Three-degree-of-freedom multi-ring coupling mechanism comprising lengthening arm and complex hinges

Abstract

The invention discloses a three-degree-of-freedom multi-ring coupling mechanism comprising a lengthening arm and complex hinges. A pedestal is provided with three pairs of parallel and symmetric bases; the pair of bases in the middle is connected with one end of a large arm; the other end of the large arm is connected with the middle part of the lengthening arm; one end of the lengthening arm is connected with one end of a pull rod; the other end of the pull rod is connected with the base; the other end of the lengthening arm is connected with the middle part of a small arm; one end of the small arm is connected with a part of a tail end executor, and the other end of the small arm is connected with the end part of a piston rod of a small arm oil cylinder; a cylinder sleeve of the small arm oil cylinder is connected with the large arm; the tail end executor is connected with the cylinder sleeve of a tail end executor oil cylinder; a piston rod of the tail end executor oil cylinder and the end part of the piston rod of the large arm oil cylinder are connected through hinges on the two sides of the middle part of the large arm to form two symmetric complex hinges respectively; and the end part of the cylinder sleeve of the large arm oil cylinder is connected with the base at the other end. According to the three-degree-of-freedom multi-ring coupling mechanism, the space occupied by the mechanism is simplified, the working space is large, the bearing capacity is high, and real-time control is convenient to realize.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a three-degree-of-freedom multi-ring coupling mechanism including an extended arm and a compound hinge. Background technique [0002] Mechanism is the core of machinery and equipment, and the innovation of mechanism has always been the key to the innovation of machinery and equipment. It is very important to develop corresponding institutions with independent intellectual property rights to improve the core competitiveness of the technological level of my country's machinery and equipment. To realize functional working devices such as digging, grabbing, and transporting, it is more common to use linkage mechanisms. Commonly used tandem manipulators have a large working space, but low carrying capacity, and can only grab and carry some lighter objects. On the contrary, the parallel manipulator has a small working space but a high carrying capacity. Since the advantages of series and parallel ...

AI Technical Summary

Problems solved by technology

However, most of the existing hybrid manipulators are not designed based on heavy loads and are not suitable for handling heavy objects

Images