CN205870515U - Many sucking discs mechanical hand that connects in parallel - Google Patents
Many sucking discs mechanical hand that connects in parallel Download PDFInfo
- Publication number
- CN205870515U CN205870515U CN201620876972.1U CN201620876972U CN205870515U CN 205870515 U CN205870515 U CN 205870515U CN 201620876972 U CN201620876972 U CN 201620876972U CN 205870515 U CN205870515 U CN 205870515U
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- China
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- runner
- fixed
- platform
- axis
- master arm
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Abstract
The utility model discloses a many sucking discs mechanical hand that connects in parallel, including fixed platform, moving platform, the master arm, the slave arm, intermediate lever and runner, the master arm passes through the revolute pair and is connected with fixed platform, the slave arm both ends are connected with master arm and moving platform through the ball is vice respectively, the upper portion of intermediate lever is connected with the motor output shaft who is fixed in the fixed platform bottom through an universal joint, the bottom of intermediate lever is connected with an axis of orientation through the universal joint, the axis of orientation passes through fixed and its bottom of bearing and moving platform and is connected with the runner, the vertical setting of runner and its side are provided with and make it follow vertical plane pivoted the control unit, be provided with a plurality of sucking discs around the runner, the utility model provides the operating speed of high parallelly connected mechanical hand reduces the energy consumption, improves production efficiency.
Description
Technical field
This utility model relates to robot linkage structure technical field, is specifically related to a kind of multi-sucker parallel manipulator.
Background technology
Parallel manipulator, because using closed linkage, has the features such as rigidity is big, precision is high, lightweight, bearing capacity is strong, non-
It is very suitable for high speed operation.In the industries such as electronics, light industry, food and medicine, be applied to more and more widely piece test and
Sorting work.
Although parallel manipulator has the advantages that to be suitable for high speed operation, but the high speed operation of parallel manipulator leads at present
Often rely on motor fast driving master arm to realize, so bring not only consumed energy, and inefficient.In order to carry further
High parallel manipulator operating rate and efficiency, need the parallel manipulator that invention is novel, improve the operating rate of parallel manipulator,
Reduce energy consumption, improve production efficiency.
Utility model content
(1) to solve the technical problem that
In order to overcome prior art not enough, it is proposed that a kind of multi-sucker parallel manipulator, improve the work of parallel manipulator
Speed, reduces energy consumption, improves production efficiency.
(2) technical scheme
This utility model is achieved through the following technical solutions: the utility model proposes a kind of multi-sucker parallel manipulator,
Including fixed platform, mobile platform, master arm, slave arm, intermediate bar and runner, described master arm is by revolute pair and fixes
Platform connects, and the top of described intermediate bar is connected with the motor output shaft being fixed on bottom fixed platform by a universal joint, institute
The top stating intermediate bar is fixed on fixed platform lower center position and controls it along Z-axis direction rotation, intermediate bar by a motor
Bottom connected by universal joint and have an axis of orientation, described axis of orientation is fixed by bearing and mobile platform and bottom it and runner
Connecting, described runner is longitudinally disposed and its side is provided with making its control unit rotated along vertical plane, the four of runner
It is provided with some suckers week.
Further, the one during described control unit is motor, servomotor or steering wheel three.
Further, described intermediate bar is free stretching structure.
(3) beneficial effect
This utility model, relative to prior art, has the advantages that
A kind of multi-sucker parallel manipulator that this utility model is mentioned, can be with quick pick-up (or installation) multiple workpiece, often
After one workpiece of secondary pickup, it is only necessary to runner rotates certain angle, other sucker can be made to be directed at new workpiece, not only
Speed is fast, and saves energy.Intermediate bar can drive axis of orientation to turn about the Z axis by universal joint, and axis of orientation and then drive turn
Wheel turns about the Z axis.So can realize forwarding sucker to the arbitrarily angled of space and direction, it is possible to achieve the behaviour of space multistory
Make.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation.
1-fixed platform；2-mobile platform；3-master arm；4-slave arm；5-intermediate bar；6-runner；7-revolute pair；8-ball
Secondary；9-universal joint；10-axis of orientation；11-sucker.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.Should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
A kind of multi-sucker parallel manipulator as shown in Figure 1, including fixed platform 1, mobile platform 2, master arm 3, driven
Arm 4, intermediate bar 5 and runner 6, described master arm 3 is connected with fixed platform 1 by revolute pair 7, and described slave arm 4 two ends are divided
Tong Guo not be connected with master arm 3 and mobile platform 2 by ball secondary 8, the top of described intermediate bar 5 is passed through a universal joint 9 and is fixed on
Motor output shaft bottom fixed platform 1 connects, and the bottom of intermediate bar 5 is connected by universal joint 9 axis of orientation 10, described side
Being fixed with mobile platform 2 by bearing to axle 10 and be connected with runner 6 bottom it, described runner 6 is longitudinally disposed and its side sets
Being equipped with and can make its control unit rotated along vertical plane, the surrounding of runner 6 is provided with some suckers 11.
Wherein, the one during described control unit is motor, servomotor or steering wheel three；Described intermediate bar 5
For free stretching structure.
A kind of multi-sucker parallel manipulator that this utility model is mentioned, it is when specifically used, and master arm 3 passes through slave arm
4 positions controlling mobile platform 2 are moved, and this structure has been this field comparative maturity structure, the most too much illustrates, runner
6 self can control it by control unit rotates clockwise or counterclockwise along vertical plane, and additionally intermediate bar 5 can be by side
Controlling runner 6 in the axially free rotation of Z axis to axle 10, multiple workpiece can be carried out capturing the most simultaneously and move by this utility model
Dynamic, after capturing a workpiece, control unit controls to rotate 6 one angle of rotation, and other suckers 11 being positioned on runner 6 can every time
Again to adsorb another workpiece, not only speed is fast, and saves energy, and intermediate bar 5 can drive axis of orientation 10 by universal joint 9
Turn about the Z axis, and rotating through of intermediate bar 5 be fixed on the motor bottom fixed platform 1 and realized, axis of orientation 10 and then
Runner 6 is driven to turn about the Z axis, it is possible to achieve to forward sucker 11 to the arbitrarily angled of space and direction, thus adapt to piece test
With complex work such as sorting work, working range is no longer limited in a plane, it is possible to achieve the operation of space multistory.
Embodiment described above is only to be described preferred implementation of the present utility model, not to this practicality
Novel spirit and scope are defined.On the premise of without departing from this utility model design concept, this area ordinary person couple
Various modification that the technical solution of the utility model is made and improvement, all should drop into protection domain of the present utility model, this reality
With the novel technology contents being claimed, all record in detail in the claims.
Claims (3)
1. a multi-sucker parallel manipulator, it is characterised in that: include fixed platform (1), mobile platform (2), master arm (3),
Slave arm (4), intermediate bar (5) and runner (6), described master arm (3) is connected with fixed platform (1) by revolute pair (7), institute
State slave arm (4) two ends to be connected with master arm (3) and mobile platform (2) by ball secondary (8) respectively, described intermediate bar (5)
Top is connected with the motor output shaft being fixed on fixed platform (1) bottom by a universal joint (9), and the bottom of intermediate bar (5) leads to
Crossing universal joint (9) connection and have an axis of orientation (10), described axis of orientation (10) is fixed and bottom it by bearing and mobile platform (2)
Being connected with runner (6), described runner (6) is longitudinally disposed and its side is provided with making its control list rotated along vertical plane
Unit, the surrounding of runner (6) is provided with some suckers (11).
A kind of multi-sucker parallel manipulator the most according to claim 1, it is characterised in that: described control unit is stepping electricity
One in machine, servomotor or steering wheel three.
A kind of multi-sucker parallel manipulator the most according to claim 1, it is characterised in that: described intermediate bar (5) is freely
Stretching structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620876972.1U CN205870515U (en) | 2016-08-12 | 2016-08-12 | Many sucking discs mechanical hand that connects in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620876972.1U CN205870515U (en) | 2016-08-12 | 2016-08-12 | Many sucking discs mechanical hand that connects in parallel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870515U true CN205870515U (en) | 2017-01-11 |
Family
ID=57702783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620876972.1U Expired - Fee Related CN205870515U (en) | 2016-08-12 | 2016-08-12 | Many sucking discs mechanical hand that connects in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205870515U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN109264390A (en) * | 2018-09-19 | 2019-01-25 | 康建华 | A kind of sucker transfer robot |
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
| CN110421552A (en) * | 2019-08-27 | 2019-11-08 | 安徽理工大学 | A kind of parallel pneumatic gripping device |
-
2016
- 2016-08-12 CN CN201620876972.1U patent/CN205870515U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN107497706B (en) * | 2017-08-07 | 2023-11-07 | 华中农业大学 | Chinese chestnut sorting device and method |
| CN109264390A (en) * | 2018-09-19 | 2019-01-25 | 康建华 | A kind of sucker transfer robot |
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
| CN110421552A (en) * | 2019-08-27 | 2019-11-08 | 安徽理工大学 | A kind of parallel pneumatic gripping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20170812 |