CN206154296U - Parallelly connected mechanical hand of gentle four degrees of freedom of cable slave arm - Google Patents
Parallelly connected mechanical hand of gentle four degrees of freedom of cable slave arm Download PDFInfo
- Publication number
- CN206154296U CN206154296U CN201621104703.XU CN201621104703U CN206154296U CN 206154296 U CN206154296 U CN 206154296U CN 201621104703 U CN201621104703 U CN 201621104703U CN 206154296 U CN206154296 U CN 206154296U
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- CN
- China
- Prior art keywords
- flexible cable
- slave arm
- connecting shaft
- arm
- cable slave
- Prior art date
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Abstract
The utility model discloses mainly proposed the parallelly connected mechanical hand of four degrees of freedom with gentle suo zuowei slave arm, because the slave arm adopts gentle hitch to construct weight reduction, consequently can make manipulator operation speed get a promotion. Should draw together quiet platform and move the platform by parallelly connected mechanical handbag, still include first actuating arm, first actuating arm and gentle cable slave arm connecting axle, first gentle all alone slave arm, first gentle all alone slave arm and move the platform connecting axle, include still that second actuating arm, second actuating arm are with gentle cable slave arm connecting axle, the gentle cable slave arm of second, the gentle cable slave arm of second and move the platform connecting axle, include still that third actuating arm, third actuating arm are with gentle cable slave arm connecting axle, the gentle cable slave arm of third, the gentle cable slave arm of third and move the platform connecting axle, still include universal coupling, guide bar, scalable pole, spring, universal coupling. First actuating arm, second actuating arm and the common control of manipulator's of third actuating arm motion.
Description
【Technical field】
The utility model is related to a kind of parallel manipulator.
【Background technology】
Product in the industries such as electronics, light industry, food, medical treatment often has small volume, lightweight, the spy more than quantity
Point, carrying and the sorting of these products need high-speed parallel manipulator to complete.Although existing parallel manipulator reached compared with
Fast speed, but its operating speed has not increasingly caught up with the beat of industrial other production links, accordingly, it would be desirable to optimize knot
Structure is so as to further improving the operating speed of parallel manipulator.
【Utility model content】
The utility model proposes a kind of four-degree-of-freedparallel parallel manipulator using flexible cable as slave arm, the parallel manipulator
Slave arm mitigates weight using flexible cable structure, and manipulator operating speed in the case where input power is constant can be made to get a promotion.
A kind of four-degree-of-freedparallel parallel manipulator using flexible cable as slave arm, it is characterised in that flat with dynamic including silent flatform 11
Platform 114, also including the first actuating arm 12, the first actuating arm and flexible cable slave arm connecting shaft 15, the first flexible cable slave arm 18, first
Flexible cable slave arm and moving platform connecting shaft 111；Second actuating arm 13, the second actuating arm and flexible cable slave arm connecting shaft 16, second
Flexible cable slave arm 19, the second flexible cable slave arm and moving platform connecting shaft 112；3rd actuating arm 14, the 3rd actuating arm and flexible cable from
Swing arm connecting shaft 17, the 3rd flexible cable slave arm 110, the 3rd flexible cable slave arm and moving platform connecting shaft 113；Universal coupling 115,
Guide post 116, telescopic rod 117, spring 118, universal coupling 119.One end of the first described actuating arm 12 and silent flatform
11 are connected, and the other end of the first actuating arm 12 is connected by connecting shaft 15 with one end of the first flexible cable slave arm 18, and first
The other end of flexible cable slave arm 18 is connected by connecting shaft 111 with moving platform 114；One end of the second described actuating arm 13 with
Silent flatform 11 is connected, and the other end of the second actuating arm 13 is connected by connecting shaft 16 with one end of the second flexible cable slave arm 19
Connect, the other end of the second flexible cable slave arm 19 is connected by connecting shaft 112 with moving platform 114；The 3rd described actuating arm 14
One end be connected with silent flatform 11, the other end of the 3rd actuating arm 14 is by the flexible cable slave arm 110 of connecting shaft 17 and the 3rd
One end is connected, and the other end of the 3rd flexible cable slave arm 110 is connected by connecting shaft 113 with moving platform 114.First drives
Arm, the motion of the second actuating arm and the 3rd actuating arm co- controlling manipulator.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that the universal joint shaft
One end of section 115 is fixedly connected with the axle 121 on silent flatform 11, and the other end is fixed with one end of guide post 116, guide post
116 other end is connected with telescopic rod 117, is provided with axial hole in guide post 116, and ensures that telescopic rod 117 can be
Freely stretch in guide post axial hole, gathering sill 124 is provided with telescopic rod 117, by the positioning spiral shell being screwed on guide post 116
The cooperation of bolt 122 and gathering sill 124 is so as to limiting rotation of the telescopic rod 117 in guide post, the other end of telescopic rod 117
One end of universal coupling 119 is connected to, the other end of universal coupling 119 is fixed with the axle 123 being located on moving platform 114 and connected
Connect；Be cased with spring 118 on telescopic rod 117, spring 118 is in compressive state, its elastic force make flexible cable slave arm 18, flexible cable from
Swing arm 19, flexible cable slave arm 110 are stretched all the time.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that the connecting shaft 15
One end be provided with pulley 21, the other end of connecting shaft 15 is provided with pulley 22, and two pulleys are by bearing pin 24 and 25 and connecting shaft 15
It is connected.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that the connecting shaft
111 one end is provided with pulley 29, and the other end of connecting shaft 111 is provided with pulley 210, and two pulleys are by the profit of bearing pin 211 212 and even
Spindle 111 is connected, and the groove 31 that flexible cable 28 can be allowed to pass through is provided with connecting shaft 111.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that first flexible cable
Slave arm 18 is made up of flexible cable 28, and flexible cable 28 sequentially passes through pulley 21, pulley 29, connecting shaft 111, pulley 210, pulley 22；It is soft
One end pressing plate 26 of rope 28 is fixed in connecting shaft 15, and the other end pressing plate 27 of flexible cable 28 is fixed on axle 15；And it is soft
Rope 28, connecting shaft 15, connecting shaft 111 manipulator is static and motion during all parallelogram configurations.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that the connecting shaft
16th, connecting shaft 17 adopts identical structure using with connecting shaft 15.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that the connecting shaft
12nd, the connecting shaft 113 adopts identical structure using with connecting shaft 111.
As above using flexible cable as the four-degree-of-freedparallel parallel manipulator of slave arm, it is characterised in that second flexible cable
Slave arm 19, the 3rd flexible cable slave arm 110 is adopted and the identical structure of the first flexible cable slave arm 18.
Compared with prior art, the utility model employs the slave arm of flexible cable structure, can further mitigate parallel machine
Device people's weight, so as to improve parallel robot operating speed.
【Description of the drawings】
Fig. 1 is a kind of planar structure schematic diagram of flexible cable slave arm four-degree-of-freedparallel parallel manipulator of the utility model
Fig. 2 is the utility model dimensional structure diagram
Fig. 3 is the utility model slave arm planar structure schematic diagram
Fig. 4 is the utility model slave arm top half dimensional structure diagram
Fig. 5 is the utility model slave arm the latter half dimensional structure diagram
【Specific embodiment】
Below by embodiment, and accompanying drawing is combined, the technical solution of the utility model is described further.
Embodiment：
As depicted in figs. 1 and 2, the utility model includes silent flatform 11 and moving platform 114, also including the first actuating arm 12,
First actuating arm and flexible cable slave arm connecting shaft 15, the first flexible cable slave arm 18, the first flexible cable slave arm and moving platform connecting shaft
111；Second actuating arm 13, the second actuating arm and flexible cable slave arm connecting shaft 16, the second flexible cable slave arm 19, the second flexible cable are driven
Arm and moving platform connecting shaft 112；3rd actuating arm 14, the 3rd actuating arm and flexible cable slave arm connecting shaft 17, the 3rd flexible cable are driven
Arm 110, the 3rd flexible cable slave arm and moving platform connecting shaft 113；Also include universal coupling 115, guide post 116, telescopic rod
117, spring 118, universal coupling 119.One end of first actuating arm 12 is connected by decelerator with silent flatform, the other end and company
Spindle 15 is connected, and bearing is housed in connecting shaft 15, and bearing is fixed in the connecting hole of the first actuating arm 12 by jump ring.First
The upper end of slave arm 18 is connected with the first actuating arm 12 by connecting shaft 15, and lower end is connected by connecting shaft 111 with moving platform 114.
Connecting hole is provided with moving platform, bearing is housed in connecting shaft 111, bearing is fixed in the connecting hole of moving platform by jump ring.
Such as Fig. 3, Fig. 4, shown in Fig. 5, slave arm adopts flexible cable structure.One end of flexible cable 28 is fixed by pressing plate 26 with bolt
In one end of connecting shaft 15, then flexible cable sequentially passes through pulley 21, pulley 29, connecting shaft 111, pulley 210, pulley 22, finally
The other end of flexible cable 28 is fixed by bolts to the other end of connecting shaft 15 by pressing plate 27.
Below the composition of a side chain is only described, because three side chains of parallel manipulator adopt identical structure,
For other two side chain, just no longer Ao Shu here.
The one end of universal coupling 115 is connected by bearing pin and axle 121 on silent flatform 11, the other end by bearing pin and
The guide post 116 of central aperture is connected, in the hole of the insertion guide post 116 of telescopic rod 117, and by leading on guide post 116
Coordinate to the gathering sill on bolt and telescopic rod 117 and limit the mesh that telescopic rod 117 rotates in guide post 116 to reach
's.The other end of telescopic rod 117 is connected by bearing pin and universal coupling 119, and universal coupling 119 with it is scalable
Spring 118 is additionally provided between bar 117, to ensure manipulator running in the flexible cable of slave arm be constantly in extended state.Ten thousand
Pass through bearing pin to the other end of shaft coupling and the axle 123 on moving platform 114 is connected.
When using, by three master arm coordinations of Serve Motor Control, arm end can be made to reach manipulator
The locus that structure is allowed, manipulator at this moment only has three degree of freedom.If increasing a motor on silent flatform
Band moving axis 121 rotates so as to final band moving axis 123, and manipulator can just realize four frees degree.
Above example only to illustrate the technical solution of the utility model, rather than a limitation.The embodiment is to this
It is bright to be described in detail, it will be understood by those within the art that, and the skill that previous embodiment can be recorded
Art scheme is modified, or its some technical characteristics are carried out with equivalent, and these modifications or replacement, do not make corresponding skill
The essence of art scheme departs from the spirit and scope of technical solutions of the utility model.
Claims (8)
1. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator, it is characterised in that including silent flatform 11 and moving platform 114, also wrap
Include the first actuating arm 12, the first actuating arm and flexible cable slave arm connecting shaft 15, the first flexible cable slave arm 18, the first flexible cable slave arm
With moving platform connecting shaft 111；Second actuating arm 13, the second actuating arm and flexible cable slave arm connecting shaft 16, the second flexible cable slave arm
19th, the second flexible cable slave arm and moving platform connecting shaft 112；3rd actuating arm 14, the 3rd actuating arm and flexible cable slave arm connecting shaft
17th, the 3rd flexible cable slave arm 110, the 3rd flexible cable slave arm and moving platform connecting shaft 113；Also include universal coupling 115, be oriented to
Bar 116, telescopic rod 117, spring 118, universal coupling 119；One end of the first described actuating arm 12 and the phase of silent flatform 11
Connection, the other end of the first actuating arm 12 is connected by connecting shaft 15 with one end of the first flexible cable slave arm 18, the first flexible cable
The other end of slave arm 18 is connected by connecting shaft 111 with moving platform 114；One end of the second described actuating arm 13 is flat with quiet
Platform 11 is connected, and the other end of the second actuating arm 13 is connected by connecting shaft 16 with one end of the second flexible cable slave arm 19, the
The other end of two flexible cable slave arms 19 is connected by connecting shaft 112 with moving platform 114；One end of the 3rd described actuating arm 14
It is connected with silent flatform 11, the other end of the 3rd actuating arm 14 passes through one end phase of connecting shaft 17 and the 3rd flexible cable slave arm 110
Connection, the other end of the 3rd flexible cable slave arm 110 is connected by connecting shaft 113 with moving platform 114；First actuating arm, second
The motion of actuating arm and the 3rd actuating arm co- controlling manipulator.
2. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that described universal
One end of shaft coupling 115 is fixedly connected with the axle 121 on silent flatform 11, and the other end is fixed with one end of guide post 116, is led
It is connected with telescopic rod 117 to the other end of bar 116, opening in guide post 116 axially has hole, and ensures the energy of telescopic rod 117
It is enough freely to stretch in guide post axial hole, gathering sill 124 is provided with telescopic rod 117, by being screwed in determining on guide post 116
The cooperation of position bolt 122 and gathering sill 124 so as to limit rotation of the telescopic rod 117 in guide post, telescopic rod 117 it is another
One end is connected to one end of universal coupling 119, and the other end of universal coupling 119 is consolidated with the axle 123 being located on moving platform 114
Fixed connection；It is cased with spring 118 on telescopic rod 117, spring 118 is in compressive state, its elastic force makes flexible cable slave arm 18, soft
Rope slave arm 19, flexible cable slave arm 110 are stretched all the time.
3. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that the connection
One end of axle 15 is provided with pulley 21, and the other end of connecting shaft 15 is provided with pulley 22, and two pulleys pass through bearing pin 24 and 25 and are connected
Axle 15 is connected.
4. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that the connection
One end of axle 111 is provided with pulley 29, and the other end of connecting shaft 111 is provided with pulley 210, two pulleys by bearing pin 211 and 212 with
Connecting shaft 111 is connected, and the groove 31 that flexible cable 28 can be allowed to pass through is provided with connecting shaft 111.
5. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that described first
Flexible cable slave arm 18 is made up of flexible cable 28, and flexible cable 28 sequentially passes through pulley 21, pulley 29, connecting shaft 111, pulley 210, pulley
22；One end pressing plate 26 of flexible cable 28 is fixed in connecting shaft 15, and the other end pressing plate 27 of flexible cable 28 is fixed on connecting shaft 15
On；And flexible cable 28, connecting shaft 15, connecting shaft 111 manipulator is static and motion during all parallelogram configurations.
6. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that the connection
Axle 16 adopts identical structure with connecting shaft 17 using with connecting shaft 15.
7. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that the connection
Axle 112 adopts identical structure with connecting shaft 113 using with connecting shaft 111.
8. a kind of flexible cable slave arm four-degree-of-freedparallel parallel manipulator according to claim 1, it is characterised in that described second
Flexible cable slave arm 19 and the 3rd flexible cable slave arm 110 are adopted and the identical structure of the first flexible cable slave arm 18.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104703.XU CN206154296U (en) | 2016-09-29 | 2016-09-29 | Parallelly connected mechanical hand of gentle four degrees of freedom of cable slave arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104703.XU CN206154296U (en) | 2016-09-29 | 2016-09-29 | Parallelly connected mechanical hand of gentle four degrees of freedom of cable slave arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206154296U true CN206154296U (en) | 2017-05-10 |
Family
ID=58652542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621104703.XU Expired - Fee Related CN206154296U (en) | 2016-09-29 | 2016-09-29 | Parallelly connected mechanical hand of gentle four degrees of freedom of cable slave arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206154296U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
| CN113319821A (en) * | 2021-05-11 | 2021-08-31 | 北京若贝特智能机器人科技有限公司 | Delta parallel robot |
-
2016
- 2016-09-29 CN CN201621104703.XU patent/CN206154296U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
| CN113319821A (en) * | 2021-05-11 | 2021-08-31 | 北京若贝特智能机器人科技有限公司 | Delta parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20170929 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |