CN209273438U - A kind of three-dimensional motion parallel manipulator - Google Patents

A kind of three-dimensional motion parallel manipulator Download PDF

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Publication number
CN209273438U
CN209273438U CN201920051631.4U CN201920051631U CN209273438U CN 209273438 U CN209273438 U CN 209273438U CN 201920051631 U CN201920051631 U CN 201920051631U CN 209273438 U CN209273438 U CN 209273438U
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China
Prior art keywords
pedestal
motor mount
fixed
pivoted arm
motion base
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Active
Application number
CN201920051631.4U
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Chinese (zh)
Inventor
闫振
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Shanghai Judan Automation Equipment Co Ltd
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Shanghai Judan Automation Equipment Co Ltd
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Priority to CN201920051631.4U priority Critical patent/CN209273438U/en
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Abstract

The utility model discloses a kind of three-dimensional motion parallel manipulators, belong to manipulator technical field.It includes rack, hoisting bracket, motor mount, pedestal driving structure, motion base, rotating electric machine, sucker, suction nozzle, rotary joint, the hoisting bracket is fixed below frame top, motor mount is fixed below hoisting bracket, multiple groups pedestal driving structure is fixed on motor mount, the motion base is located at below motor mount, and motion base quadrangle is connect by corresponding four groups of pedestal driving structures with motor mount.In pedestal driving structure, servo motor drives pivoted arm rotation, and pivoted arm drives pedestal link motion, and pedestal connecting rod pulls one angular movement of motion base, is cooperated by four groups of pedestal driving structures of motion base quadrangle, can complete the three-dimensional overturning of motion base;It is small in size, and structure is simple, at low cost, can be assembled on Minifab.

Description

A kind of three-dimensional motion parallel manipulator
Technical field
The utility model relates to a kind of three-dimensional motion parallel manipulators, belong to manipulator technical field.
Background technique
Manipulator is the commonly used equipment in industrial production, it realizes three-dimensional motion, match with other and be arranged for grabbing article It is standby to match, assembly work is completed jointly.Existing parallel manipulator can only generally do simple plane motion, use limitation It is bigger, it is unable to complete the movement such as stereo rotating, positioning.The manipulator that three-dimensional motion can be done on the market is usually that volume is huger Big four axis or six axis robot arm, volume is larger, and cost is more expensive, can not be assembled on Minifab.Therefore, it designs A kind of structure is simple, at low cost, can be realized the parallel manipulator of three-dimensional motion.
Summary of the invention
Technical problem to be solved by the utility model is to provide a kind of three-dimensional motion parallel manipulators, it is solved Can make the manipulator of three-dimensional motion on the market at present, four axis or six axis robot arm that usually volume is relatively large, volume compared with Greatly, cost is more expensive, the problem that can not be assembled on Minifab.
Technical problem to be solved in the utility model takes following technical scheme to realize:
A kind of three-dimensional motion parallel manipulator, it includes rack, hoisting bracket, motor mount, pedestal driving structure, fortune Dynamic pedestal, rotating electric machine, sucker, suction nozzle, rotary joint, the hoisting bracket are fixed below frame top, motor mount It is fixed below hoisting bracket, is fixed with multiple groups pedestal driving structure on motor mount;
The motion base is located at below motor mount, and motion base quadrangle passes through corresponding four groups of pedestal driving structures It is connect with motor mount;
The pedestal driving structure includes servo motor, pivoted arm, connecting plate, fixed connecting rod, pedestal connecting rod, servo motor water Flat to be fixed on motor mount, shaft and pivoted arm one end of servo motor are fixed, hinged in the middle part of the pivoted arm other end and connecting plate, Connecting plate top passes through fixed connecting rod and motor mount is hinged, and connecting plate lower part is hinged by pedestal connecting rod and motion base;
It is equipped with shaft rotating electric machine directed downwardly in the middle part of the motion base, is fixed with sucker in the shaft of rotating electric machine, inhales Disk is equipped with multiple suction nozzles, and suction nozzle is connect by rotary joint with vaccum-pumping equipment.
As preferred embodiment, the pedestal connecting rod uses the shrinking connecting-rod of manually adjustable length.
As preferred embodiment, the pedestal driving structure further includes arc track, limited screw, and arc track is fixed on electricity In machine mounting base, it is located at pivoted arm side, limited screw passes through arc track and fixes with pivoted arm, and arcuately track turns limitation pivoted arm It is dynamic.
As preferred embodiment, the pedestal connecting rod two end passes through globe joint respectively and connecting plate, motion base are hinged.
The beneficial effects of the utility model are: servo motor drives pivoted arm rotation, pivoted arm driving in pedestal driving structure Pedestal link motion, pedestal connecting rod pull one angular movement of motion base, pass through four groups of pedestal driving structures of motion base quadrangle It cooperates, the three-dimensional overturning of motion base can be completed;Fixed connecting rod enables to pivoted arm movement more reliable and more stable;Arc Track and limited screw can ensure pivoted arm stable rotation;It is small in size, and structure is simple, at low cost, can be assembled to small-sized life In producing line.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model entirety;
Fig. 2 is the structural schematic diagram of the utility model pedestal driving structure;
Fig. 3 is the structural schematic diagram of the utility model motion base.
In figure: rack 1, hoisting bracket 2, motor mount 3, motion base 4, rotating electric machine 5, sucker 6, suction nozzle 7, rotation Connector 8, servo motor 9, pivoted arm 10, connecting plate 11, fixed connecting rod 12, pedestal connecting rod 13, arc track 14.
Specific embodiment
In order to which the technical means, creative features, achievable purpose and effectiveness to the utility model are easy to understand, tie below Conjunction is specifically illustrating, and the utility model is further described.
As shown in Figure 1-Figure 3, a kind of three-dimensional motion parallel manipulator, it includes rack 1, hoisting bracket 2, motor mount 3, pedestal driving structure, motion base 4, rotating electric machine 5, sucker 6, suction nozzle 7, rotary joint 8, hoisting bracket 2 are fixed on rack 1 Below top, motor mount 3 is fixed on 2 lower section of hoisting bracket, is fixed with multiple groups pedestal driving structure on motor mount 3;
Motion base 4 is located at 3 lower section of motor mount, and 4 four jiaos of motion base pass through corresponding four groups of pedestal driving structures It is connect with motor mount 3;
Pedestal driving structure includes servo motor 9, pivoted arm 10, connecting plate 11, fixed connecting rod 12, pedestal connecting rod 13, servo Motor 9 is horizontally fixed on motor mount 3, and shaft and 10 one end of pivoted arm of servo motor 9 are fixed, 10 other end of pivoted arm and company 11 middle part of fishplate bar is hinged, and 11 top of connecting plate passes through fixed connecting rod 12 and motor mount 3 is hinged, and 11 lower part of connecting plate passes through bottom Seat connecting rod 13 and motion base 4 are hinged;
It is equipped with shaft rotating electric machine 5 directed downwardly in the middle part of motion base 4, is fixed with sucker 6 in the shaft of rotating electric machine 5, inhales Disk 6 is equipped with multiple suction nozzles 7, and suction nozzle 7 is connect by rotary joint 8 with vaccum-pumping equipment (being not drawn into figure).
Vaccum-pumping equipment uses vacuum pump.
Pedestal connecting rod 13 uses the shrinking connecting-rod of manually adjustable length.In the shrinking connecting-rod of manually adjustable length uses Pipe, outer tube two section structure, outer tube one end be equipped with expansion nozzle, expand nozzle at be equipped with adjusting nut, by inner tube from expansion nozzle It is inserted into outer tube, after adjusting appropriate length, is locked inner tube, outer tube by adjusting nut.
Pedestal driving structure further includes arc track 14, limited screw (being not drawn into figure), and arc track 14 is fixed on electricity In machine mounting base 3, it is located at 10 side of pivoted arm, limited screw passes through arc track 14 and pivoted arm 10 is fixed, limits pivoted arm 10 along arc Shape track 14 rotates.
13 both ends of pedestal connecting rod pass through globe joint respectively and connecting plate 11, motion base 4 are hinged.
Working principle: in pedestal driving structure, servo motor 9 drives pivoted arm 10 to rotate, and pivoted arm 10 drives pedestal connecting rod 13 movements, pedestal connecting rod 13 pull 4 one angular movement of motion base, pass through 4 four jiaos of motion base of four groups of pedestal driving structure phases Mutually cooperation can complete the three-dimensional overturning of motion base 4;Turn downwards for example, two groups of pedestal driving structures of side synchronize, it is another Two groups of pedestal driving structures of side synchronize to be turned upwards, it will be able to be flipped up motion base 4 on one side;Fixed connecting rod 12 can make It is more reliable and more stable to obtain the movement of pivoted arm 10;Arc track 14 and limited screw can ensure 10 stable rotation of pivoted arm;It is small in size, Structure is simple, at low cost, can be assembled on Minifab.Movable rod 9 is manually adjustable, completes calibration operation.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row The technical staff of industry it should be appreciated that the present utility model is not limited to the above embodiments, do not depart from the spirit of the present invention and Under the premise of range, the utility model also has various changes and improvements, these changes and improvements both fall within the utility model and want In the range of asking protection.The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. a kind of three-dimensional motion parallel manipulator, it includes rack, hoisting bracket, motor mount, pedestal driving structure, movement Pedestal, rotating electric machine, sucker, suction nozzle, rotary joint, the hoisting bracket are fixed below frame top, and motor mount is solid It is scheduled below hoisting bracket, is fixed with multiple groups pedestal driving structure on motor mount, which is characterized in that
The motion base is located at below motor mount, and motion base quadrangle passes through corresponding four groups of pedestal driving structures and electricity The connection of machine mounting base;
The pedestal driving structure includes servo motor, pivoted arm, connecting plate, fixed connecting rod, pedestal connecting rod, and servo motor level is solid It is scheduled on motor mount, shaft and pivoted arm one end of servo motor are fixed, hinged in the middle part of the pivoted arm other end and connecting plate, connection Plate top passes through fixed connecting rod and motor mount is hinged, and connecting plate lower part is hinged by pedestal connecting rod and motion base;
It is equipped with shaft rotating electric machine directed downwardly in the middle part of the motion base, is fixed with sucker in the shaft of rotating electric machine, on sucker Equipped with multiple suction nozzles, suction nozzle is connect by rotary joint with vaccum-pumping equipment.
2. a kind of three-dimensional motion parallel manipulator according to claim 1, which is characterized in that the pedestal connecting rod uses can hand The shrinking connecting-rod of dynamic adjustment length.
3. a kind of three-dimensional motion parallel manipulator according to claim 1, which is characterized in that the pedestal driving structure is also wrapped Bracket track, limited screw, arc track are fixed on motor mount, are located at pivoted arm side, and limited screw passes through arc Track is fixed with pivoted arm, limits pivoted arm arcuately orbit rotation.
4. a kind of three-dimensional motion parallel manipulator according to claim 1, which is characterized in that the pedestal connecting rod two end difference It is hinged by globe joint and connecting plate, motion base.
CN201920051631.4U 2019-01-12 2019-01-12 A kind of three-dimensional motion parallel manipulator Active CN209273438U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920051631.4U CN209273438U (en) 2019-01-12 2019-01-12 A kind of three-dimensional motion parallel manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920051631.4U CN209273438U (en) 2019-01-12 2019-01-12 A kind of three-dimensional motion parallel manipulator

Publications (1)

Publication Number Publication Date
CN209273438U true CN209273438U (en) 2019-08-20

Family

ID=67605608

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920051631.4U Active CN209273438U (en) 2019-01-12 2019-01-12 A kind of three-dimensional motion parallel manipulator

Country Status (1)

Country Link
CN (1) CN209273438U (en)

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