CN116276923A - Five-bar linkage manipulator - Google Patents

Abstract

The utility model relates to a robot field particularly, relate to a five-link manipulator, including the fixing base, left side first arm, left side second arm, right side first arm and right side second arm, the one end of left side first arm and the one end and the fixing base rotation of right side first arm are connected, the other end of left side first arm is rotated with the one end of left side second arm and is connected, the other end of right side first arm is rotated with the one end of right side second arm and is connected, the other end of left side second arm and the other end of right side second arm are rotated through first pivot and are connected, first pivot and load mechanism fixed connection, five-link manipulator still includes first swing subassembly, second swing subassembly and load rotation subassembly, first swing subassembly and second swing subassembly drive left side first arm and right side first arm swing respectively, load drive arrangement fixed mounting is on the fixing base and is connected with first pivot transmission, a for driving load mechanism rotates, make load mechanism's gesture only by load rotation subassembly control, no matter whether five-link manipulator swings, all do not influence load mechanism's gesture.

Description

Five-bar linkage manipulator

Technical Field

The application relates to the field of robots, in particular to a five-link manipulator.

Background

The existing closed-loop mechanism is a four-bar or five-bar, the five-bar has a larger movement range compared with the four-bar, the application range is wider, and when the existing five-bar manipulator is used for carrying out load transportation, the load is connected to the arm of the manipulator, so that the load gesture is changed along with the swinging of the manipulator, the load gesture at the tail end of the manipulator needs to be controlled in some scenes such as part assembly, the load gesture can not meet the requirement in the mechanical manual operation process, and manual adjustment is needed, thereby reducing the working efficiency.

In view of the above problems, no effective technical solution is currently available.

Disclosure of Invention

The utility model provides an aim at provides a five-bar linkage manipulator, aim at solving five-bar linkage manipulator and can take place the change along with five-bar linkage manipulator swing in the gesture of work in-process load, need adjust the load gesture to work efficiency's problem has been reduced.

The application provides a five-bar linkage manipulator for drive five-bar linkage manipulator end-to-end connection's load mechanism removes, five-bar linkage manipulator includes the fixing base, left first arm, left second arm, right first arm and right second arm, the one end of left first arm and the one end of right first arm are rotated with the fixing base and are connected, the other end of left first arm is rotated with the one end of left second arm and is connected, the other end of right first arm is rotated with the one end of right second arm and is connected, the other end of left second arm and the other end of right second arm are rotated through first pivot and are connected, five-bar linkage manipulator still includes first swing subassembly, second swing subassembly and load rotation subassembly, first swing subassembly is used for driving left first arm swing, second swing subassembly is used for driving right first arm swing, load rotation subassembly includes load drive arrangement, load drive arrangement fixed mounting is on the fixing base, and be connected with the one end transmission of first pivot, the other end and load mechanism fixed connection of first pivot.

The utility model provides a five-bar linkage manipulator, first pivot rotates with left side two arms and right side two arms respectively to with load mechanism and first pivot fixed connection, when first swing subassembly and second swing subassembly drive five-bar linkage manipulator swing, first pivot keeps motionless, thereby steerable load mechanism's gesture remains stable, and when the gesture of needs adjustment load mechanism, thereby accessible load rotates the first pivot of subassembly drive and rotates and drive load mechanism and rotate the adjustment in order to realize the gesture, make load mechanism's gesture only by load rotation subassembly control through this structure, and whether five-bar linkage manipulator swings, all do not influence load mechanism's gesture, thereby more be convenient for adjust load mechanism's gesture as required.

Optionally, the application provides a five-bar linkage manipulator, first swing subassembly includes: the left arm is rotationally connected with the fixed seat through the first rotating piece, an output shaft of the first swing driving motor is fixedly connected with the first driving wheel, one end of the first rotating piece is rotationally connected with the fixed seat, and the other end of the first rotating piece is fixedly connected with the left arm.

Optionally, the application provides a five-bar linkage manipulator, the second swing subassembly includes: the second swing driving motor, the second driving wheel, the second rotating piece and the second synchronous belt sleeved on the second driving wheel and the second rotating piece, the right arm is rotationally connected with the fixed seat through the second rotating piece, the output shaft of the second swing driving motor is fixedly connected with the second driving wheel, one end of the second rotating piece is rotationally connected with the fixed seat, and the other end of the second rotating piece is fixedly connected with the right arm.

Optionally, the application provides a five-bar linkage manipulator, first rotating member includes first synchronizing wheel and first harmonic reduction gear, the stiff end fixed connection of first synchronizing wheel and first harmonic reduction gear, first synchronizing wheel rotates with the fixing base to be connected, the rotation end and the left one arm fixed connection of first harmonic reduction gear, the second rotating member includes second synchronizing wheel and second harmonic reduction gear, the stiff end fixed connection of second synchronizing wheel and second harmonic reduction gear, the second synchronizing wheel rotates with the fixing base to be connected, the rotation end and the right one arm fixed connection of second harmonic reduction gear.

This application is through setting up the harmonic speed reducer to establish ties with the reducing mechanism that synchronizing wheel and hold-in range are constituteed, make the harmonic speed reducer produce bigger speed reduction ratio, thereby make the terminal output bigger torsion of harmonic speed reducer, reduced the junction of left first arm and left two arms simultaneously, and the rotational speed of the junction of right first arm and right two arms, thereby better control load mechanism's mobile position.

Optionally, the five-bar linkage manipulator provided by the application, the reduction ratio of the first driving wheel to the first synchronous wheel is 1:2, and the reduction ratio of the second driving wheel to the second synchronous wheel is 1:2.

Optionally, the application provides a five connecting rod manipulators, load rotating assembly still includes second pivot and third pivot, the second pivot sets up the junction at fixing base and left first arm, the third pivot sets up the junction at left first arm and left second arm, load drive arrangement is connected through the one end transmission of first belt pulley assembly and second pivot, the other end of second pivot is connected through the one end transmission of second belt pulley assembly and third pivot, the other end of third pivot is connected through the one end transmission of third belt pulley assembly and first pivot.

Optionally, the first belt pulley assembly includes a third driving wheel, a third synchronizing wheel and a third synchronizing belt sleeved on the third driving wheel and the third synchronizing wheel, the third driving wheel is fixedly connected with an output shaft of the load driving device, and the third synchronizing wheel is fixedly connected with one end of the second rotating shaft; the second belt pulley assembly comprises a fourth synchronous pulley and a fifth synchronous pulley, a fourth synchronous belt is sleeved on the fourth synchronous pulley and the fifth synchronous pulley, the fourth synchronous pulley is fixedly connected with the other end of the second rotating shaft, and the fifth synchronous pulley is fixedly connected with one end of the third rotating shaft; the third belt pulley assembly comprises a sixth synchronous pulley, a seventh synchronous pulley and a fifth synchronous belt sleeved on the sixth synchronous pulley and the seventh synchronous pulley, the sixth synchronous pulley is fixedly connected with the other end of the third rotating shaft, and the seventh synchronous pulley is fixedly connected with one end of the first rotating shaft.

Optionally, the application provides a five-bar linkage manipulator is provided with first take-up pulley between fourth synchronizing wheel and the fifth synchronizing wheel, and fourth synchronizing belt walks around fourth synchronizing wheel, first take-up pulley and fifth synchronizing wheel, is provided with the second take-up pulley between sixth synchronizing wheel and the seventh synchronizing wheel, and sixth synchronizing wheel, second take-up pulley and seventh synchronizing wheel are walked around to the fifth synchronizing belt.

This application improves the pressure between hold-in range and the synchronizing wheel through setting up the take-up pulley to improve the frictional force between hold-in range and the synchronizing wheel, prevent to skid.

Optionally, the load driving device includes a rotation driving motor and a rotation speed reducer, the reduction ratio of the rotation driving motor and the rotation speed reducer is 1:10, the reduction ratio of the third driving wheel and the third synchronizing wheel is 1:3, the reduction ratio of the fourth synchronizing wheel and the fifth synchronizing wheel is 1:2, and the reduction ratio of the sixth synchronizing wheel and the seventh synchronizing wheel is 1:2.

Optionally, the application provides a five-bar linkage manipulator, still include lifting unit, lifting unit includes the crane, lift driving motor and two sets of belt pulley subassembly, two sets of belt pulley subassembly set up in the crane both sides respectively, belt pulley subassembly includes the lift action wheel, go up and down from the driving wheel and walk around the lift action wheel and go up and down from the lifting belt of driving wheel, the lift action wheel in two sets of belt pulley subassembly passes through first connecting rod fixed connection, the lift from the driving wheel in two sets of belt pulley subassembly passes through second connecting rod fixed connection, lift driving motor passes through belt pulley and lift action wheel transmission connection, fixing base and lifting belt fixed connection.

According to the five-bar mechanical arm, the lifting assembly is arranged, so that the movement range of the five-bar mechanical arm is improved, and the adaptability of the five-bar mechanical arm in different working scenes is improved.

From the above, the five-bar linkage manipulator provided by the application, the first rotating shaft is respectively connected with the left two arms and the right two arms in a rotating way, and is fixedly connected with the load mechanism, when the first swinging component and the second swinging component drive the five-bar linkage manipulator to swing, the first rotating shaft is kept motionless, so that the gesture of the load mechanism can be controlled to be stable, and when the gesture of the load mechanism needs to be regulated, the first rotating shaft is driven to rotate by the load rotating component so as to drive the load mechanism to rotate, so that the gesture of the load mechanism is regulated by the load rotating component, no matter whether the five-bar linkage manipulator swings or not, the gesture of the load mechanism is not influenced, and the gesture of the load mechanism is more convenient to regulate according to requirements.

Drawings

Fig. 1 is a schematic structural diagram of a five-bar linkage manipulator provided in the present application.

Fig. 2 is an exploded view of the internal structures of the left first arm and the left second arm provided in the present application.

Fig. 3 is an exploded view of the internal structures of the right first arm and the right second arm provided in the present application.

Fig. 4 is a schematic structural diagram of a lifting assembly provided in the present application.

Description of the reference numerals: 101. a base frame; 102. a left fixing seat; 103. a right fixing seat; 1. a left arm; 2. a left two arms; 3. a right arm; 4. a right two arms; 5. a first rotating shaft; 6. a load mechanism; 71. a first swing drive motor; 72. a first drive wheel; 730. a first rotating member; 731. a first synchronizing wheel; 732. a first harmonic reducer; 733. a second rotating shaft; 74. a first synchronization belt; 81. a second swing driving motor; 82. a second drive wheel; 830. a second rotating member; 831. a second synchronizing wheel; 832. a second harmonic reducer; 833. a third rotating shaft; 84. a second timing belt; 911. a rotary drive motor; 912. a rotation speed reducer; 913. a third drive wheel; 92. a third synchronizing wheel; 93. a fourth synchronizing wheel; 94. a fifth synchronizing wheel; 95. a sixth synchronizing wheel; 96. a seventh synchronizing wheel; 97. a third timing belt; 98. a fourth timing belt; 981. a first tensioning wheel; 99. a fifth timing belt; 991. a second tensioning wheel; 210. a lifting frame; 220. a lifting driving motor; 231. lifting the driving wheel; 232. lifting the driven wheel; 233. lifting the belt; 240. and a guide rail.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

When the existing five-link manipulator is used for carrying out load transportation, as the load is connected to the arm of the manipulator, the posture of the load changes along with the swing of the five-link manipulator, so that the posture of the load at the tail end of the five-link manipulator needs to be adjusted under some scenes such as part assembly, and the working efficiency is low.

Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic structural diagram of a five-bar mechanical arm provided by the present application, fig. 2 is an exploded schematic structural diagram of a left first arm and a left second arm provided by the present application, fig. 3 is an exploded schematic structural diagram of a right first arm and a right second arm provided by the present application, as shown in fig. 1, fig. 2 and fig. 3, the five-bar mechanical arm includes a fixing seat, a left first arm 1, a left second arm 2, a right first arm 3 and a right second arm 4, one end of the left first arm 1 and one end of the right first arm 3 are rotationally connected with the fixing seat, the other end of the left first arm 1 is rotationally connected with one end of the left second arm 2, the other end of the right first arm 3 is rotationally connected with one end of the right second arm 4, the other end of the left second arm 2 and the other end of the right second arm 4 are rotationally connected through a first rotating shaft 5, the first swinging component is used for driving the left first arm 1 to swing, the second swinging component is used for driving the right first arm 3 to swing, the load rotating component includes a load driving device, the load driving device is fixedly installed on the driving shaft 5, and is fixedly connected with the fixing seat 5.

Specifically, in the present embodiment, a tapered roller bearing is provided at one end of the left arm 2 connected to the right arm 4, a self-aligning roller bearing is provided at one end of the right arm 4 connected to the left arm 2, and the first shaft 5 passes through the tapered roller bearing and the self-aligning roller bearing, so that the right arm 4 and the left arm 2 are rotatably connected, and in addition, since the first shaft 5 passes through the tapered roller bearing and the self-aligning roller bearing to be connected to the left arm 2 and the right arm 4, and a load driving device is fixedly provided on the fixing base, and the load driving device is drivingly connected to the first shaft 5 through the first belt pulley assembly, the second belt pulley assembly, and the third belt pulley assembly, when the left arm 2 and the right arm 4 are swung, the first shaft 5 is not driven to rotate as long as the load driving device does not operate, that is, the first shaft 5 is automatically rotated relative to the left arm 2 and the right arm 4, so that the posture of the load mechanism 6 fixedly connected to the first shaft 5 is also kept stationary.

The existing five-bar mechanical arm is usually fixedly connected with one of the arms, and in the process that the mechanical arm drives the load mechanism 6 to move, the posture of the load mechanism 6 can be adjusted along with the swing of the five-bar mechanical arm connected with the load mechanism 6, in some scenes, the posture of the load mechanism 6 needs to be controlled to be consistent with the initial posture, therefore, when the mechanical arm moves the load mechanism 6 to a designated position, the posture of the load mechanism 6 can certainly deviate, and a rotating device is required to be manually or additionally arranged to adjust the position of the load mechanism 6, so that the working efficiency is reduced.

The application provides a five-bar linkage manipulator, first pivot 5 rotates with left side two arms 2 and right side two arms 4 respectively to with load mechanism 6 and first pivot 5 fixed connection, when first swing subassembly and second swing subassembly drive five-bar linkage manipulator swing, first pivot 5 keeps motionless, thereby the gesture of steerable load mechanism 6 remains stable, and when the gesture of needs adjustment load mechanism 6, thereby accessible load rotating subassembly drive first pivot 5 rotates and drives load mechanism 6 and rotate in order to realize the adjustment of gesture, make the gesture of load mechanism 6 only by load rotating subassembly control through this structure, and whether five-bar linkage manipulator swings, all do not influence the gesture of load mechanism 6, thereby the gesture of more being convenient for adjustment load mechanism 6 as required.

In some preferred embodiments, referring to fig. 2, the first swing assembly comprises: the first swing driving motor 71, the first driving wheel 72, the first rotating member 730 and the first synchronous belt 74 sleeved on the first driving wheel 72 and the first rotating member 730, the left first arm 1 and the fixed seat are rotationally connected through the first rotating member 730, an output shaft of the first swing driving motor 71 is fixedly connected with the first driving wheel 72, one end of the first rotating member 730 is rotationally connected with the fixed seat, and the other end of the first rotating member 730 is fixedly connected with the left first arm 1.

Specifically, in this embodiment, the first swing driving motor 71 is fixedly connected to the fixed base, the output shaft of the first swing driving motor 71 is fixedly connected to the first driving wheel 72, the first rotating member 730 is disposed at the connection between the fixed base and the left arm 1, and the first rotating member 730 is connected to the first driving wheel 72 through the first synchronous belt 74, so that the first swing driving motor 71 can drive the first rotating member 730 to rotate, and when the first rotating member 730 rotates, the left arm 1 swings, in this embodiment, one end of the first rotating member 730 is rotationally connected to the fixed base, and the other end of the first rotating member 730 is fixedly connected to the left arm 1.

In some preferred embodiments, referring to fig. 3, the second swing assembly includes: the second swing driving motor 81, the second driving wheel 82, the second rotating member 830 and the second synchronous belt 84 sleeved on the second driving wheel 82 and the second rotating member 830, the right arm 3 and the fixed seat are rotationally connected through the second rotating member 830, an output shaft of the second swing driving motor 81 is fixedly connected with the second driving wheel 82, one end of the second rotating member 830 is rotationally connected with the fixed seat, and the other end of the second rotating member 830 is fixedly connected with the right arm 3.

Specifically, in this embodiment, the second swing driving motor 81 is fixedly connected to the fixed seat, the output shaft of the second swing driving motor 81 is fixedly connected to the second driving wheel 82, the second rotating member 830 is disposed at the connection position between the fixed seat and the right arm 3, and the second rotating member 830 is connected to the second driving wheel 82 through the second synchronous belt 84, so that the second swing driving motor 81 can drive the second rotating member 830 to rotate, and when the second rotating member 830 rotates, the right arm 3 swings, in this embodiment, one end of the second rotating member 830 is rotationally connected to the fixed seat, and the other end of the second rotating member 830 is fixedly connected to the right arm 3.

In some preferred embodiments, the first rotating member 730 includes a first synchronizing wheel 731 and a first harmonic reducer 732, the first synchronizing wheel 731 is fixedly connected with a fixed end of the first harmonic reducer 732, the first synchronizing wheel 731 is rotatably connected with the fixed base, a rotating end of the first harmonic reducer 732 is fixedly connected with the left arm 1, the second rotating member 830 includes a second synchronizing wheel 831 and a second harmonic reducer 832, the second synchronizing wheel 831 is fixedly connected with a fixed end of the second harmonic reducer 832, the second synchronizing wheel 831 is rotatably connected with the fixed base, and a rotating end of the second harmonic reducer 832 is fixedly connected with the right arm 3.

Specifically, in order to further increase the reduction ratio of the first driving wheel 72 to the first synchronous wheel 731 and the reduction ratio of the second driving wheel 82 to the second synchronous wheel 831, in this embodiment, the first rotating member 730 is provided to include the first synchronous wheel 731 and the first harmonic reducer 732, the second rotating member 830 is provided to include the second synchronous wheel 831 and the second harmonic reducer 832 which are fixedly connected, wherein the reduction ratio of the first driving wheel 72 to the first synchronous wheel 731 is set to be 1:2, the reduction ratio of the second driving wheel 82 to the second synchronous wheel 831 is set to be 1:2, and the first harmonic reducer 732 and the second harmonic reducer 832 are respectively connected to the first synchronous wheel 731 and the second synchronous wheel 831 in series to enable the first rotating member 730 and the second rotating member 830 to generate a larger reduction ratio so as to reduce the rotation speeds of the left arm 1 and the right arm 3, thereby improving the control accuracy of the movement of the load mechanism 6, and meanwhile, the ends of the harmonic reducer will output a larger torque force to ensure the stable operation of the manipulator.

In some preferred embodiments, the reduction ratio of the first drive wheel 72 to the first synchro-wheel 731 is 1:2, and the reduction ratio of the second drive wheel 82 to the second synchro-wheel 831 is 1:2.

Specifically, in the present embodiment, since the rotational speeds at which the first swing drive motor 71 and the second swing drive motor 81 drive the first drive wheel 72 and the second drive wheel 82 to rotate are relatively fast, if the reduction ratio of the first drive wheel 72 to the first synchronous wheel 731 and the reduction ratio of the second drive wheel 82 to the second synchronous wheel 831 are relatively small, the swing amplitude and the swing speed of the left arm 1 and the right arm 3 are relatively fast when the first swing drive motor 71 and the second swing drive motor 81 are driven, so that it is difficult to accurately control the movement position of the load mechanism 6 by controlling the swing of the left arm 1 and the right arm 3, and therefore, in the present embodiment, the reduction ratio of the first drive wheel 72 to the first synchronous wheel 731 and the reduction ratio of the second drive wheel 82 to the second synchronous wheel 831 are set to be 1:2.

In some preferred embodiments, referring to fig. 2, the load rotating assembly further includes a second rotating shaft 733 and a third rotating shaft 833, the second rotating shaft 733 is disposed at a connection portion of the fixing base and the left first arm 1, the third rotating shaft 833 is disposed at a connection portion of the left first arm 1 and the left second arm 2, the load driving device is in transmission connection with one end of the second rotating shaft 733 through the first belt pulley assembly, the other end of the second rotating shaft 733 is in transmission connection with one end of the third rotating shaft 833 through the second belt pulley assembly, and the other end of the third rotating shaft 833 is in transmission connection with one end of the first rotating shaft 5 through the third belt pulley assembly.

In some preferred embodiments, the first belt pulley assembly includes a third driving wheel 913, a third synchronizing wheel 92, and a third synchronizing belt 97 sleeved on the third driving wheel 913 and the third synchronizing wheel 92, the third driving wheel 913 is fixedly connected to the output shaft of the load driving device, and the third synchronizing wheel 92 is fixedly connected to one end of the second rotating shaft 733; the second belt pulley assembly comprises a fourth synchronous pulley 93, a fifth synchronous pulley 94 and a fourth synchronous belt 98 sleeved on the fourth synchronous pulley 93 and the fifth synchronous pulley 94, the fourth synchronous pulley 93 is fixedly connected with the other end of the second rotating shaft 733, and the fifth synchronous pulley 94 is fixedly connected with one end of the third rotating shaft 833; the third belt pulley assembly comprises a sixth synchronizing wheel 95, a seventh synchronizing wheel 96 and a fifth synchronizing belt 99 sleeved on the sixth synchronizing wheel 95 and the seventh synchronizing wheel 96, the sixth synchronizing wheel 95 is fixedly connected with the other end of the third rotating shaft 833, and the seventh synchronizing wheel 96 is fixedly connected with one end of the first rotating shaft 5.

Specifically, in this embodiment, the load driving device is fixedly connected to the fixing base, the output shaft of the load driving device is fixedly connected to the third driving wheel 913, the third synchronizing wheel 92 and the fourth synchronizing wheel 93 are disposed at the connection position of the fixing base and the left arm 1, the second rotating shaft 733 sequentially passes through the third synchronizing wheel 92, the first rotating member 730 and the fourth synchronizing wheel 93 from bottom to top, the second rotating shaft 733 is fixedly connected to the third synchronizing wheel 92 and the fourth synchronizing wheel 93, and is rotationally connected to the first rotating member 730, and the third synchronizing wheel 92 is connected to the third driving wheel 913 through the third synchronizing belt 97, when the load driving device drives the third synchronizing wheel 92 to rotate, the fourth synchronizing wheel 93 rotates along with the first rotating member 730, and similarly, the fifth synchronizing wheel 94 and the sixth synchronizing wheel 95 are disposed at the connection position of the left arm 1 and the left arm 2, the fifth synchronizing wheel 94 is arranged in the left first arm 1, is connected with the fourth synchronizing wheel 93 through a fourth synchronizing belt 98, the sixth synchronizing wheel 95 is arranged in the left second arm 2, a crossed cylindrical roller bearing is arranged between the fifth synchronizing wheel 94 and the sixth synchronizing wheel 95, the left first arm 1 and the left second arm 2 are in rotary connection through the crossed cylindrical roller bearing, a third rotating shaft 833 sequentially penetrates through the fifth synchronizing wheel 94, the crossed cylindrical roller bearing and the sixth synchronizing wheel 95 from bottom to top, the third rotating shaft 833 is fixedly connected with the fifth synchronizing wheel 94 and the sixth synchronizing wheel 95 and is in rotary connection with the crossed cylindrical roller bearing, a seventh synchronizing wheel 96 is arranged at the tail end of the left second arm 2, the seventh synchronizing wheel 96 is fixedly connected with the first rotating shaft 5, the seventh synchronizing wheel 96 is connected with the sixth synchronizing wheel 95 through the fifth synchronizing belt 99, by means of this connection, it is achieved that the swing of the left arm 1 and the rotation of the load mechanism 6 can be controlled independently and without mutual influence.

Specifically, in this embodiment, the fixing base includes a base frame 101, a left fixing base 102 and a right fixing base 103, the left fixing base 102 and the right fixing base 103 are respectively fixed on two sides of the base frame 101, more specifically, a first swing driving motor 71 in a first swing assembly is fixedly connected with the left fixing base 102, a first rotating member 730 is rotatably connected with the left fixing base 102, a second swing driving motor 81 in a second swing assembly is fixedly connected with the right fixing base 103, a second rotating member 830 is rotatably connected with the right fixing base 103, a load driving device in a load rotating assembly is fixedly connected with the left fixing base 102,

in some preferred embodiments, referring to fig. 2, a first tension pulley 981 is provided between the fourth and fifth synchronizing pulleys 93, 94, a fourth timing belt 98 bypasses the fourth, first and fifth synchronizing pulleys 93, 981, 94, a second tension pulley 991 is provided between the sixth and seventh synchronizing pulleys 95, 96, and a fifth timing belt 99 bypasses the sixth, second and seventh synchronizing pulleys 95, 991, 96.

Specifically, in order to reduce slipping and improve stability and accuracy of transmission, in this embodiment, a first tension wheel 981 is disposed between a fourth synchronizing wheel 93 and a fifth synchronizing wheel 94, a second tension wheel 991 is disposed between a sixth synchronizing wheel 95 and a seventh synchronizing wheel 96, a fourth synchronizing belt 98 is abutted against the first tension wheel 981, and a fifth synchronizing belt 99 is abutted against the second tension wheel 991, so that pressure between the fourth synchronizing belt 98 and the fourth synchronizing wheel 93 and the fifth synchronizing wheel 94, and pressure between the fifth synchronizing belt 99 and the sixth synchronizing wheel 95 and the seventh synchronizing wheel 96, that is, friction between the synchronizing belt and the synchronizing wheel is increased, and slipping between the synchronizing belt and the synchronizing wheel is prevented.

In some preferred embodiments, the load driving device includes a rotation driving motor 911 and a rotation speed reducer 912, the reduction ratio of the rotation driving motor 911 and the rotation speed reducer 912 is 1:10, the reduction ratio of the third driving wheel 913 to the third synchronizing wheel 92 is 1:3, the reduction ratio of the fourth synchronizing wheel 93 to the fifth synchronizing wheel 94 is 1:2, and the reduction ratio of the sixth synchronizing wheel 95 to the seventh synchronizing wheel 96 is 1:2.

Specifically, because the rotation speed of the load mechanism 6 connected to the end of the five-bar manipulator is low, if the rotation speed reducer 912 with a large reduction ratio is directly used, a two-stage speed reducer with large cost and large output torque is required to be selected, so that the synchronous belt of each stage needs to bear large pulling force, and larger synchronous wheels and synchronous belts are required to be selected, the volume and weight of the whole device are reduced by adopting a multi-stage speed reduction mode, and meanwhile, the synchronous wheels and synchronous belts of each stage can be prevented from bearing large stress, in the embodiment, the reduction ratio of the rotation speed reducer 912 is set to be 1:10, the reduction ratio of the third driving wheel 913 to the third synchronous wheel 92 is set to be 1:3, the reduction ratio of the fourth synchronous wheel 93 to the fifth synchronous wheel 94 is set to be 1:2, and the reduction ratio of the sixth synchronous wheel 95 to the seventh synchronous wheel 96 is set to be 1:2, so that the rotation of the load mechanism 6 can be accurately controlled by setting the multi-stage speed reduction mechanism and the reduction ratio parameters.

In some preferred embodiments, referring to fig. 4, fig. 4 is a schematic structural diagram of a lifting assembly provided herein, the five-bar linkage manipulator further includes a lifting assembly, the lifting assembly includes a lifting frame 210, a lifting driving motor 220, and two groups of belt pulley assemblies, the two groups of belt pulley assemblies are respectively disposed at two sides of the lifting frame 210, the belt pulley assemblies include a lifting driving wheel 231, a lifting driven wheel 232, and a lifting belt 233 bypassing the lifting driving wheel 231 and the lifting driven wheel 232, the lifting driving wheels 231 in the two groups of belt pulley assemblies are fixedly connected through a first link, the lifting driven wheels 232 in the two groups of belt pulley assemblies are fixedly connected through a second link, the lifting driving motor 220 is in transmission connection with the lifting driving wheel 231 through a belt pulley, and the fixing seat is fixedly connected with the lifting belt 233.

Specifically, in order to increase the movement range of the load mechanism 6 and improve the applicability of the manipulator in different environments, in this embodiment, the five-link manipulator further includes a lifting assembly, two groups of belt pulley assemblies are respectively disposed on two sides of the lifting frame 210, the lifting driving wheels 231 in the two groups of belt pulley assemblies are fixedly connected through a first link, and the lifting driven wheels 232 in the two groups of belt pulley assemblies are fixedly connected through a second link, so that the operation of driving the two groups of belt pulley assemblies through a single lifting driving motor 220 is realized, and the fixing seat is fixedly mounted on the two lifting belts 233, so that the fixing seat is more stable in the lifting process.

Further, the lifting frame 210 is provided with a guide rail 240 along the lifting direction of the fixing seat, and the fixing seat is provided with a groove matched with the guide rail 240.

Specifically, in order to further improve the stability of the fixing base in lifting, it is preferable that, in this example, a guide rail 240 along the lifting direction of the fixing base is provided on the lifting frame 210, and simultaneously, a groove which is matched with the guide rail 240 is provided on the fixing base, and the guide rail 240 is matched with the groove, so that the fixing base can be lifted along the guide rail 240, thereby further improving the lifting stability of the fixing base.

From the above, the five-bar linkage manipulator provided by the application, the first rotating shaft 5 is respectively connected with the left two arms 2 and the right two arms 4 in a rotating way, and the load mechanism 6 is fixedly connected with the first rotating shaft 5, when the first swinging component and the second swinging component drive the five-bar linkage manipulator to swing, the first rotating shaft 5 is kept motionless, so that the gesture of the load mechanism 6 can be controlled to be kept stable, and when the gesture of the load mechanism 6 needs to be regulated, the first rotating shaft 5 can be driven to rotate by the load rotating component so as to drive the load mechanism 6 to rotate so as to realize the gesture regulation, and the gesture of the load mechanism 6 is controlled by the load rotating component by the structure, so that the gesture of the load mechanism 6 is not influenced no matter whether the five-bar linkage manipulator swings, and the gesture of the load mechanism 6 is more convenient to regulate according to the requirement.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments, or examples, for implementing different structures of the invention. The foregoing description of specific example components and arrangements has been presented to simplify the present disclosure. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.

Claims (10)

1. The utility model provides a five-bar linkage manipulator for drive five-bar linkage manipulator end-to-end connection's load mechanism (6) remove, its characterized in that, five-bar linkage manipulator includes fixing base, left first arm (1), left second arm (2), right first arm (3) and right second arm (4), the one end of left first arm (1) with the one end of right first arm (3) with the fixing base rotates to be connected, the other end of left first arm (1) with the one end of left second arm (2) rotates to be connected, the other end of right first arm (3) with the one end of right second arm (4) rotates to be connected, the other end of left second arm (2) with the other end of right second arm (4) rotates to be connected through first pivot (5), five-bar linkage manipulator still includes first swing subassembly, second swing subassembly and load rotation subassembly, first swing subassembly is used for the drive left first arm (1) is swung, second swing subassembly is used for the drive right first arm (3) is swung, load rotation subassembly with the one end of right second arm (2) rotates to be connected, the other end of load device is connected with the one end of first pivot (5) is installed and is fixed with load mechanism (5).

2. The five-bar linkage robot of claim 1, wherein the first swing assembly comprises: the novel swing type hydraulic lifting device comprises a first swing driving motor (71), a first driving wheel (72), a first rotating member (730) and a first synchronous belt (74) sleeved on the first driving wheel (72) and the first rotating member (730), wherein a left arm (1) is rotationally connected with a fixed seat through the first rotating member (730), an output shaft of the first swing driving motor (71) is fixedly connected with the first driving wheel (72), one end of the first rotating member (730) is rotationally connected with the fixed seat, and the other end of the first rotating member (730) is fixedly connected with the left arm (1).

3. The five-bar linkage robot of claim 2, wherein the second swing assembly comprises: the second swing driving motor (81), the second driving wheel (82), the second rotating piece (830) and the second synchronous belt (84) sleeved on the second driving wheel (82) and the second rotating piece (830), the right arm (3) is rotationally connected with the fixing seat through the second rotating piece (830), an output shaft of the second swing driving motor (81) is fixedly connected with the second driving wheel (82), one end of the second rotating piece (830) is rotationally connected with the fixing seat, and the other end of the second rotating piece (830) is fixedly connected with the right arm (3).

4. A five-bar linkage manipulator according to claim 3, characterized in that the first rotating member (730) comprises a first synchronizing wheel (731) and a first harmonic reducer (732), the first synchronizing wheel (731) is fixedly connected with a fixed end of the first harmonic reducer (732), the first synchronizing wheel (731) is rotatably connected with the fixed seat, a rotating end of the first harmonic reducer (732) is fixedly connected with the left arm (1), the second rotating member (830) comprises a second synchronizing wheel (831) and a second harmonic reducer (832), the second synchronizing wheel (831) is fixedly connected with a fixed end of the second harmonic reducer (832), the second synchronizing wheel (831) is rotatably connected with the fixed seat, and a rotating end of the second harmonic reducer (832) is fixedly connected with the right arm (3).

5. The five-bar linkage robot of claim 4, wherein the reduction ratio of the first drive wheel (72) to the first synchronizing wheel (731) is 1:2, and the reduction ratio of the second drive wheel (82) to the second synchronizing wheel (831) is 1:2.

6. The five-bar linkage manipulator according to claim 1, wherein the load rotating assembly further comprises a second rotating shaft (733) and a third rotating shaft (833), the second rotating shaft (733) is arranged at the joint of the fixed seat and the left arm (1), the third rotating shaft (833) is arranged at the joint of the left arm (1) and the left two arms (2), the load driving device is in transmission connection with one end of the second rotating shaft (733) through a first belt pulley assembly, the other end of the second rotating shaft (733) is in transmission connection with one end of the third rotating shaft (833) through a second belt pulley assembly, and the other end of the third rotating shaft (833) is in transmission connection with one end of the first rotating shaft (5) through a third belt pulley assembly.

7. The five-bar linkage manipulator according to claim 6, wherein the first belt pulley assembly comprises a third driving wheel (913), a third synchronizing wheel (92) and a third synchronizing belt (97) sleeved on the third driving wheel (913) and the third synchronizing wheel (92), the third driving wheel (913) is fixedly connected with the output shaft of the load driving device, and the third synchronizing wheel (92) is fixedly connected with one end of the second rotating shaft (733); the second belt pulley assembly comprises a fourth synchronous pulley (93), a fifth synchronous pulley (94) and a fourth synchronous belt (98) sleeved on the fourth synchronous pulley (93) and the fifth synchronous pulley (94), the fourth synchronous pulley (93) is fixedly connected with the other end of the second rotating shaft (733), and the fifth synchronous pulley (94) is fixedly connected with one end of the third rotating shaft (833); the third belt pulley assembly comprises a sixth synchronizing wheel (95), a seventh synchronizing wheel (96) and a fifth synchronizing belt (99) sleeved on the sixth synchronizing wheel (95) and the seventh synchronizing wheel (96), the sixth synchronizing wheel (95) is fixedly connected with the other end of the third rotating shaft (833), and the seventh synchronizing wheel (96) is fixedly connected with one end of the first rotating shaft (5).

8. The five-bar linkage manipulator according to claim 7, wherein a first tensioning wheel (981) is arranged between the fourth synchronizing wheel (93) and the fifth synchronizing wheel (94), the fourth synchronizing belt (98) bypasses the fourth synchronizing wheel (93), the first tensioning wheel (981) and the fifth synchronizing wheel (94), a second tensioning wheel (991) is arranged between the sixth synchronizing wheel (95) and the seventh synchronizing wheel (96), and the fifth synchronizing belt (99) bypasses the sixth synchronizing wheel (95), the second tensioning wheel (991) and the seventh synchronizing wheel (96).

9. The five-bar linkage manipulator according to claim 7, wherein the load driving device comprises a rotation driving motor (911) and a rotation speed reducer (912), a reduction ratio of the rotation driving motor (911) to the rotation speed reducer (912) is 1:10, a reduction ratio of the third driving wheel (913) to the third synchronizing wheel (92) is 1:3, a reduction ratio of the fourth synchronizing wheel (93) to the fifth synchronizing wheel (94) is 1:2, and a reduction ratio of the sixth synchronizing wheel (95) to the seventh synchronizing wheel (96) is 1:2.

10. The five-bar linkage manipulator according to claim 1, further comprising a lifting assembly, wherein the lifting assembly comprises a lifting frame (210), a lifting driving motor (220) and two groups of belt pulley assemblies, the two groups of belt pulley assemblies are respectively arranged on two sides of the lifting frame (210), the belt pulley assemblies comprise lifting driving wheels (231), lifting driven wheels (232) and lifting belts (233) which bypass the lifting driving wheels (231) and the lifting driven wheels (232), the lifting driving wheels (231) in the two groups of belt pulley assemblies are fixedly connected through first connecting rods, the lifting driven wheels (232) in the two groups of belt pulley assemblies are fixedly connected through second connecting rods, the lifting driving motor (220) is in transmission connection with the lifting driving wheels (231) through belt pulleys, and the fixing seat is fixedly connected with the lifting belts (233).

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