CN203699407U - Three-freedom-degree parallel stacking manipulator - Google Patents
Three-freedom-degree parallel stacking manipulator Download PDFInfo
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- CN203699407U CN203699407U CN201420001490.2U CN201420001490U CN203699407U CN 203699407 U CN203699407 U CN 203699407U CN 201420001490 U CN201420001490 U CN 201420001490U CN 203699407 U CN203699407 U CN 203699407U
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- connecting rod
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- linear actuator
- branched chain
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Abstract
The utility model relates to a three-freedom-degree parallel stacking manipulator. The three-freedom-degree parallel stacking manipulator comprises a frame, a constraining branch chain, a first driving branch chain, a second driving branch chain and a third driving branch chain. The constraining branch chain is a driven motion branch chain having three degrees of freedom for space and finishes motion by cooperative drive of the first driving bran chain, the second driving branch chain and the third driving branch chain. The three-freedom-degree parallel stacking manipulator is simple in structure, low in weight of a mechanism, fine in rigidity and excellent in kinetic performance and has the characteristic of a high load capacity as compared with a product of the same kind.
Description
Technical field
The utility model relates to industrial robot field, particularly a kind of freedom degree parallel connection palletizing mechanical arm.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, punching machine automatic production line, automatic assembly line, carrying piling, freight container etc.Existing robot palletizer mainly contains the structure types such as cartesian co-ordinate type, circular cylindrical coordinate type and joint type.Wherein joint type robot palletizer, because of its mechanism's compactness, flexible movements, the advantage such as floor area is little, working space is large, progressively becomes the topmost version of robot palletizer.But the drive motor of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be arranged on joint, cause that robot arm weight is large, the problem such as poor rigidity, inertia are large, joint error accumulation, mechanism dynamic poor-performing, is difficult to meet the requirement of high-speed overload carrying piling.Parallel institution be a kind of moving platform with fixed platform by least two independently kinematic link be connected, have two or more degree of freedom, and a mechanism driving with parallel way.There is the advantages such as precision is high, compact conformation, rigidity is high, load-carrying capacity is strong because of it, cause lot of domestic and foreign experts and scholars' concern, correlative study has obtained great successes, has obtained good application at aspects such as motion simulator, parallel machine, micro-manipulating robots.The utility model adopts parallel-connection structure to realize robot piling motion, can solve traditional open-chain structure robot palletizer arm weight greatly, poor rigidity, inertia greatly, the problem such as joint error accumulation.
Summary of the invention
The purpose of this utility model is to provide a kind of freedom degree parallel connection palletizing mechanical arm, can effectively improve the load-carrying capacity of existing palletizing mechanical arm.
The utility model achieves the above object by the following technical programs: a kind of freedom degree parallel connection palletizing mechanical arm, comprises frame, constrained branched chain, the first active branched chain, the second active branched chain and the 3rd active branched chain.
Described constrained branched chain is by turntable, first connecting rod, second connecting rod, moving platform, third connecting rod, retainer and the 4th connecting rod composition, turntable connects with frame by the first revolute pair, turntable connects with first connecting rod by the second revolute pair, first connecting rod connects with second connecting rod by the 3rd revolute pair, second connecting rod connects with moving platform by the 4th revolute pair, third connecting rod connects with turntable by the 5th revolute pair, third connecting rod connects with retainer by the 6th revolute pair, retainer connects with first connecting rod by the 3rd revolute pair, retainer connects with the 4th connecting rod by the 7th revolute pair, the 4th connecting rod connects with moving platform by the 8th revolute pair.
Described the first active branched chain is made up of slide block and the first linear actuator, and slide block slides in frame by moving sets, and slide block drives the first linear actuator motion by the 9th revolute pair, and the first linear actuator drives second connecting rod motion by the tenth revolute pair.
Described the second active branched chain is the second linear actuator, and second linear actuator one end connects with frame by the first Hooke's hinge, and the second linear actuator drives first connecting rod motion by the first spherical pair.
Described the 3rd active branched chain is the 3rd linear actuator, and the 3rd linear actuator one end connects with frame by the second Hooke's hinge, and the 3rd linear actuator drives first connecting rod motion by the second spherical pair.
Outstanding advantages of the present utility model is:
1, adopt parallel-connection structure, rod member is made lighter bar, and mechanism is lightweight, good rigidly;
2, manipulator inertia is little, kinematics and dynamics performance is good;
3, different end-effectors is installed on moving platform, this mechanism may be used on assembling, welding, laser, the field such as medical.
Accompanying drawing explanation
Fig. 1 is the first structural representation of a kind of freedom degree parallel connection palletizing mechanical arm described in the utility model.
Fig. 2 is the second structural representation of a kind of freedom degree parallel connection palletizing mechanical arm described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, a kind of freedom degree parallel connection palletizing mechanical arm, comprises frame 1, constrained branched chain, the first active branched chain, the second active branched chain and the 3rd active branched chain.
Described constrained branched chain is by turntable 2, first connecting rod 3, second connecting rod 4, moving platform 5, third connecting rod 6, retainer 7 and the 4th connecting rod 8 form, turntable 2 connects with frame 1 by the first revolute pair 9, turntable 2 connects with first connecting rod 3 by the second revolute pair 10, first connecting rod 3 connects with second connecting rod 4 by the 3rd revolute pair 11, second connecting rod 4 connects with moving platform 5 by the 4th revolute pair 12, third connecting rod 6 connects with turntable 2 by the 5th revolute pair 13, third connecting rod 6 connects with retainer 7 by the 6th revolute pair 14, retainer 7 connects with first connecting rod 3 by the 3rd revolute pair 11, retainer 7 connects with the 4th connecting rod 8 by the 7th revolute pair 15, the 4th connecting rod 8 connects with moving platform 5 by the 8th revolute pair 16.
Described the first active branched chain is made up of slide block 17 and the first linear actuator 18, slide block 17 slides in frame 1 by moving sets 21, slide block 17 drives the first linear actuator 18 to move by the 9th revolute pair 22, and the first linear actuator 18 drives second connecting rod 4 to move by the tenth revolute pair 23.
Described the second active branched chain is that second linear actuator 19, the second linear actuator 19 one end connect with frame 1 by the first Hooke's hinge 24, and the second linear actuator 19 drives first connecting rod 3 to move by the first spherical pair 25.
Described the 3rd active branched chain is that the 3rd linear actuator 20, the three linear actuator 20 one end connect with frame 1 by the second Hooke's hinge 26, and the 3rd linear actuator 20 drives first connecting rod 3 to move by the second spherical pair 27.
Described the second revolute pair 10, the 3rd revolute pair 11, the 4th revolute pair 12, the 5th revolute pair 13, the 6th revolute pair 14, the axis of the 7th revolute pair 15 and the 8th revolute pair 16 is all parallel, wherein the wheelbase of the second revolute pair 10 and the 5th revolute pair 13 equates with the wheelbase of the 6th revolute pair 14 and the 3rd revolute pair 11, the wheelbase of the second revolute pair 10 and the 3rd revolute pair 11 equates with the wheelbase of the 5th revolute pair 13 and the 6th revolute pair 14, the wheelbase of the 7th revolute pair 15 and the 8th revolute pair 16 equates with the wheelbase of the 3rd revolute pair 11 and the 4th revolute pair 12, the wheelbase of the 4th revolute pair 12 and the 8th revolute pair 16 equates with the wheelbase of the 3rd revolute pair 11 and the 7th revolute pair 15.
Described constrained branched chain has been driven the motion of space three degree of freedom jointly by the first active branched chain, the second active branched chain and the 3rd active branched chain.
Claims (1)
1. a freedom degree parallel connection palletizing mechanical arm, comprises frame, constrained branched chain, the first active branched chain, the second active branched chain and the 3rd active branched chain, it is characterized in that:
Described constrained branched chain is by turntable, first connecting rod, second connecting rod, moving platform, third connecting rod, retainer and the 4th connecting rod composition, turntable connects with frame by the first revolute pair, turntable connects with first connecting rod by the second revolute pair, first connecting rod connects with second connecting rod by the 3rd revolute pair, second connecting rod connects with moving platform by the 4th revolute pair, third connecting rod connects with turntable by the 5th revolute pair, third connecting rod connects with retainer by the 6th revolute pair, retainer connects with first connecting rod by the 3rd revolute pair, retainer connects with the 4th connecting rod by the 7th revolute pair, the 4th connecting rod connects with moving platform by the 8th revolute pair,
Described the first active branched chain is made up of slide block and the first linear actuator, and slide block connects with frame by moving sets, and slide block connects with the first linear actuator by the 9th revolute pair, and the first linear actuator connects with second connecting rod by the tenth revolute pair,
Described the second active branched chain is the second linear actuator, and second linear actuator one end connects with frame by the first Hooke's hinge, and the second linear actuator other end connects with first connecting rod by the first spherical pair,
Described the 3rd active branched chain is the 3rd linear actuator, and the 3rd linear actuator one end connects with frame by the second Hooke's hinge, and the 3rd linear actuator other end connects with first connecting rod by the second spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420001490.2U CN203699407U (en) | 2014-01-03 | 2014-01-03 | Three-freedom-degree parallel stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420001490.2U CN203699407U (en) | 2014-01-03 | 2014-01-03 | Three-freedom-degree parallel stacking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203699407U true CN203699407U (en) | 2014-07-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420001490.2U Withdrawn - After Issue CN203699407U (en) | 2014-01-03 | 2014-01-03 | Three-freedom-degree parallel stacking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203699407U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103662855A (en) * | 2014-01-03 | 2014-03-26 | 江西省机械科学研究所 | Three-degree-of-freedom parallel stacking manipulator |
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
-
2014
- 2014-01-03 CN CN201420001490.2U patent/CN203699407U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103662855A (en) * | 2014-01-03 | 2014-03-26 | 江西省机械科学研究所 | Three-degree-of-freedom parallel stacking manipulator |
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140709 Effective date of abandoning: 20150902 |
|
| RGAV | Abandon patent right to avoid regrant |