CN208773563U - Manipulator based on delta parallel institution - Google Patents
Manipulator based on delta parallel institution Download PDFInfo
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- CN208773563U CN208773563U CN201820938027.9U CN201820938027U CN208773563U CN 208773563 U CN208773563 U CN 208773563U CN 201820938027 U CN201820938027 U CN 201820938027U CN 208773563 U CN208773563 U CN 208773563U
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- manipulator
- parallel institution
- driven wheel
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Abstract
The utility model discloses the manipulators based on delta parallel institution, including manipulator ontology, translation mould group is disposed with above manipulator ontology, parallel institution and rotating mechanism are disposed between manipulator ontology and translation mould group, parallel institution includes that arm is combined in three groups of overturnings, three groups of overturning combination arm composition Mitsubishis bore component, and rotating mechanism is arranged along the central axes of Mitsubishi's cone component.The utility model rotates handgrip independently of manipulator ontology by designing rotating mechanism, the applicable situation of manipulator can be expanded, can both rotating mechanism be driven to work by design output transmission mechanism, the rotation of manipulator ontology can be driven by parallel institution again, relative to existing same type manipulator, the utility model can not only be such that handgrip overturns, its rotation can also be made to adjust the orientation of workpiece, be widely portable to manipulator technical field.
Description
Technical field
The utility model relates to manipulator technical fields, in particular to the manipulator based on delta parallel institution.
Background technique
Delta parallel manipulator has the characteristics that high speed light loading, widely applies during the process and assemble of electronic product,
But traditional parallel manipulator is typically only capable to do some crawls, translation and easy rotary movement, and manipulator can not be made independent
Realize rotation.
Utility model content
The technical problem to be solved by the utility model is to provide the manipulators based on delta parallel institution, pass through increase
Make manipulator that the movement of flat turn be implemented separately independently of the rotating arm of parallel-connection structure, expands use scope.
Used technical solution to solve above-mentioned technical problem:
Based on the manipulator of delta parallel institution, including manipulator ontology, translation mould is disposed with above manipulator ontology
Group, is disposed with parallel institution and rotating mechanism between manipulator ontology and translation mould group, parallel institution includes three groups of overturning combinations
Arm, three groups of overturning combination arm composition Mitsubishis bore component, and rotating mechanism is arranged along the central axes of Mitsubishi's cone component.
Further, translation mould group includes output motor and the translational disk below output motor, is disposed in translational disk
Export transmission mechanism, output transmission mechanism include with output motor transmission connection main shaft, be mounted on main shaft lower end driving wheel,
The first driven wheel for being engaged with driving wheel, by STATEMENT OF FEDERALLY SPONSORED and the second driven wheel of the first driven wheel linkage, cover on main shaft
Hollow shaft, the third driven wheel for being mounted on hollow shaft lower end, the second driven wheel are engaged with third driven wheel, the upper end of hollow shaft with
The cabinet of output motor is fixed, and lower end and the rotating mechanism of STATEMENT OF FEDERALLY SPONSORED are fixed.
Further, STATEMENT OF FEDERALLY SPONSORED is located at the lower section of main shaft, and there are two shafts, the first driven wheel to be mounted on it for arrangement in STATEMENT OF FEDERALLY SPONSORED
In in a shaft, the second driven wheel is mounted in another shaft.
Further, rotating mechanism includes two flexible compound rods, and two shafts pass through Hooks coupling universal coupling and flexible group respectively
Bar connection is closed, the lower end of two flexible compound rods passes through Hooks coupling universal coupling and is mounted on manipulator ontology.
Further, the lower disposed of manipulator ontology has handgrip, is disposed with first through hole in the middle part of manipulator ontology, and first
The transition structure at the top of connection handgrip with two flexible compound rods is disposed in through-hole, positioned at the ten thousand of two flexible compound rod lower ends
It is fixed to the bottom of shaft coupling with transition structure.
Further, the top of first through hole is disposed with sealing cover, and there are two the second through-holes for arrangement on sealing cover, and two are located at
The bottom of the Hooks coupling universal coupling of flexible compound rod lower end is each passed through corresponding second through-hole.
Further, the first driven wheel and the second driven wheel are located at the left and right sides of main shaft.
Further, each overturning combination arm include with translational disk hinged two it is long-armed and respectively with each long-armed hinged master
Arm, there are three retarders corresponding with each principal arm for installation on manipulator ontology, and each principal arm and corresponding retarder output end are hinged.
Further, the main body of STATEMENT OF FEDERALLY SPONSORED is fixed with translational disk.
The utility model has the advantages that the utility model rotates handgrip independently of manipulator ontology by designing rotating mechanism, can expand
The applicable situation of manipulator can not only drive rotating mechanism to work, but also can pass through parallel institution band by design output transmission mechanism
Dynamic manipulator ontology rotation, relative to existing same type manipulator, the utility model can not only be such that handgrip overturns, can be with
Make its rotation to adjust the orientation of workpiece, is widely portable to manipulator technical field.
Detailed description of the invention
Fig. 1 is the structure chart of the utility model；
Fig. 2 is that the structure chart after the cover is removed in Fig. 1；
Fig. 3 is the structure chart of manipulator ontology after removing the cover；
Fig. 4 is the top view of structure in Fig. 3；
Fig. 5 is the structure chart of translation mould group；
Fig. 6 is the main view of structure in Fig. 5；
Fig. 7 is A-A cross-sectional view in Fig. 6；
Fig. 8 is the structure chart for the output transmission mechanism being translatable in mould group；
Fig. 9 is the main sectional view of structure in Fig. 8；
Figure 10 is the assembly structure figure of rotating arm and the mould group that is translatable.
Specific embodiment
The utility model is described further below with reference to Fig. 1 to Figure 10.
Based on the manipulator of delta parallel institution, including manipulator ontology 10, the top of manipulator ontology 10 is disposed with flat
Dynamic model group 20 is disposed with parallel institution and rotating mechanism between manipulator ontology 10 and translation mould group 20.Manipulator ontology 10
Lower disposed has a handgrip, and in the present embodiment, handgrip is vacuum chuck.The top of handgrip and the bottom of rotating mechanism are fixed indirectly,
Handgrip can be made to rotate independently of manipulator ontology 10 by rotating mechanism.Manipulator ontology 10 can be made to overturn by parallel institution,
And handgrip is driven to overturn together.Parallel institution includes that arm is combined in three groups of overturnings, and three groups of overturning combination arm composition Mitsubishis bore component, rotation
Rotation mechanism is arranged along the central axes of Mitsubishi's cone component.
The mould group 20 that is translatable includes output motor 21 and the translational disk 22 positioned at 21 lower section of output motor, is arranged in translational disk 22
There is output transmission mechanism, output transmission mechanism includes the main shaft 251 being sequentially connected with output motor 21, is mounted under main shaft 251
The driving wheel 240 at end, the first driven wheel 241 engaged with driving wheel 240 are linked by STATEMENT OF FEDERALLY SPONSORED 26 and the first driven wheel 241
The second driven wheel 242, the hollow shaft 252 covered on main shaft 251, the third driven wheel 243 for being mounted on 252 lower end of hollow shaft,
Second driven wheel 242 is engaged with third driven wheel 243, and the upper end of hollow shaft 252 and the cabinet of output motor 21 are fixed, linkage
The lower end of part 26 is fixed with rotating mechanism.In the present embodiment, realized by 21 cabinet of output motor and the fixed of hollow shaft 252
The mould group that is translatable 20 is integrally-built firm.
Such as Fig. 7, passes through bevel-gear sett in the present embodiment, between the output shaft and main shaft 251 of output motor 21 and be driven.
STATEMENT OF FEDERALLY SPONSORED 26 is located at the lower section of main shaft 251, and there are two shaft 23, the first driven wheel 241 peaces for arrangement in STATEMENT OF FEDERALLY SPONSORED 26
It is installed therein in a shaft 23, the second driven wheel 242 is mounted in another shaft 23.
Such as Fig. 7, Fig. 9 and Figure 10, in the present embodiment, main shaft 251 drives driving wheel 240 to rotate, and driving wheel 240 drives first
Driven wheel 241 rotates.On the one hand, the first driven wheel 241 drives the rotation of the second driven wheel 242 by STATEMENT OF FEDERALLY SPONSORED 26, rotates with it
Hollow shaft 252 will lead to the rotation of output motor 21, but in real work, the rotation of output motor 21 will affect its output shaft
With the transmission between main shaft 251, therefore in the present embodiment in addition design have coupled structure to offset this turn of output motor 21
It is dynamic, but this part coupled structure and the disclosure for being not belonging to the utility model.On the other hand, in the band of the first driven wheel 241
Under dynamic, STATEMENT OF FEDERALLY SPONSORED 26 itself is also to synchronously rotate, so that the rotating mechanism for being located at 20 lower section of translation mould group be driven to rotate, into
And handgrip is driven to rotate, to realize output motor 21 to the power output of rotating mechanism.
In the present embodiment, the first driven wheel 241 and the second driven wheel 242 are located at the left and right sides of main shaft 251, can make
Uniform force when STATEMENT OF FEDERALLY SPONSORED 26 rotates.
In addition, the main body and translational disk 22 of STATEMENT OF FEDERALLY SPONSORED 26 are fixed, therefore STATEMENT OF FEDERALLY SPONSORED 26 is in rotation in the present embodiment
Manipulator ontology 10 can be driven to rotate by parallel institution.
Rotating mechanism includes two flexible compound rods 28, and two shafts 23 are combined by Hooks coupling universal coupling 27 with flexible respectively
Bar 28 connects, and the lower end of two flexible compound rods 28 passes through Hooks coupling universal coupling 27 and is mounted on manipulator ontology 10.
As shown in Figure 1, Figure 3 and Figure 4, the middle part of manipulator ontology 10 is disposed with first through hole, and connection is disposed in first through hole
With the transition structure of two flexible compound rods 28 at the top of handgrip, the Hooks coupling universal coupling 27 positioned at two flexible 28 lower ends of compound rod
Bottom fixed with transition structure.
The disposed outside of manipulator ontology 10 has the cover, and first through hole extends not only through manipulator ontology 10, while also extending
To the cover.The top of first through hole is disposed with sealing cover 29, and there are two the second through-holes for arrangement on sealing cover 29, and two positioned at flexible
The bottom of the Hooks coupling universal coupling 27 of 28 lower end of compound rod is each passed through corresponding second through-hole.Sealing cover 29, which not only has, seals the cover
Effect, while also providing fulcrum for the rotation of rotating mechanism.
Hooks coupling universal coupling 27 is installed at the both ends of flexible compound rod 28, is in order to avoid rotating mechanism interferes manipulator ontology
10 rotary movement.In the present embodiment, each flexible compound rod 28 is substantially rolling spline pair.
Each overturning combination arm include two long-armed 13 hinged with translational disk 22 and respectively with each long-armed 13 hinged principal arm
12, linkage structure is disposed between this two long-armed 13, synchronizes movement.On manipulator ontology 10 installation there are three with it is each
The corresponding retarder 11 of principal arm 12, each principal arm 12 and corresponding 11 output end of retarder are hinged.In the present embodiment, pass through three
Overturning combination arm forms the parallel-connection structure based on delta.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to
State embodiment, within the scope of knowledge possessed by those of ordinary skill in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (8)
1. the manipulator based on delta parallel institution, it is characterised in that: including manipulator ontology (10), manipulator ontology (10)
Top be disposed with translation mould group (20), manipulator ontology (10) be translatable mould group (20) between be disposed with parallel institution and rotation
Mechanism, parallel institution include that arm is combined in three groups of overturnings, and three groups of overturning combination arm composition Mitsubishis bore component, and rotating mechanism is bored along Mitsubishi
The central axes of component arrange that translation mould group (20) includes output motor (21) and the translational disk below output motor (21)
(22), output transmission mechanism is disposed in translational disk (22), output transmission mechanism includes being sequentially connected with output motor (21)
Main shaft (251), the driving wheel (240) for being mounted on main shaft (251) lower end, the first driven wheel engaged with driving wheel (240)
(241), pass through the second driven wheel (242) of STATEMENT OF FEDERALLY SPONSORED (26) and the first driven wheel (241) linkage, cover on main shaft (251)
Hollow shaft (252), the third driven wheel (243) for being mounted on hollow shaft (252) lower end, the second driven wheel (242) and third are driven
(243) engagement is taken turns, the upper end of hollow shaft (252) and the cabinet of output motor (21) are fixed, the lower end of STATEMENT OF FEDERALLY SPONSORED (26) and rotation
Mechanism is fixed.
2. the manipulator according to claim 1 based on delta parallel institution, it is characterised in that: STATEMENT OF FEDERALLY SPONSORED (26) is located at
The lower section of main shaft (251), there are two shaft (23), the first driven wheel (241) to be installed therein one for arrangement in STATEMENT OF FEDERALLY SPONSORED (26)
In shaft (23), the second driven wheel (242) is mounted in another shaft (23).
3. the manipulator according to claim 2 based on delta parallel institution, it is characterised in that: rotating mechanism includes two
A flexible compound rod (28), two shafts (23) are connect by Hooks coupling universal coupling (27) with flexible compound rod (28) respectively, and two
The lower end of flexible compound rod (28) passes through Hooks coupling universal coupling (27) and is mounted on manipulator ontology (10).
4. the manipulator according to claim 3 based on delta parallel institution, it is characterised in that: manipulator ontology (10)
Lower disposed have handgrip, first through hole is disposed in the middle part of manipulator ontology (10), connection handgrip is disposed in first through hole
The transition structure at top and two flexible compound rods (28) is located at the Hooks coupling universal coupling (27) of two flexible compound rod (28) lower ends
Bottom fixed with transition structure.
5. the manipulator according to claim 4 based on delta parallel institution, it is characterised in that: the top of first through hole
It is disposed with sealing cover (29), for arrangement there are two the second through-hole, two are located at flexible compound rod (28) lower end on sealing cover (29)
The bottom of Hooks coupling universal coupling (27) is each passed through corresponding second through-hole.
6. the manipulator according to claim 1 based on delta parallel institution, it is characterised in that: the first driven wheel (241)
The left and right sides of main shaft (251) is located at the second driven wheel (242).
7. the manipulator according to claim 1 based on delta parallel institution, it is characterised in that: each overturning combination arm packet
Include two long-armed (13) and respectively with each long-armed (13) the hinged principal arm (12) hinged with translational disk (22), manipulator ontology
(10) there are three retarders (11) corresponding with each principal arm (12), each principal arm (12) to export with corresponding retarder (11) for installation on
End is hinged.
8. the manipulator according to claim 2 based on delta parallel institution, it is characterised in that: the master of STATEMENT OF FEDERALLY SPONSORED (26)
Body and translational disk (22) are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820938027.9U CN208773563U (en) | 2018-06-15 | 2018-06-15 | Manipulator based on delta parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820938027.9U CN208773563U (en) | 2018-06-15 | 2018-06-15 | Manipulator based on delta parallel institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208773563U true CN208773563U (en) | 2019-04-23 |
Family
ID=66152485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820938027.9U Active CN208773563U (en) | 2018-06-15 | 2018-06-15 | Manipulator based on delta parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208773563U (en) |
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2018
- 2018-06-15 CN CN201820938027.9U patent/CN208773563U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220614 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 510700 2 Luogang District Xin Rui Road, Guangzhou, Guangdong Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
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| TR01 | Transfer of patent right |