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Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding

An automatic retractable, robotic arm technology, applied in the field of robotic arms, can solve the problems of slow movement and inability to provide, and achieve the effect of ensuring rapidity

Active Publication Date: 2021-08-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing mechanical arm mostly adopts multi-axis series mechanism, which has slow movement and cannot provide a large torque limit, and further provides a multi-section three-parallel mechanism that can realize automatic retraction Robotic Arm Device

Method used

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  • Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding
  • Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding
  • Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding

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specific Embodiment approach 1

[0024] Specific implementation mode one: combine Figure 1 to Figure 4Describe this embodiment, a multi-section three-parallel mechanical arm device that can realize automatic retraction in this embodiment, it includes a fixed frame 1, a power cabin 2 and a main body of the mechanical arm 3, and the fixed frame 1 includes a tail support Seat 11, front support 12, two guide rails 13 and two tooth racks 14, front support 12 and tail support 11 are relatively horizontally arranged from top to bottom, and two guide rails 13 are relatively vertically arranged on the front support respectively. Between the seat 12 and the tail support 11, and the upper and lower ends of the guide rail 13 are respectively connected with the front support 12 and the inner wall of the tail support 11, and the inner walls of the guide rail 13 on both sides are parallel to the direction of the guide rail 13. A rack 14, the center of the front support 12 is provided with a hole through which the mechanica...

specific Embodiment approach 2

[0027] Specific implementation mode two: combination Figure 1 to Figure 4 To illustrate this embodiment, the fixed frame 1 of this embodiment also includes two limit switches 15, and a guide rail 13 in the fixed frame 1 is provided with two ends of the side walls near the front support 12 and the tail support 11 Two limit switches 15.

[0028] With such an arrangement, the relative position of the power cabin 2 on the guide rails 13 on both sides can be recorded, and cross-border can be prevented. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0029] Specific implementation mode three: combination Figure 1 to Figure 4 To illustrate this embodiment, the fixed frame 1 of this embodiment also includes a hydraulic oil pipe 16 and an oil pipe positioning member 17. The oil pipe positioning member 17 is installed on the outer wall of the tail support 11, and the oil pipe assembly hole is provided on the tail support 11. The hydraulic oil pipe 16 One end passes through the tail support 11 , and the hydraulic oil pipe 16 extends to the outside of the tail support 11 and is connected with the oil pipe positioning member 17 .

[0030] In this way, the oil pipe positioning part 17 is installed on the outer side of the tail support 11 to fix the hydraulic oil pipe 16. The hydraulic oil pipe 16 provides the source power for the whole mechanism. The center of the front support 12 is provided with a hole through which the mechanical arm passes through, which is convenient for the main body of the mechanical arm. 3 stretches out, ...

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Abstract

The invention discloses a multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding, and relates to the technical field of mechanical arms. The multi-section three-parallel mechanism type mechanical arm device solves the problems that an existing mechanical arm mostly adopts a multi-shaft series connection mechanism, the action is slow, and the limitation of large torque cannot be provided. According to the multi-section three-parallel mechanism type mechanical arm device, two guide rails are oppositely arranged between a front support and a tail support, two racks are oppositely arranged on the inner walls of the guide rails on the two sides, two supporting webs are oppositely arranged between an upper supporting plate and a lower supporting plate, a servo hydraulic cylinder is installed on an engine compartment shell, and an execution stepped shaft is installed on the two supporting webs. Execution gears installed at the two ends of the execution stepped shaft are meshed with racks on the two sides, a servo hydraulic cylinder connecting piece is installed on a front base and connected with a piston rod of the servo hydraulic cylinder, and an extension arm body penetrates through a mechanical arm passing hole of the front support to be connected with the front base. According to the multi-section three-parallel mechanism type mechanical arm device, the rapidity of the overall action of the mechanical arm can be guaranteed, and the torque needed when a large-mass object is grabbed can also be guaranteed.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a multi-section three-parallel mechanical arm device capable of automatic retraction. Background technique [0002] The robotic arm is an important industrial device, which is widely used in industry, aerospace, military, medical, service and other fields. The robotic arm can be used to grasp and release large-mass objects, and plays a very important role in industrial production. important role. Traditional robotic arms mostly use multi-axis series mechanisms. This solution has a simple structure and is easy to operate and control, but it has the problem of slow movement and the limitation of not being able to provide a large torque. Contents of the invention [0003] The purpose of the present invention is to solve the problem that the existing mechanical arm mostly adopts multi-axis series mechanism, which has slow movement and cannot provide a large torque limit, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/14
CPCB25J9/003B25J9/144
Inventor 查富生郭伟王鹏飞李满天文继宏陶建国
Owner HARBIN INST OF TECH
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