Controllable mechanism type movable mechanical arm

Abstract

The invention discloses a controllable mechanism type movable mechanical arm. The lower end of a first rod of the mechanical arm is connected to a work platform. The upper end of the first rod is connected with one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a first telescopic rod is connected to the work platform. The upper end of the first telescopic rod is connected to a first sliding sleeve. The second rod is sleeved with the first sliding sleeve. The lower end of a third rod is connected to a sliding block which is installed in a sliding groove in the work platform. The upper end of the third rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a second telescopic rod is connected to the second corner of the triangular connecting plate. The other end of the second telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The controllable mechanism type movable mechanical arm has the beneficial effects of large working space, large excavating force, good stress and the like of a traditional hydraulic mechanism, meanwhile, the number of driving rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

Description

technical field

[0001] The invention relates to the mechanical field, in particular to a controllable mechanism-type mobile mechanical arm. Background technique

[0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response. It has the advantages of large working space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector. It can be used in complex operations such as welding, spraying, handling, loa...

Examples

Embodiment 1

[0017] Controllable mechanism mobile mechanical arm, including rod one 10, rod two 11, rod three 12, telescopic rod one 13, telescopic rod two 14, sliding sleeve one 15, sliding sleeve two 16, slider 17, spring 18, triangular connection plate 19, actuator 20, working platform 21 and trolley,

[0018] The lower end of rod one 10 is connected to the working platform 21 through rotating pair one 1, the upper end of rod one 10 is connected to one end of rod two 11 through rotating pair two 2, and the other end of rod two 11 is connected to the actuator 20 through rotating pair three 3,

[0019] The lower end of the telescopic rod one 13 is connected on the working platform 21 through the rotating pair four 4, the upper end of the telescopic rod one 13 is connected on the sliding sleeve one 15 through the rotating pair five 5, and the sliding sleeve one 15 is sleeved on the rod two 11,

[0020] The lower end of the rod three 12 is connected to the slide block 17 through the rotatin...

technical field

[0001] The invention relates to the mechanical field, in particular to a controllable mechanism-type mobile mechanical arm. Background technique

[0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response. It has the advantages of large working space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector. It can be used in complex operations such as welding, spraying, handling, loa...

Examples

Embodiment 1

[0017] Controllable mechanism mobile mechanical arm, including rod one 10, rod two 11, rod three 12, telescopic rod one 13, telescopic rod two 14, sliding sleeve one 15, sliding sleeve two 16, slider 17, spring 18, triangular connection plate 19, actuator 20, working platform 21 and trolley,

[0018] The lower end of rod one 10 is connected to the working platform 21 through rotating pair one 1, the upper end of rod one 10 is connected to one end of rod two 11 through rotating pair two 2, and the other end of rod two 11 is connected to the actuator 20 through rotating pair three 3,

[0019] The lower end of the telescopic rod one 13 is connected on the working platform 21 through the rotating pair four 4, the upper end of the telescopic rod one 13 is connected on the sliding sleeve one 15 through the rotating pair five 5, and the sliding sleeve one 15 is sleeved on the rod two 11,

[0020] The lower end of the rod three 12 is connected to the slide block 17 through the rotatin...

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