Shear mode mechanism capable of being controlled in numerical mode and shear mode mechanism drive system formed by shear mode mechanisms in combined mode

Abstract

A shear mode mechanism capable of being controlled in a numerical mode comprises a support unit and further comprises a machine base, a numerical control motor arranged on the machine base, and a ball screw driven by the numerical control motor. End portions of multiple pairs of crossed shear mode supports are sequentially hinged to one another to form the support unit, one of the two ends of the bottoms of the nethermost pair of shear mode supports of the support unit is used as the original point and hinged to the machine base, the other of the two ends of the bottoms of the nethermost pair of shear mode supports of the support unit is hinged to a nut of the ball screw, and therefore the displacement of the shear mode mechanism in the vertical direction can be accurately calculated according to the travel of the numerical control motor, and the aim of controlling the displacement of the shear mode mechanism in the numerical mode is achieved. The shear mode mechanism is accurate in stretching positioning and large in stretching ratio in comparison with a shear mode mechanism, driven by a servo motor, of a joint type mechanical arm. In addition, when the shear mode mechanisms are combined in series or in parallel or in series and in parallel to form a shear mode mechanism drive system, the loading capacity and the stability of the shear mode mechanisms can be greatly improved.

Description

[0001] 【Technical field】 [0002] The invention relates to a numerically controllable scissor mechanism and a combined scissor mechanism driving system, in particular to a composite scissor mechanical arm with accurate positioning, large expansion and contraction ratio and large load. 【Background technique】 [0003] Existing scissor mechanisms all adopt non-numerical control driving methods, such as air cylinder, oil cylinder or mechanical type, such as US patent US 8151935B2, US 4867277, etc. These mechanisms have the disadvantage of inaccurate terminal positioning. However, existing numerically controllable mechanisms, such as articulated manipulators driven by servo motors, have the disadvantages of small expansion ratio and small load capacity. 【Content of invention】 [0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a numerically controllable scissor mechanism with accurate positioning, large expansion ratio and ...

AI Technical Summary

Problems solved by technology

[0003] Existing scissor mechanisms all adopt non-numerical control driving methods, such as air cylinders, oil cylinders or mechanical types, such as U.S. Patent US 8151935B2, US 4867277, etc., these The mechanism has the disadvantage of inaccurate terminal positioning

However, existing numerically controllable mechanisms, such as articulated robotic arms driven by servo motors, have the disadvantages of small expansion ratio and small load capacity.

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