CN205614666U - Parallelly connected mechanical hand - Google Patents
Parallelly connected mechanical hand Download PDFInfo
- Publication number
- CN205614666U CN205614666U CN201620472931.6U CN201620472931U CN205614666U CN 205614666 U CN205614666 U CN 205614666U CN 201620472931 U CN201620472931 U CN 201620472931U CN 205614666 U CN205614666 U CN 205614666U
- Authority
- CN
- China
- Prior art keywords
- arm
- connecting hole
- connects
- slave arm
- litter
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a parallelly connected mechanical hand belongs to the manipulator field, comprising a supporting bar, bracing piece top joint support board, the hydraulic pump is connected at the backup pad top, the backup pad top is equipped with the connecting hole, electric telescopic handle is connected through the connecting hole in the hydraulic pump bottom, electric telescopic handle bottom fixed connection slide, slide both ends link block, the fixed block is connected respectively to slide bottom both sides, driving motor is connected to fixed block one side, driving motor one end is passed through the actuating lever and is connected the main arm, the main arm bottom is through the articulated slave arm of first pivot, the slave arm bottom is through the articulated platform supporting seat that moves of second pivot, moving the connection of platform supporting seat bottom and moving the platform base, through electric telescopic handle, make the manipulator reciprocate, set up recess and litter, the convenience is slided, and the main arm articulates through the pivot with the slave arm, and the slave arm also articulates through the pivot with moving the platform, makes the manipulator sturdy and durable.
Description
Technical field
This utility model relates to a kind of parallel manipulator, belongs to mechanical hand field.
Background technology
Mechanical hand can imitate some holding function of staff and arm, in order to by fixed routine capture, carrying object or
The automatic pilot of operation instrument.Mechanical hand is the industrial robot occurred the earliest, is also showing of occurring the earliest
For robot, it can replace the heavy labor of people to realize the mechanization and the automatization that produce, can be at hostile environment
Lower operation is to protect personal safety, thus is widely used in machine-building, metallurgy, electronics, light industry and atomic energy
In department.
Mechanical hand is mainly made up of actuator, drive mechanism and control system three parts.Hand is used to grab
Hold the parts of workpiece (or instrument), want according to by the grasping shape of object, size, weight, material and operation
Ask and have various structures form, such as clamp-type, holding type and absorbent-type etc..Motion, makes hand complete respectively
Kind rotate (swing), mobile or compound motion realizes the action of regulation, change by the position of grasping object with
Posture.The degree of freedom of the self-movement modes, referred to as mechanical hand such as the lifting of motion, flexible, rotation.
In order to capture optional position and the object in orientation in space, need to there be 6 degree of freedom.Degree of freedom is that mechanical hand sets
The key parameter of meter.Degree of freedom is the most, and the motility of mechanical hand is the biggest, and versatility is the widest, and its structure is also got over
Complicated.General special manipulator has 2～3 degree of freedom.Control system is by degree of freedom each to mechanical hand
The control of motor, complete specific action.Receive the information of sensor feedback simultaneously, form stable closed loop
Control.The core of control system is typically to be made up of the microcontroller chip such as single-chip microcomputer or dsp, by programming it
Realize wanted function.
Utility model content
The technical problems to be solved in the utility model overcomes existing defect, it is provided that a kind of parallel manipulator, passes through
Electric expansion bar is set, makes mechanical hand to move up and down, groove and litter be set, convenient slide, principal arm with
Slave arm is hinged by rotating shaft, and slave arm and moving platform are hinged also by rotating shaft, make mechanical hand sturdy and durable.
In order to solve above-mentioned technical problem, this utility model provides following technical scheme:
A kind of parallel manipulator, including support bar, described support bar top connects gripper shoe, described gripper shoe top
Portion connects hydraulic pump, and described gripper shoe top is provided with connecting hole, connects electricity by connecting hole bottom described hydraulic pump
Dynamic expansion link, fixing connection slide plate, described slide plate two ends connection sliding block, described cunning bottom described electric expansion bar
Plate two bottom sides connection fixing block respectively, described fixed block side connects driving motor, described driving motor one end
Principal arm is connected, by the first hinged slave arm of rotating shaft bottom described principal arm, bottom described slave arm by drive rod
Supporting seat by the second hinged moving platform of rotating shaft, described moving platform supports seat bottom portion and connects moving platform base, described
Support bar side is provided with groove, and described groove inner chamber is provided with litter, described litter nested encryptions slide block.
Furthermore, described support bar, slide block, fixed block, driving motor, drive rod, principal arm, driven
Arm, groove, slide block and litter quantity are two, and mutually symmetrical with.
Furthermore, described principal arm is elongated tabular.
Furthermore, described electric expansion bar runs through connecting hole, and described connecting hole is circular.
This utility model beneficial effect: by arranging electric expansion bar, makes mechanical hand to move up and down, and arranges
Groove and litter, convenient slip, principal arm and slave arm are hinged by rotating shaft, and slave arm and moving platform are also by turning
Axle is hinged, makes mechanical hand sturdy and durable.
Accompanying drawing explanation
Accompanying drawing is used for providing being further appreciated by of the present utility model, and constitutes a part for description, with this
The embodiment of utility model is used for explaining this utility model together, is not intended that restriction of the present utility model.
Fig. 1 is this utility model one parallel manipulator structure chart；
Fig. 2 is this utility model one parallel manipulator moving platform structure chart；
Fig. 3 is this utility model one parallel manipulator driving device structure figure；
Fig. 4 is this utility model one parallel manipulator groove structure front view；
Fig. 5 is this utility model one parallel manipulator structure side view.
Label in figure: 1, support bar；2, gripper shoe；3, hydraulic pump；4, connecting hole；5, electric expansion
Bar；6, slide plate；7, slide block；8, fixed block；9, motor is driven；10, drive rod；11, principal arm；12、
First rotating shaft；13, slave arm；14, the second rotating shaft；15, moving platform supports seat；16, moving platform base；
17, groove；18, litter.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is illustrated, it will be appreciated that described herein
Preferred embodiment be merely to illustrate and explain this utility model, be not used to limit this utility model.
As Figure 1-5, including support bar 1, described support bar 1 top connects gripper shoe 2, described support
Plate 2 top connects hydraulic pump 3, and described gripper shoe 2 top is provided with connecting hole 4, logical bottom described hydraulic pump 3
Cross connecting hole 4 and connect electric expansion bar 5, fixing connection slide plate 6, described cunning bottom described electric expansion bar 5
Plate 6 two ends connection sliding block 7, described slide plate 6 two bottom sides connection fixing block 8, described fixed block 8 one respectively
Side connects driving motor 9, and described driving motor 9 one end connects principal arm 11, described principal arm by drive rod 10
By the first hinged slave arm of rotating shaft 12 13 bottom 11, by the second rotating shaft 14 bottom described slave arm 13
Hinged moving platform supports seat 15, and described moving platform supports and connects moving platform base 16, described support bottom seat 15
Bar 1 side is provided with groove 17, and described groove 17 inner chamber is provided with litter 18, and described litter 18 nested encryptions is sliding
Block 7.
More specifically, described support bar 1, slide block 7, fixed block 8, drive motor 9, drive rod 10,
Principal arm 11, slave arm 13, groove 17, slide block 7 are two with litter 18 quantity, and mutually symmetrical with,
Two principal arms 11 in parallel and slave arm 13, control moving platform and complete related work.
More specifically, described principal arm 11 is elongated tabular, more stable, and considers from mechanics, more
Easily conductance.
More specifically, described electric expansion bar 5 runs through connecting hole 4, and described connecting hole 4 is circular, hydraulic pressure
Connecting electric expansion bar 5 by connecting hole 4 bottom pump 3, hydraulic pump 3 controls the flexible of electric expansion bar 5,
Such that it is able to make mechanical hand lift.
This utility model improve in: by arranging electric expansion bar 5, make mechanical hand to move up and down, arrange
Groove 17 and litter 18, convenient slip, principal arm 11 and slave arm 13 are hinged by rotating shaft, slave arm 13
Hinged also by rotating shaft with moving platform, make mechanical hand sturdy and durable.
Being more than this utility model preferably embodiment, this utility model those skilled in the art can also
Above-mentioned embodiment is changed and revised, and therefore, this utility model is not limited to above-mentioned being embodied as
Mode, every those skilled in the art made on the basis of this utility model any conspicuously improved,
Replace or modification belongs to protection domain of the present utility model.
Claims (4)
1. a parallel manipulator, including support bar (1), it is characterised in that described support bar (1) pushes up
Portion connects gripper shoe (2), and described gripper shoe (2) top connects hydraulic pump (3), described gripper shoe (2)
Top is provided with connecting hole (4), and described hydraulic pump (3) bottom connects electric expansion bar by connecting hole (4)
(5), described electric expansion bar (5) bottom is fixing connects slide plate (6), and described slide plate (6) two ends connect
Slide block (7), described slide plate (6) two bottom sides connection fixing block (8), described fixed block (8) respectively
Side connects driving motor (9), and described driving motor (9) one end connects principal arm (11) by drive rod (10),
Described principal arm (11) bottom is by the first rotating shaft (12) hinged slave arm (13), described slave arm (13)
Bottom supports seat (15) by the second rotating shaft (14) hinged moving platform, and described moving platform supports seat (15) end
Portion connects moving platform base (16), and described support bar (1) side is provided with groove (17), described groove (17)
Inner chamber is provided with litter (18), described litter (18) nested encryptions slide block (19).
A kind of parallel manipulator, it is characterised in that: described support bar (1),
Slide block (7), fixed block (8), drive motor (9), drive rod (10), principal arm (11), driven
Arm (13), groove (17), slide block (19) and litter (18) quantity are two, and mutually symmetrical with.
A kind of parallel manipulator, it is characterised in that: described principal arm (11) is
Elongated tabular.
A kind of parallel manipulator, it is characterised in that: described electric expansion bar (5)
Running through connecting hole (4), described connecting hole (4) is circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620472931.6U CN205614666U (en) | 2016-05-14 | 2016-05-14 | Parallelly connected mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620472931.6U CN205614666U (en) | 2016-05-14 | 2016-05-14 | Parallelly connected mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205614666U true CN205614666U (en) | 2016-10-05 |
Family
ID=57024808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620472931.6U Expired - Fee Related CN205614666U (en) | 2016-05-14 | 2016-05-14 | Parallelly connected mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205614666U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127652A (en) * | 2018-01-31 | 2018-06-08 | 宁夏巨能机器人股份有限公司 | A kind of heavy type truss manipulator |
-
2016
- 2016-05-14 CN CN201620472931.6U patent/CN205614666U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127652A (en) * | 2018-01-31 | 2018-06-08 | 宁夏巨能机器人股份有限公司 | A kind of heavy type truss manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20180514 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |