CN107866803A - A kind of more bar manipulators - Google Patents
A kind of more bar manipulators Download PDFInfo
- Publication number
- CN107866803A CN107866803A CN201610884170.XA CN201610884170A CN107866803A CN 107866803 A CN107866803 A CN 107866803A CN 201610884170 A CN201610884170 A CN 201610884170A CN 107866803 A CN107866803 A CN 107866803A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- connecting rod
- hinged
- articulated
- lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of more bar manipulators in parallel, including can circle round base, telescoping mechanism, luffing mechanism, drive device, wrist and paw.Wherein telescoping mechanism includes：One end is hingedly connected to first driving lever and the second driving lever that can be circled round on base, one end swing arm be hinged with the other end of first driving lever, one end second connecting rod be hinged with the other end of second driving lever, one end is articulated with the third connecting rod on the lever arm of first driving lever, and the fourth link that one end is be hinged with the other end of the third connecting rod；The other end of the fourth link is articulated with the swing arm, and the other end of the second connecting rod is articulated with the lever arm of the third connecting rod；Drive device is made up of two servomotors, connects with the first driving lever 2 and the second driving lever 3 rotated so that driving is corresponding respectively.Big so as to overcome Serial manipulator accumulated error, precision is relatively low；The shortcomings that rigidity is high, and bearing capacity is small.
Description
Technical field
The present invention relates to mechanical engineering field, more particularly to a kind of more bar manipulators.
Background technology
With the development of motor technology and the raising of control technology, parallel institution provides extensive development sky for manipulator
Between, not only there is big working space, flexible movements, the fortune that can complete complexity by the multiple freedom parallel mechanism of controlled motor driving
Dynamic rail mark exports, while also has the advantages that manufacturing cost is low, maintaining is simple.
The content of the invention
It is an object of the invention to provide a kind of in parallel more bar manipulators, so as to overcome Serial manipulator accumulated error big,
Precision is relatively low；Rigidity is high, bearing capacity it is small the shortcomings that.To achieve the above object, the invention provides a kind of more bar manipulators,
It is characterized in that：Including base, telescoping mechanism, luffing mechanism, drive device, wrist and the paw of can circling round.Wherein telescoping mechanism
Including：One end is hingedly connected to first driving lever and the second driving lever that can be circled round on base, one end and the described first master
The be hinged swing arm of the other end of lever, one end second connecting rod be hinged with the other end of second driving lever, one end is articulated with
Third connecting rod on the lever arm of first driving lever, and the 4th company that one end is be hinged with the other end of the third connecting rod
Bar；The other end of the fourth link is articulated with the swing arm, and the other end of the second connecting rod is articulated with the described 3rd and connected
On the lever arm of bar；Wherein luffing mechanism includes：One end is articulated with the 5th connecting rod that can be circled round on base, one end and described the
The be hinged six-bar linkage of the other end of five connecting rods, and the wrist that bottom is be hinged with the other end of the six-bar linkage；The hand
The top of wrist and the other end of the swing arm are hinged.Drive device is made up of two servomotors, respectively with the first driving lever 2 and
Second driving lever 3 is connected to drive corresponding rotate.
Brief description of the drawings
Fig. 1 is the front view according to a kind of more bar manipulators of the present invention.
Embodiment
A kind of more bar manipulators, including：Can be circled round base 1, telescoping mechanism, luffing mechanism and drive device, wrist 10
With paw 11.Wherein telescoping mechanism includes：First driving lever 2, the second driving lever 3, swing arm 5, third connecting rod 7 and fourth link
8, one end of the first driving lever 2 is articulated with by revolute pair and can circled round on base 1, and one end of the second driving lever 3 passes through revolute pair
Being articulated with can circle round on base 1, wherein, the second driving lever 3 is located at the front of the first driving lever 2, and one end of swing arm 5 passes through rotation
The secondary other end with the first driving lever 2 is hinged, and one end of second connecting rod 6 is cut with scissors by the other end of revolute pair and the second driving lever 3
Connect, one end of third connecting rod 7 is articulated with by revolute pair on the lever arm of the first driving lever 2, and one end of fourth link 8 passes through rotation
The secondary other end with third connecting rod 7 is hinged；The other end of fourth link 8 is articulated with swing arm 5 by revolute pair, second connecting rod 6
The other end be articulated with by revolute pair on the lever arm of third connecting rod 7, the first driving lever 2 and swing arm 5 are in bending, wherein by
The part lever arm of three connecting rods 7 and the driving lever 2 of fourth link 8 and first and swing arm 5 forms quadrangle drive mechanism, improves operation
Stationarity.Wherein luffing mechanism includes：5th connecting rod 4, six-bar linkage 9 and wrist 10；One end of 5th connecting rod 4 is by turning
Dynamic pair, which is articulated with, can circle round on base 1, and the 5th connecting rod 4 is located at the front of the second driving lever 3, and one end of six-bar linkage 9 is by turning
The dynamic secondary other end with the 5th connecting rod 4 is hinged, and the bottom of wrist 10 and the other end of six-bar linkage 9 are hinged, the top of wrist 10
It is hinged with the other end of swing arm 5.
Drive device connects with the first driving lever 2 and the second driving lever 3 respectively to be rotated so that driving is corresponding.Drive device is
Two servomotors, the first driving lever 2 and the second driving lever 3 are driven respectively.
Acted accordingly in use, being cooperated by telescoping mechanism and luffing mechanism, when the first driving lever 2 and the
When two driving levers 3 are swung to the left, swing arm 5 is driven to left movement from the first driving lever 2, while second is driven by the second driving lever 3
Connecting rod 6, third connecting rod 7, fourth link 8 and then drive swing arm 5 are moved upwards so that wrist 10 is steeved dynamic with the realization of paw 11
Make；And when the first driving lever 2 moves right, and the second driving lever 3 is to left movement, achievable wrist 10 is bent down with paw 11
Action.
Claims (1)
- A kind of 1. more bar manipulators, it is characterised in that：Including base, telescoping mechanism, luffing mechanism, drive device, the hand of can circling round Wrist and paw；Wherein telescoping mechanism includes：One end is hingedly connected to first driving lever that can be circled round on base and the second master Lever, one end swing arm be hinged with the other end of first driving lever, one end and the other end of second driving lever are hinged Second connecting rod, one end is articulated with the third connecting rod on the lever arm of first driving lever, and one end and the third connecting rod The be hinged fourth link of the other end；The other end of the fourth link is articulated with the swing arm, the second connecting rod it is another One end is articulated with the lever arm of the third connecting rod；Wherein luffing mechanism includes：One end can circle round on base described in being articulated with 5th connecting rod, one end six-bar linkage be hinged with the other end of the 5th connecting rod, and bottom are another with the six-bar linkage The be hinged wrist in one end；The top of the wrist and the other end of the swing arm are hinged；Drive device is by two servomotor groups Into being connected respectively with the first driving lever and the second driving lever to drive corresponding rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884170.XA CN107866803A (en) | 2016-09-28 | 2016-09-28 | A kind of more bar manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884170.XA CN107866803A (en) | 2016-09-28 | 2016-09-28 | A kind of more bar manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107866803A true CN107866803A (en) | 2018-04-03 |
Family
ID=61761916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610884170.XA Pending CN107866803A (en) | 2016-09-28 | 2016-09-28 | A kind of more bar manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107866803A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022223389A1 (en) * | 2021-04-19 | 2022-10-27 | Sbm Schoeller Bleckmann Medizintechnik Gmbh | Freeze drying installation |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
-
2016
- 2016-09-28 CN CN201610884170.XA patent/CN107866803A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022223389A1 (en) * | 2021-04-19 | 2022-10-27 | Sbm Schoeller Bleckmann Medizintechnik Gmbh | Freeze drying installation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180403 |