CN211466385U - Two-shaft parallel overturning grabbing robot - Google Patents
Two-shaft parallel overturning grabbing robot Download PDFInfo
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- CN211466385U CN211466385U CN201921411413.3U CN201921411413U CN211466385U CN 211466385 U CN211466385 U CN 211466385U CN 201921411413 U CN201921411413 U CN 201921411413U CN 211466385 U CN211466385 U CN 211466385U
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Abstract
The utility model relates to a two-shaft parallel turnover grabbing robot, which comprises a supporting seat, a driving arm, a driven arm, an end effector and a driving motor, wherein a pair of driving arms are arranged on the supporting seat, the driving arms are connected with one driven arm, the lower ends of the driven arms are connected with the end effector together, and the end effector comprises a movable platform and a clamping jaw; the technical characteristics are as follows: the grabbing mechanism comprises a grabbing motor, a grabbing connecting rod mechanism and a grabbing connecting rod, wherein the grabbing motor is installed on the supporting seat and drives the grabbing connecting rod mechanism to grab or release the end effector. The utility model discloses fundamentally has solved the problem that the robot moved on the third degree of freedom.
Description
Technical Field
The utility model belongs to a snatch the robotechnology field, relate to the parallelly connected robot that snatchs of diaxon, especially a parallelly connected upset of diaxon snatchs the robot.
Background
At present, with the extensive popularization of industrial robots in various fields and the continuous efforts of industrial robot manufacturing enterprises, industrial robots are increasingly recognized and applied in the scientific and technological fields with high standard requirements such as food, medicine, 3C electronics and aerospace. The parallel robot has the characteristics of high rigidity, high speed, strong flexibility, light weight and the like in the industrial robot.
The existing two-shaft parallel robot can only move on two degrees of freedom of a plane due to structural limitation, has a single movement mode, and is generally only used for a tail end stacking process. Therefore, in order to enable the robot to move in the third degree of freedom, the end effector is mostly driven by a motor or by air pressure. However, the conventional driving mode is adopted in the end execution, which inevitably affects the maximum load of the movable platform, and the uncontrollable effect is generated due to the overlarge self weight of the movable platform in some high-speed occasions.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of prior art, provide a reasonable in design, bearing capacity is big, lubricated good wearing and tearing are little and the parallelly connected upset of diaxon of easily manufacturing snatchs robot.
The utility model provides a its technical problem take following technical scheme to realize:
a two-shaft parallel turnover grabbing robot comprises a supporting seat, driving arms, driven arms, an end effector and a driving motor, wherein a pair of driving arms are mounted on the supporting seat, the driving arms are connected with the driven arms, the lower ends of the driven arms are connected to the end effector together, and the end effector comprises a movable platform and a clamping jaw; the two-axis parallel-connection overturning grabbing robot further comprises a grabbing mechanism, the grabbing mechanism comprises a grabbing motor, a grabbing connecting rod mechanism and a grabbing connecting rod, the grabbing motor is mounted on the supporting seat, the grabbing motor drives the driving end of the grabbing connecting rod mechanism, the driven end of the grabbing connecting rod mechanism drives the grabbing connecting rod, and the grabbing connecting rod drives the clamping jaw of the end effector to grab or release.
And the two-shaft parallel turnover grabbing robot further comprises a turnover mechanism, the turnover mechanism comprises a turnover motor, a turnover connecting rod mechanism and a turnover connecting rod, the turnover motor is mounted on the supporting seat, the turnover motor drives the driving end of the turnover connecting rod mechanism, the driven end of the turnover connecting rod mechanism drives the turnover connecting rod, and the turnover connecting rod drives the end effector to turn over.
And the grabbing connecting rod mechanism comprises a first crank, a first connecting rod, a first rocker, a second connecting rod and a second rocker which are sequentially connected, the middle part of the first rocker is rotatably installed on the connecting shaft part of a driving arm and a driven arm, two ends of the first rocker are respectively rotatably installed with the first connecting rod and the second connecting rod, the middle part of the second rocker is rotatably installed on the connecting shaft part of the two driven arms, and two ends of the second rocker are respectively rotatably installed with the second connecting rod and one end of the grabbing connecting rod.
And the turnover connecting rod mechanism comprises a second crank, a third connecting rod, a third rocker and a fourth connecting rod which are connected in sequence, the middle part of the third rocker is rotatably arranged on the connecting shaft parts of the driving arm and the driven arm, two ends of the third rocker are respectively rotatably arranged with the third connecting rod and the fourth connecting rod, the lower end of the fourth connecting rod is rotatably connected with one end of the turnover connecting rod, the other end of the turnover connecting rod is fixedly arranged with a mounting shaft fixedly arranged on the upper part of the movable platform of the end effector, and the turnover connecting rod swings to drive the movable platform to turn over through the mounting shaft.
The clamping jaw comprises a driving clamping arm, a driven clamping arm, a clamping jaw driving connecting rod and a clamping jaw driven connecting rod which are rotatably arranged on the movable platform; the upper end of the driving clamping arm is connected with a clamping jaw driving connecting rod, and the upper end of the driven clamping arm is connected with a clamping jaw driven connecting rod; the clamping jaw driving connecting rod and the clamping jaw driven connecting rod are mounted together through screws, and the upper end of the clamping jaw driving connecting rod and the lower end of the grabbing connecting rod are rotatably mounted.
The utility model has the advantages that:
the utility model discloses integrate the overall structure to current diaxon parallel robot again, make its end effector can accomplish the upset and snatch the function, the upset with snatch the function and take the design of many connecting rods in plane, fundamentally has solved the problem that the robot moved on the third degree of freedom, link mechanism not only structurally has bearing capacity great, lubricated good, wearing and tearing little, manufacturing is easy, link mechanism's low pair is geometry moreover and seals, there is very big help to the reliability of guaranteeing work. Adopt the utility model discloses can promote 20% before the aspect of robot load is compared, moreover there is not the influence of wire rod to end effector.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the gripping mechanism of the present invention;
fig. 3 is a schematic view of the turnover mechanism of the present invention;
fig. 4 is a schematic view of the structure of the clamping jaw of the present invention;
fig. 5 is a sectional view of the connection structure of the turnover mechanism, the gripping structure and the clamping jaw of the present invention;
description of the reference numerals
In fig. 1: 1-an active arm; 2-a driven arm; 3-an end effector; 4-a gripping mechanism; 5-turning over mechanism; 6-a support seat;
in fig. 2: 4-1-a first crank, 4-2-a first connecting rod, 4-3-a first rocker and 4-4-a second connecting rod; 4-5-fisheye bearing; 4-6-a second rocker and 4-7-a grabbing connecting rod; 4-8-a grasping motor;
in fig. 3: 5-1-a second crank, 5-2-a third connecting rod, 5-3-a third rocker and 5-4-a fourth connecting rod; 5-5-turnover connecting rod; 5-6-overturning the motor;
in fig. 4: 3-1-moving the platform; 3-2-jaw; 3-2-1-active clamping arm; 3-2-2-driven clamping arm; 3-2-3-screw; 3-2-4-clamping jaw active connecting rod; 3-2-5-a jaw driven link;
in fig. 5: 7-a mounting shaft fixedly mounted on the upper part of a movable platform of the end effector; 8-connecting seats at the lower ends of the two driven arms.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings:
a two-shaft parallel turnover grabbing robot is shown in figures 1 to 5 and comprises a supporting seat, driving arms, driven arms, a tail end actuator, a driving motor, a grabbing mechanism and a turnover mechanism, wherein a pair of driving arms are mounted on the supporting seat, the driving arms are connected with the driven arms, the lower ends of the driven arms are connected to the tail end actuator together, and the tail end actuator comprises a movable platform and a clamping jaw movably mounted below the movable platform;
the two-axis parallel-connection overturning grabbing robot further comprises a grabbing mechanism, the grabbing mechanism comprises a grabbing motor, a grabbing connecting rod mechanism and a grabbing connecting rod, the grabbing motor is mounted on the supporting seat, the grabbing motor drives the driving end of the grabbing connecting rod mechanism, the driven end of the grabbing connecting rod mechanism drives the grabbing connecting rod, and the grabbing connecting rod drives the clamping jaw of the end effector to grab or release.
The grabbing connecting rod mechanism comprises a first crank, a first connecting rod, a first rocker, a second connecting rod and a second rocker which are sequentially connected, the middle of the first rocker is rotatably installed on a connecting shaft part of a driving arm and a driven arm, two ends of the first rocker are respectively rotatably installed with the first connecting rod and the second connecting rod, the middle of the second rocker is rotatably installed on the connecting shaft part of the two driven arms, and two ends of the second rocker are respectively rotatably installed with the second connecting rod and one end of the grabbing connecting rod.
In this embodiment, the first rocker and the second rocker both adopt a right-angle steering connecting rod (right-angle bend) structure, the right-angle steering connecting rod comprises two moving ends and a single right-angle fixed end, and the right-angle fixed end of the first rocker is mounted on the connecting shaft part of the driving arm and the driven arm; the right-angle fixed end of the second rocker is arranged on the connecting shaft part of the two driven arms;
in this embodiment, the clamping jaw includes a driving clamping arm, a driven clamping arm, a clamping jaw driving connecting rod and a clamping jaw driven connecting rod which are rotatably mounted on the movable platform; the upper end of the driving clamping arm is connected with a clamping jaw driving connecting rod, and the upper end of the driven clamping arm is connected with a clamping jaw driven connecting rod; the clamping jaw driving connecting rod and the clamping jaw driven connecting rod are installed together through screws (plug screws), and the movable platform is fixed together with the clamping jaw driving connecting rod and the clamping jaw driven connecting rod through pin shafts; the upper end of the clamping jaw driving connecting rod and the lower end of the grabbing connecting rod are rotatably arranged, and when the grabbing connecting rod generates stretching motion, the clamping jaw of the end effector is driven to do tensioning motion.
The motion process is as follows: the grabbing connecting rod is driven to be stretched by the turnover mechanism so as to drive the clamping jaw driving connecting rod to reciprocate up and down (the clamping jaw driving connecting rod moves upwards corresponding to the driving clamping arm to realize the action of clamping, otherwise, the clamping jaw driving connecting rod moves downwards to release).
In this embodiment, first connecting rod, second connecting rod are carbon-point and the junction all adopts the stopper to beat the fix with screw, the fisheye bearing is installed respectively to the both ends of first connecting rod and second connecting rod.
The fisheye bearing has the advantages that the fisheye bearing can also perform tilting motion within a certain angle in the swinging motion, and dead points of the mechanism can be avoided at certain limit points.
The utility model discloses a working principle who snatchs mechanism is:
the grabbing motor drives the first crank to rotate so as to drive the first rocker to rotate, so that the second rocker at the lower end is driven to move, the grabbing connecting rod generates stretching movement, and the clamping jaw of the end effector is driven to perform tensioning movement.
The first crank is a driving link, and the first remote rod and the second rocker can only do reciprocating swinging motion;
the motion process is as follows: the first crank moves clockwise to drive the first rocker to move clockwise and downwards through the first connecting rod, the first rocker drives the second connecting rod to move clockwise and upwards through a right-angled bend (reversing characteristic), the second connecting rod drives the second rocker to move clockwise and upwards, and the second rocker drives the grabbing connecting rod to move clockwise and downwards through the right-angled bend. At this point, the end effector completes the releasing action in the grabbing motion, the grabbing action is the counterclockwise motion of the first crank, and the rest steps are the reverse motions.
The two-shaft parallel-connection overturning and grabbing robot further comprises an overturning mechanism, the overturning mechanism comprises an overturning motor, an overturning connecting rod mechanism and an overturning connecting rod, the overturning motor is mounted on the supporting seat, the overturning motor drives a driving end of the overturning connecting rod mechanism, a driven end of the overturning connecting rod mechanism drives the overturning connecting rod, and the overturning connecting rod drives the end effector to overturn.
In this embodiment, the turnover linkage mechanism includes a second crank, a third connecting rod, a third rocker, and a fourth connecting rod, which are connected in sequence, the middle of the third rocker is rotatably mounted on the connecting shaft portion of the driving arm and the driven arm, two ends of the third rocker are rotatably mounted with the third connecting rod and the fourth connecting rod, respectively, the lower end of the fourth connecting rod is rotatably connected with one end of the turnover connecting rod, the other end of the turnover connecting rod is fixedly mounted on a mounting shaft fixedly mounted on the upper portion of the movable platform of the end effector, and the turnover connecting rod swings to drive the movable platform to turn over through the mounting shaft.
And the lower ends of the two driven arms are fixedly provided with connecting seats which are sleeved on the mounting shaft.
The mounting shaft and the movable platform are fixed by pin holes (the pin holes are not indicated in the figures as middle blank vertical holes). The left side of the pin hole is a second rocker (right-angled bend fixing part) of the grabbing mechanism, and the right side of the pin hole is a turnover connecting rod. Wherein, the connecting rod overturns (the installation mode is that the screw connection is directly locked on the installation shaft). And then can guarantee that the rotation of upset connecting rod can drive the rotation of moving the platform.
The utility model discloses a tilting mechanism's theory of operation is:
the turnover motor drives the turnover connecting rod to rotate so that the third rocker (right-angled bend) rotates to drive the lower end turnover connecting rod to move, and drives the mounting shaft (namely the main shaft of the clamping jaw) on the movable platform to rotate so as to realize the turnover motion of the end effector.
The upper end of the turning connecting rod is rotatably connected to the lower end of the fourth connecting rod, the lower end of the turning connecting rod is fixedly installed on an installation shaft at the upper part of the movable platform of the end effector, and the installation shaft at the upper part of the movable platform is fixedly installed on the upper end face of the movable platform through a shaft seat.
The dynamic process is as follows: the turnover connecting rod rotates around the mounting shaft at the upper part of the platform so as to drive the clamping jaw (the end effector) to do rotary motion (bottle erecting motion).
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes but is not limited to the embodiments described in the detailed description, as well as other embodiments derived from the technical solutions of the present invention by those skilled in the art, which also belong to the scope of the present invention.
Claims (5)
1. The utility model provides a parallelly connected upset of diaxon snatchs robot, includes supporting seat, master arm, driven arm, end effector, driving motor, installs a pair of master arm on the supporting seat, and a driven arm is all connected to the master arm, and the driven arm lower extreme is connected in end effector jointly, and end effector is including moving platform and clamping jaw, its characterized in that: the grabbing mechanism comprises a grabbing motor, a grabbing connecting rod mechanism and a grabbing connecting rod, wherein the grabbing motor is installed on the supporting seat and drives the grabbing connecting rod mechanism to grab or release the end effector.
2. The two-axis parallel overturning and grabbing robot according to claim 1, characterized in that: the turnover mechanism comprises a turnover motor, a turnover connecting rod mechanism and a turnover connecting rod, wherein the turnover motor is installed on the supporting seat and drives a driving end of the turnover connecting rod mechanism, a driven end of the turnover connecting rod mechanism drives the turnover connecting rod, and the turnover connecting rod drives the end effector to turn over.
3. The two-axis parallel overturning and grabbing robot according to claim 1, characterized in that: the grabbing connecting rod mechanism comprises a first crank, a first connecting rod, a first rocker, a second connecting rod and a second rocker which are sequentially connected, the middle of the first rocker is rotatably installed on a connecting shaft part of a driving arm and a driven arm, two ends of the first rocker are respectively rotatably installed with the first connecting rod and the second connecting rod, the middle of the second rocker is rotatably installed on the connecting shaft part of the two driven arms, and two ends of the second rocker are respectively rotatably installed with the second connecting rod and one end of the grabbing connecting rod.
4. The two-axis parallel overturning and grabbing robot according to claim 2, characterized in that: the turnover connecting rod mechanism comprises a second crank, a third connecting rod, a third rocker and a fourth connecting rod which are connected in sequence, the middle of the third rocker is rotatably installed on the connecting shaft parts of the driving arm and the driven arm, two ends of the third rocker are respectively rotatably installed with the third connecting rod and the fourth connecting rod, the lower end of the fourth connecting rod is rotatably connected with one end of the turnover connecting rod, the other end of the turnover connecting rod is fixedly installed with an installation shaft fixedly installed on the upper part of a movable platform of the end effector, and the turnover connecting rod swings to drive the movable platform to turn over through the installation shaft.
5. The two-axis parallel overturning and grabbing robot according to claim 1, characterized in that: the clamping jaw comprises a driving clamping arm, a driven clamping arm, a clamping jaw driving connecting rod and a clamping jaw driven connecting rod which are rotatably arranged on the movable platform; the upper end of the driving clamping arm is connected with a clamping jaw driving connecting rod, and the upper end of the driven clamping arm is connected with a clamping jaw driven connecting rod; the clamping jaw driving connecting rod and the clamping jaw driven connecting rod are mounted together through screws, and the upper end of the clamping jaw driving connecting rod and the lower end of the grabbing connecting rod are rotatably mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921411413.3U CN211466385U (en) | 2019-08-28 | 2019-08-28 | Two-shaft parallel overturning grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921411413.3U CN211466385U (en) | 2019-08-28 | 2019-08-28 | Two-shaft parallel overturning grabbing robot |
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| Publication Number | Publication Date |
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| CN211466385U true CN211466385U (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921411413.3U Active CN211466385U (en) | 2019-08-28 | 2019-08-28 | Two-shaft parallel overturning grabbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
| CN115383730A (en) * | 2022-10-28 | 2022-11-25 | 辰星（天津）自动化设备有限公司 | Parallel robot |
-
2019
- 2019-08-28 CN CN201921411413.3U patent/CN211466385U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
| CN110524513B (en) * | 2019-08-28 | 2024-07-02 | 勃肯特(镇江)机器人技术有限公司 | Two-axis parallel overturning grabbing robot |
| CN115383730A (en) * | 2022-10-28 | 2022-11-25 | 辰星（天津）自动化设备有限公司 | Parallel robot |
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