CN108909869A - A kind of automobile with folding mechanism arm - Google Patents
A kind of automobile with folding mechanism arm Download PDFInfo
- Publication number
- CN108909869A CN108909869A CN201810940257.3A CN201810940257A CN108909869A CN 108909869 A CN108909869 A CN 108909869A CN 201810940257 A CN201810940257 A CN 201810940257A CN 108909869 A CN108909869 A CN 108909869A
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- China
- Prior art keywords
- mechanical arm
- steelframe
- arm
- steering engine
- folding mechanism
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of automobiles with folding mechanism arm, including car body and multiple folding mechanism arms；The car body includes headstock and vehicle body, and the headstock and two side bottom of body bottom are equipped with folding mechanism arm；The folding mechanism arm includes first mechanical arm steelframe, second mechanical arm steelframe, stress manipulation body, the first steering engine, the second steering engine, third steering engine, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder；The first mechanical arm steelframe is identical with the structure of second mechanical arm steelframe and includes fixed steelframe, the first collapsible steel frame and the second collapsible steel frame.The present invention can not only realize the function of orthodox car traveling and delivery people or cargo, automobile can also be solved by each mechanical arm of installation, and the problems such as difficult is being travelled on the road of road conditions complexity, it can also replace manually realizing various accurate operations by each mechanical arm, improve the functionality of automobile.
Description
Technical field
The invention belongs to automotive fields, and in particular to a kind of automobile with folding mechanism arm.
Background technique
With the progress of science and the development of society, the equipment of modernization has not only gradually been come into people's lives, has also been pushed away
The progress of human society is moved.Automobile is one of existing currently the most important ones vehicles, and having become can not in people's life
The a part lacked, automobile are closely connected together with the Working Life of the mankind.Continuous with automobile promotes and innovates,
The automobile for only only serving carrying people or cargo can no longer meet the needs of people.And existing most of automobiles at present are only suitable for
It is travelled on the good road surface of road conditions, it is extremely difficult in the traveling such as hill path, ice and snow day, precipitous uphill way, in ice and snow day, automobile
Tire is easy to skid or fall into water, and on rugged upper road, the abrasion that automobile tire receives is larger, is easy born of the same parents' tire；Automobile
At slope on upper road, bigger power is needed, traveling is very difficult in orbit.
Traditional vehicle structure is not much different, and its functional mobility is lower, functions only as the function of carrying people or cargo.
With the development of mechanical arm and universal, people increasingly recognizes the importance in mechanical arm, and people are in many machinery, equipment
Upper installation mechanical arm replaces artificial simple operations, equally also specially there is some robots for being equipped with mechanical arm, is people
Life bring many conveniences.Robot dog and exoskeleton robot are recently more popular robots.However these robots
Small, the small freight volume of strength is few, is not suitable as huge amounts of material means of transport, also not bery enough in the use that works energetically.Except spy
Outside not arduous and simple work, the ability of people can not be expanded too much, thus act on limited, shortage commercial market.And it is this
Equipment also needs to develop independent dynamical system and its production line, causes investment bigger, cost performance is relatively lower.
But due to compact and flexible, perhaps robot dog and exoskeleton robot have complementation place in military operations.This production
Product can be used as the delivery vehicle of robot dog and the scheduling of exoskeleton robot medium and long distance, or in short distance action, help this
A little equipment conveying energy are as standby.And robot dog or exoskeleton robot can then handle more fine flexible work.
There are also humanoid robots less than normal in some other, if it is possible to which study and the work for repeating people also have larger answer
With range, but this is also required to develop stronger self-learning capability, adaptive ability or autonomous control system, and this respect difficulty
Greatly, technology is immature (this respect dispute is larger).It is bigger that this will cause investment, and market is applied and income is uncertain, economy
Shortcoming.
In conclusion the automobile with mechanical arm is preferable robot market's entrance.
Summary of the invention
For the deficiency of existing automobile, it is an object of the invention to propose a kind of automobile with folding mechanism arm, the vapour
Vehicle can not only realize the function of orthodox car traveling and delivery people or cargo, can also solve automobile by each mechanical arm of installation
The problems such as difficult is being travelled on the road of road conditions complexity, can also replace manually realizing various accurate operations by each mechanical arm,
Improve the functionality of automobile.
To achieve the above object, the technical scheme adopted by the invention is that：
A kind of automobile with folding mechanism arm, including car body and multiple folding mechanism arms, multiple folding mechanism arm activities
The two sides of vehicle bottom are fixed on, the car body two sides are equipped with multiple mechanical arm impetus, and folding mechanism arm is puted forth effort with mechanical arm
Point is attached by support link；
The car body includes headstock and vehicle body, and the headstock two sides of the bottom are equipped with a folding mechanism arm, the vehicle body
At least provided with a folding mechanism arm, the headstock is equipped with the front accommodating groove for placing folding mechanism arm for two sides of the bottom,
The vehicle body is equipped with the rear portion accommodating groove for placing folding mechanism arm；
The folding mechanism arm includes first mechanical arm steelframe, second mechanical arm steelframe and stress manipulation body, and first is mechanical
Body passes sequentially through the second steering engine, third steering engine connects, first mechanical arm steelframe for arm steelframe, second mechanical arm steelframe and stress manipulation
It is connect with mechanical arm impetus by the first steering engine；The first flexible gas is equipped between first steering engine and first mechanical arm steelframe
Cylinder, is equipped with the second telescopic cylinder between second steering engine and second mechanical arm steelframe, the third steering engine and stress manipulate body
Between be equipped with third telescopic cylinder；The first mechanical arm steelframe is identical with the structure of second mechanical arm steelframe；First mechanical arm
Steelframe and second mechanical arm steelframe include fixed steelframe, the first collapsible steel frame and the second collapsible steel frame, and described first folds steel
Frame and the second collapsible steel frame are movably fixed on fixed steelframe.
Further, the master controller for controlling each folding mechanism arm work is equipped with inside the headstock, it is described
Master controller and the first steering engine, the second steering engine, third steering engine, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder
It is connected；The master controller of automotive interior is controlled according to various situations mechanical arm is folded, in control, by the first rudder
Entire machine is realized in the control of machine, the second steering engine, third steering engine, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder
Flexible, the rotation of tool arm.
Further, the front accommodating groove there are two and be respectively positioned on the bottom of headstock；When two folding machines of headstock
When tool arm is not used, two folding mechanism arms carry out contraction folding, are then accommodated in the accommodating groove of front respectively.
Further, the vehicle body two sides are equipped at least one for placing the rear portion accommodating groove of folding mechanism arm；
When each folding mechanism arm of vehicle body is not used, each folding mechanism arm carries out contraction folding, is then accommodated in correspondence respectively
Rear portion accommodating groove in.
Further, the fixed steelframe includes the twoth upright bar, tilted supporter and middle transverse rod, the middle transverse rod is solid
Between fixed two upright bars and middle transverse rod both ends are flexibly connected with the first collapsible steel frame and the second collapsible steel frame；The tilted supporter
There are two and be located at the two sides of middle transverse rod；The both ends of the upright bar fold steel with the first collapsible steel frame and second respectively
Frame is flexibly connected.
Further, first collapsible steel frame includes two the first top movable bars, the first intermediate active bar and two
One end of a first bottom motion bar, two the first top movable bars is flexibly connected with one end of two upright bars respectively, and two
The other end of one top movable bar is flexibly connected with one end of the first intermediate active bar, one end point of two the first bottom motion bars
It is not flexibly connected with middle transverse rod both ends, the other end work of the other end and the first intermediate active bar of two the first bottom motion bars
Dynamic connection.
Further, second collapsible steel frame includes two the second top movable bars, the second intermediate active bar and two
One end of a second bottom motion bar, two the second top movable bars is flexibly connected with middle transverse rod both ends respectively, and two second
The other end of top movable bar is flexibly connected with one end of the second intermediate active bar；One end difference of two the second bottom motion bars
It is flexibly connected with the other end of two upright bars, the other end of two the second bottom motion bars and the other end of the second intermediate active bar
Active joint；The second intermediate active bar side wall is equipped with the embedded groove for the insertion of the first intermediate active bar.
Further, first telescopic cylinder one end is connected with the first steering engine, the other end and first mechanical arm steelframe
The second intermediate active bar be flexibly connected；Second telescopic cylinder one end is connected with the second steering engine, the other end and the second machinery
Second intermediate active bar of arm steelframe is flexibly connected；Third telescopic cylinder one end is connected with third steering engine, the other end with by
Power manipulates body and is flexibly connected.
Further, each active connection place is equipped with ten thousand on the first mechanical arm steelframe and second mechanical arm steelframe
Xiang Jie.
The beneficial effects of the invention are as follows：
The automobile of multiple folding mechanism arms of automobile installation proposed by the present invention combines the principle of existing robot,
It is respectively mounted mechanical arm on the vehicle body and headstock of automobile, the machinery arm configuration is simple, and overall structure is all made of steel frame construction, saves
Material, alleviates weight, can be folded contraction when not in use, substantially reduces occupying for space, can carry out when in use
Expansion increases forced area, increases stress load, avoids mechanical arm local pressure is excessive from being damaged；First mechanical arm steelframe
Active connection place with second mechanical arm steelframe is universal joint, and curved power and shearing force are converted to pulling force and pressure, eliminate length
Column amount of deflection, reduces slenderness ratio；Tilted supporter in fixed steelframe enhances anti-torsion ability, and local stiffness is stronger, and then guarantees
The integral strength of mechanical arm；
Folding mechanism arm of the invention can meet the different working environment of automobile, each folding mechanism arm by various deformation
On first mechanical arm steelframe, second mechanical arm steelframe and stress manipulation body the angle that turns folding be 0~180 °, can basis
The different need of work of automobile carries out the change of state, has stronger adaptability, substantially reduces mechanical arm when not in use
Shared volume can expand the representative section of mechanical arm again upon deployment, increase load；
Each folding mechanism arm can realize the simulation of human upper limb or lower limb, pass through the first steering engine, the second steering engine, third rudder
The flexible of mechanical arm, rotation and lifting can be achieved in the cooperation of machine, the first telescopic cylinder, the second telescopic cylinder and third telescopic cylinder
Etc. highly difficult process, analog hand or foot complete the work on some bases, wherein the first steering engine is shoulder joint or hip joint, second
Steering engine is elbow joint or knee joint, and third steering engine is wrist or ankle, and first mechanical arm steelframe is upper arm or thigh, and second is mechanical
Arm steelframe is forearm or shank, and it is palm or sole that stress, which manipulates body,；So that both there is automobile the traveling of orthodox car to carry
The function of object, and animal lower limb can be simulated by mechanical arm and realize the function of walking, climbing, and mechanical arm mould can be passed through
Quasi- animal upper limb realizes the precisely functions such as operation.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the mechanical arm of automobile of the invention when being not used；
Fig. 2 is the structural schematic diagram of the mechanical arm simulation animal upper limb of automobile of the invention；
Fig. 3 is the structural schematic diagram of the mechanical arm simulation animal lower limb of automobile of the invention；
Fig. 4 is the structural schematic diagram of folding mechanism arm of the invention；
Fig. 5 is the side view of folding mechanism arm of the invention；
Fig. 6 is the structural schematic diagram of first mechanical arm steelframe；
Fig. 7 is the schematic diagram of the first collapsible steel frame；
Fig. 8 is the schematic diagram of the second collapsible steel frame；
Fig. 9 is the schematic diagram of the second intermediate active bar.
In figure：1, headstock；2, vehicle body；3, folding mechanism arm；4, support link；5, mechanical arm impetus；6, rear portion is stored
Slot；7, first mechanical arm steelframe；8, second mechanical arm steelframe；9, stress manipulates body；10, the first steering engine；11, the second steering engine；12,
Third steering engine；13, the first telescopic cylinder；14, the second telescopic cylinder；15, third telescopic cylinder；16, upright bar；17, middle transverse rod；
18, tilted supporter；19, the first top movable bar；20, the first intermediate active bar；21, the first bottom motion bar；22, the second top is living
Lever；23, the second intermediate active bar；23-1, embedded groove；24, the second bottom motion bar.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made into one with reference to the accompanying drawing
Step illustrates.
In the present embodiment, as shown in figs 1-9, a kind of automobile with folding mechanism arm, including car body and multiple foldings
Mechanical arm 3, multiple folding mechanism arms 3 are movably fixed to the two sides of vehicle bottom, and the car body two sides are equipped with multiple mechanical arms
Force 5, folding mechanism arm 3 are attached with mechanical arm impetus 5 by support link 4；The car body includes headstock 1 and vehicle body
2,1 two sides of the bottom of headstock are equipped with a folding mechanism arm 3, and 2 two sides of the bottom of vehicle body are equipped with a folding mechanism
Arm 3, the headstock 1 are equipped with the front accommodating groove for placing folding mechanism arm 3, and the vehicle body 2 is equipped with for placing folding machine
The rear portion accommodating groove 6 of tool arm 3；The folding mechanism arm 3 includes first mechanical arm steelframe 7, second mechanical arm steelframe 8 and stress behaviour
Body 9 is controlled, first mechanical arm steelframe 7, second mechanical arm steelframe 8 and stress manipulation body 9 pass sequentially through the second steering engine 11, third steering engine
12 connections, first mechanical arm steelframe 7 are connect with mechanical arm impetus 5 by the first steering engine 10；First steering engine 10 and first
It is equipped with the first telescopic cylinder 13 between mechanical arm steelframe 7, second is equipped between second steering engine 11 and second mechanical arm steelframe 8
Telescopic cylinder 14 is equipped with third telescopic cylinder 15 between the third steering engine 12 and stress manipulation body 9；The first mechanical arm steel
Frame 7 is identical with the structure of second mechanical arm steelframe 8；First mechanical arm steelframe 7 and second mechanical arm steelframe 8 include fixed steel
Frame, the first collapsible steel frame and the second collapsible steel frame, first collapsible steel frame and the second collapsible steel frame are movably fixed to fixation
On steelframe.
It is equipped with as a kind of prioritization scheme of the invention, inside the headstock 1 and works for controlling each folding mechanism arm 3
Master controller, the master controller and the first steering engine 10, the second steering engine 11, third steering engine 12, the first telescopic cylinder 13, second
Telescopic cylinder 14 is connected with third telescopic cylinder 15；When using folding mechanism arm 3, by the first steering engine 10, the second steering engine
11, the control of third steering engine 12, the first telescopic cylinder 13, the second telescopic cylinder 14 and third telescopic cylinder 15 is realized entire mechanical
Flexible, the rotation of arm, to realize the control to mechanical arm 3 is folded.
As a kind of prioritization scheme of the invention, there are two the front accommodating grooves and is respectively positioned on the bottom of headstock 1；Work as vehicle
When first 1 two folding mechanism arms 3 are not used, two folding mechanism arms 3 carry out contraction folding, are then accommodated in front receipts respectively
It receives in slot.
As a kind of prioritization scheme of the invention, 2 two sides of vehicle body are equipped at least one for placing folding mechanism
The rear portion accommodating groove 6 of arm 3；When each folding mechanism arm 3 of vehicle body 2 is not used, each folding mechanism arm 3 carries out contraction folding
It is folded, it is then accommodated in respectively in corresponding rear portion accommodating groove 6.
As a kind of prioritization scheme of the invention, the fixed steelframe includes the twoth upright bar 16, tilted supporter 18 and centre
Cross bar 17, the middle transverse rod 17 fix between two upright bars 16 and 17 both ends of middle transverse rod with the first collapsible steel frame and second
Collapsible steel frame is flexibly connected；There are two the tilted supporters 18 and is located at the two sides of middle transverse rod 17；The two of the upright bar 16
End is flexibly connected with the first collapsible steel frame and the second collapsible steel frame respectively.
As a kind of prioritization scheme of the invention, first collapsible steel frame includes two the first top movable bars 19, the
One intermediate active bar 20 and two the first bottom motion bars 21, one end of two the first top movable bars 19 respectively with two upright bars
16 one end is flexibly connected, and one end activity of the other end and the first intermediate active bar 20 of two the first top movable bars 19 connects
It connects, one end of two the first bottom motion bars 21 is flexibly connected with 17 both ends of middle transverse rod respectively, two the first bottom motion bars
21 other end is flexibly connected with the other end of the first intermediate active bar 20.
As a kind of prioritization scheme of the invention, second collapsible steel frame includes two the second top movable bars 22, the
Two intermediate active bars 23 and two the second bottom motion bars 24, one end of two the second top movable bars 22 respectively with middle transverse rod
17 both ends are flexibly connected, and the other end of two the second top movable bars 22 is flexibly connected with one end of the second intermediate active bar 23；
One end of two the second bottom motion bars 24 is flexibly connected with the other end of two upright bars 16 respectively, two the second bottom motion bars
The other end active joint of 24 other end and the second intermediate active bar 23；Second intermediate active bar, 23 side wall is equipped with for the
The embedded groove 23-1 of one intermediate active bar 20 insertion.
As a kind of prioritization scheme of the invention, described first telescopic cylinder, 13 one end is connected with the first steering engine 10, another
End is flexibly connected with the second intermediate active bar 23 of first mechanical arm steelframe 7；Described second telescopic cylinder, 14 one end and the second rudder
Machine 11 is connected, and the other end is flexibly connected with the second intermediate active bar 23 of second mechanical arm steelframe 8；The third telescopic cylinder 15
One end is connected with third steering engine 12, and the other end is flexibly connected with stress manipulation body 9.
As a kind of prioritization scheme of the invention, each work on the first mechanical arm steelframe 7 and second mechanical arm steelframe 8
Dynamic junction is equipped with universal joint.
In normally travel or when being in idle condition, folding mechanism arm 3 is in fold and receive automobile proposed by the invention
Contracting state, and the folding mechanism arm 3 of 1 two sides of the bottom of headstock is placed in the front accommodating groove of 1 bottom of headstock, 2 bottom of vehicle body
The folding mechanism arm 3 of two sides is placed in the rear portion accommodating groove 6 of 2 two sides of vehicle body, is not only reduced folding mechanism arm 3 and is being not used
When occupied space, bring convenience for the traveling of automobile, avoid folding mechanism arm 3 from influencing the traveling of automobile, while also protecting
The safety of folding mechanism arm 3 is demonstrate,proved；
The present invention proposes that the automobile of multiple folding mechanism arms 3 of installation combines the principle of existing robot, in automobile
Vehicle body 2 and headstock 1 on be mounted on folding mechanism arm 3, the machinery arm configuration is simple, and overall structure is all made of steel frame construction,
Material has been saved, weight is alleviated, can be folded contraction when not in use, has substantially reduced occupying for space, when in use
It can be unfolded, increase forced area, increased stress load, avoid mechanical arm local pressure is excessive from being damaged；First is mechanical
The active connection place of arm steelframe 7 and second mechanical arm steelframe 8 is universal joint, and curved power and shearing force are converted to pulling force and pressure
Power eliminates long column amount of deflection, reduces slenderness ratio；Tilted supporter 18 in fixed steelframe enhances anti-torsion ability, local stiffness compared with
By force, and then it ensure that the integral strength of mechanical arm；
Each folding mechanism arm 3 can meet the different working environment of automobile by various deformation, on each folding mechanism arm 3
The first collapsible steel frame 7, the second collapsible steel frame 8 and stress manipulation body 9 can arbitrarily be rotated, work that can be different according to automobile
It needs to carry out the change of state, there is stronger adaptability, substantially reduce mechanical arm volume shared when not in use, opening up
The representative section that mechanical arm can be expanded when opening again, increases load；
Each folding mechanism arm 3 of the invention can realize the simulation of human upper limb or lower limb, pass through the first steering engine 10, second
Machine can be achieved in the cooperation of steering engine 11, third steering engine 12, the first telescopic cylinder 13, the second telescopic cylinder 14 and third telescopic cylinder 15
The highly difficult processes such as the flexible of tool arm, rotation and lifting, analog hand or foot complete the work on some bases；
When simulating animal upper limb, as shown in Fig. 2, wherein the first steering engine 10 is shoulder joint, the second steering engine 11 is elbow joint,
Third steering engine 12 is wrist, and first mechanical arm steelframe 7 is upper arm, and second mechanical arm steelframe 8 is forearm, and it is hand that stress, which manipulates body 9,
The palm, the automobile can realize that accurate operation such as carries, pushes away object and routine operation by the upper limb of simulation at this time；
When simulating animal lower limb, as shown in figure 3, wherein the first steering engine 10 is hip joint, the second steering engine 11 is knee joint,
Third steering engine 12 is ankle, and first mechanical arm steelframe 7 is thigh, and second mechanical arm steelframe 8 is shank, and it is foot that stress, which manipulates body 9,
The palm, automobile can realize the function of walking, climbing in the poor situation of road conditions etc. by the lower limb of simulation at this time, so that the automobile
More road conditions are suitable for, can directly pass by when mud-rock flow occurs for mountain area, can also directly pass by when road barrier is more, when
Ponding can also pass by when more, bring many conveniences for people.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
1. a kind of automobile with folding mechanism arm, it is characterised in that：Including car body and multiple folding mechanism arms (3), multiple foldings
Folded mechanical arm (3) are movably fixed to the two sides of vehicle bottom, and the car body two sides are equipped with multiple mechanical arm impetus (5), fold
Mechanical arm (3) is attached with mechanical arm impetus (5) by support link (4)；
The car body includes headstock (1) and vehicle body (2), and headstock (1) two sides of the bottom are equipped with a folding mechanism arm (3),
At least provided with a folding mechanism arm (3), the headstock (1) is equipped with for placing folding machine for vehicle body (2) two sides of the bottom
The front accommodating groove of tool arm (3), the vehicle body (2) are equipped with the rear portion accommodating groove (6) for placing folding mechanism arm (3)；
The folding mechanism arm (3) includes that first mechanical arm steelframe (7), second mechanical arm steelframe (8) and stress manipulate body (9),
First mechanical arm steelframe (7), second mechanical arm steelframe (8) and stress manipulation body (9) pass sequentially through the second steering engine (11), third rudder
Machine (12) connection, first mechanical arm steelframe (7) are connect with mechanical arm impetus (5) by the first steering engine (10)；First rudder
The first telescopic cylinder (13) are equipped between machine (10) and first mechanical arm steelframe (7), second steering engine (11) is mechanical with second
The second telescopic cylinder (14) are equipped between arm steelframe (8), third is equipped between the third steering engine (12) and stress manipulation body (9)
Telescopic cylinder (15)；The first mechanical arm steelframe (7) is identical with the structure of second mechanical arm steelframe (8)；First mechanical arm steel
Frame (7) and second mechanical arm steelframe (8) include fixed steelframe, the first collapsible steel frame and the second collapsible steel frame, first folding
Folded steel frame and the second collapsible steel frame are movably fixed on fixed steelframe.
2. automobile according to claim 1, it is characterised in that：It is equipped with inside the headstock (1) for controlling each folding
The master controller of mechanical arm (3) work, the master controller and the first steering engine (10), the second steering engine (11), third steering engine (12),
First telescopic cylinder (13), the second telescopic cylinder (14) are connected with third telescopic cylinder (15).
3. automobile according to claim 1, it is characterised in that：There are two the front accommodating grooves and is respectively positioned on headstock (1)
Bottom.
4. automobile according to claim 1, it is characterised in that：Vehicle body (2) two sides are equipped at least one for putting
Set the rear portion accommodating groove (6) of folding mechanism arm (3).
5. automobile according to claim 1, it is characterised in that：The fixed steelframe includes the twoth vertical (16), tilted supporter
(18) and middle transverse rod (17), the middle transverse rod (17) fix between two upright bars (16) and middle transverse rod (17) both ends with
First collapsible steel frame and the second collapsible steel frame are flexibly connected；There are two the tilted supporters (18) and is located at middle transverse rod (17)
Two sides；The both ends of the upright bar (16) are flexibly connected with the first collapsible steel frame and the second collapsible steel frame respectively.
6. automobile according to claim 5, it is characterised in that：First collapsible steel frame includes two the first top movables
Bar (19), the first intermediate active bar (20) and two the first bottom motion bars (21), the one of two the first top movable bars (19)
End is flexibly connected with one end of two upright bars (16) respectively, living among the other end and first of two the first top movable bars (19)
One end of lever (20) is flexibly connected, and one end of two the first bottom motion bars (21) is movable with middle transverse rod (17) both ends respectively
Connection, the other end of two the first bottom motion bars (21) are flexibly connected with the other end of the first intermediate active bar (20).
7. foldable robotic arm according to claim 6, it is characterised in that：Second collapsible steel frame includes two second
Top movable bar (22), the second intermediate active bar (23) and two the second bottom motion bars (24), two the second top movable bars
(22) one end is flexibly connected with middle transverse rod (17) both ends respectively, the other end and second of two the second top movable bars (22)
One end of intermediate active bar (23) is flexibly connected；One end of two the second bottom motion bars (24) respectively with two upright bars (16)
The other end is flexibly connected, the other end activity of the other end and the second intermediate active bar (23) of two the second bottom motion bars (24)
Connector；Second intermediate active bar (23) side wall is equipped with the embedded groove (23-1) for the insertion of the first intermediate active bar (20).
8. foldable robotic arm according to claim 7, it is characterised in that：Described first telescopic cylinder (13) one end and the
One steering engine (10) is connected, and the other end is flexibly connected with the second intermediate active bar (23) of first mechanical arm steelframe (7)；Described second
Telescopic cylinder (14) one end is connected with the second steering engine (11), the second intermediate active bar of the other end and second mechanical arm steelframe (8)
(23) it is flexibly connected；Described third telescopic cylinder (15) one end is connected with third steering engine (12), the other end and stress manipulation body (9)
It is flexibly connected.
9. foldable robotic arm according to claim 8, it is characterised in that：The first mechanical arm steelframe (7) and second
Each active connection place is equipped with universal joint on mechanical arm steelframe (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940257.3A CN108909869A (en) | 2018-08-17 | 2018-08-17 | A kind of automobile with folding mechanism arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940257.3A CN108909869A (en) | 2018-08-17 | 2018-08-17 | A kind of automobile with folding mechanism arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909869A true CN108909869A (en) | 2018-11-30 |
Family
ID=64404802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810940257.3A Withdrawn CN108909869A (en) | 2018-08-17 | 2018-08-17 | A kind of automobile with folding mechanism arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN108909869A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705526A (en) * | 2018-08-17 | 2018-10-26 | 成都跟驰科技有限公司 | A kind of foldable robotic arm |
| CN109333490A (en) * | 2018-12-03 | 2019-02-15 | 连雪芳 | Automotive wire bundle production hanging wire machine used |
-
2018
- 2018-08-17 CN CN201810940257.3A patent/CN108909869A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705526A (en) * | 2018-08-17 | 2018-10-26 | 成都跟驰科技有限公司 | A kind of foldable robotic arm |
| CN109333490A (en) * | 2018-12-03 | 2019-02-15 | 连雪芳 | Automotive wire bundle production hanging wire machine used |
| CN109333490B (en) * | 2018-12-03 | 2021-11-12 | 海阳三贤电子科技有限公司 | Wire hanging machine for automobile wire harness production |
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Application publication date: 20181130 |