CN209240016U - Light-duty grabbing device and its mechanical arm, robot based on parallel institution - Google Patents
Light-duty grabbing device and its mechanical arm, robot based on parallel institution Download PDFInfo
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- CN209240016U CN209240016U CN201822207099.9U CN201822207099U CN209240016U CN 209240016 U CN209240016 U CN 209240016U CN 201822207099 U CN201822207099 U CN 201822207099U CN 209240016 U CN209240016 U CN 209240016U
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Abstract
A kind of light-duty grabbing device and its mechanical arm, robot based on parallel institution, the device includes driving mechanism, executing agency, clamping device, the driving mechanism drives executing agency, the executing agency drives clamping device to realize crawl function, it is characterized in that: driving mechanism includes 4 actuator units comprising 5 driving mechanism units, executing agency, controls 4 actuator units by 5 driving mechanism units and realizes that five degree of freedom grabs function.The present apparatus is the utility model has the advantages that structure is simple, and compact, maintenance maintenance is convenient, can be realized comprehensive crawl function.
Description
Technical field
The utility model relates to a kind of mechanical engineering technical fields, more particularly, to one in a kind of light-duty machinery arm assembly
Light-duty grabbing device and its mechanical arm, robot of the kind based on parallel institution.
Background technique
Under the application background of intelligent storage, need quickly to grab article from different height, position, mechanical arm can be with mould
The partial function of hand and the arm exhibition of apery, can be accurately positioned certain point spatially, and grabs, carries in some way
Or realize other it is specific operate, compared to artificial operation mode, have the characteristics that safe and efficient.In numerous structures
In mechanical arm, parallel institution has the characteristics that high rigidity, mechanism are compact, dynamic response is good, is applicable to quick response, accurate
Positioning, motion stabilization and the occasion compared with big load.
Chinese patent application (application number: CN201711422120) discloses a kind of based on there is the robot of ordered-socs to grab
Device is taken, which includes pedestal, articulated arm, the first single open chain unit, the second single open chain unit, third single open chain unit and end
Actuator is held, the pedestal is connect with articulated arm, and the articulated arm is connect with the first single open chain unit, and described second is single
Open chain unit is connect with third single open chain unit, and the third single open chain unit is connect with end effector.
However, currently, the mobile robot for intelligent storage is often using the realization of universal series connection mechanical arm, driving
It is placed in joint, gravity torque is larger, and general volume is big and weighs, while rigidity, inertia and buffering effect all directly will affect hand
Position precision, response speed and the stationarity of arm；But meanwhile its space of traditional parallel institution is smaller, also constrains it
In the popularity of big working space field application.
Utility model content
The utility model aim is to solve above-mentioned deficiency in the prior art, proposes that a kind of light-duty based on parallel institution grabs
Take device and its application.
A kind of light-duty grabbing device based on parallel institution, including driving mechanism, executing agency, clamping device, the drive
Motivation structure drives executing agency, and the executing agency drives clamping device to realize crawl function, it is characterized in that: driving mechanism includes
5 driving mechanism units, executing agency include 4 actuator units, control described 4 by 5 driving mechanism units and hold
Row mechanism unit realizes comprehensive crawl function.
A kind of light-duty mechanical arm, including the above-mentioned light-duty grabbing device based on parallel institution.
A kind of robot, including above-mentioned light-duty mechanical arm, the machine is artificially applied to the robot of storage.
The utility model has the advantages that structure is simple, compact, maintenance maintenance is convenient, can be realized comprehensive crawl function.
Detailed description of the invention
Fig. 1 is light-duty grabbing device structural schematic diagram of the utility model based on parallel institution；
Fig. 2 is the light-duty grabbing device perspective view of the explosion based on parallel institution；
Fig. 3 is in the light-duty grabbing device executing agency component based on parallel institution one in 4 groups of parallel manipulator units
The perspective view of the explosion of group；
Fig. 4 is light-duty grabbing device driving mechanism cell schematics of the utility model based on parallel institution；
Fig. 5 is light-duty grabbing device executing agency component diagram of the utility model based on parallel institution.
Description of symbols: 1, center main drive motor；2, fixing end upper bed-plate；3, high-precision large pitch screw rod；4, light
Spindle guide bar；5, end link is executed；6, executing agency's upper end cover；7, executing agency's lower cover；8, inside engaged gear driver plate；9, driver plate
Driving motor；10, fixing end lower bottom base；11, end executes fixture；12, synchronous belt；13, feed screw nut；14, the small tooth of internal messing
Wheel；15, end face bearing.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments:
A kind of light-duty grabbing device based on parallel institution, including driving mechanism, executing agency, clamping device, the drive
Motivation structure drives executing agency, and the executing agency drives clamping device to realize that crawl function, driving mechanism include 5 driving machines
Structure unit, executing agency include 4 actuator units, control 4 actuator units by 5 driving mechanism units
Realize comprehensive crawl function.
As shown in Figure 1, 2, the light-duty grabbing device theory structure schematic diagram of the utility model.Including driving mechanism, execute
Mechanism, clamping device.Driving mechanism drives executing agency, and executing agency drives clamping device to realize crawl function.Driving mechanism
By center main drive motor 1, driver plate driving motor 9, fixing end upper bed-plate 2, high-precision large pitch screw rod 3, optical axis guide rod 4, Gu
Fixed end lower bottom base 10 forms.Fixing end upper bed-plate 2 is led greatly with fixing end lower bottom base 10 by four optical axis guide rods 4 and five precision
Journey screw rod 3 connects into an entirety, limits the forms of motion of the parallel institution grabbing device axial direction, the high-precision large pitch
Screw rod 3 is fixed by bearing and the upper and lower pedestal installation of two fixing ends.Driving mechanism includes 1 central drive mechanism unit and 4
Side driving mechanism unit, central drive mechanism unit include center main drive motor 1, and center high-precision large pitch screw rod 3 is described
The setting of high-precision large pitch screw rod 3 fixed by bearing and the upper and lower pedestal installation of fixing end at Up/down base center, and lead to
Cross be installed on fixing end upper bed-plate 2 center main drive motor 1 driving, it can be achieved that under motor driven flexible rotating, realize it is whole
The axial displacement of machine；One side driving mechanism unit includes 9, high-precision large pitch screw rods 3 of a driver plate driving motor, is led to
Crossing driver plate driving motor 9 drives high-precision large pitch screw rod 3 to rotate；4 side driving mechanism units pass through bearing and fixation respectively
It holds upper and lower pedestal installation to fix, and is driven respectively by being installed on the driver plate driving motor 9 of fixing end lower bottom base 10, can be distinguished
Realize the axial rotation of 4 actuator units.
Executing agency is by executing agency's upper end cover 6, four sets of actuator units in parallel, end face bearing 15, executing agency
Lower cover 7 forms, and the center of executing agency's upper end cover 6 and executing agency's lower cover 7 offers threaded hole, big with center high-precision
3 fitting of lead screw rod, executing agency's upper end cover 6 and 7 centre bore surrounding of executing agency's lower cover offer circular hole, and high-precision is led greatly
Journey screw rod 3, optical axis guide rod 4, extends there through, between executing agency's upper end cover 6 and actuator unit, 4 actuator units
Between, an executing agency is formed by end face bearing 15 between actuator unit and executing agency's lower cover 7.Clamping device
By execution end link 5, end executes fixture 11 and forms, and executes end link 5 and is connected with end execution fixture 11 by bearing.
As shown in figure 3, an actuator unit is by a driver plate driving motor 9, a high-precision large pitch screw rod 3,
One optical axis guide rod 4, a screw rod attaching nut 13, an internal messing pinion gear 14, a synchronous belt 12, an internal messing tooth
It takes turns driver plate 8 to form, is sheathed with feed screw nut 13 on high-precision large pitch screw rod 3, internal messing pinion gear 14 is arranged on optical axis 4,
Feed screw nut 13 and internal messing pinion gear 14 are connected by synchronous belt 12, and internal messing pinion gear 14 and lead screw attaching nut 13 are by light
Spindle guide bar 4 and screw rod 3 limit freedom degree, the freedom degree for freedom degree and the axial displacement of can only rotating along itself axis, silk
The end face bearing 15 at stem nut driven-mechanism unit both ends limits the freedom degree of independent axial displacement, cannot achieve independent
Axially sliding necessarily causes feed screw nut 13 itself and screw rod 3 to rotate synchronously, and the torque of rotation is passed to interior by synchronous belt 12
Pinion mate 14, to drive the rotation of inside engaged gear driver plate 8.Every two groups of inside engaged gear driver plates connect an end
Fixture is executed, in this way, four groups of internal messing driver plates compose in parallel a set of grasping system execution end two-by-two in total.
As shown in figure 4, the utility model driving mechanism schematic diagram.Because the actuator unit in executing agency is simultaneously
Independent and association can be realized in certain control logic respectively by respective driving motor independence drive control in connection form
The movement for quickly stretching out, bouncing back, clamp, loosening can be realized under the interoperation that end executes fixture in same movement, complete
At a whole set of grasping movement.When 4 screw rod and center screw rod constant speed rotations simultaneously in parallel, because 5 screw rods are rotated to 5 spiral shells simultaneously
Mother applies axial force, and inevitable to realize axial displacement along screw rod is lower on the whole with entire driving mechanism component, screw rod mentions at this time
For axial force, four optical axis guide rods only provide guiding role.
As shown in figure 5, the utility model executing agency schematic diagram, as the actuating station of the light-duty grabbing device of parallel institution,
The parallel institution is four groups of driver plate link mechanisms that independently can be driven and rotate around center axis, and four groups of parallel institution compositions
Aid end effector mechanism can integrally realize around center screw rod rotate, end effector mechanism described here around central axis turn
It is dynamic refer to 4 driving driver plates in parallel in driving mechanism component can realize or independence or synchronization around center screw rod turn
It is dynamic.The free-grabbing movement of multiposition, multi-angle, multiple-pass is completed in cooperation by executing end link.Whole device structure is tight
Gather, multichannel executing agency can synchronization action, maintenance maintenance is convenient, can be realized comprehensive crawl function, has very high use
It is worth and is widely applied very much place.
In addition, a kind of light-duty mechanical arm is also disclosed in the utility model, which includes above-mentioned based on the light of parallel institution
Type grabbing device.
A kind of robot is also disclosed in the utility model, and including above-mentioned light-duty mechanical arm, the machine is artificially applied to storehouse
The robot of storage.
Elaborate many details in the above description in order to fully understand the utility model.But above description
It is only the preferred embodiment of the utility model, the utility model can be come with being much different from other way described herein
Implement, therefore the utility model is not limited by specific implementation disclosed above.Any those skilled in the art exist simultaneously
It does not depart under technical solutions of the utility model ambit, it is all practical new to this using the methods and technical content of the disclosure above
Type technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.It is all without departing from this
The content of utility model technical solution any is simply repaired according to the technical essence of the utility model is made to the above embodiment
Change, equivalent variations and modification, in the range of still falling within technical solutions of the utility model protection.
Claims (9)
1. a kind of light-duty grabbing device based on parallel institution, including driving mechanism, executing agency, clamping device, the driving
Mechanism drives executing agency, and the executing agency drives clamping device to realize crawl function, it is characterized in that: driving mechanism includes 5
A driving mechanism unit, executing agency include 4 actuator units, control 4 execution by 5 driving mechanism units
Mechanism unit realizes multi-faceted crawl function.
2. the light-duty grabbing device according to claim 1 based on parallel institution, it is characterized in that: the driving mechanism includes
Center main drive motor, driver plate driving motor, the upper and lower pedestal of fixing end, high-precision large pitch screw rod, optical axis guide rod, fixing end
Lower bottom base；The fixing end upper bed-plate connects into one by optical axis guide rod and high-precision large pitch screw rod with fixing end lower bottom base
It is whole, the forms of motion of the light-duty grabbing device axial direction of the parallel institution is limited, the high-precision large pitch screw rod passes through axis
It holds and is fixed with the upper and lower pedestal installation of two fixing ends, while center main drive motor, driver plate driving motor are separately positioned on fixing end
On Up/down base.
3. the light-duty grabbing device according to claim 2 based on parallel institution, it is characterized in that: the optical axis guide rod is four
Root, the high-precision large pitch screw rod are five.
4. the light-duty grabbing device according to claim 1 based on parallel institution, it is characterized in that: the driving mechanism includes
1 central drive mechanism unit and 4 side driving mechanism units；The central drive mechanism unit includes the main driving electricity in center
Machine, high-precision large pitch silk, the high-precision large pitch screw rod are arranged at Up/down base center, pass through bearing and fixing end
Upper and lower pedestal installation is fixed, and the center main drive motor by being installed on fixing end upper bed-plate drives；One side driving
Mechanism unit includes a driver plate driving motor, a high-precision large pitch screw rod, drives high-precision by driver plate driving motor
The rotation of large pitch screw rod；4 side driving mechanism units pass through bearing respectively and the upper and lower pedestal installation of fixing end is fixed, and respectively
Driver plate driving motor by being installed on fixing end lower bottom base drives, and can realize the axial rotation of an actuator unit respectively.
5. the light-duty grabbing device according to claim 1 based on parallel institution, it is characterized in that: the executing agency includes
Executing agency's upper end cover, four sets of actuator units in parallel, end face bearing, executing agency's lower cover, executing agency's upper end cover
Threaded hole is offered with the center of executing agency lower cover, with center high-precision large pitch screw rod fitting, executing agency's upper end cover
Circular hole, high-precision large pitch screw rod are offered with executing agency lower cover centre bore surrounding, optical axis guide rod extends there through.
6. the light-duty grabbing device according to claim 5 based on parallel institution, it is characterized in that: the executing agency upper end
Pass through between lid and actuator unit, between 4 actuator units, between actuator unit and executing agency's lower cover
End face bearing forms an executing agency.
7. the light-duty grabbing device according to claim 1 based on parallel institution, it is characterized in that: the clamping device is by holding
Row end link, end execute fixture composition, execute end link and are connected with end execution fixture by bearing.
8. a kind of light-duty mechanical arm, it is characterized in that: it is any described based on the light-duty of parallel institution including the claims 1-7
Grabbing device.
9. a kind of robot, including light-duty mechanical arm as claimed in claim 8, it is characterized in that: the machine is artificially applied to
The robot of storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822207099.9U CN209240016U (en) | 2018-12-26 | 2018-12-26 | Light-duty grabbing device and its mechanical arm, robot based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822207099.9U CN209240016U (en) | 2018-12-26 | 2018-12-26 | Light-duty grabbing device and its mechanical arm, robot based on parallel institution |
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| Publication Number | Publication Date |
|---|---|
| CN209240016U true CN209240016U (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822207099.9U Active CN209240016U (en) | 2018-12-26 | 2018-12-26 | Light-duty grabbing device and its mechanical arm, robot based on parallel institution |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434812A (en) * | 2018-12-26 | 2019-03-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of light-duty grabbing device and its application based on parallel institution |
-
2018
- 2018-12-26 CN CN201822207099.9U patent/CN209240016U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434812A (en) * | 2018-12-26 | 2019-03-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of light-duty grabbing device and its application based on parallel institution |
| CN109434812B (en) * | 2018-12-26 | 2023-09-08 | 哈工大机器人（合肥）国际创新研究院 | Light grabbing device based on parallel mechanism and application thereof |
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