CN204450525U - Parallel manipulator - Google Patents

Parallel manipulator Download PDF

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Publication number
CN204450525U
CN204450525U CN201420831022.8U CN201420831022U CN204450525U CN 204450525 U CN204450525 U CN 204450525U CN 201420831022 U CN201420831022 U CN 201420831022U CN 204450525 U CN204450525 U CN 204450525U
Authority
CN
China
Prior art keywords
manipulator
base
connecting rod
motor
connects
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.)
Withdrawn - After Issue
Application number
CN201420831022.8U
Other languages
Chinese (zh)
Inventor
张俊平
邓君
钟守炎
许光辉
黄红梅
林朝阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan University of Technology
Original Assignee
Dongguan University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dongguan University of Technology filed Critical Dongguan University of Technology
Priority to CN201420831022.8U priority Critical patent/CN204450525U/en
Application granted granted Critical
Publication of CN204450525U publication Critical patent/CN204450525U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators

Abstract

The public a kind of parallel manipulator of the utility model, comprise base, motor, connect screwed pipe, connecting screw rod, manipulator base, manipulator fixture and three connecting rod attitude reference devices, base offers motor installing hole, motor is installed on the bottom of base and the output shaft of motor protrudes upward motor installing hole connects with the lower end being connected screwed pipe, the lower end of connecting screw rod screws the upper end being plugged in and connecting screwed pipe, manipulator base has evenly outwards protruded out three manipulator connecting portions, the upper end of connecting screw rod is fixed in the bottom of manipulator base, manipulator fixture is installed on the top of manipulator base, the upper end of connecting rod attitude reference device rotates with corresponding manipulator connecting portion and connects, the lower end of connecting rod attitude reference device is installed on base.The utility model parallel manipulator can be avoided manipulator fixture to move up and down in process offseting, thus ensures the positional precision of manipulator conveying object.

Description

Parallel manipulator
Technical field
The utility model relates to mechanical field, particularly relates to a kind of parallel manipulator.
Background technology
When current perpendicular robotic fixture moves up and down, easily train off, affect the positional precision of manipulator conveying object.
Therefore, urgently a kind of parallel manipulator avoiding manipulator fixture to move up and down in process occurring to offset, thus ensure the positional precision of manipulator conveying object.
Utility model content
The purpose of this utility model is to provide a kind of parallel manipulator avoiding manipulator fixture to move up and down in process occurring to offset, thus ensures the positional precision of manipulator conveying object.
To achieve these goals, the technical solution of the utility model is: provide a kind of parallel manipulator, comprise base, motor, connect screwed pipe, connecting screw rod, manipulator base, manipulator fixture and three connecting rod attitude reference devices, described base offers motor installing hole, described motor is installed on the bottom of described base and the output shaft of described motor protrudes upward described motor installing hole connects with the described lower end being connected screwed pipe, the lower end of described connecting screw rod screws the upper end being plugged in described connection screwed pipe, described manipulator base has evenly outwards protruded out three manipulator connecting portions, the upper end of described connecting screw rod is fixed in the bottom of described manipulator base, described manipulator fixture is installed on the top of described manipulator base, the upper end of described connecting rod attitude reference device rotates with corresponding manipulator connecting portion and connects, the lower end of described connecting rod attitude reference device is installed on described base.
Described connecting rod attitude reference device comprises and connects end cylinder, first connecting rod and two second connecting rods, cylinder at the bottom of described connection is installed on described base, one end of described first connecting rod is rotatably connected one end of at the bottom of described connection cylinder, the lower end of described second connecting rod is rotatably connected in the both sides of the upper end of described first connecting rod respectively, and the upper end of described second connecting rod is rotatably connected respectively in the both sides of the described manipulator connecting portion of correspondence.
Described parallel manipulator also comprises lower rotary connection structure and upper rotary connection structure, described lower rotary connection structure comprises contiguous block on the first lower connecting block and first, the lower end of described first lower connecting block connects with the output shaft of described motor, on described first, the lower end vertical rotary of contiguous block is connected to the upper end of described first lower connecting block, and on described first, the mountain end of contiguous block connects with the described lower end being connected screwed pipe; Described upper rotary connection structure comprises contiguous block on the second lower connecting block and second, the lower end of described second lower connecting block connects with the upper end of described connecting screw rod, on described second, the lower end vertical rotary of contiguous block is connected to the upper end of described second lower connecting block, the upper end of contiguous block and the bottom connection of described manipulator base on described second.
Compared with prior art, the utility model parallel manipulator can be avoided manipulator fixture to move up and down in process offseting, thus ensures the positional precision of manipulator conveying object.
By following description also by reference to the accompanying drawings, the utility model will become more clear, and these accompanying drawings are for explaining embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structure chart of the utility model parallel manipulator angle.
Fig. 2 is the structure chart of another angle of the utility model parallel manipulator.
Detailed description of the invention
With reference to figure 1 and Fig. 2, the utility model parallel manipulator 100 comprises base 10, motor 20, connects screwed pipe 30, connecting screw rod 40, manipulator base 50, manipulator fixture 60 and three connecting rod attitude reference devices 70.
Described base 10 offers motor installing hole 11.Described motor 20 is installed on the bottom of described base 10 and the output shaft of described motor 20 protrudes upward described motor installing hole 11 connects with the described lower end being connected screwed pipe 30.The lower end of described connecting screw rod 40 screws the upper end being plugged in described connection screwed pipe 30.Described manipulator base 50 has evenly outwards protruded out three manipulator connecting portions 51.The upper end of described connecting screw rod 40 is fixed in the bottom of described manipulator base 50, and described manipulator fixture 60 is installed on the top of described manipulator base 50.The upper end of described connecting rod attitude reference device 70 rotates with corresponding manipulator connecting portion 51 and connects, and the lower end of described connecting rod attitude reference device 70 is installed on described base 10.
Particularly, described connecting rod attitude reference device 70 comprises and connects end cylinder 71, first connecting rod 72 and two second connecting rods 73.Cylinder 71 at the bottom of described connection is installed on described base 10, one end of described first connecting rod 72 is rotatably connected one end of at the bottom of described connection cylinder 71, the lower end of described second connecting rod 72 is rotatably connected in the both sides of the upper end of described first connecting rod 72 respectively, and the upper end of described second connecting rod 72 is rotatably connected respectively in the both sides of the described manipulator connecting portion 51 of correspondence.
Preferably, described parallel manipulator 100 also comprises lower rotary connection structure 80 and upper rotary connection structure 90.Described lower rotary connection structure 80 comprises contiguous block 82 on the first lower connecting block 81 and first, and the lower end of described first lower connecting block 81 connects with the output shaft of described motor 20.On described first, the lower end vertical rotary of contiguous block 82 is connected to the upper end of described first lower connecting block 81.On described first, the upper end of contiguous block 82 connects with the described lower end being connected screwed pipe 30; Described upper rotary connection structure 90 comprises contiguous block 92 on the second lower connecting block 91 and second.The lower end of described second lower connecting block 91 connects with the upper end of described connecting screw rod 40, on described second, the lower end vertical rotary of contiguous block 92 is connected to the upper end of described second lower connecting block 91, the upper end of contiguous block 92 and the bottom connection of described manipulator base 50 on described second.
When the utility model parallel manipulator 100 uses, motor 20 is with the screwed pipe 30 that is dynamically connected to rotate, connect screwed pipe 30 and connecting screw rod 40 to do and relatively screw motion, thus drive connecting screw rod 40 move up and down so that driving mechanical at hand seat 50 and manipulator fixture 60 move up and down, and connecting rod attitude reference device 70 is evenly connected on manipulator connecting portion 51, thus ensure that manipulator base 50 and manipulator fixture 60 move up and down in process and can not offset.
The utility model parallel manipulator can be avoided manipulator fixture to move up and down in process offseting, thus ensures the positional precision of manipulator conveying object.
More than in conjunction with most preferred embodiment, the utility model is described, but the utility model is not limited to the embodiment of above announcement, and amendment that the various essence according to the present embodiment carries out, equivalent combinations should be contained.

Claims (3)

1. a parallel manipulator, it is characterized in that: comprise base, motor, connect screwed pipe, connecting screw rod, manipulator base, manipulator fixture and three connecting rod attitude reference devices, described base offers motor installing hole, described motor is installed on the bottom of described base and the output shaft of described motor protrudes upward described motor installing hole connects with the described lower end being connected screwed pipe, the lower end of described connecting screw rod screws the upper end being plugged in described connection screwed pipe, described manipulator base has evenly outwards protruded out three manipulator connecting portions, the upper end of described connecting screw rod is fixed in the bottom of described manipulator base, described manipulator fixture is installed on the top of described manipulator base, the upper end of described connecting rod attitude reference device rotates with corresponding manipulator connecting portion and connects, the lower end of described connecting rod attitude reference device is installed on described base.
2. parallel manipulator as claimed in claim 1, it is characterized in that: described connecting rod attitude reference device comprises and connects end cylinder, first connecting rod and two second connecting rods, cylinder at the bottom of described connection is installed on described base, one end of described first connecting rod is rotatably connected one end of at the bottom of described connection cylinder, the lower end of described second connecting rod is rotatably connected in the both sides of the upper end of described first connecting rod respectively, and the upper end of described second connecting rod is rotatably connected respectively in the both sides of the described manipulator connecting portion of correspondence.
3. parallel manipulator as claimed in claim 1, it is characterized in that: also comprise lower rotary connection structure and upper rotary connection structure, described lower rotary connection structure comprises contiguous block on the first lower connecting block and first, the lower end of described first lower connecting block connects with the output shaft of described motor, on described first, the lower end vertical rotary of contiguous block is connected to the upper end of described first lower connecting block, and on described first, the mountain end of contiguous block connects with the described lower end being connected screwed pipe; Described upper rotary connection structure comprises contiguous block on the second lower connecting block and second, the lower end of described second lower connecting block connects with the upper end of described connecting screw rod, on described second, the lower end vertical rotary of contiguous block is connected to the upper end of described second lower connecting block, the upper end of contiguous block and the bottom connection of described manipulator base on described second.
CN201420831022.8U 2014-12-25 2014-12-25 Parallel manipulator Withdrawn - After Issue CN204450525U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420831022.8U CN204450525U (en) 2014-12-25 2014-12-25 Parallel manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420831022.8U CN204450525U (en) 2014-12-25 2014-12-25 Parallel manipulator

Publications (1)

Publication Number Publication Date
CN204450525U true CN204450525U (en) 2015-07-08

Family

ID=53657468

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420831022.8U Withdrawn - After Issue CN204450525U (en) 2014-12-25 2014-12-25 Parallel manipulator

Country Status (1)

Country Link
CN (1) CN204450525U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526681A (en) * 2014-12-25 2015-04-22 东莞理工学院 Parallel mechanical hand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526681A (en) * 2014-12-25 2015-04-22 东莞理工学院 Parallel mechanical hand
CN104526681B (en) * 2014-12-25 2016-05-04 东莞理工学院 Parallel manipulator

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20150708

Effective date of abandoning: 20160504

C25 Abandonment of patent right or utility model to avoid double patenting