CN106695878A - Arc-shaped rod mechanical arm capable of walking along curve - Google Patents
Arc-shaped rod mechanical arm capable of walking along curve Download PDFInfo
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- CN106695878A CN106695878A CN201510495851.2A CN201510495851A CN106695878A CN 106695878 A CN106695878 A CN 106695878A CN 201510495851 A CN201510495851 A CN 201510495851A CN 106695878 A CN106695878 A CN 106695878A
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- connecting rod
- pivot joint
- articulated section
- mechanical arm
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Abstract
The invention relates to an arc-shaped rod mechanical arm capable of walking along a curve. The arc-shaped rod mechanical arm comprises a connecting piece and two groups of connecting rod assemblies; each group of connecting rod assembly is formed by connecting a plurality of connecting rods end to end in a pivot joint mode; the end-to-end pivot joint positions are the first pivot joint parts of the connecting rods; two groups of connecting rods with corresponding internal positions are in mutual pivot joint at the middle position, and the middle pivot joint position is a second pivot joint part of the connecting rod; in the same connecting rod, the center of the second pivot joint part is not at the central connecting line of the first pivot joint part at the head part and the first pivot joint part at the tail part; a connecting rod part between the first pivot joint part and the second pivot joint part is distributed in an arc-shaped manner; two sets of extensible structures are paved in parallel and are in pivot joint through the connecting piece; and when the extensible structures stretch and shrink, the walking route is a curve. The two sets of extensible structures are more flexibly applicable to telescopic application of different levels, have excellent rigidity and strength, and enhance using safety.
Description
Technical field
The present invention relates to scissor mechanism field, more particularly to it is a kind of can be along the bow mechanical arm of curved path walking.
Background technology
Scissor mechanism has and is widely applied very much and develops at present, such as folding tent, contractile door curtain,
Lift, foldable desk lamp or mechanical arm etc..Its feature is big magnification, be may extend away over long distances and big
Span, and work as the very little that taken up space after it shrinks, therefore be applied in many industries.
The scissors machine of one side scissor mechanism or double parallel is used in the application of current most of scissor mechanisms
Structure, such as door curtain use one side scissor mechanism, and lift uses the scissor mechanism of double parallel.Mostly
The major defect of several scissor mechanisms is the intensity of the structure on its Impact direction under by the effect of multi-direction power
Load-bearing effect with rigidity is not enough to bear the power, is susceptible to askew folding, and security is not also high.Additionally, mesh
The load-carrying ability of preceding scissor mechanism is not also high, and these weakness limit its wider application.If using
The scissor mechanism of double parallel, although load-carrying ability can be strengthened, but can there is work between two scissor mechanisms
Make asynchronous problem, cause lift workbench run it is unstable the problems such as.
The content of the invention
It is an object of the invention to propose a kind of can for greater flexibility be fitted along the bow mechanical arm of curved path walking
Answer different levels to stretch to use, and two sets of development agencies have good rigidity, intensity, enhance what is used
Security.
It is that, up to this purpose, the present invention uses following technical scheme：
It is a kind of to divide along the bow mechanical arm of curved path walking, including connection bar assembly, the connection bar assembly
It is two groups, bar assembly is connected described in every group and is formed by some connecting rod head and the tail pivot joints, the head and the tail pivot points
It is the first articulated section of the connecting rod；The corresponding connecting rod in position is in the mutual pivot of medium position in two groups
Connect, the middle part pivot points are the second articulated section of the connecting rod；Bar assembly is connected described in two groups with this group
Into a set of telescopic development agency；In the same connecting rod, the center of second articulated section does not exist
From beginning to end on the line of centres of first articulated section, between first articulated section and second articulated section
The connection curved distribution of bar part；
Two sets of deployable structure parallel laids, it is middle to be pivotally connected by connector；When the deployable structure stretches,
The path of walking is curve.
Further, one end of the connecting rod is provided with groove, the groove from the connecting rod end face to
The central concave of the whole body of rod is formed；The other end of the connecting rod is provided with fixture block, and the fixture block is by the company
The upper side of extension bar and downside are recessed to be formed to offside respectively；In the same connection bar assembly, adjacent institute
State on the position of connecting rod head and the tail pivot joint, after the fixture block is embedded in the groove, then can be turned successively by hinge
Dynamicly through the groove and the side wall of fixture block, the groove and fixture block can occur relative turning around the hinge
It is dynamic.
Further, two sets of development agency parallel laids, first articulated section of relevant position passes through
Connector is pivotally connected.
Further, two sets of development agency parallel laids, second articulated section of relevant position passes through
Connector is pivotally connected.
Further, the connector is straight rod member, and the two ends of the straight rod member are articulated in described in two sets respectively
Development agency.
Further, the same connecting rod, the connection bar part on second articulated section both sides is mutually right
Claim.
Further, the connecting rod equal length of the development agency.
Beneficial effects of the present invention：The center of the second articulated section, not in the first articulated section of connecting rod head and the tail two ends
On the line of centres, and the curved distribution of connection bar part between the first articulated section and second articulated section,
Then the path of development agency stretching operation is curve, is suitably for the machinery support with certain altitude level and uses.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present of invention；
Fig. 2 is the top view of one embodiment of the present of invention；
Fig. 3 is the Structure Comparison figure of connecting rod and connecting rod in the prior art in the present invention；
Fig. 4 is the structural representation of one embodiment of connecting rod in the present invention.
Wherein：1 is connecting rod, and 11 is end face, and 12 is upper side, and 13 is downside；2 is first
Articulated section, 3 is the second articulated section, and 4 is connector, and 5 is connection of the prior art
Bar.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Figures 1 and 2, it is a kind of along the bow mechanical arm of curved path walking, including bar assembly to be connected；
The connection bar assembly is divided into two groups, and bar assembly is connected described in every group by some head and the tail of connecting rod 1 pivot joints
Into the head and the tail pivot points are the first articulated section 2 of the connecting rod 1；The corresponding company in position in two groups
Extension bar 1 is mutually pivotally connected in medium position, and the middle part pivot points are the second articulated section 3 of the connecting rod；Two
The group connection bar assembly constitutes a set of telescopic development agency with this；In the same connecting rod 1,
The center of second articulated section 3 not on the line of centres of head and the tail first articulated section 2, described first
The curved distribution of connection bar part between articulated section 2 and second articulated section 3；
Two sets of deployable structure parallel laids, centre is pivotally connected by connector 4；The deployable structure stretches
When, the path of walking is curve.
As shown in figure 3, two sets of development agencies are under the regulation of extraneous drive system, stretched simultaneously toward a direction
Contracting；Connecting rod of the prior art 5, the center of the second articulated section 3 is in the first pivot of head and the tail two ends of connecting rod 1
On the line of centres of socket part 2, so, when deployable structure stretches, to run parallel；And due to this technology
In scheme, the center of the second articulated section 3 does not connect at the center of the first articulated section of 1 head and the tail two ends of connecting rod 2
On line, the air line distance that both differ is between β, and the first articulated section 2 and second articulated section 3
The connection curved distribution of bar part, then the path of development agency stretching operation is curve, is suitably for certain
The machinery support of separation is used.
Preferably, as shown in figure 4, one end of the connecting rod 1 is provided with groove 6, the groove 6 is by described
The end face 11 of connecting rod is formed to the central concave of the whole body of rod；The other end of the connecting rod 1 is provided with fixture block
7, the fixture block 7 is recessed to offside and is formed respectively from the upper side 12 of the connecting rod 1 and downside 13；
In the same connection bar assembly, on the position of the head and the tail pivot joint of the adjacent connecting rod 1, the fixture block 7 is embedding
After entering the groove 6, then the groove 6 and card are penetrated rotatably by hinge (i.e. connector 4) successively
The side wall of block 7, the groove 6 and fixture block 7 can relatively rotate around the hinge (i.e. connector 4).
In the present embodiment, in the same connection bar assembly, adjacent connecting rod 1 is embedded in groove 6 by fixture block 7
Realize being rotatably connected by hinge (i.e. connector 4) afterwards, the specification of all connecting rods 1 is identical, i.e. fixture block
After 7 insertion grooves 6, two upper sides of adjacent connecting rod 1 and downside are respectively on same plane, then and two
When person relatively rotates, it is to avoid along the moment of torsion in connecting rod length component direction, it is therefore prevented that both occur screens etc.
The not smooth problem of operation, improves service efficiency；And said structure is based on, it is same in the technical program
Two connection bar assemblies in the development agency are covered, correspondence position is passed through again after using upper and lower stacked in parallel
The second articulated section put is hinged, and noninterlaced is hinged, it is ensured that the smooth operation of development agency, prevents
Only the problems such as screens.
Embodiment 1
Two sets of development agency parallel laids, first articulated section 2 of relevant position passes through connector 4
Pivot joint.In two sets of development agencies, the quantity of the quantity more than the second articulated section 3 of the first articulated section 2 passes through
First articulated section 2 is fixed, and structure is more stablized, and rigidity is bigger.
Embodiment 2
Two sets of development agency parallel laids, second articulated section 2 of relevant position passes through connector 4
Pivot joint；Connected by the second articulated section 2, the structure of package unit is simpler, it is adaptable to the load of some lightweights
Lotus.
Further, the connector 4 is straight rod member, and the two ends of the straight rod member are articulated in two sets respectively
The development agency, simple structure, cost is not high.
Further, the same connecting rod 1, the connection bar part on the both sides of the second articulated section 2 is mutual
Symmetrically, structural stability is more preferable.
Further, the equal length of the connecting rod 1 of the development agency, prevents deployable structure in its other party
Upward torsion.
Know-why of the invention is described above in association with specific embodiment.These descriptions are intended merely to explain this
The principle of invention, and can not by any way be construed to limiting the scope of the invention.Based on herein
Explain, those skilled in the art associates other tools of the invention by would not require any inventive effort
Body implementation method, these modes are fallen within protection scope of the present invention.
Claims (7)
1. it is a kind of along the bow mechanical arm of curved path walking, including bar assembly, the connection bar assembly to be connected
It is divided into two groups, bar assembly is connected described in every group and is formed by some connecting rod head and the tail pivot joints, the head and the tail pivot joint position
It is set to the first articulated section of the connecting rod；The corresponding connecting rod in position is mutual in medium position in two groups
Pivot joint, the middle part pivot points are the second articulated section of the connecting rod；Bar assembly is connected described in two groups with this
Constitute a set of telescopic development agency, it is characterised in that：In the same connecting rod, second pivot joint
The center in portion not on the line of centres of head and the tail first articulated section, first articulated section and described second
The curved distribution of connection bar part between articulated section；
Two sets of deployable structure parallel laids, it is middle to be pivotally connected by connector；When the deployable structure stretches,
The path of walking is curve.
2. a kind of mechanical arm along curved path walking according to claim 1, it is characterised in that：The company
One end of extension bar is provided with groove, the groove from the connecting rod central concave shape from end face to the whole body of rod
Into；The other end of the connecting rod is provided with fixture block, upper side and downside of the fixture block by the connecting rod
It is recessed to be formed to offside respectively；In the same connection bar assembly, the position of the adjacent connecting rod head and the tail pivot joint
Put, after the fixture block is embedded in the groove, then penetrate rotatably the groove and card successively by hinge
The side wall of block, the groove and fixture block can relatively rotate around the hinge.
3. a kind of described in the claim 1 of basis can exist along the bow mechanical arm of curved path walking, its feature
In：Two sets of development agency parallel laids, first articulated section of relevant position is pivotally connected by connector.
4. it is according to claim 1 it is a kind of can be along the bow mechanical arm of curved path walking, it is characterised in that：
Two sets of development agency parallel laids, second articulated section of relevant position is pivotally connected by connector.
5. according to claim 3 or claim 4 it is a kind of can along the bow mechanical arm of curved path walking,
It is characterized in that：The connector is straight rod member, and the two ends of the straight rod member are articulated in respectively can described in two sets
Exhibition mechanism.
6. a kind of described in the claim 1 of basis can exist along the bow mechanical arm of curved path walking, its feature
In：The same connecting rod, the connection bar part on second articulated section both sides is symmetrical.
7. a kind of according to claim 1 can exist along the bow mechanical arm of curved path walking, its feature
In：The connecting rod equal length of the development agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510495851.2A CN106695878A (en) | 2015-08-12 | 2015-08-12 | Arc-shaped rod mechanical arm capable of walking along curve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510495851.2A CN106695878A (en) | 2015-08-12 | 2015-08-12 | Arc-shaped rod mechanical arm capable of walking along curve |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695878A true CN106695878A (en) | 2017-05-24 |
Family
ID=58924292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510495851.2A Pending CN106695878A (en) | 2015-08-12 | 2015-08-12 | Arc-shaped rod mechanical arm capable of walking along curve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695878A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3888056A (en) * | 1973-10-25 | 1975-06-10 | Vincent M Kelly | Erectable building structure junction element |
| US4290244A (en) * | 1976-07-13 | 1981-09-22 | Zeigler Theodore Richard | Collapsible self-supporting structures and panels and hub therefor |
| DE3668201D1 (en) * | 1985-11-06 | 1990-02-15 | World Shelters Inc | PORTABLE BUILDING ARRANGEMENT. |
| US5024031A (en) * | 1988-10-27 | 1991-06-18 | Charles Hoberman | Radial expansion/retraction truss structures |
| CN204077931U (en) * | 2014-06-24 | 2015-01-07 | 深圳市创行联合技术有限公司 | Vertical rod foldable structure |
| CN104440947A (en) * | 2014-11-11 | 2015-03-25 | 佛山市禾才科技服务有限公司 | Combined mechanical arm opposite in action and inconsistent in telescopic direction |
| CN104608147A (en) * | 2014-12-09 | 2015-05-13 | 佛山市禾才科技服务有限公司 | Curvedly telescopic mechanical arm |
-
2015
- 2015-08-12 CN CN201510495851.2A patent/CN106695878A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3888056A (en) * | 1973-10-25 | 1975-06-10 | Vincent M Kelly | Erectable building structure junction element |
| US4290244A (en) * | 1976-07-13 | 1981-09-22 | Zeigler Theodore Richard | Collapsible self-supporting structures and panels and hub therefor |
| DE3668201D1 (en) * | 1985-11-06 | 1990-02-15 | World Shelters Inc | PORTABLE BUILDING ARRANGEMENT. |
| US5024031A (en) * | 1988-10-27 | 1991-06-18 | Charles Hoberman | Radial expansion/retraction truss structures |
| CN204077931U (en) * | 2014-06-24 | 2015-01-07 | 深圳市创行联合技术有限公司 | Vertical rod foldable structure |
| CN104440947A (en) * | 2014-11-11 | 2015-03-25 | 佛山市禾才科技服务有限公司 | Combined mechanical arm opposite in action and inconsistent in telescopic direction |
| CN104608147A (en) * | 2014-12-09 | 2015-05-13 | 佛山市禾才科技服务有限公司 | Curvedly telescopic mechanical arm |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |