CN204136052U - A kind of heavy-load type parallel manipulator - Google Patents
A kind of heavy-load type parallel manipulator Download PDFInfo
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- CN204136052U CN204136052U CN201420609749.1U CN201420609749U CN204136052U CN 204136052 U CN204136052 U CN 204136052U CN 201420609749 U CN201420609749 U CN 201420609749U CN 204136052 U CN204136052 U CN 204136052U
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- revolving bed
- moving platform
- output shaft
- master arm
- heavy
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Abstract
A kind of heavy-load type parallel manipulator, comprise frame, moving platform, can around vertical axis thereof be arranged on revolving bed in frame, be arranged on frame connects drive revolving bed to rotate turning motor, be connected to two kinematic chains between revolving bed and moving platform, be arranged on two drive motors revolving bed driving two kinematic chain actions, described kinematic chain comprises master arm and slave arm, master arm is arranged on the output shaft of drive motors, slave arm upper end is by pivotal axis and master arm is hinged, lower end by pivotal axis and moving platform hinged.
Description
Technical field
The utility model relates to a kind of parallel manipulator.
Background technology
Known, parallel manipulator mainly comprises fixed platform, moving platform, be connected at least two kinematic chains between fixed platform and moving platform, be arranged on the drive unit on fixed platform or kinematic chain, kinematic chain has various ways, wherein, driven arm-type kinematic chain mainly comprises connection master arm on the drive means and the slave arm be hinged between master arm and moving platform, slave arm is made up of two parallel relative slave arms usually, its two ends respectively by ball-joint mechanism and moving platform and master arm hinged, ball-joint mechanism has and is active in one's movements, precision advantages of higher, but when carrying larger heavy burden, ball-joint easily weares and teares again, therefore, this kind of parallel manipulator cannot realize heavily loaded operation, underloading operation can only be applicable to.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, provide that a kind of structure is simple, action accurately, the parallel manipulator of heavily loaded operation can be realized.
The purpose of this utility model realizes by following technical solution:
A kind of heavy-load type parallel manipulator, comprise frame and moving platform, it is characterized in that: also comprise can around vertical axis thereof be arranged on revolving bed in frame, be arranged on frame connects drive revolving bed to rotate turning motor, be connected to two kinematic chains between revolving bed and moving platform, be arranged on two drive motors revolving bed driving two kinematic chain actions, described kinematic chain comprises master arm and slave arm, master arm is arranged on the output shaft of drive motors, slave arm upper end is by pivotal axis and master arm is hinged, lower end by pivotal axis and moving platform hinged.
Further, described slave arm is made up of parallel two poles relatively, and described master arm is hinged between two poles by pivotal axis, and described moving platform is provided with pivot block, two poles by pivotal axis and pivot block hinged.
Further, described turning motor is connected with described revolving bed by decelerator, and described decelerator is arranged in frame, and described turning motor output shaft is connected with described reducer input shaft, and the output shaft of described decelerator is connected with revolving bed center.
Further, described master arm is microscler plate body, and the output shaft of described drive motors is connected with the plate face of described master arm is vertical, and described in two, the output shaft of drive motors is parallel to each other.
Further, the output shaft of described drive motors is arranged in the horizontal direction.
The utility model has following beneficial effect:
The slave arm of kinematic chain, to be hinged by pivotal axis between master arm and moving platform, although with the hinged strength and stability that can improve kinematic chain of pivotal axis, kinematic chain is made to have larger bearing capacity, turning motor drives revolving bed to rotate and does revolution action with brought into motion chain, the free degree of moving platform can be improved, make moving platform can do the spatial movement of arbitrary trajectory, thus adapt to various operating environment.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is structural representation of the present utility model, removes frame.
Detailed description of the invention
Shown in seeing figures.1.and.2, a kind of heavy-load type parallel manipulator, comprises frame 1, moving platform 5, revolving bed 2, turning motor 31, two kinematic chain 4 and two drive motors 61.
Turning motor 31 connects driving revolving bed 2 by the decelerator 32 be arranged in frame 1 and rotates, the output shaft of turning motor 31 and the power shaft of decelerator 32 link, the output shaft of decelerator 32 is connected to the center of revolving bed 2, during work, turning motor 31 connects driving revolving bed 2 by decelerator 32 and rotates.Two kinematic chains 4 are connected between revolving bed 2 and moving platform 5, two drive motors 61 are arranged on revolving bed 2 for driving two kinematic chain 4 actions, kinematic chain 4 comprises master arm 41 and slave arm 42, master arm 41 is arranged on the output shaft of drive motors 61, slave arm 42 upper end is hinged with master arm 41 by horizontally disposed pivotal axis 43, lower end is hinged with moving platform 5 by horizontally disposed pivotal axis 44, slave arm 42 is made up of parallel two poles relatively, master arm 41 is microscler plate body, master arm 41 is hinged between two poles by pivotal axis 43, moving platform 5 is provided with pivot block 51, two poles are hinged by pivotal axis 44 and pivot block 51, the output shaft of drive motors 61 is arranged in the horizontal direction and is connected with the plate face of master arm 41 is vertical, the output shaft of two drive motors 61 is parallel to each other.
Specific works mode is: the action of drive motors 61 actuation movement chain 4, drive moving platform 5 do left and right, move up and down, turning motor 31 drives revolving bed 2 to rotate to drive moving platform 5 to rotate, thus makes moving platform 5 can do the spatial movement of arbitrary trajectory.
The above, be only preferred embodiment of the present utility model, therefore can not limit with this scope that the utility model implements, the equivalence namely done according to the utility model claim and description change with modify, all should still belong in scope that the utility model patent contains.
Claims (5)
1. a heavy-load type parallel manipulator, comprise frame and moving platform, it is characterized in that: also comprise can around vertical axis thereof be arranged on revolving bed in frame, be arranged on frame connects drive revolving bed to rotate turning motor, be connected to two kinematic chains between revolving bed and moving platform, be arranged on two drive motors revolving bed driving two kinematic chain actions, described kinematic chain comprises master arm and slave arm, master arm is arranged on the output shaft of drive motors, slave arm upper end is by pivotal axis and master arm is hinged, lower end by pivotal axis and moving platform hinged.
2. a kind of heavy-load type parallel manipulator according to claim 1, it is characterized in that: described slave arm is made up of parallel two poles relatively, described master arm is hinged between two poles by pivotal axis, and described moving platform is provided with pivot block, two poles by pivotal axis and pivot block hinged.
3. a kind of heavy-load type parallel manipulator according to claim 1 and 2, it is characterized in that: described turning motor is connected with described revolving bed by decelerator, described decelerator is arranged in frame, described turning motor output shaft is connected with described reducer input shaft, and the output shaft of described decelerator is connected with revolving bed center.
4. a kind of heavy-load type parallel manipulator according to claim 1 and 2, is characterized in that: described master arm is microscler plate body, the output shaft of described drive motors is connected with the plate face of described master arm is vertical, and described in two, the output shaft of drive motors is parallel to each other.
5. a kind of heavy-load type parallel manipulator according to claim 4, is characterized in that: the output shaft of described drive motors is arranged in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609749.1U CN204136052U (en) | 2014-10-21 | 2014-10-21 | A kind of heavy-load type parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609749.1U CN204136052U (en) | 2014-10-21 | 2014-10-21 | A kind of heavy-load type parallel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204136052U true CN204136052U (en) | 2015-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420609749.1U Active CN204136052U (en) | 2014-10-21 | 2014-10-21 | A kind of heavy-load type parallel manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN204136052U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308841A (en) * | 2014-10-21 | 2015-01-28 | 泉州市微柏工业机器人研究院有限公司 | Heavy-load parallel manipulator |
-
2014
- 2014-10-21 CN CN201420609749.1U patent/CN204136052U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308841A (en) * | 2014-10-21 | 2015-01-28 | 泉州市微柏工业机器人研究院有限公司 | Heavy-load parallel manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Heavy-load parallel manipulator Effective date of registration: 20151211 Granted publication date: 20150204 Pledgee: Industrial Bank Limited by Share Ltd Quanzhou branch Pledgor: QUANZHOU VIBOT INDUSTRIAL ROBOT RESEARCH INSTITUTE CO., LTD. Registration number: 2015990001075 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201210 Granted publication date: 20150204 Pledgee: Industrial Bank Limited by Share Ltd. Quanzhou branch Pledgor: QUANZHOU VIBOT INDUSTRIAL ROBOT RESEARCH INSTITUTE Co.,Ltd. Registration number: 2015990001075 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |