CN206780394U - A kind of parallel wrist - Google Patents
A kind of parallel wrist Download PDFInfo
- Publication number
- CN206780394U CN206780394U CN201720156431.6U CN201720156431U CN206780394U CN 206780394 U CN206780394 U CN 206780394U CN 201720156431 U CN201720156431 U CN 201720156431U CN 206780394 U CN206780394 U CN 206780394U
- Authority
- CN
- China
- Prior art keywords
- centre strut
- pair
- mobile platform
- wrist
- support base
- 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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- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The utility model devises a kind of parallel wrist, and it is solved the problems, such as, and traditional wrist precision is low, load capacity is small.The wrist is characterised by, including for installing the support base of three serial chains and centre strut；The support base is in cylinder, on its circular surface, centre placement centre strut, and three serial chain circumference array distributions；The serial chain end connection mobile platform bottom；The centre strut end is connected with clamping device.This wrist can carry out accurate operation in the space of relatively narrower, there is very big application prospect in surgery, chemical experiment, biological study etc..
Description
Technical field
It the utility model is related to industrial robot field, and in particular to a kind of parallel wrist.It is mainly used in robot
Accurate operation.
Background technology
In robot manipulation field, it is sometimes desirable to which the space that end-of-arm tooling puts in relatively narrower carries out accurate operation, and this is just
Need design structure is compact there is larger flexibility ratio and the wrist of enough accuracy.Devise a kind of parallel hand herein for this
Wrist, rod member use mechanism in parallel, so had many good qualities：Precision is high, rigidity is high and load capacity is high.It is in surgery, chemistry
Experiment, biological study etc. have very big application prospect.
The content of the invention
Technical purpose of the present utility model is to overcome the problems of the prior art, there is provided a kind of parallel wrist.The hand
The space that wrist can put in relatively narrower carries out accurate operation, before having very big application in surgery, chemical experiment, biological study etc.
Scape.
The utility model in order to solve its technical problem used by technical scheme be：A kind of parallel wrist, it is special
Sign is, including for installing the support base of three serial chains and centre strut；The support base is in cylinder, its circular surface
On, centre placement centre strut, three serial chain circumference array distributions；The serial chain end connection mobile platform bottom；Institute
Centre strut end is stated to be connected with clamping device.
A kind of foregoing parallel wrist, it is characterised in that：The serial chain uses prismatic pair-revolute-revolute pair
The structure of series connection, it is made up of long and short two root bar；The stock of the serial chain is connected by prismatic pair with support base, and quarter butt one end leads to
Cross ball pair to be connected with stock, the other end is connected by revolute pair with mobile platform bottom.
A kind of foregoing parallel wrist, it is characterised in that：The centre strut uses prismatic pair-hinge-hinge-shifting
The structure of dynamic secondary series connection, is made up of three bars and two pairs of universal joints；The lower beam of the centre strut passes through prismatic pair and support
Seat connection, middle bar both ends are all connected with upper lower beam respectively by universal joint, and upper boom passes through the built-in rail plate of mobile platform
It is connected with clamping device.
A kind of foregoing parallel wrist, it is characterised in that：The mobile platform is in cylinder, its underpart circumference array
Three block-shaped protrusions of distribution and perforate, are connected to form revolute pair with the quarter butt of serial chain；Symmetrical two arch door shapes in its top
Projection, top perforate, pliers is fixed with axle.
A kind of foregoing parallel wrist, it is characterised in that：The clamping device by two connecting rods and pliers left and right
Two parts form；Connecting rod two end all perforates, pliers end Kai Liangge holes；Wherein one end of two connecting rods is all upper with centre strut
Bar is connected to form revolute pair, and the other end is connected with left and right two parts of pliers respectively；Left and right two parts of above-mentioned pliers further through
Axle is connected with mobile platform top.
In summary, this wrist has a support base, three serial chains, a centre strut, two couples of universal joints, one
Individual mobile platform, two connecting rods, a pliers.The mobile angle that can adjust wrist and realization by three serial chain stocks
The crawl of pliers.The space that the wrist can put in relatively narrower carries out accurate operation, there is wide answer in industrial robot field
With prospect and important social effect.
Brief description of the drawings
Fig. 1 is the structure total figure of wrist of the present utility model.
Fig. 2 is the sectional view of wrist of the present utility model.
Fig. 3 is the layout drawing of rod member of the present utility model.
Wherein：Numbering in Fig. 1 is respectively：1st, serial chain A 2, serial chain B 3, support base 4, centre strut 5, serial
Chain C 6, mobile platform bottom 7, mobile platform top 8, connecting rod A 9, connecting rod B 10, clamping device.
Numbering in Fig. 2 is respectively：11st, quarter butt 12, stock 13, lower beam 14, universal joint A 15, middle bar 16, ten thousand
To joint B 17, upper boom 18, left pincers 19, right pincers.
Embodiment
In order that the technical solution of the utility model, technical characteristic, reached purpose and function are easy to understand, tie below
Embodiment is closed, is expanded on further.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of parallel wrist, it is characterised in that including for installing three serial chains
1st, 2,5 and centre strut 4 support base 3；The support base is in cylinder, on its circular surface, centre placement centre strut, and three
Individual serial chain circumference array distribution；The serial chain end connection mobile platform bottom 6；The centre strut end and clamping work
The connection of tool 10.
Illustrate the course of work of the present utility model below according to Fig. 1-Fig. 3.
When the stock of three serial chains 1,2,5 and the lower beam of centre strut 4 are displaced outwardly simultaneously, wrist elongation, reach
After specified location, three serial chains stop movement, and now centre strut 4 continues to be displaced outwardly, between connecting rod A8 and connecting rod B9
Angle becomes big, left pincers 18 and the right separation of pincers 19, and then left and right pincers encase target object, and centre strut starts to move inwards, left pincers
18 and right pincers 19 it is close, grip objects.
When needing wrist flex, stop the movement of certain serial chain and keep the movement of other serial chains, then wrist is to stopping
The serial chain direction bending only moved.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in examples detailed above and specification is to illustrate this hair
Bright principle, without departing from the spirit and scope of the present invention, the present invention has various changes and modifications, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (5)
1. a kind of parallel wrist, it is characterised in that including the support base for installing three serial chains and centre strut；Institute
It is in cylinder to state support base, on its circular surface, centre placement centre strut, and three serial chain circumference array distributions；The string
Row chain end connection mobile platform bottom；The centre strut end is connected with clamping device.
A kind of 2. parallel wrist according to claim 1, it is characterised in that：The serial chain uses prismatic pair-rotation
Turn the structure of pair-revolute pair series connection, be made up of long and short two root bar；The stock of the serial chain is connected by prismatic pair and support base
Connect, quarter butt one end is connected by ball pair with stock, and the other end is connected by revolute pair with mobile platform bottom.
A kind of 3. parallel wrist according to claim 1, it is characterised in that：The centre strut using prismatic pair-
The structure of hinge-hinge-prismatic pair series connection, is made up of three bars and two pairs of universal joints；The lower beam of the centre strut passes through
Prismatic pair is connected with support base, and middle bar both ends are all connected with upper lower beam respectively by universal joint, and upper boom passes through mobile platform
Built-in rail plate is connected with clamping device.
A kind of 4. parallel wrist according to claim 1, it is characterised in that：The mobile platform is in cylinder, its
Three block-shaped protrusions of lower circumference array distribution and perforate, are connected to form revolute pair with the quarter butt of serial chain；Its top is symmetrically divided
Two arch door shape projections of cloth, top perforate, pliers are fixed with axle.
A kind of 5. parallel wrist according to claim 1, it is characterised in that：The clamping device by two connecting rods and
Left and right two parts composition of pliers；Connecting rod two end all perforates, pliers end Kai Liangge holes；Wherein one end of two connecting rods is all with
The upper boom of heart pillar is connected to form revolute pair, and the other end is connected with left and right two parts of pliers respectively；The left and right two of above-mentioned pliers
Part is connected further through axle with mobile platform top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720156431.6U CN206780394U (en) | 2017-09-07 | 2017-09-07 | A kind of parallel wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720156431.6U CN206780394U (en) | 2017-09-07 | 2017-09-07 | A kind of parallel wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206780394U true CN206780394U (en) | 2017-12-22 |
Family
ID=60703874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720156431.6U Expired - Fee Related CN206780394U (en) | 2017-09-07 | 2017-09-07 | A kind of parallel wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206780394U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
-
2017
- 2017-09-07 CN CN201720156431.6U patent/CN206780394U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171222 Termination date: 20180907 |