CN204819521U - Parallelly connected mechanical hand with adjustable workstation angle - Google Patents
Parallelly connected mechanical hand with adjustable workstation angle Download PDFInfo
- Publication number
- CN204819521U CN204819521U CN201520505553.2U CN201520505553U CN204819521U CN 204819521 U CN204819521 U CN 204819521U CN 201520505553 U CN201520505553 U CN 201520505553U CN 204819521 U CN204819521 U CN 204819521U
- Authority
- CN
- China
- Prior art keywords
- motor
- connecting rod
- master arm
- arm
- eccentric wheel
- 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.)
- Active
Links
Landscapes
- Machine Tool Units (AREA)
Abstract
The utility model belongs to automated machine equipment field, concretely relates to parallelly connected mechanical hand with adjustable workstation angle, including motor, frame, first master arm, second master arm, link, slave arm, workstation, add angle adjustment mechanism the third motor of fixed connection in the frame, with third motor output fixed connection's eccentric wheel, respectively with the end of slave arm and the first connecting rod of eccentric wheel articulated, respectively with the terminal of slave arm and first motor output articulated second connecting rod, parallelogram drive mechanism is constituteed to the minor details of second connecting rod, link, first master arm, the minor details of slave arm, compares with prior art the utility model discloses can realize the real -time adjustment of workstation scope of operation angle, can keep workstation deflection angle unchangeable when the eccentric wheel does not rotate for the working cell installation and debugging are simple, can be applicable to the processing on work piece curved surface or inclined plane, save debugging, process time, have improved work efficiency.
Description
Technical field
The utility model belongs to automated machine apparatus field, is specifically related to the adjustable parallel manipulator of a kind of lathe of work level angle.
Background technology
In the industrial production, parallel manipulator controls simple with it, the feature that bearing capacity is strong is widely applied, parallel manipulator in the course of the work, job platform is parallel with the line of two motor output shafts of the driving master arm be fixed in frame all the time, makes the working cell being arranged on fixed platform to capture the workpiece in plane or to process.But on processing curve or inclined-plane, especially when the curved surface of heavy parts or inclined-plane, workpiece volume, quality are large, be not suitable for doing significantly pose adjustment, need working cell to carry out the accommodation of angle for workpiece, but existing parallel manipulator can not carry out the adjustment of scope of operation angle easily, process be wasted time and energy and efficiency is not high, so need badly one can in process dynamic conditioning, can process again the parallel manipulator of inclined-plane and curved surface by processing plane.
Utility model content
The utility model can not carry out the problem of the adjustment of working surface angle at work easily in order to solve existing parallel manipulator, provide the adjustable parallel manipulator of a kind of lathe of work level angle, the dynamic conditioning of scope of operation angle can be realized, can process again the workpiece of inclined-plane and curved surface by processing plane.
The concrete technical scheme that the utility model adopts is:
The adjustable parallel manipulator of a kind of lathe of work level angle, comprise frame, motor, master arm, link, slave arm, workbench, motor comprises the first motor and the second motor that are fixedly connected with frame respectively, master arm comprises the first master arm, second master arm, the end of the first master arm is fixedly connected with the output of the first motor, the end of the second master arm is fixedly connected with the output of the second motor, workbench medial surface is fixedly connected with hinged leg, hinged leg is provided with the first rotating shaft and the second rotating shaft, the head end of the first master arm and the head end of the second master arm are articulated with the first rotating shaft respectively, the head end of slave arm is articulated with the second rotating shaft, be characterized in: be positioned in frame upper surface above the first motor and set up angle adjusting mechanism, comprise the 3rd motor, eccentric wheel, first connecting rod, second connecting rod, 3rd motor is fixedly connected with frame, 3rd motor output end is fixedly connected with eccentric wheel, one end of eccentric wheel and first connecting rod is hinged, the other end and the slave arm end of first connecting rod are hinged, the output of second connecting rod one end and the first motor is hinged, the end of the second connecting rod other end and slave arm is hinged, second connecting rod, the minor details of the first master arm, the minor details of slave arm, link composition parallelogram transmission mechanism.
Described frame is fixedly installed angle indicator, and eccentric wheel upper surface is fixedly installed limited block, and limited block is arranged in angle indicator bilateral symmetry.
Described limited block shape is cylindrical, and limited block upper surface is higher than angle indicator place plane.
Handwheel is fixedly installed outside described eccentric wheel periphery.
The beneficial effects of the utility model are:
The angle adjusting mechanism of the utility model by setting up, achieve the workbench scope of operation and add the dynamic conditioning in man-hour, the process requirements of the kinds of surface situation of different workpieces can be adapted to, the second connecting rod set up and slave arm and master arm constitute parallelogram transmission mechanism, make master arm in motion process, slave arm is motion in parallel all the time, ensure that the constant of workbench operation horizontal deflecting facet angle, thus reduce the control difficulty of parallel manipulator, the handwheel that the utility model is arranged on eccentric wheel can wait the adjustment manually carrying out lathe of work level angle where necessary, facilitate the installation and debugging of manipulator, thus reduce operating cost, increase work efficiency, the limited block being arranged on eccentric wheel upper surface and the angle indicator be fixed in frame, play angle instruction and spacing effect, thus prevent the situation that causes working cell to damage because of lathe of work level angle adjustment.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
In accompanying drawing, 1, frame, the 2, first master arm, the 3, second master arm, 4, slave arm, 5, workbench, the 6, first motor, 7, the second motor, 8, eccentric wheel, 9, first connecting rod, 10, second connecting rod, 11, angle indicator, 12, handwheel, 13, limited block, 14, link, the 15, the 3rd motor, 16, hinged leg, the 17, first rotating shaft, the 18, second rotating shaft.
Detailed description of the invention
The adjustable parallel manipulator of a kind of lathe of work level angle, comprise frame 1, motor, master arm, link 14, slave arm 4, workbench 5, motor comprises the first motor 6 and the second motor 7 be fixedly connected with frame 1 respectively, master arm comprises the first master arm 2, second master arm 3, the end of the first master arm 2 is fixedly connected with the output of the first motor 6, the end of the second master arm 3 is fixedly connected with the output of the second motor 7, workbench 5 medial surface is fixedly connected with hinged leg 16, hinged leg 16 is provided with the first rotating shaft 17 and the second rotating shaft 18, the head end of the first master arm 2 and the head end of the second master arm 3 are articulated with the first rotating shaft 17 respectively, the head end of slave arm 4 is articulated with the second rotating shaft 18, be characterized in: be positioned in frame 1 upper surface above the first motor 6 and set up angle adjusting mechanism, comprise the 3rd motor 15, eccentric wheel 8, first connecting rod 9, second connecting rod 10, 3rd motor 15 is fixedly connected with frame 1, 3rd motor 15 output is fixedly connected with eccentric wheel 8, eccentric wheel 8 is hinged with one end of first connecting rod 9, the other end and slave arm 4 end of first connecting rod 9 are hinged, the output of second connecting rod 10 one end and the first motor 6 is hinged, the end of second connecting rod 10 other end and slave arm 4 is hinged, second connecting rod 10, the minor details of the first master arm 2, the minor details of slave arm 4, link 14 forms parallelogram transmission mechanism.
Described frame 1 is fixedly installed angle indicator 11, and eccentric wheel 8 upper surface is fixedly installed limited block 13, and limited block 13 is arranged in angle indicator 11 bilateral symmetry.
Described limited block 13 shape is cylindrical, and limited block 13 upper surface is higher than angle indicator 11 place plane.
Handwheel 12 is fixedly installed outside described eccentric wheel 8 periphery.
Specific embodiment as shown in Figure 1, the adjustable parallel manipulator of a kind of lathe of work level angle comprises the first motor 6 of driving first master arm 2, drive the second motor 7 of the second master arm 3, first motor 6, second motor 7 is fixedly connected in frame 1 respectively, first motor 6 and the second motor 7 associated movement can realize the motion of master arm, thus realize the motion of the hinged workbench of master arm head end 5 in master arm place plane, angle adjusting mechanism is driven by the 3rd motor 15 be fixed in frame 1, eccentric wheel 8 is fixedly connected with the 3rd motor 15 output, eccentric wheel 8 pulls the end of slave arm 4 by first connecting rod 9, by the minor details of slave arm 4, the minor details of the first master arm 2, the parallelogram transmission mechanism that link 14 and second connecting rod 10 are formed, the adjustment of working surface angle deflection can be carried out to workbench 5, ensure that and to move at master arm, when eccentric wheel 8 is motionless, the angle of workbench 5 operation plane is constant, when master arm motion, when eccentric wheel 8 rotates, the real-time adjustment of workbench 5 operation Plane Angle can be realized, in installation, hand rotation handwheel 12 outside eccentric wheel 8 periphery can be arranged on during the operation Plane Angle of debugging efforts platform 5, realize according to circumstances finely tuning working surface angle, save the debug time of equipment, improve operating efficiency, the limited block 13 being arranged on eccentric wheel 8 upper surface contacts with the angle indicator 11 be fixedly installed in frame 1 and coordinates, the angle that workbench 5 deflects can be indicated, also spacing effect is served, the working cell damaged workbench 5 when preventing angular deflection excessive and be fixed on workbench 5.
Claims (4)
1. the adjustable parallel manipulator of lathe of work level angle, comprise frame (1), motor, master arm, link (14), slave arm (4), workbench (5), motor comprises the first motor (6) and the second motor (7) that are fixedly connected with frame (1) respectively, master arm comprises the first master arm (2), second master arm (3), the end of the first master arm (2) is fixedly connected with the output of the first motor (6), the end of the second master arm (3) is fixedly connected with the output of the second motor (7), workbench (5) medial surface is fixedly connected with hinged leg (16), hinged leg (16) is provided with the first rotating shaft (17) and the second rotating shaft (18), the head end of the first master arm (2) and the head end of the second master arm (3) are articulated with the first rotating shaft (17) respectively, the head end of slave arm (4) is articulated with the second rotating shaft (18), it is characterized in that: be positioned at the first motor (6) top in frame (1) upper surface and set up angle adjusting mechanism, comprise the 3rd motor (15), eccentric wheel (8), first connecting rod (9), second connecting rod (10), 3rd motor (15) is fixedly connected with frame (1), 3rd motor (15) output is fixedly connected with eccentric wheel (8), eccentric wheel (8) is hinged with one end of first connecting rod (9), the other end and slave arm (4) end of first connecting rod (9) are hinged, the output of second connecting rod (10) one end and the first motor (6) is hinged, the end of second connecting rod (10) other end and slave arm (4) is hinged, second connecting rod (10), the minor details of the first master arm (2), the minor details of slave arm (4), link (14) composition parallelogram transmission mechanism.
2. the adjustable parallel manipulator of a kind of lathe of work level angle according to claim 1, it is characterized in that: described frame (1) is fixedly installed angle indicator (11), eccentric wheel (8) upper surface is fixedly installed limited block (13), and limited block (13) is arranged in angle indicator (11) bilateral symmetry.
3. the adjustable parallel manipulator of a kind of lathe of work level angle according to claim 2, it is characterized in that: described limited block (13) shape is cylindrical, limited block (13) upper surface is higher than angle indicator (11) place plane.
4. the adjustable parallel manipulator of a kind of lathe of work level angle according to claim 1, is characterized in that: be fixedly installed handwheel (12) outside described eccentric wheel (8) periphery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520505553.2U CN204819521U (en) | 2015-07-14 | 2015-07-14 | Parallelly connected mechanical hand with adjustable workstation angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520505553.2U CN204819521U (en) | 2015-07-14 | 2015-07-14 | Parallelly connected mechanical hand with adjustable workstation angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204819521U true CN204819521U (en) | 2015-12-02 |
Family
ID=54677162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520505553.2U Active CN204819521U (en) | 2015-07-14 | 2015-07-14 | Parallelly connected mechanical hand with adjustable workstation angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204819521U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160918A (en) * | 2017-12-23 | 2018-06-15 | 安徽鑫宏机械有限公司 | A kind of full-automatic melting is molded into wax apparatus |
| CN110216551A (en) * | 2019-06-26 | 2019-09-10 | 华中科技大学 | A kind of master-is passive to comply with polishing end |
| CN110281224A (en) * | 2019-08-08 | 2019-09-27 | 北京新松融通机器人科技有限公司 | A kind of 3DOF robot parallel mechanism |
| CN114961398A (en) * | 2021-02-28 | 2022-08-30 | 赵春成 | 5G communication signal tower |
-
2015
- 2015-07-14 CN CN201520505553.2U patent/CN204819521U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160918A (en) * | 2017-12-23 | 2018-06-15 | 安徽鑫宏机械有限公司 | A kind of full-automatic melting is molded into wax apparatus |
| CN108160918B (en) * | 2017-12-23 | 2019-09-06 | 安徽鑫宏机械有限公司 | A kind of full-automatic melting is molded into wax apparatus |
| CN110216551A (en) * | 2019-06-26 | 2019-09-10 | 华中科技大学 | A kind of master-is passive to comply with polishing end |
| CN110281224A (en) * | 2019-08-08 | 2019-09-27 | 北京新松融通机器人科技有限公司 | A kind of 3DOF robot parallel mechanism |
| CN114961398A (en) * | 2021-02-28 | 2022-08-30 | 赵春成 | 5G communication signal tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103879777B (en) | A kind of wire twisting machine I-beam wheel automatic conveying device | |
| CN204819521U (en) | Parallelly connected mechanical hand with adjustable workstation angle | |
| CN207289594U (en) | A kind of loading and unloading manipulator | |
| CN103831695A (en) | Large free-form surface robot polishing system | |
| CN204308960U (en) | A kind of manipulator | |
| CN204868076U (en) | Full -automatic five metals assembly machine | |
| CN208246220U (en) | A kind of automatic screwing device | |
| CN208262844U (en) | A kind of industrial robot Universal arm | |
| CN204148475U (en) | Curve turnover extractor | |
| CN211103267U (en) | Reciprocating telescopic polishing machine | |
| CN206677635U (en) | One kind machines non-linear liftout attachment | |
| CN104191204A (en) | Machine tool special for riveting globe joint | |
| CN203236479U (en) | Intelligent control manipulator | |
| CN201783936U (en) | Rotary clamp | |
| CN201483260U (en) | Device for processing irregular workpieces | |
| CN211517130U (en) | Automatic clamping manipulator | |
| CN107552670B (en) | Stamping feeding robot | |
| CN203437896U (en) | Point pressing device | |
| CN207953892U (en) | A kind of manipulator of five metalworkings | |
| CN202684220U (en) | Cambered surface processing device of screwdriver head | |
| CN205914905U (en) | Intelligence welding robot device | |
| CN205254530U (en) | Rack automatic assembly lathe | |
| CN210358262U (en) | Automatic cleaning device of welding gun head of welding robot | |
| CN209288891U (en) | A kind of Corrugated Roller Grinding Machine mechanism | |
| CN103521845B (en) | Screwdriver head curved face processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170911 Address after: 050000 friendship Street, Shijiazhuang, Hebei, No. 46 Patentee after: APPLICATION MATHEMATICS INSTITUTE, HEBEI ACADEMY OF SCIENCES Address before: 050081 friendship Street, Shijiazhuang, Hebei, No. 46 Patentee before: Shijiazhuang Development Zone Jike Shangshi Sci-Tech Co., Ltd. |
|
| TR01 | Transfer of patent right |