CN204123394U - Parallel manipulator - Google Patents
Parallel manipulator Download PDFInfo
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- CN204123394U CN204123394U CN201420479056.5U CN201420479056U CN204123394U CN 204123394 U CN204123394 U CN 204123394U CN 201420479056 U CN201420479056 U CN 201420479056U CN 204123394 U CN204123394 U CN 204123394U
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Abstract
The utility model discloses parallel manipulator, comprise a fixed mount, a level board, multiple overhang, multiple transmission mechanism and an adsorbent equipment, level board is fixed on the top of fixed mount, one end affixed level board respectively of each overhang, the other end of each overhang stretches out straight down, adsorbent equipment is positioned at below overhang, and each overhang distributes with the vertical curve axial symmetry at the place, center of level board; Each transmission mechanism includes master arm, slave arm, decelerator and servomotor, the lower end of decelerator and overhang is affixed, the output shaft of servomotor is through one end of decelerator docking master arm, the other end of master arm and one end of slave arm hinged, the other end and the adsorbent equipment of slave arm are hinged.The utility model error is little, space availability ratio large, it is reliable to use.
Description
Technical field
The utility model relates to manipulator, is specifically related to parallel manipulator.
Background technology
In traditional factory, a large amount of repetitive operation such as sorting, pickup, vanning, generally by manually having come, have labour intensity large, consuming time more, uninteresting, easily the problem such as to pollute, and the cost of enterprise can be increased.Therefore in these areas, need that manipulator carries out at a high speed to slight small item material, short distance captures, the operation such as carrying and placement.And general in industrial production what adopt is Serial manipulator, and Serial manipulator has following shortcoming:
(1) bearing capacity is low, and rigidity is little, and structure is stable not;
(2) error of end execution unit is by the bioaccumulation and biomagnification of each joint error, and therefore its error is large and precision is low;
(3) drive motors and servo-drive system are mostly placed on the large forearm of motion, add the motional inertia of system, are degrading the power performance of system;
(4) mechanism takies working space greatly, and also easy and workbench is interfered.
Utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is to provide that a kind of error is little, space availability ratio large, service-strong parallel manipulator.
The purpose of this utility model adopts following technical scheme to realize:
Parallel manipulator, comprise a fixed mount, a level board, multiple overhang, multiple transmission mechanism and an adsorbent equipment, level board is fixed on the top of fixed mount, one end affixed level board respectively of each overhang, the other end of each overhang stretches out straight down, adsorbent equipment is positioned at below overhang, and each overhang distributes with the vertical curve axial symmetry at the place, center of level board; Each transmission mechanism includes master arm, slave arm, decelerator and servomotor, the lower end of decelerator and overhang is affixed, the output shaft of servomotor is through one end of decelerator docking master arm, the other end of master arm and one end of slave arm hinged, the other end and the adsorbent equipment of slave arm are hinged.
Preferably, described adsorbent equipment comprises moving platform, stepper motor, rotating shaft, link, tube connector and sucker, the other end of moving platform and slave arm is hinged, stepper motor is fixed on the center of moving platform end face, the output shaft of this stepper motor docks with the upper end of rotating shaft, rotating shaft and moving platform are rotatably assorted, and the lower end of rotating shaft connects link, tube connector and sucker successively.
Preferably, described moving platform is polygonal panel, and this polygonal panel has the breach equal with transmission mechanism quantity, and each breach distributes with the Central Symmetry of polygonal panel, form the articulated section of lateral projection between adjacent gap, the other end and the articulated section of described slave arm are hinged.
Preferably, the slave arm of each described transmission mechanism is two, and two slave arms are spaced, and one end of two slave arms is connected with master arm other end two side ball pivot, the other end of two slave arms respectively with the two side of described articulated section removably ball pivot be connected.
Preferably, each described transmission mechanism also comprises strainer, and this strainer comprises a spring and two hooks, and the two ends of spring connect one end of two hooks respectively, and the other end of two hooks is hinged with two slave arms respectively.
Preferably, described slave arm has crossed out hanging scroll, the other end of described hook forms eave tile, and this eave tile hook is in hanging scroll and be rotatably assorted with hanging scroll.
Preferably, described fixed mount is a cuboid framework erected, and level board, overhang, transmission mechanism and adsorbent equipment are all positioned at this cuboid framework.
Compared to existing technology, the beneficial effects of the utility model are:
(1) the utility model by overhang respectively with the connection of level board and transmission mechanism, realize the mounting means of suspension type, make that profile of the present utility model is little, quality is light, space availability ratio is large, reduce the interference with other relevant devices, the installation being convenient to various occasion is placed;
(2) the utility model is by the common hinged adsorbent equipment of multiple transmission mechanism, each transmission mechanism is to the acting in conjunction of adsorbent equipment, inertia can be reduced, promote power performance, and make self error of each transmission mechanism form mean value, realize the small but excellent degree highland of error and drive adsorbent equipment action, can be applicable to various crawl and the sorting operation of multiple occasion, improve production efficiency greatly, save cost;
(3) the utility model is by the setting to moving platform shape and breach, two slave arms can be made to be sandwiched in both sides, articulated section, moving platform is made to realize on the basis of enough frees degree, more reliable, stable transmission support can be obtained again, both be beneficial to the effective absorption of absorption platform to object, greatly reduce the vibrations that transmission mechanism is passed to object again, and, link below rotating shaft is detachable, then can change different adsorbent equipments and grabbing device easily for adsorbing and capturing different objects.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the utility model parallel manipulator;
Fig. 2 is the A place enlarged diagram of Fig. 1;
Fig. 3 is the structural representation of the utility model moving platform.
In figure: 1, fixed mount; 2, level board; 3, overhang; 4, transmission mechanism; 41, master arm; 42, slave arm; 421, hanging scroll; 43, decelerator; 44, servomotor; 45, strainer; 451, spring; 452, link up with; 453, eave tile; 5, adsorbent equipment; 51, moving platform; 511, breach; 512, articulated section; 52, stepper motor; 53, rotating shaft; 54, link; 55, tube connector; 56, sucker.
Detailed description of the invention
Parallel manipulator as shown in Figure 1, comprise fixed mount 1, level board 2, multiple overhang 3, multiple transmission mechanism 4 and an adsorbent equipment 5, level board 2 is fixed on the top of fixed mount 1, one end affixed level board 2 respectively of each overhang 3, the other end of each overhang 3 stretches out straight down, adsorbent equipment 5 is positioned at below overhang 3, and each overhang 3 distributes with the vertical curve axial symmetry at the place, center of level board 2; Each transmission mechanism 4 includes master arm 41, slave arm 42, decelerator 43 and servomotor 44, one end of decelerator 43 and the lower end of overhang 3 affixed, the output shaft of servomotor 44 docks one end of master arm 41 through decelerator 43, the other end of master arm 41 and one end of slave arm 42 hinged, the other end and the adsorbent equipment 5 of slave arm 42 are hinged.
By overhang 3 respectively with the connection of level board 2 and transmission mechanism 4, realize the mounting means of the suspension type of transmission mechanism 4, make that profile of the present utility model is little, quality is light, space availability ratio is large, the fixed mount 1 of this example is a cuboid framework erected, level board 2, overhang 3, transmission mechanism 4 and adsorbent equipment 5 are all positioned at this cuboid framework, then can prevent further and operate outside intervening platform.By the common hinged adsorbent equipment 5 of multiple transmission mechanism 4, make self error of each transmission mechanism 4 form mean value, realize the small but excellent degree highland of error and drive adsorbent equipment action.Under the drive of servomotor 44, after decelerator 43 slows down, master arm 41 can be driven to rotate relative to the overhang 3 of its correspondence, and then drive each slave arm 42 pairs of adsorbent equipments 5 to produce active force, thus drive adsorbent equipment 5 to move, adsorbent equipment 5 can aim at adsorbent article, is beneficial to reliable sorting, pickup article.Wherein, overhang 3, the transmission mechanism 4 of this example are three, can form balance, stable power transmission relationship.
As shown in figures 2-3, the adsorbent equipment 5 of this example comprises moving platform 51, stepper motor 52, rotating shaft 53, link 54, tube connector 55 and sucker 56, moving platform 51 is hinged with the other end of slave arm 42, stepper motor 52 is fixed on the center of moving platform 51 end face, the output shaft of this stepper motor 52 docks with the upper end of rotating shaft 53, rotating shaft 53 and moving platform 51 are rotatably assorted, configurable bearing is beneficial to this and is rotatably assorted, the lower end of rotating shaft 53 connects link 54, tube connector 55 and sucker 56 successively, makes sucker 56 obtain enough stable support forces.Under the rotation of stepper motor 52 drives, through rotating shaft 53, link 54 and tube connector 55, sucker 56 can be ordered about and rotate, thus strengthen the adsorption effect to article, external vacuum source of the gas is accessed to tube connector 55, just can form negative pressure at sucker 56 place and be used for absorption.Certainly also the induction installations such as proximity switch can be added at adsorbent equipment 5, for responding to the position of article.
The moving platform 51 of this example is polygonal panel, this polygonal panel has the breach 511 equal with transmission mechanism 4 quantity, each breach 511 distributes with the Central Symmetry of polygonal panel, forms the articulated section 512 of lateral projection between adjacent gap 511, and the other end and the articulated section 512 of slave arm 42 are hinged.Polygonal panel arranges breach 511 and forms the mode of articulated section 512, be convenient to slave arm 42 and moving platform 51 without interfering, smooth and easy, reliably hinged.
The slave arm 42 of each transmission mechanism 4 is two, all in thin rod shape, two slave arms 42 are spaced, and one end of two slave arms 42 is connected with master arm 41 other end two side ball pivot, the other end of two slave arms 42 respectively with the two side of articulated section 512 removably ball pivot be connected.Two slave arms 42 are sandwiched in both sides, articulated section 512, make moving platform 51 realize on the basis of enough frees degree, can obtain again more reliable, stable transmission support.
For the action of two slave arms 42 on further synchronous each transmission mechanism 4, each transmission mechanism 4 also comprises strainer 45, this strainer 45 comprises a spring 451 and two hooks 452, the two ends of spring 451 connect one end of two hooks 452 respectively, and the other end of two hooks 452 is hinged with two slave arms 42 respectively.Spring 451 can tensioning two slave arm, ensures two slave arm moment keeping parallelisms, make the mobile accuracy obtained of adsorbent equipment 5 more accurately, reliable.For ease of mounting or dismounting, slave arm 42 has crossed out hanging scroll 421, the other end of hook 452 forms eave tile 453, and this eave tile 453 hook is in hanging scroll 421 and be rotatably assorted with hanging scroll 421.
Above-mentioned embodiment is only preferred embodiment of the present utility model; can not limit the scope of the utility model protection with this, change and the replacement of any unsubstantiality that those skilled in the art does on basis of the present utility model all belong to the utility model scope required for protection.
Claims (7)
1. parallel manipulator, it is characterized in that: comprise a fixed mount, a level board, multiple overhang, multiple transmission mechanism and an adsorbent equipment, level board is fixed on the top of fixed mount, one end affixed level board respectively of each overhang, the other end of each overhang stretches out straight down, adsorbent equipment is positioned at below overhang, and each overhang distributes with the vertical curve axial symmetry at the place, center of level board; Each transmission mechanism includes master arm, slave arm, decelerator and servomotor, the lower end of decelerator and overhang is affixed, the output shaft of servomotor is through one end of decelerator docking master arm, the other end of master arm and one end of slave arm hinged, the other end and the adsorbent equipment of slave arm are hinged.
2. parallel manipulator according to claim 1, it is characterized in that: described adsorbent equipment comprises moving platform, stepper motor, rotating shaft, link, tube connector and sucker, the other end of moving platform and slave arm is hinged, stepper motor is fixed on the center of moving platform end face, the output shaft of this stepper motor docks with the upper end of rotating shaft, rotating shaft and moving platform are rotatably assorted, and the lower end of rotating shaft connects link, tube connector and sucker successively.
3. parallel manipulator according to claim 2, it is characterized in that: described moving platform is polygonal panel, this polygonal panel has the breach equal with transmission mechanism quantity, each breach distributes with the Central Symmetry of polygonal panel, form the articulated section of lateral projection between adjacent gap, the other end and the articulated section of described slave arm are hinged.
4. parallel manipulator according to claim 3, it is characterized in that: the slave arm of each described transmission mechanism is two, two slave arms are spaced, and one end of two slave arms is connected with master arm other end two side ball pivot, the other end of two slave arms respectively with the two side of described articulated section removably ball pivot be connected.
5. parallel manipulator according to claim 4, it is characterized in that: each described transmission mechanism also comprises strainer, this strainer comprises a spring and two hooks, and the two ends of spring connect one end of two hooks respectively, and the other end of two hooks is hinged with two slave arms respectively.
6. parallel manipulator according to claim 5, is characterized in that: described slave arm has crossed out hanging scroll, and the other end of described hook forms eave tile, and this eave tile hook is in hanging scroll and be rotatably assorted with hanging scroll.
7. the parallel manipulator according to any one of claim 1 ~ 6, is characterized in that: described fixed mount is a cuboid framework erected, and level board, overhang, transmission mechanism and adsorbent equipment are all positioned at this cuboid framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479056.5U CN204123394U (en) | 2014-08-22 | 2014-08-22 | Parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479056.5U CN204123394U (en) | 2014-08-22 | 2014-08-22 | Parallel manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN204123394U true CN204123394U (en) | 2015-01-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420479056.5U Active CN204123394U (en) | 2014-08-22 | 2014-08-22 | Parallel manipulator |
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| CN (1) | CN204123394U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
| CN108356842A (en) * | 2018-04-18 | 2018-08-03 | 佛山市玖州智能装备技术有限公司 | Integral type linkage manipulator |
-
2014
- 2014-08-22 CN CN201420479056.5U patent/CN204123394U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
| CN108356842A (en) * | 2018-04-18 | 2018-08-03 | 佛山市玖州智能装备技术有限公司 | Integral type linkage manipulator |
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