swing angle shown in fig. 1;
Fig. 4 is a schematic perspective view of the mechanical arm unit at another swing angle;
Fig. 5 is a schematic perspective view of the present utility model employing a three-stage robot arm unit.
Detailed Description
As shown in fig. 1 to 5, the end gesture maintaining type mechanical arm based on the parallel four-bar linkage of the present utility model comprises a mechanical arm unit, wherein the mechanical arm unit comprises a base 1, a main shaft 2 is arranged on the base 1, and the main shaft 2 extends along the front-rear direction and is driven by an external power device (such as a motor or a hydraulic motor, which is a conventional technology, not shown); the front part of the main shaft 2 is fixedly connected with a front arm plate 3 upwards, and the rear part of the main shaft 2 is fixedly connected with a rear arm plate 4 upwards;
An upper shaft 5 is rotatably connected between the upper ends of the front arm plate 3 and the rear arm plate 4 through a bearing, the upper shaft 5 is fixedly connected with a bearing platform 7 upwards through a connecting column 6, and the bearing platform 7 is used for bearing materials or equipment;
The middle part of the upper shaft 5 is fixedly connected with an upper connecting rod 8, the upper shaft 5 is mutually perpendicular to the upper connecting rod 8, and the central line of the upper shaft 5 and the central line of the upper connecting rod 8 are positioned in the same plane and are crossed. The left end of the upper connecting rod 8 is hinged with a left connecting rod 9, the right end of the upper connecting rod 8 is hinged with a right connecting rod 10, the lower end of the left connecting rod 9 is hinged on a left hinging seat 11, and the left hinging seat 11 is fixedly connected on the base 1; the lower end of the right connecting rod 10 is hinged on a right hinging seat 12, and the right hinging seat 12 is fixedly connected on the base 1; the left link 9 is located to the left of the front arm plate 3 and the rear arm plate 4, and the right link 10 is located to the right of the front arm plate 3 and the rear arm plate 4.
The hinge point at the lower end of the left connecting rod 9 and the hinge point at the lower end of the right connecting rod 10 are used as two end points of a virtual lower connecting rod (namely a virtual connecting line between the hinge point at the lower end of the left connecting rod 9 and the hinge point at the lower end of the right connecting rod 10), and the position of the virtual lower connecting rod is constant; the virtual lower connecting rod, the left connecting rod 9, the right connecting rod 10 and the upper connecting rod 8 are positioned in the same plane to form a parallel four-bar mechanism, the left connecting rod 9 and the right connecting rod 10 are parallel to each other, and the upper connecting rod 8 and the virtual lower connecting rod are parallel to each other. The virtual lower connecting rod is arranged vertically to the main shaft 2, and the central line of the virtual lower connecting rod and the central line of the main shaft 2 are positioned in the same plane and cross-shaped.
In the utility model, the virtual lower connecting rod, the left connecting rod 9, the right connecting rod 10 and the upper connecting rod 8 are positioned in the same plane to form a parallel four-bar mechanism, no matter the angle to which the main shaft 2 swings, the upper connecting rod 8 is parallel to the virtual lower connecting rod, and the position of the virtual lower connecting rod is constant (the position of the virtual lower connecting rod is not changed along with the rotation of the main shaft 2), so that the angle of the upper connecting rod 8 is always unchanged, and the angles of the upper shaft 5 and the bearing platform 7 are always unchanged. Because a chain or belt transmission mechanism is not needed, the structure is simplified, the resistance of the chain or belt transmission mechanism in operation is avoided, and the operation energy consumption is greatly reduced.
The utility model is applied to the occasion that only the position of the operation object is required to be changed without changing the posture of the operation object, a chain or belt transmission mechanism is not required, the cost is low, and the angle of the bearing platform 7 is stable and does not fluctuate in the operation process (the rotation of the main shaft 2).
The front end part of the main shaft 2 is rotationally connected to a front hinging seat 13 through a bearing, and the front hinging seat 13 is fixedly connected to the front part of the base 1;
The rear end part of the main shaft 2 is rotationally connected to a rear hinge seat 14 through a bearing, and the rear hinge seat 14 is fixedly connected to the rear part of the base 1;
The front arm plate 3 and the rear arm plate 4 are connected with a plurality of connecting rods 15 at intervals, and the connecting rods 15 play a role in structural reinforcement. The mechanical arm unit is provided with two or more sets; in the two sets of mechanical arm units which are connected with each other, the base 1 of the mechanical arm unit at the opposite upper stage is fixedly connected with the bearing platform 7 of the mechanical arm unit at the opposite lower stage.
By connecting the stages, the conveying range of the mechanical arm can be very conveniently expanded, and the carrying platform 7 of the uppermost stage (last stage) mechanical arm unit can reach a wider space.
When the mechanical arm device is used, according to the requirement on the conveying range of the mechanical arm in the application scene of the mechanical arm, the mechanical arm units with one or more stages are adopted, so that the conveying range of the bearing platform 7 of the mechanical arm unit with the last stage (the uppermost stage) is matched with the use requirement. When two or more stages of arm units are used, the base 1 of the other arm unit is preferably provided in a flat plate shape, except for the lowest stage of arm unit.
The using method of each level of mechanical arm unit is the same, the spindle 2 is driven to rotate by an external power device (such as a motor or a hydraulic motor, preferably arranged on one side of the base 1), the front arm plate 3 and the rear arm plate 4 are driven to integrally rotate when the spindle 2 rotates, the front arm plate 3 and the rear arm plate 4 drive the upper shaft 5 to rotate along with the front arm plate 3 and the rear arm plate 4 by taking the spindle 2 as a circle center, and the rotation of the upper shaft 5 is called revolution.
The main shaft 2 revolves and drives the upper connecting rod 8, the left connecting rod 9 and the right connecting rod 10 to swing. Since the bottom ends of the left and right links 9 and 10 are positioned at the left and right hinge seats 11 and 12 by hinge, the position of the virtual lower link maintains the position and angle unchanged while the main shaft 2 revolves.
In the parallel four-bar mechanism, the upper connecting rod 8 is kept in a parallel state with the virtual lower connecting rod, so that the rotation angle of the upper connecting rod 8 is kept unchanged, and the angles of the upper shaft 5 and the bearing platform 7 are kept unchanged all the time, namely the principle that the posture (angle) of the tail end bearing platform 7 is kept unchanged all the time.
Since the end posture is kept unchanged, the utility model is very suitable for the occasion that only the position of the operation object is required to be changed without changing the posture of the operation object, and the conveying range of the final stage bearing platform 7 can be conveniently enlarged by connecting the stages in series. Compared with the patent filed before the applicant, the meaning of the patent is that no belt or chain transmission mechanism (the structure is simpler, the action resistance is greatly reduced), and the material cost and the running cost are lower.
The above embodiments are only for illustrating the technical solution of the present utility model, and it should be understood by those skilled in the art that although the present utility model has been described in detail with reference to the above embodiments: modifications and equivalents may be made thereto without departing from the spirit and scope of the utility model, which is intended to be encompassed by the claims.
Claims (3)
1. The tail end posture keeping type mechanical arm based on the parallel four-bar linkage comprises a mechanical arm unit, wherein the mechanical arm unit comprises a base, a main shaft is arranged on the base, extends along the front-back direction and is driven by an external power device; the front part of the main shaft is upwards fixedly connected with a front arm plate, and the rear part of the main shaft is upwards fixedly connected with a rear arm plate;
An upper shaft is rotationally connected between the upper ends of the front arm plate and the rear arm plate through a bearing, and is fixedly connected with a bearing platform upwards through a connecting column, and the bearing platform is used for bearing materials or equipment; the method is characterized in that:
The middle part of the upper shaft is fixedly connected with an upper connecting rod, the left end of the upper connecting rod is hinged with a left connecting rod, the right end of the upper connecting rod is hinged with a right connecting rod, the lower end of the left connecting rod is hinged on a left hinging seat, and the left hinging seat is fixedly connected on the base; the lower end of the right connecting rod is hinged to a right hinging seat which is fixedly connected to the base;
The hinge point at the lower end of the left connecting rod and the hinge point at the lower end of the right connecting rod are used as two end points of a virtual lower connecting rod, and the position of the virtual lower connecting rod is constant; the virtual lower connecting rod, the left connecting rod, the right connecting rod and the upper connecting rod are positioned in the same plane to form a parallel four-bar mechanism, the left connecting rod and the right connecting rod are parallel to each other, and the upper connecting rod and the virtual lower connecting rod are parallel to each other.
2. The parallel four bar linkage based tip pose retaining mechanical arm of claim 1, wherein:
The front end part of the main shaft is rotationally connected to a front hinging seat through a bearing, and the front hinging seat is fixedly connected to the front part of the base;
the rear end of the main shaft is rotationally connected to a rear hinge seat through a bearing, and the rear hinge seat is fixedly connected to the rear part of the base.
3. The parallel four bar linkage based tip pose maintaining type mechanical arm according to claim 1 or 2, characterized in that: the mechanical arm unit is provided with two or more sets;
And in the two sets of mechanical arm units which are connected with each other, the base of the mechanical arm unit at the opposite upper stage is fixedly connected with the bearing platform of the mechanical arm unit at the opposite lower stage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322905819.XU CN221416663U (en) | 2023-10-30 | 2023-10-30 | Terminal gesture keeping type mechanical arm based on parallel four-bar linkage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322905819.XU CN221416663U (en) | 2023-10-30 | 2023-10-30 | Terminal gesture keeping type mechanical arm based on parallel four-bar linkage |
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| CN221416663U true CN221416663U (en) | 2024-07-26 |
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| CN202322905819.XU Active CN221416663U (en) | 2023-10-30 | 2023-10-30 | Terminal gesture keeping type mechanical arm based on parallel four-bar linkage |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119610141A (en) * | 2025-02-13 | 2025-03-14 | 深圳市彼洋自动化科技有限公司 | Automatically controlled multi-axis robotic arm based on target position and control method thereof |
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2023
- 2023-10-30 CN CN202322905819.XU patent/CN221416663U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119610141A (en) * | 2025-02-13 | 2025-03-14 | 深圳市彼洋自动化科技有限公司 | Automatically controlled multi-axis robotic arm based on target position and control method thereof |
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