CN106697361A - Parallel five-connecting rod manipulator gripping device - Google Patents
Parallel five-connecting rod manipulator gripping device Download PDFInfo
- Publication number
- CN106697361A CN106697361A CN201710159953.6A CN201710159953A CN106697361A CN 106697361 A CN106697361 A CN 106697361A CN 201710159953 A CN201710159953 A CN 201710159953A CN 106697361 A CN106697361 A CN 106697361A
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- Prior art keywords
- connecting rod
- plate
- long
- parallel
- hinged
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Abstract
The invention discloses a parallel five-connecting rod manipulator gripping device. The parallel five-connecting rod manipulator gripping device comprises a parallel manipulator, two rotary mechanisms and two telescopic grippers, wherein the two rotary mechanisms are arranged at the lower end of the parallel manipulator; the two telescopic grippers are respectively arranged at the lower ends of the two rotary mechanisms; the parallel manipulator is used for driving the rotary mechanisms and the telescopic grippers to quickly lift and move left and right in a reciprocating way; the rotary mechanisms are used for driving the telescopic grippers to do 180-degree reciprocating rotation; a vertical bag is gripped by the telescopic grippers, so as to realize the positioning gripping and positioning box-packing on the vertical bag. The parallel five-connecting rod manipulator gripping device has the advantages that the structure is simple and compact, and the arm function of a human body is simulated; the device is suitable for the narrow space in the box, and can freely enter and exit in the paper box; the parallel manipulator gripping device can grip multiple bags at one time, so as to realize the positioning gripping and positioning box-packing on the vertical bag.
Description
Technical field
The present invention relates to packing machinery technology, and in particular to a kind of five link robot manipulators grabbing device in parallel.
Background technology
It is always the difficult point that salt industry is packed for the vanning of vertical bag salt bag in existing salt chemical engineering industry.Current city
Vanning machinery on field cannot imitate the function of staff, so the Soft Roll loaded in case is disorderly and unsystematic, sequence is chaotic, it is impossible to reach
The requirement of salt industry user, so main user still uses hand-filling.Vertical bag hand-filling exist labour intensity it is big,
The drawbacks of employment high cost, low production efficiency, count accuracy are difficult to control to.And for current present situation, this is accomplished by using
The mode of puma manipulator is cased, and the key issue for solving vanning is manipulator grabbing device.
The content of the invention
The technical problem to be solved in the present invention is, in view of the foregoing defects the prior art has, there is provided a kind of in parallel five
Link robot manipulator grabbing device, it is simple structure, compact, human arm function can be imitated, case inside small space is adapted to, can be in carton
It is interior free to advance or retreat, the parallel manipulator grabbing device of many bags is once captured, realize the positioning crawl and positioning vanning of vertical bag.
The present invention is for the solution technical scheme that is used of above-mentioned technical problem：
A kind of five link robot manipulators grabbing device in parallel, including parallel manipulator, two rotating mechanisms and two stretch and grab
Hand, two rotating mechanisms are arranged at the lower end of parallel manipulator, and two flexible handgrips are respectively arranged under two rotating mechanisms
End, parallel manipulator is rotated mechanism and flexible handgrip and fast lifting and moves left and right repeatedly, and rotating mechanism drives flexible grabbing
Hand does 180 degree reciprocating rotary, and vertical bag is captured by flexible handgrip, realizes the positioning crawl and positioning vanning of vertical bag.
According to above-mentioned technical proposal, parallel manipulator include two A servomotors, two power transmission shafts, mounting bracket, two five
Linkage and fixed mount, two A servomotors are fixedly arranged on mounting bracket by servo deceleration machine, and two power transmission shafts are parallel to be set
Put, two one end of power transmission shaft are connected by servo deceleration machine with two A servomotors respectively, two other ends of power transmission shaft lead to
Cross bearing block to be connected and fixed on mounting bracket, two upper ends of five-bar mechanism are hinged with mounting bracket respectively, two five connecting rod machines
Structure is distributed in the both sides of mounting bracket, and two lower ends of five-bar mechanism are hinged with the two ends of fixed mount respectively, two rotating mechanisms
May be contained within fixed mount, two five connecting rods are connected with power transmission shaft, two A servomotors drive two five connecting rods by power transmission shaft
Operating.
According to above-mentioned technical proposal, mounting bracket includes left side installing plate, right side installing plate, mounting base and A risers, and A stands
The upper end of plate is connected with mounting base, and the two ends of left side installing plate and right side installing plate respectively with A risers are connected, left
The distribution parallel with right side installing plate of side installing plate, two upper ends of five-bar mechanism respectively with left side installing plate and right side installing plate
Connection, two A servomotors are fixedly arranged on left side installing plate and right side installing plate by reductor.
According to above-mentioned technical proposal, five-bar mechanism includes two big swing arms, A long connecting rods, two swing rods long, Triangular Arm, A
Short connecting rod, connecting rod support, the one end of the two ends of the big swing arm on right side respectively with mounting bracket and the long arm swing on right side are hinged, left side
One end of big swing arm is hinged with mounting bracket, and the one of one end and Triangular Arm of the other end of the big swing arm in left side and the swing rod long in left side
Individual angle end is hinged, and two other angle end of Triangular Arm is hinged with one end of A short connecting rods and one end of A long connecting rods respectively,
The other end of the other end of the long arm swing on right side, the other end of the long arm swing in left side and A long connecting rods is hinged with fixed mount respectively, A
The other end of short connecting rod is connected by connecting rod support with mounting bracket.
According to above-mentioned technical proposal, fixed mount includes saddle type fixed support and two triangle fixed supports, and two triangles are consolidated
Fixed rack is arranged at the support bracket fastened two ends of saddle type, two support bracket fastened upper ends of triangle respectively with two five-bar mechanisms under
End connection.
According to above-mentioned technical proposal, power transmission shaft includes short pass moving axis, power transmission shaft long and shaft coupling, and one end of short pass moving axis leads to
Cross servo deceleration machine to be connected with A servomotors, the other end of short pass moving axis is connected by shaft coupling with one end of power transmission shaft long, it is long
The other end of power transmission shaft is connected with bearing block.
According to above-mentioned technical proposal, rotating mechanism includes B servomotors, planetary reducer, A adpting flanges and detection branch
Frame, B servomotors are connected by planetary reducer with A adpting flanges, and detection support is fixedly arranged on A adpting flanges, A adpting flanges with
Flexible handgrip connection, detection support is provided with sensor；B servomotors drive planetary reducer to be stretched by the drive of A adpting flanges
Contracting handgrip does positive and negative 180 degree rotation, by detecting the detection of the sensor on support, feeds back the position signalling of A adpting flanges.
According to above-mentioned technical proposal, flexible handgrip include mounting seat, cylinder, connecting plate, two linkages, two lead
Rail, front slide and tail skid, two guide rail parallels are arranged at the two ends of mounting seat, two sliding blocks are equipped with each guide rail, together
Connected by linkage between two sliding blocks on one guide rail, the upper end of front slide respectively with the sliding block of front end on two guide rails
Connection, the sliding block of the upper end of tail skid respectively with rear end on two guide rails is connected, and cylinder is fixedly arranged in mounting seat, and the two of connecting plate
End is connected with the two ends of tail skid respectively, and the cylinder axis of cylinder are connected by floating junction with connecting plate；Cylinder passes through connecting plate
Tail skid, tail skid is promoted to be moved linearly along two guide rails by the sliding block of rear end two, while before driving two by linkage
The sliding block at end, drives front slide to do rectilinear movement in the same direction along guide rail and tail skid.
According to above-mentioned technical proposal, mounting seat includes B adpting flanges, top board, B risers, left plate and right plate, B connections
Flange is arranged at the upper end of top board, and the lower end of top board is fixedly connected with B risers, left plate and right plate respectively, constitutes box-like frame
Structure, left plate and right plate are individually fixed in the both sides of B risers, and two guide rails are respectively arranged on left plate and right plate.
According to above-mentioned technical proposal, linkage includes B long connecting rods, support bar and B short connecting rods, and support bar is fixed on installation
The side of seat, support bar is provided with A connecting rod bases, and the sliding block of front end is provided with C connecting rod bases, and the sliding block of rear end is provided with B connecting rod bases,
Two one end of connecting rod long are hinged with A connecting rod bases and C connecting rod bases respectively, and two other ends of connecting rod long are cut with scissors by pin
Connect, two one end of B short connecting rods are hinged with the mesopore in two connecting rods long respectively, two other ends of short connecting rod connect with B
Joint chair is hinged.
The invention has the advantages that：
1st, present apparatus simple structure, compact, can imitate human arm function, adapt to case inside small space, can be in carton
It is free to advance or retreat, the parallel manipulator grabbing device of many bags is once captured, realize the positioning crawl and positioning vanning of vertical bag.
2nd, under two drivings of A servomotors 1-1, two groups of five-bar mechanisms are had while mechanism being rotated and stretching
Handgrip 3 does upper and lower, left and right movement, and the present apparatus has human emulation characteristic, and apish large arm and forearm are in a plane
Action, as a result of two groups of modes in parallel, can bear big workload.
Brief description of the drawings
Fig. 1 is the positive axonometric schematic of five link robot manipulators grabbing device in parallel in the embodiment of the present invention；
Fig. 2 is the positive axonometric schematic of parallel manipulator in the embodiment of the present invention；
Fig. 3 is the back side axonometric schematic diagram of parallel manipulator in the embodiment of the present invention；
Fig. 4 is the positive axonometric schematic of rotating mechanism in the embodiment of the present invention；
Fig. 5 is the operating position figure of flexible handgrip in the embodiment of the present invention；
Fig. 6 is the positive axonometric schematic of flexible handgrip in the embodiment of the present invention；
Fig. 7 is the back side axonometric schematic diagram of flexible handgrip in the embodiment of the present invention；
Fig. 8 is the upward view of flexible handgrip in the embodiment of the present invention；
In figure, 1- parallel manipulators, 1-1-A servomotors, 1-2- servo deceleration machines, 1-3- left sides installing plate, 1-4- peaces
Dress base plate, 1-5-A risers, 1-6- right sides installing plate, the big swing arms of 1-7-, 1-8-A long connecting rods, 1-9- triangle fixed supports, 1-10-
Swing rod long, 1-11- Triangular Arms, 1-12-A short connecting rods, 1-13- connecting rod supports, 1-14- power transmission shafts long, 1-15- shaft couplings, 1-16-
Short pass moving axis, 1-17- bearing blocks, 1-18- radial ball bearings, 1-19- saddle type fixed supports, 1-20- rotary hand grip installing plates；
2- rotating mechanisms, 2-1-B servomotors, 2-2- planetary reducers, 2-3-A adpting flanges, 2-4- detection supports；
3- stretches handgrip, 3-1-B adpting flanges, 3-2- top boards, 3-3- pins, 3-4-B long connecting rods, 3-5- support bars, 3-
6-A connecting rod bases, 3-7- packing rings, 3-8-B short connecting rods, 3-9-B connecting rod bases, 3-10- tail skids, 3-11-C connecting rod bases, 3-12- is slided
Block, 3-13- guide rails, 3-14- right plates, 3-15-B risers, 3-16- cylinders, 3-17- left plates, 3-18- front slides, 3-19- is floated
Dynamic joint, 3-20- connecting plates.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Shown in 1~Fig. 2 of reference picture, the five link robot manipulators grabbing device in parallel in one embodiment that the present invention is provided,
Including 1, two rotating mechanisms of parallel manipulator and two flexible handgrips 3, two rotating mechanisms are arranged under parallel manipulator 1
End, two flexible handgrips 3 are respectively arranged at two lower ends of rotating mechanism, and parallel manipulator 1 is rotated mechanism and stretches and grabs
Hand 3 fast lifting and is moved left and right repeatedly, and rotating mechanism drives flexible handgrip 3 to do 180 degree reciprocating rotary, by the handgrip 3 that stretches
Crawl vertical bag, realizes the positioning crawl and positioning vanning of vertical bag.
Further, parallel manipulator 1 includes two A servomotors 1-1, two power transmission shafts, mounting bracket, two five connecting rods
Mechanism and fixed mount, two A servomotors 1-1 are fixedly arranged on mounting bracket by servo deceleration machine 1-2, and two power transmission shafts are parallel to be set
Put, two one end of power transmission shaft are connected by servo deceleration machine 1-2 with two A servomotors 1-1 respectively, two power transmission shafts it is another
One end is connected and fixed on mounting bracket by bearing block 1-17, and two upper ends of five-bar mechanism are hinged with mounting bracket respectively, and two
Individual five-bar mechanism is distributed in the both sides of mounting bracket, and two lower ends of five-bar mechanism are hinged with the two ends of fixed mount respectively, and two
Individual rotating mechanism may be contained within fixed mount, and two five connecting rods are connected with power transmission shaft, and two A servomotors 1-1 pass through power transmission shaft
Drive two five connecting rods operatings；Under two drivings of A servomotors 1-1, two groups of five-bar mechanisms are had while being rotated
Mechanism and flexible handgrip 3 do upper and lower, left and right movement, and the present apparatus has human emulation characteristic, and apish large arm and forearm exist
Action in one plane, as a result of two groups of modes in parallel, can bear big workload.
Further, mounting bracket includes left side installing plate 1-3, right side installing plate 1-6, mounting base 1-4 and A riser 1-5,
The upper end of A risers 1-5 is connected with mounting base 1-4, left side installing plate 1-3 and right side installing plate 1-6 respectively with A risers 1-
5 two ends are connected, left side installing plate 1-3 distributions parallel with right side installing plate 1-6, two upper end difference of five-bar mechanism
It is connected with left side installing plate 1-3 and right side installing plate 1-6, two A servomotors 1-1 are fixedly arranged on left side installing plate by reductor
On 1-3 and right side installing plate 1-6.
Further, A risers 1-5 includes the flat board of multiple parallel arrangements, forms frame structure, and the number of flat board is 2.
Further, five-bar mechanism includes two big swing arm 1-7, A long connecting rod 1-8, two swing rod 1-10 long, Triangular Arms
1-11, A short connecting rod 1-12, connecting rod support 1-13, the two ends of the big swing arm 1-7 on right side respectively with mounting bracket and the long arm swing on right side
One end be hinged, one end of the big swing arm 1-7 in left side is hinged with mounting bracket, the other end of the big swing arm 1-7 in left side and left side
One end of swing rod 1-10 long and the angle end of Triangular Arm 1-11 are hinged, two other angle end difference of Triangular Arm 1-11
It is hinged with one end of A short connecting rods 1-12 and one end of A long connecting rods 1-8, the other end of the long arm swing on right side, the long arm swing in left side
The other end of the other end and A long connecting rods 1-8 is hinged with fixed mount respectively, and the other end of A short connecting rods 1-12 passes through connecting rod support 1-
13 are connected with mounting bracket.
Further, connecting rod support 1-13, two A short connecting rods are equipped with left side installing plate 1-3 and right side installing plate 1-6
1-12 is hinged with left side installing plate 1-3 and right side installing plate 1-6 respectively by connecting rod support 1-13.
Further, fixed mount includes saddle type fixed support 1-19 and two triangle fixed support 1-9, and two triangles are fixed
Support 1-9 is arranged at the two ends of saddle type fixed support 1-19, two upper ends of triangle fixed support 1-9 respectively with two five connecting rods
The lower end connection of mechanism.
Further, saddle type fixed support 1-19 is provided with two rotary hand grip installing plate 1-20, and rotating mechanism 2 is fixedly arranged on
On rotary hand grip installing plate 1-20.
Further, power transmission shaft includes short pass moving axis 1-16, power transmission shaft 1-14 long and shaft coupling 1-15, short pass moving axis 1-16
One end be connected with A servomotors 1-1 by servo deceleration machine 1-2, the other end of short pass moving axis 1-16 passes through shaft coupling 1-15
One end with power transmission shaft 1-14 long is connected, and the other end of power transmission shaft 1-14 long is connected with bearing block 1-17.
Further, rotating mechanism includes B servomotors 2-1, planetary reducer 2-2, A adpting flange 2-3 and detection branch
Frame 2-4, B servomotor 2-1 is connected by planetary reducer 2-2 with A adpting flanges 2-3, and detection support 2-4 is fixedly arranged on A connections
Flange 2-3, A adpting flange 2-3 is connected with flexible handgrip 3, and detection support 2-4 is provided with sensor；B servomotors 2-1 drives
Planetary reducer 2-2 drives flexible handgrip 3 to do positive and negative 180 degree rotation by A adpting flanges 2-3, by detecting on support 2-4
Sensor detection, the position signalling of feedback A adpting flanges 2-3.
Further, the number of rotating mechanism is 2.
Further, the handgrip 3 that stretches include mounting seat, cylinder 3-16, connecting plate 3-20, two linkages, two lead
Rail 3-13, front slide 3-18 and tail skid 3-10, two guide rail 3-13 are set in parallel in the two ends of mounting seat, each guide rail 3-13
On be equipped with two sliding block 3-12, between two sliding block 3-12 on same guide rail 3-13 by linkage connect, front slide
Sliding block 3-12 of the upper end of 3-18 respectively with front end on two guide rail 3-13 is connected, and the upper end of tail skid 3-10 is led with two respectively
The sliding block 3-12 connections of rear end on rail 3-13, cylinder 3-16 is fixedly arranged in mounting seat, the two ends of connecting plate 3-20 respectively with rear cunning
The two ends connection of plate 3-10, the cylinder 3-16 axles of cylinder 3-16 are connected by floating junction 3-19 with connecting plate 3-20；Cylinder 3-
16 promote tail skid 3-10 by connecting plate 3-20, and tail skid 3-10 is by the sliding block 3-12 of rear end two along two guide rail 3-13 straight lines
It is mobile, while driving two sliding block 3-12 of front end by linkage, front slide 3-18 is driven along guide rail 3-13 and tail skid
3-10 does rectilinear movement in the same direction.
Because A long connecting rods 1-8 and A short connecting rods 1-12 are the proportionate relationships of twice, so after the stroke of front slide 3-18 is
The twice of slide plate 3-10 strokes.Totally two groups of the flexible handgrip 3.
Further, mounting seat includes B adpting flanges 3-1, top board 3-2, B riser 3-15, left plate 3-17 and right plate
3-14, B adpting flange 3-1 are arranged at the upper end of top board 3-2, the lower end of top board 3-2 respectively with B risers 3-15, left plate 3-17
It is fixedly connected with right plate 3-14, constitutes box-like framework, left plate 3-17 and right plate 3-14 is individually fixed in B risers 3-15's
Both sides, two guide rail 3-13 are respectively arranged on left plate 3-17 and right plate 3-14.
Further, linkage includes B long connecting rods 3-4, support bar 3-5 and B short connecting rod, and support bar 3-5 is fixed on peace
The side (two support bar 3-5 are individually fixed on left plate 3-17 and right plate 3-14) of seat is filled, support bar 3-5 is provided with A
Connecting rod base, the sliding block 3-12 of front end is provided with C connecting rod bases, and the sliding block 3-12 of rear end is provided with B connecting rod bases, two connecting rods long
One end is hinged with A connecting rod bases and C connecting rod bases respectively, and two other ends of connecting rod long are hinged by pin 3-3, two short companies of B
One end of bar is hinged with the mesopore (mesopore is arranged at the centre of B long connecting rods 3-4) in two connecting rods long respectively, two short connections
The other end of bar is hinged with B connecting seats.
The course of work of the invention is such：Under the servo-drive of parallel manipulator 1, parallel manipulator 1 do rise,
Action is moved to left, when driving the flexible arrival of handgrip 3 to pick up package location, while rotating mechanism drives flexible handgrip 3 to do 180 degree rotation counterclockwise
Turn.Controller sends ten bag signals, and the actions of cylinder 3-16 first are moved along a straight line by tail skid 3-10.Pass through connecting rod simultaneously
Mechanism drives front slide 3-18, along moving along a straight line in the same direction.The linkage of composition drives front slide 3-18, tail skid 3-10 edges
Horizontal direction is stretched out.After salt bag in groups is connected to, parallel manipulator 1 is done and declines, moves to right action, drives flexible handgrip 3 to reach and puts
Package location, while rotating mechanism drives flexible handgrip 3 to do 180 degree rotation clockwise.When handgrip is moved to puts package location, control
Device sends puts bag signal, and cylinder 3-16 completes revert action, and front slide 3-18, tail skid 3-10 are driven along water by linkage
Square to retraction, self-standing bag fitly will be placed in carton in groups.
As shown in figure 1, the present invention is made up of parallel manipulator 1, two rotating mechanisms 2 and two flexible handgrips 3.Parallel machine
The mounting base 1-4 of tool hand 1 is connected with frame, two planetary reducer 2-2 of rotating mechanism 2 respectively with parallel manipulator 1 on
Rotary hand grip installing plate 1-20 be connected.Two flexible handgrips 3 pass through two B adpting flanges 3-1 and two rotating mechanisms 2 respectively
A adpting flanges 2-3 be connected.Parallel manipulator 1 is driven by two A servomotors 1-1 and can drive flexible handgrip 3 in flute card
Fast lifting is done repeatedly in your coordinate system and is moved left and right, realize the positioning crawl and positioning vanning of vertical bag salt bag；It is fixed
Rotating mechanism 2 in parallel manipulator 1, is driven by two B servomotors 2-1 respectively, can drive two flexible handgrips 3
Do 180 degree reciprocating rotary respectively, by crawl after the bag of salt in groups by regulation pattern arrange vanning.
As shown in Figure 2,3, the parallel manipulator 1 is by A servomotor 1-1 two pieces, servo deceleration machine 1-2 two pieces, left side
Installing plate 1-3, mounting base 1-4, A riser 1-5 two pieces, right side installing plate 1-6, big swing arm 1-7 tetra-, A long connecting rods 1-8 two
Part, triangle fixed support 1-9 two pieces, swing rod 1-10 long tetra-, Triangular Arm 1-11 two pieces, A short connecting rod 1-12 two pieces, connecting rod support
It is 1-13 two pieces, power transmission shaft 1-14 two pieces long, shaft coupling 1-15 two pieces, short pass moving axis 1-16 two pieces, bearing block 1-17 two pieces, centripetal
Ball bearing 1-18 two pieces, saddle type fixed support 1-19 two pieces, rotary hand grip installing plate 1-20 compositions.Left side installing plate 1-3, right side
Installing plate 1-6 is separately fixed at two both sides of A risers 1-5, and mounting base 1-4 is connected in above two A risers 1-5.Two
Individual A servomotors 1-1 is connected with two servo deceleration machine 1-2 respectively, and the outward flange on two servo deceleration machine 1-2 is fixed on a left side
On side installing plate 1-3.Rotary flange on two the outer convex shoulders and two servo deceleration machine 1-2 of short pass moving axis 1-16 is connected.Two
Flange-interface on individual big swing arm 1-7 and two short pass moving axis 1-16 is fixed and connected, and such servo power has been delivered separately to two
Big swing arm 1-7 and two short pass moving axis 1-16.Two bearing block 1-17 are respectively on fixed right side installing plate 1-6, two radial balls
Bearing 1-18 is attached separately in two bearing block 1-17, and power transmission shaft 1-14 long to two plays a supportive role.Two power transmission shaft 1- long
14 are connected by two shaft coupling 1-15 two pieces respectively, and the big swing arm 1-7 of another two and two power transmission shaft 1-14 long are connected.Two pieces is long
Swing arm 1-7 big with two is hinged swing rod 1-10 respectively, another two pieces swing rod 1-10 long swing arm 1-7 big with two, two triangles respectively
Arm 1-11 is hinged.Two connecting rod support 1-13 are separately fixed on left side installing plate 1-3, right side installing plate 1-6, two
A short connecting rod 1-12 one end is hinged with two connecting rod support 1-13, and the other end is hinged with two Triangular Arm 1-11, two A long connecting rods
1-8 one end is hinged with two triangle fixed support 1-9, and the other end is hinged with two Triangular Arm 1-11.Two triangle fixed supports
1-9, two saddle type fixed support 1-19 are separately fixed on rotary hand grip installing plate 1-20, saddle type fixed support 1-19, triangle
Fixed support 1-9 constitutes one group, and swing rod 1-10 long with two is hinged, totally two groups.Under two drivings of A servomotors 1-1, altogether
There are two groups of linkages while handgrip installing plate 1-20 is rotated does upper and lower, left and right movement.The mechanism has human emulation
Characteristic, apish large arm and forearm are acted in a plane, as a result of two groups of modes in parallel, can bear big work
Load.
As shown in figure 4, the rotating mechanism 2 is by B servomotors 2-1, planetary reducer 2-2, A adpting flange 2-3, detection
Support 2-4 is constituted.B servomotors 2-1 and planetary reducer 2-2 is connected.A adpting flanges 2-3 consolidates with planetary reducer 2-2's
Even, detection support 2-4 is arranged on A adpting flanges 2-3.Under the driving of B servomotors 2-1, by planetary reducer 2-2 bands
Dynamic A adpting flanges 2-3 does positive and negative 180 degree rotation, by detecting the detection of support 2-4, the position letter of feedback A adpting flanges 2-3
Number.Totally two groups of the rotating mechanism 2.
As shown in Fig. 5,6,7,8, the flexible handgrip 3 is by B adpting flanges 3-1, top board 3-2, pin 3-3 six, B companies long
Bar 3-4 tetra-, support bar 3-5 tetra-, A connecting rod base 3-6 two pieces, packing ring 3-7 12, short connecting rod 3-8 tetra-, B connecting rod bases
3-9 two pieces, tail skid 3-10, C connecting rod base 3-11 two pieces, sliding block 3-12 tetra-, guide rail 3-13 two pieces, right plate 3-14, B riser
3-15, cylinder 3-16, left plate 3-17, front slide 3-18, floating junction 3-19, connecting plate 3-20 compositions.B adpting flanges 3-1
Be connected with top board 3-2, left plate 3-17, right plate 3-14 are fixed on the both sides of B risers 3-15, top board 3-2 respectively with left plate
3-17, right plate 3-14, B riser 3-15 are connected, and constitute box-like framework.Two sliding block 3-12 are mounted on guide rail 3-13, guide rail 3-
13 are fixed on right plate 3-14, and front slide 3-18 right sides and C connecting rod bases 3-11 are fixed on leading portion sliding block 3-12, tail skid 3-
10 right sides and B connecting rod bases 3-09 are fixed on rear end sliding block 3-12, and A connecting rod bases 3-6 is fixed on two support bar 3-5, two
Support bar 3-5 is fixed on right plate 3-14.Cut with scissors with A connecting rod base 3-6, C connecting rod bases 3-11 respectively two B long connecting rod 3-4 one end
Connect, the other end is hinged by pin 3-3.Two short connecting rod 3-8 one end are hinged with B connecting rod bases 3-9, and the other end passes through two pins
Mesopores of the 3-3 respectively with two B long connecting rods 3-4 is hinged；Similarly, on guide rail 3-13, guide rail 3-13 consolidates two sliding block 3-12
It is scheduled on left plate 3-17, front slide 3-18 left sides and C connecting rod bases 3-11 are fixed on leading portion sliding block 3-12, and tail skid 3-10 is left
Side and B connecting rod bases 3-9 are fixed on rear end sliding block 3-12, and A connecting rod bases 3-6 is fixed on two support bar 3-5, two support bars
3-5 is fixed on left plate 3-17.Two B long connecting rod 3-4 one end are hinged with A connecting rod base 3-6, C connecting rod bases 3-11 respectively, another
End is hinged by pin 3-3.Two short connecting rod 3-8 one end are hinged with B connecting rod bases 3-9, and the other end is distinguished by two pin 3-3
Mesopore with two B long connecting rods 3-4 is hinged.Cylinder 3-16 is arranged on B risers 3-15, and cylinder axis and the floating of cylinder 3-16 connect
One end of head 3-19 is connected, and the other end and the connecting plate 3-20 of floating junction 3-19 are connected, connecting plate 3-20 and tail skid 3-10
Both sides be respectively fixedly connected with.So, under the promotion of cylinder 3-16, tail skid 3-10 and two rear ends are promoted by connecting plate 3-20
Sliding block 3-12 moves along a straight line along two guide rail 3-13.Two front end sliding block 3-12 and front slide are driven by linkage simultaneously
3-18 along moving along a straight line in the same direction.Because B long connecting rods 3-4 and short connecting rod 3-8 are the proportionate relationships of twice, so front slide 3-18
Stroke be tail skid 3-10 strokes twice.Totally two groups of the flexible handgrip 3.
The course of work of the invention is such：Under the servo-drive of parallel manipulator 1, parallel manipulator 1 do rise,
Action is moved to left, when driving the flexible arrival of handgrip 3 to pick up package location, while rotating mechanism 2 drives flexible handgrip 3 to do 180 degree counterclockwise
Rotation.Controller sends ten bag signals, and the actions of cylinder 3-16 first are moved along a straight line by tail skid 3-10.Simultaneously by connecting
Linkage drives front slide 3-18 along moving along a straight line in the same direction.As shown in fig. 6, the linkage drive front slide 3-18 of composition,
Tail skid 3-10 stretches out in the horizontal direction.After salt bag in groups is connected to, parallel manipulator 1 is done and declines, moves to right action, drives flexible
Handgrip 3 is reached and puts package location, while rotating mechanism 2 drives flexible handgrip 3 to do 180 degree rotation clockwise.When flexible handgrip 3 is moved
When package location is put, controller sends puts bag signal, and cylinder 3-16 completes revert action, as shown in figure 5, passing through linkage band
Dynamic front slide 3-18, tail skid 3-10 retract in the horizontal direction, self-standing bag fitly will be placed in carton in groups.
Only presently preferred embodiments of the present invention above, can not limit the interest field of the present invention with this certainly,
Therefore the equivalence changes made according to scope of the present invention patent, still belong to protection scope of the present invention.
Claims (10)
1. a kind of five link robot manipulators grabbing device in parallel, it is characterised in that including parallel manipulator, two rotating mechanisms and two
Individual flexible handgrip, two rotating mechanisms are arranged at the lower end of parallel manipulator, and two flexible handgrips are respectively arranged at two rotations
The lower end of mechanism, parallel manipulator is rotated mechanism and flexible handgrip and fast lifting and moves left and right repeatedly, rotating mechanism band
Dynamic flexible handgrip does 180 degree reciprocating rotary, and vertical bag is captured by flexible handgrip, realizes the positioning crawl of vertical bag and positions
Vanning.
2. five link robot manipulators grabbing device in parallel according to claim 1, it is characterised in that parallel manipulator includes two
Individual A servomotors, two power transmission shafts, mounting bracket, two five-bar mechanisms and fixed mounts, two A servomotors are subtracted by servo
Fast machine is fixedly arranged on mounting bracket, and two power transmission shafts be arranged in parallel, and two one end of power transmission shaft pass through servo deceleration machine and two respectively
Individual A servomotors connection, the other end of two power transmission shafts is connected and fixed on mounting bracket by bearing block, two five-bar mechanisms
Upper end be hinged with mounting bracket respectively, two five-bar mechanisms are distributed in the both sides of mounting bracket, two lower ends of five-bar mechanism
The two ends with fixed mount are hinged respectively, and two rotating mechanisms may be contained within fixed mount, and two five connecting rods are connected with power transmission shaft, and two
Individual A servomotors drive two five connecting rods to operate by power transmission shaft.
3. five link robot manipulators grabbing device in parallel according to claim 2, it is characterised in that mounting bracket includes left side peace
Dress plate, right side installing plate, mounting base and A risers, upper end and the mounting base of A risers are connected, left side installing plate and the right side
Two ends of the side installing plate respectively with A risers are connected, the distribution parallel with right side installing plate of left side installing plate, two five connecting rod machines
The upper end of structure is connected with left side installing plate and right side installing plate respectively, and two A servomotors are fixedly arranged on left side peace by reductor
On dress plate and right side installing plate.
4. five link robot manipulators grabbing device in parallel according to claim 2, it is characterised in that five-bar mechanism includes two
Individual big swing arm, A long connecting rods, two swing rods long, Triangular Arm, A short connecting rods, connecting rod supports, the two ends of the big swing arm on right side respectively with
One end of the long arm swing on mounting bracket and right side is hinged, and one end of the big swing arm in left side is hinged with mounting bracket, the big swing arm in left side
The other end is hinged with one end of the swing rod long in left side and the angle end of Triangular Arm, two other angle end point of Triangular Arm
Be not hinged with one end of A short connecting rods and one end of A long connecting rods, the other end of the long arm swing on right side, the long arm swing in left side it is another
The other end of end and A long connecting rods is hinged with fixed mount respectively, and the other end of A short connecting rods is connected by connecting rod support with mounting bracket.
5. five link robot manipulators grabbing device in parallel according to claim 2, it is characterised in that fixed mount is solid including saddle type
Fixed rack and two triangle fixed supports, two triangle fixed supports are arranged at the support bracket fastened two ends of saddle type, and two triangles are consolidated
Lower end of the upper end of fixed rack respectively with two five-bar mechanisms is connected.
6. five link robot manipulators grabbing device in parallel according to claim 2, it is characterised in that power transmission shaft is dynamic including short pass
Axle, power transmission shaft long and shaft coupling, one end of short pass moving axis are connected by servo deceleration machine with A servomotors, short pass moving axis it is another
One end is connected by shaft coupling with one end of power transmission shaft long, and the other end of power transmission shaft long is connected with bearing block.
7. five link robot manipulators grabbing device in parallel according to claim 1, it is characterised in that rotating mechanism is watched including B
Motor, planetary reducer, A adpting flanges and detection support are taken, B servomotors are connected by planetary reducer with A adpting flanges,
Detection support is fixedly arranged on A adpting flanges, and A adpting flanges are connected with flexible handgrip, and detection support is provided with sensor；B servos electricity
Machine drives planetary reducer to drive flexible handgrip to do positive and negative 180 degree rotation by A adpting flanges, by detecting the biography on support
The detection of sensor, feeds back the position signalling of A adpting flanges.
8. five link robot manipulators grabbing device in parallel according to claim 1, it is characterised in that flexible handgrip includes installing
Seat, cylinder, connecting plate, two linkages, two guide rails, front slide and tail skids, two guide rail parallels are arranged at mounting seat
Two ends, two sliding blocks are equipped with each guide rail, between two sliding blocks on same guide rail by linkage connect, it is advancing slip
Sliding block of the upper end of plate respectively with front end on two guide rails is connected, the upper end of tail skid respectively with the sliding block of rear end on two guide rails
Connection, cylinder is fixedly arranged in mounting seat, and the two ends of connecting plate are connected with the two ends of tail skid respectively, and the cylinder axis of cylinder are by floating
Dynamic joint is connected with connecting plate；Cylinder promotes tail skid by connecting plate, and tail skid is straight along two guide rails by the sliding block of rear end two
Line is moved, while driving two sliding blocks of front end by linkage, drives front slide to do straight line in the same direction along guide rail and tail skid
It is mobile.
9. five link robot manipulators grabbing device in parallel according to claim 8, it is characterised in that mounting seat includes B connections
Flange, top board, B risers, left plate and right plate, B adpting flanges are arranged at the upper end of top board, and the lower end of top board is vertical with B respectively
Plate, left plate are fixedly connected with right plate, constitute box-like framework, and left plate and right plate are individually fixed in the both sides of B risers, two
Individual guide rail is respectively arranged on left plate and right plate.
10. five link robot manipulators grabbing device in parallel according to claim 8, it is characterised in that linkage includes that B is long
Connecting rod, support bar and B short connecting rods, support bar are fixed on the side of mounting seat, and support bar is provided with A connecting rod bases, the sliding block of front end
Be provided with C connecting rod bases, the sliding block of rear end is provided with B connecting rod bases, two one end of connecting rod long respectively with A connecting rod bases and C connecting rods
Seat is hinged, two other ends of connecting rod long by pin-hinges, two one end of B short connecting rods respectively with two connecting rods long on
Mesopore be hinged, two other ends of short connecting rod are hinged with B connecting seats.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710159953.6A CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710159953.6A CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
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| CN106697361A true CN106697361A (en) | 2017-05-24 |
| CN106697361B CN106697361B (en) | 2023-07-14 |
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| CN201710159953.6A Active CN106697361B (en) | 2017-03-17 | 2017-03-17 | Parallel five-connecting-rod manipulator grabbing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
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| CN204278618U (en) * | 2014-10-24 | 2015-04-22 | 青岛建华包装机械有限公司 | Guider at the bottom of vertical bag and packing bag production line |
| CN104875919A (en) * | 2015-04-15 | 2015-09-02 | 武汉人天包装技术有限公司 | Telescopic gripper for boxing of standup bags |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4233799A (en) * | 1978-05-29 | 1980-11-18 | Societe Anonyme Expandet | Distributing machine for placing stored objects on grill stands |
| CN103466129A (en) * | 2013-10-09 | 2013-12-25 | 武汉人天机器人技术有限公司 | Full-automatic box filling machine for vertical bags |
| CN103662168A (en) * | 2013-12-11 | 2014-03-26 | 广州市万世德包装机械有限公司 | Standing bag box filler |
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| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
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|---|---|
| CN106697361B (en) | 2023-07-14 |
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