CN218659170U - Four-axis manipulator with parallelogram connecting rod structure - Google Patents
Four-axis manipulator with parallelogram connecting rod structure Download PDFInfo
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- CN218659170U CN218659170U CN202223229926.7U CN202223229926U CN218659170U CN 218659170 U CN218659170 U CN 218659170U CN 202223229926 U CN202223229926 U CN 202223229926U CN 218659170 U CN218659170 U CN 218659170U
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- parallelogram
- driving motor
- parallelogram linkage
- connecting rod
- manipulator
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Abstract
The utility model discloses a four-axis manipulator with a parallelogram connecting rod structure, which comprises a base, a rotating disk, four driving motors and three parallelogram connecting rod mechanisms; the manipulator is characterized in that a rotating disc is arranged on a base, a first parallelogram link mechanism is arranged on the rotating disc, a second parallelogram link mechanism is connected with the tail end of the first parallelogram link mechanism, a third parallelogram link mechanism is arranged at the tail end of the second parallelogram link mechanism, a first driving motor is arranged on the base and drives the rotating disc to rotate, so that the manipulator rotates horizontally, the second driving motor and the third driving motor drive the manipulator to pitch and move back and forth, and a fourth driving motor drives the clamping jaw of the manipulator to clamp and release. The utility model discloses a four-axis manipulator whole weight is low, the focus is low, is difficult for empting during the use, and the load level is high, and can realize the free activity of multidimension degree, and transmission efficiency is high.
Description
Technical Field
The utility model belongs to four-axis manipulator field, concretely relates to four-axis manipulator of parallelogram link structure.
Background
At present, most types of mechanical hands are designed by integrating a motor and a joint, and the mechanical hands are characterized in that the joint and the motor are integrated, so that the transmission efficiency and the motion precision of the motor are improved.
However, the operation of the robot needs to overcome the heavy dead weight and the inertia thereof, so that the load level which can be achieved by the robot with the structure is not high.
Disclosure of Invention
The utility model aims at providing a four-axis manipulator of parallelogram link structure, simple structure, the focus is lower, so its operation is stable, and the load level is also than higher.
Realize the utility model discloses the technical solution of purpose does:
a four-axis manipulator with a parallelogram connecting rod structure comprises a base, a rotating disk, a first driving motor, a first parallelogram connecting rod mechanism, a second parallelogram connecting rod mechanism and a third parallelogram connecting rod mechanism;
the base is provided with a rotating disc, the first parallelogram linkage mechanism is arranged on the rotating disc, the second parallelogram linkage mechanism is connected with the tail end of the first parallelogram linkage mechanism, and the tail end of the second parallelogram linkage mechanism is provided with a third parallelogram linkage mechanism;
the base is provided with a first driving motor, and the output end of the first driving motor is connected with the rotating disk.
Further, the device also comprises a second driving motor;
the second driving motor is arranged on the first parallelogram linkage mechanism, and the output end of the second driving motor is connected with the connecting rod in the first parallelogram linkage mechanism and used for driving the first parallelogram linkage mechanism to swing up and down.
Further, the device also comprises a third driving motor;
the third driving motor is arranged on the first parallelogram linkage mechanism, and the output end of the third driving motor is connected with a connecting rod in the first parallelogram linkage mechanism and is used for driving the first parallelogram linkage mechanism to swing back and forth.
Further, the device also comprises a fourth driving motor;
the fourth driving motor is arranged on the third parallelogram linkage mechanism, and the output end of the fourth driving motor is connected with the third parallelogram linkage mechanism.
Furthermore, the three parallelogram linkages comprise two third parallelogram linkages which are arranged in bilateral symmetry, the two third parallelogram linkages are connected through gear engagement, and the output end of the fourth driving motor is connected with the gear on one of the three third parallelogram linkages.
Further, the first parallelogram linkage mechanism, the second parallelogram linkage mechanism and the third parallelogram linkage mechanism are all made of aluminum alloy materials.
Furthermore, the first parallelogram linkage mechanism, the second parallelogram linkage mechanism and the third parallelogram linkage mechanism are all connected through bearings.
Compared with the prior art, the utility model, it is showing the advantage and is:
(1) The technical scheme of the utility model adopted light-duty parallelogram link structure, the motor is whole put down, need not overcome the dead weight of all motors during the manipulator operation, and it has higher motor drive efficiency and positioning accuracy, simple structure, and the focus is lower, so its operation is stable, and the load level is also than higher.
(2) The technical scheme of the utility model the whole revolute joint's of technical scheme part all adopts the bearing to connect, effectively promotes transmission efficiency and positioning accuracy, has also reduced the wearing and tearing of part, has promoted life.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is the utility model discloses a four-axis manipulator overall structure schematic diagram of parallelogram link structure.
Fig. 2 is the utility model discloses a first parallelogram link mechanism, the second parallelogram link mechanism structural sketch of parallelogram link mechanism's four-axis manipulator of parallelogram link structure.
Fig. 3 is a schematic structural diagram 1 of a third parallelogram linkage of the present invention.
Fig. 4 is a schematic structural diagram 2 of a third parallelogram linkage mechanism of the present invention.
Detailed Description
Examples
With reference to fig. 1 to 4, a four-axis manipulator of a parallelogram link structure includes a base B1, a rotating disk B2, a first driving motor J1, a first parallelogram link mechanism 1, a second parallelogram link mechanism 2, and a third parallelogram link mechanism 3;
the base B1 is provided with a rotating disk B2, the first parallelogram linkage 1 is arranged on the rotating disk B2, the second parallelogram linkage 2 is connected with the tail end of the first parallelogram linkage 1, and the tail end of the second parallelogram linkage 2 is provided with a third parallelogram linkage 3;
the base B1 is provided with a first driving motor J1, and the output end of the first driving motor J1 is connected with the rotating disc B2.
Further, a second driving motor J2 is also included;
the second driving motor J2 is arranged on the first parallelogram linkage mechanism 1, and the output end of the second driving motor J2 is connected with a connecting rod in the first parallelogram linkage mechanism 1 and is used for driving the first parallelogram linkage mechanism 1 to swing up and down.
Further, a third driving motor J3 is also included;
the third driving motor J3 is arranged on the first parallelogram linkage mechanism 1, and the output end of the third driving motor J3 is connected with a connecting rod in the first parallelogram linkage mechanism 1 and is used for driving the first parallelogram linkage mechanism 1 to swing back and forth.
Further, a fourth driving motor J4 is also included;
the fourth drive motor J4 is provided on the third parallelogram linkage 3, and the output end is connected to the third parallelogram linkage 3.
Further, the third parallelogram linkages 3 include two, which are arranged symmetrically left and right, the two third parallelogram linkages 3 are engaged and connected through a gear, and the output end of the fourth driving motor J4 is connected with the gear on one of the third parallelogram linkages 3.
Furthermore, the first parallelogram linkage 1, the second parallelogram linkage 2 and the third parallelogram linkage 3 are all made of aluminum alloy materials, so that the overall weight is light.
Furthermore, the first parallelogram linkage 1, the second parallelogram linkage 2 and the third parallelogram linkage 3 are all connected through bearings.
When the manipulator works, the first driving motor J1 drives the rotating disk B2 connected with the output shaft of the first driving motor J1 to enable the manipulator to horizontally rotate around the base B1;
the second driving motor J2 realizes the pitching swing of the manipulator big arm through the link mechanism of the left first parallelogram link mechanism 1;
a third driving motor J3 drives a second parallelogram link mechanism 2 to move back and forth through a link mechanism of a right first parallelogram link mechanism 1, so as to realize the front and back extension of the large arm of the manipulator;
namely, the second parallelogram link mechanism 1 comprises two connecting rods and is jointly connected with the second parallelogram link mechanism 2, and the second driving motor J2 and the third driving motor J3 are respectively connected with the connecting rods at two sides of the second parallelogram link mechanism 1 to drive the manipulator to complete pitching and front-back dimensional movement;
the fourth drive motor J4 drives the gripping jaws, i.e. the gripping and releasing of the two third parallelogram linkages 3.
Except for the driving motor at the clamping jaw, other motors are arranged below the manipulator, so that the integral gravity center is reduced, and the manipulator is not easy to topple during working.
The foregoing embodiments illustrate and describe the basic principles and principal features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but rather that various changes and modifications may be made without departing from the spirit and scope of the invention, which shall fall within the scope of the invention as claimed.
Claims (7)
1. A four-axis manipulator with a parallelogram connecting rod structure is characterized by comprising a base (B1), a rotating disk (B2), a first driving motor (J1), a first parallelogram connecting rod mechanism (1), a second parallelogram connecting rod mechanism (2) and a third parallelogram connecting rod mechanism (3);
the base (B1) is provided with a rotating disc (B2), the first parallelogram linkage mechanism (1) is arranged on the rotating disc (B2), the second parallelogram linkage mechanism (2) is connected with the tail end of the first parallelogram linkage mechanism (1), and the tail end of the second parallelogram linkage mechanism (2) is provided with a third parallelogram linkage mechanism (3);
the base (B1) is provided with a first driving motor (J1), and the output end of the first driving motor (J1) is connected with the rotating disk (B2).
2. The four-axis robot of parallelogram linkage structure of claim 1, further comprising a second drive motor (J2);
the second driving motor (J2) is arranged on the first parallelogram linkage mechanism (1), and the output end of the second driving motor (J2) is connected with a connecting rod in the first parallelogram linkage mechanism (1) and used for driving the first parallelogram linkage mechanism (1) to swing up and down.
3. The four-axis robot of parallelogram linkage structure of claim 2, further comprising a third driving motor (J3);
the third driving motor (J3) is arranged on the first parallelogram linkage mechanism (1), and the output end of the third driving motor (J3) is connected with a connecting rod in the first parallelogram linkage mechanism (1) and used for driving the first parallelogram linkage mechanism (1) to swing back and forth.
4. The four-axis robot of parallelogram linkage structure of claim 1, further comprising a fourth drive motor (J4);
the fourth driving motor (J4) is arranged on the third parallelogram linkage mechanism (3), and the output end of the fourth driving motor is connected with the third parallelogram linkage mechanism (3).
5. Four-axis manipulator of a parallelogram linkage arrangement according to claim 4, characterized in that the third parallelogram linkage (3) comprises two, bilaterally symmetrical arrangements, two third parallelogram linkages (3) are connected with each other by means of a gear mesh, and the output of the fourth drive motor (J4) is connected with a gear on one of the third parallelogram linkages (3).
6. Four-axis manipulator of a parallelogram linkage according to any of claims 1-5, characterized in that the first (1), second (2) and third (3) parallelogram linkages are made of aluminum alloy.
7. Four-axis manipulator of a parallelogram linkage according to any of claims 1-5, characterized in that the first (1), second (2) and third (3) parallelogram linkages are connected by bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223229926.7U CN218659170U (en) | 2022-12-02 | 2022-12-02 | Four-axis manipulator with parallelogram connecting rod structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223229926.7U CN218659170U (en) | 2022-12-02 | 2022-12-02 | Four-axis manipulator with parallelogram connecting rod structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218659170U true CN218659170U (en) | 2023-03-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223229926.7U Active CN218659170U (en) | 2022-12-02 | 2022-12-02 | Four-axis manipulator with parallelogram connecting rod structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218659170U (en) |
-
2022
- 2022-12-02 CN CN202223229926.7U patent/CN218659170U/en active Active
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