CN213616702U

CN213616702U - Multi-angle parallel manipulator

Info

Publication number: CN213616702U
Application number: CN202022736889.3U
Authority: CN
Inventors: 杨艳
Original assignee: Chongqing University of Arts and Sciences
Current assignee: Chongqing University of Arts and Sciences
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-07-06
Anticipated expiration: 2030-11-20

Abstract

The utility model relates to the technical field of machinery, and a multiangular parallel manipulator is disclosed, including quiet platform, the lower fixed surface of quiet platform is connected with servo motor, servo motor's output fixedly connected with gear, the inside sliding connection of quiet platform has the lifter, tooth has been seted up on the right side of lifter. This multiangular parallel manipulator, through the reciprocating of lifter and then make the moving platform reciprocate, when moving the platform rebound, it drives second dead lever rebound to move the platform, because the second dead lever about both ends activity joint have fixed second rotating ring and driven arm together, such mode reaches the motion effect of parallel manipulator, and then it is very big to have ensured manipulator rigidity, a plurality of kinematic chains can share the load, the precision is very high, the error is shared by a plurality of kinematic chains, and the error can not be like establishing ties the same accumulation, the motion is steady.

Description

Multi-angle parallel manipulator

Technical Field

The utility model relates to the technical field of machinery, specifically be a multiangular parallel manipulator.

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The manipulator is divided into parallel connection and series connection, most of the existing manipulators are connected in series, and the manipulator connected in series cannot share the load of a plurality of kinematic chains, so that the error cannot be shared by the plurality of kinematic chains at the same time, the error is accumulated all the time, the movement is not stable, and the movement inertia is high.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a multiangular parallel manipulator, possess the motion effect that reaches parallel manipulator, and then ensured that manipulator rigidity is very big, a plurality of kinematic chains can share the load, the precision is very high, the error is shared by a plurality of kinematic chains, and the error can not accumulate like establishing ties, advantages such as motion stationary, it can not the common load of a plurality of kinematic chains to have solved serial manipulator, and then lead to the error can not share simultaneously a plurality of kinematic chains, lead to the error can accumulate down always, and then lead to the motion not steady, the high problem of inertia of motion.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a multiangular parallel manipulator, includes quiet platform, the lower fixed surface of quiet platform is connected with servo motor, servo motor's output fixedly connected with gear, the inside sliding connection of quiet platform has the lifter, tooth has been seted up on the right side of lifter, the surface of tooth is connected with the surface engagement of gear, the upper surface of quiet platform is provided with thrust unit, the upper end fixedly connected with of lifter moves the platform, the rear side fixedly connected with second dead lever of moving the platform, the left end of second dead lever is provided with the second swivel becket, the last fixed surface who moves the platform is connected with the cylinder, the upper end fixedly connected with sucking disc of cylinder.

Preferably, thrust unit includes the base, the right side of base is rotated and is connected with the dwang, the surface of dwang is rotated and is connected with the master arm, the inside of master arm is rotated and is connected with first dead lever, first rotating ring has been cup jointed in the left end activity of first dead lever, the outside fixedly connected with slave arm of first rotating ring, the upper end of slave arm is at the outside fixed connection of second rotating ring, the surface of slave arm is provided with overspeed device tensioner.

Preferably, the shape of base is the arc, the quantity of base is three, the same activity of right-hand member of first dead lever has cup jointed first change ring, the same fixedly connected with driven arm of upside of the first change ring of first dead lever right-hand member.

Preferably, the tensioning device comprises a first buckle, the inner wall of the first buckle is movably clamped on the surface of the driven arm, a connecting ring is fixedly connected to the right side of the first buckle, a second buckle is movably clamped on the inner side of the connecting ring, a spring is fixedly connected to the right end of the second buckle, and a connecting rod is fixedly connected to the lower side of the first buckle.

Preferably, the first buckle and the second buckle are also arc-shaped, the lower end of the connecting rod is also fixedly connected with the first buckle, and the two first buckles have the same structure.

Preferably, the number of the second rotating rings is two, and the two second rotating rings are movably sleeved at the left end and the right end of the second fixing rod.

(III) advantageous effects

Compared with the prior art, the utility model provides a multiangular parallel manipulator possesses following beneficial effect:

1. the multi-angle parallel manipulator enables the movable platform to move up and down through the up-and-down movement of the lifting rod, when the movable platform moves up, the movable platform drives the second fixed rod to move up, the left end and the right end of the second fixed rod are movably clamped with the second rotating ring and the driven arm which are fixed together, the left end and the right end of the first fixed rod are movably clamped with the first rotating ring and the driven arm which are fixed together, the first buckle is clamped on the surface of the driven arm, the first buckle can be clamped and fixed at the fixed position of the driven arm and cannot slide on the surface of the driven arm, the outer side of the driven arm is clamped on the connecting ring through the second buckle, the two driven arms are relatively tensioned under the tensile force action of the spring, the required tensile force action can be achieved through setting the number of the first buckle, the extrusion of the second fixed rod and the first fixed rod by the second rotating ring and the first rotating ring at the upper end and the lower, and then reach and can not drop at the both ends of second dead lever and first dead lever, such mode reaches the motion effect of parallel manipulator, and then has ensured that manipulator rigidity is very big, and a plurality of kinematic chains can share the load, and the precision is very high, and the error is shared by a plurality of kinematic chains to the error can not be like the accumulation of establishing ties, moves steadily.

2. This multiangular parallel manipulator, rotation through servo motor drives the gear and rotates, and then make the lifter reciprocate under the effect of tooth and gear, place the inside at two bases through the left and right sides both ends of dwang and rotate, and then reach the initiative arm and can rotate on the dwang, the upper surface distance of dwang and quiet platform is certain, can not lead to the fact the hindrance when rotatory to the initiative arm, such mode is convenient for nimble installation and dismantlement, the essential element is connected to the base, the barycenter is close to different bases, therefore inertia of motion is low.

Drawings

FIG. 1 is a schematic view of a multi-angle parallel manipulator of the present invention;

FIG. 2 is a schematic view of the structure of the lifting rod of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A of FIG. 1 according to the present invention;

FIG. 4 is an enlarged schematic view of the structure of FIG. 3B according to the present invention;

fig. 5 is a schematic view of a second buckle structure of the present invention.

In the figure: the automatic lifting device comprises a static platform 1, a servo motor 2, a gear 3, a lifting rod 4, teeth 5, a base 6, a rotating rod 7, a driving arm 8, a first fixing rod 9, a first rotating ring 10, a driven arm 11, a first buckle 12, a connecting ring 13, a second buckle 14, a spring 15, a connecting rod 16, a movable platform 17, a second fixing rod 18, a second rotating ring 19, a cylinder 20 and a sucker 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a new technical solution: a polygonal parallel manipulator comprises a static platform 1, a servo motor 2 is fixedly connected to the lower surface of the static platform 1, a gear 3 is fixedly connected to the output end of the servo motor 2, a lifting rod 4 is slidably connected to the inside of the static platform 1, teeth 5 are arranged on the right side of the lifting rod 4, the surface of each tooth 5 is meshed with the surface of the gear 3, the gears 3 are driven to rotate through the rotation of the servo motor 2, the lifting rod 4 is enabled to move up and down under the action of the teeth 5 and the gear 3, a pushing device is arranged on the upper surface of the static platform 1 and comprises bases 6, the bases 6 are arc-shaped, the number of the bases 6 is three, a rotating rod 7 is rotatably connected to the right side of each base 6, a driving arm 8 is rotatably connected to the surface of each rotating rod 7, the driving arms 8 are placed inside the two bases 6 to rotate through the left end and the right end of each rotating rod 7, and further the driving arms, the distance between the rotating rod 7 and the upper surface of the static platform 1 is fixed, so that the driving arm 8 cannot be blocked during rotation;

the inner part of the driving arm 8 is rotatably connected with a first fixed rod 9, the left end of the first fixed rod 9 is movably sleeved with a first rotating ring 10, the outer side of the first rotating ring 10 is fixedly connected with a driven arm 11, the right end of the first fixed rod 9 is also movably sleeved with the first rotating ring 10, the upper side of the first rotating ring 10 at the right end of the first fixed rod 9 is also fixedly connected with the driven arm 11, the upper end of the driven arm 11 is fixedly connected with the outer side of a second rotating ring 19, the surface of the driven arm 11 is provided with a tensioning device, the tensioning device comprises a first buckle 12, the inner wall of the first buckle 12 is movably clamped on the surface of the driven arm 11, the right side of the first buckle 12 is fixedly connected with a connecting ring 13, the inner side of the connecting ring 13 is movably clamped with a second buckle 14, the shapes of the first buckle 12 and the second buckle 14 are also arc-shaped, the right end of the second buckle 14 is fixedly connected with a spring, the lower end of the connecting rod 16 is fixedly connected with a first buckle 12, the structure of the first buckle 12 at the lower end of the connecting rod 16 is the same as that of the first buckle 12 at the upper end of the connecting rod 16, the upper end of the lifting rod 4 is fixedly connected with a movable platform 17, the rear side of the movable platform 17 is fixedly connected with a second fixed rod 18, the left end of the second fixed rod 18 is provided with a second rotating ring 19, the second rotating ring 19 is movably sleeved at the left end of the second fixed rod 18, the second rotating ring 19 is also movably sleeved at the right end of the second fixed rod 18, the movable platform 17 is moved up and down by the up-and-down movement of the lifting rod 4, when the movable platform 17 moves up, the movable platform 17 drives the second fixed rod 18 to move up, because the left end and the right end of the second fixed rod 18 are movably clamped with the second rotating ring 19 and the driven arm 11 which are fixed together, the left end and the right end of the first fixed rod 9, the first buckle 12 is clamped to the surface of the driven arm 11, the first buckle 12 can be clamped and fixed at the fixed position of the driven arm 11 and cannot slide on the surface of the driven arm 11, the outer side of the driven arm 11 is clamped on the connecting ring 13 through the second buckle 14, and then the two driven arms 11 are relatively tensioned under the tension action of the spring 15, the required tension action can be achieved by setting the number of the first buckles 12, the second rotating ring 19 and the first rotating ring 10 at the upper end and the lower end of the driven arm 11 can be guaranteed to extrude the second fixing rod 18 and the first fixing rod 9, and further the purpose that the driven arm cannot fall off at the two ends of the second fixing rod 18 and the first fixing rod 9 is achieved;

the upper surface fixedly connected with cylinder 20 of moving platform 17, cylinder 20 are current structure, do not do too much repeated description here, and the upper end fixedly connected with sucking disc 21 of cylinder 20, sucking disc 21 are current structure, do not do too much repeated description here, make cylinder 20 produce work through external power source's effect, and then make sucking disc 21 hold required cramping thing, accomplish the centre gripping.

The working principle is as follows: when the polygonal parallel manipulator is used, the gear 3 is driven to rotate through the rotation of the servo motor 2, the lifting rod 4 is enabled to move up and down under the action of the teeth 5 and the gear 3, the left end and the right end of the rotating rod 7 are placed inside the two bases 6 to rotate, the main arm 8 can rotate on the rotating rod 7, the distance between the rotating rod 7 and the upper surface of the static platform 1 is constant, and the main arm 8 cannot be blocked when rotating;

move up and down through lifter 4 and then make movable platform 17 reciprocate, when moving platform 17 upward movement, movable platform 17 drives second dead lever 18 and upwards moves, because the activity joint in both ends has fixed second rotating ring 19 and driven arm 11 together about second dead lever 18, the activity joint in both ends has fixed first rotating ring 10 and driven arm 11 together about first dead lever 9, and then with first buckle 12 joint to the surface of driven arm 11, first buckle 12 can the joint fix the fixed position at driven arm 11, can not slide on the surface of driven arm 11, pass through second buckle 14 joint on go-between 13 in the outside of driven arm 11, and then let two driven arms 11 taut relatively under the tensile force of spring 15, can reach required tensile force effect through setting up the quantity of first buckle 12, second rotating ring 19 and first rotating ring 10 of guarantee driven arm 11's upper and lower both ends are to second dead lever 18 and first dead lever 9's tensile force Squeezing, so as not to fall off at the two ends of the second fixing rod 18 and the first fixing rod 9;

the cylinder 20 is operated by the external power supply, and the sucking disc 21 sucks the required clamped object to complete clamping.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-angular parallel manipulator comprising a stationary platform (1), characterized in that: the lower fixed surface of quiet platform (1) is connected with servo motor (2), output fixedly connected with gear (3) of servo motor (2), the inside sliding connection of quiet platform (1) has lifter (4), tooth (5) have been seted up on the right side of lifter (4), the surface of tooth (5) is connected with the surface meshing of gear (3), the upper surface of quiet platform (1) is provided with thrust unit, the upper end fixedly connected with of lifter (4) moves platform (17), move rear side fixedly connected with second dead lever (18) of platform (17), the left end of second dead lever (18) is provided with second swivel becket (19), move last fixed surface of platform (17) and be connected with cylinder (20), the upper end fixedly connected with sucking disc (21) of cylinder (20).

2. The multi-angular parallel robot of claim 1, wherein: thrust unit includes base (6), the right side of base (6) is rotated and is connected with dwang (7), the surface of dwang (7) is rotated and is connected with initiative arm (8), the inside of initiative arm (8) is rotated and is connected with first dead lever (9), first rotating ring (10) has been cup jointed in the left end activity of first dead lever (9), the outside fixedly connected with slave arm (11) of first rotating ring (10), the upper end of slave arm (11) is at the outside fixed connection of second rotating ring (19), the surface of slave arm (11) is provided with overspeed device tensioner.

3. A multi-angular parallel robot as claimed in claim 2, wherein: the shape of base (6) is the arc, the quantity of base (6) is three, first rotating ring (10) has been cup jointed in the same activity of the right-hand member of first dead lever (9), the same fixedly connected with slave arm (11) of upside of first rotating ring (10) of first dead lever (9) right-hand member.

4. A multi-angular parallel robot as claimed in claim 2, wherein: the tensioning device comprises a first buckle (12), the inner wall of the first buckle (12) is movably clamped on the surface of the driven arm (11), a connecting ring (13) is fixedly connected to the right side of the first buckle (12), a second buckle (14) is movably clamped on the inner side of the connecting ring (13), a spring (15) is fixedly connected to the right end of the second buckle (14), and a connecting rod (16) is fixedly connected to the lower side of the first buckle (12).

5. The multi-angular parallel robot of claim 4, wherein: the shape of the first buckle (12) and the shape of the second buckle (14) are also arc-shaped, the lower end of the connecting rod (16) is also fixedly connected with the first buckle (12), and the structures of the two first buckles (12) are the same.

6. The multi-angular parallel robot of claim 1, wherein: the number of the second rotating rings (19) is two, and the two second rotating rings (19) are movably sleeved at the left end and the right end of the second fixing rod (18).