CN205668261U - A kind of three axle Delta mechanical hand and robots - Google Patents
A kind of three axle Delta mechanical hand and robots Download PDFInfo
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- CN205668261U CN205668261U CN201620526324.3U CN201620526324U CN205668261U CN 205668261 U CN205668261 U CN 205668261U CN 201620526324 U CN201620526324 U CN 201620526324U CN 205668261 U CN205668261 U CN 205668261U
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- auxiliary rod
- movable connecting
- connecting rod
- hinged
- main motion
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- 238000004806 packaging method and process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 15
- 239000000047 product Substances 0.000 description 13
- 239000006227 byproduct Substances 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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Abstract
A kind of three axle Delta mechanical hand and robots disclosed in this utility model embodiment, this three axles Delta mechanical hand includes base, first drives assembly, 3rd drives assembly, second drives assembly, first main motion arm, first movable connecting rod, second main motion arm, second movable connecting rod, first auxiliary rod, second auxiliary rod, 3rd auxiliary rod, 4th auxiliary rod is hinged and handgrip, wherein, described base, first auxiliary rod, second main motion arm and the second auxiliary rod form the first parallel four-bar linkage, described second auxiliary rod, described 3rd auxiliary rod, described 4th auxiliary rod and described second movable connecting rod form the second parallel four-bar linkage.Use three axle Delta mechanical hands of the present utility model, it is possible to the most movable in perpendicular, and realize grasping movement, therefore, use three axle Delta mechanical hands of the present utility model to be capable of automatic sorting and packaging, greatly increase production efficiency.
Description
Technical field
This utility model relates to robotics, more particularly, it relates to a kind of three axle Delta mechanical hand and machines
Device people.
Background technology
The range of mechanical hand is the most increasing at present, is not limited on injection machine use mechanical hand
, all trades and professions can select to use mechanical hand to complete corresponding technical functionality, but the machinery used on injection machine at present
Hands can not meet some specific industry and use, as sorting baling line, sorting packaging facilities, the piling packaging of small sized product add
Work etc., faced with this situation, more industries that can realize automated production also can only use common manual sorting and packaging,
Greatly reduce production efficiency and cause the waste of personnel.
Therefore, how to improve production efficiency, become the technical problem that those skilled in the art are urgently to be resolved hurrily.
Utility model content
In view of this, first purpose of the present utility model is to provide a kind of three axle Delta mechanical hands, to improve production
Efficiency；Second purpose of the present utility model is to provide a kind of robot.
For achieving the above object, the following technical scheme of this utility model offer:
A kind of three axle Delta mechanical hands, including:
Base；
Be arranged on the first driving assembly of described base, the second driving assembly and the 3rd drives assembly；
The first main motion arm that one end is fixedly linked with described first driving assembly, the other end of described first main motion arm
Hinged with one end of the first movable connecting rod, the other end of described first movable connecting rod is hinged on handgrip；
The second main motion arm that one end is fixedly linked with described second driving assembly, the other end of described second main motion arm
Hinged with one end of the second movable connecting rod, the other end of described second movable connecting rod is hinged on described handgrip；
The first auxiliary rod that one end is fixedly linked with described 3rd driving assembly, described first auxiliary rod and the second auxiliary rod
Hinged, described base, the first auxiliary rod, the second main motion arm and the second auxiliary rod form the first parallel four-bar linkage；And
The 3rd auxiliary rod that one end is hinged with described second auxiliary rod, described 3rd auxiliary rod and the 4th auxiliary rod are hinged,
Described 4th auxiliary rod is fixed on described handgrip, described second auxiliary rod, described 3rd auxiliary rod, described 4th auxiliary rod and
Described second movable connecting rod forms the second parallel four-bar linkage.
Preferably, in above-mentioned three axle Delta mechanical hands, the hinged center of described second movable connecting rod and described handgrip and
Described first movable connecting rod and the hinged center superposition of described handgrip.
Preferably, in above-mentioned three axle Delta mechanical hands, described second auxiliary rod is hinged with described second main motion arm
The hinged center superposition of center and described second movable connecting rod and described second main motion arm.
Preferably, in above-mentioned three axle Delta mechanical hands, described second movable connecting rod sets with the hinged center of described handgrip
Put on described 4th auxiliary rod.
Preferably, in above-mentioned three axle Delta mechanical hands, the quantity of described first movable connecting rod is two.
Preferably, in above-mentioned three axle Delta mechanical hands, also include that installing rack, described base are arranged on described installing rack
On.
Preferably, in above-mentioned three axle Delta mechanical hands, described installing rack has two arranged in parallel leading
Rail, described base is slidably arranged with described guide rail.
Preferably, in above-mentioned three axle Delta mechanical hands, also include driving described base to move on described guide rail
The 4th driving assembly.
Preferably, in above-mentioned three axle Delta mechanical hands, described 4th driving assembly is that Timing Belt drives assembly, described
Timing Belt drives the Timing Belt of assembly to parallel with described guide rail, described base is provided with and drives assembly with described Timing Belt
The walking mechanism that Timing Belt matches.
A kind of robot, including three axle Delta mechanical hands as described in any of the above-described technical scheme.
During from above-mentioned technical scheme it can be seen that use, first drives Component driver the first main motion arm, and second drives
Component driver the second main motion arm, and by the effect of the first movable connecting rod and the second movable connecting rod, handgrip is run to lowest order
Put, and under the effect of the first auxiliary rod, the second auxiliary rod, the 3rd auxiliary rod and the 4th auxiliary rod, capture product；Then
One drives Component driver the first main motion arm, and second drives Component driver the second main motion arm, and by the first movable connecting rod and
Handgrip is run to extreme higher position by the effect of the second movable connecting rod, when arrive predeterminated position time, then by the first auxiliary rod, second
Under the effect of auxiliary rod, the 3rd auxiliary rod and the 4th auxiliary rod, product being put down, the crawl finally realizing product is put down.This reality
With three novel axle Delta mechanical hands can in perpendicular freely movable, and realize grasping movement, therefore, use this reality
It is capable of automatic sorting with three novel axle Delta mechanical hands and packs, greatly increasing production efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
The perspective view of the three axle Delta mechanical hands that Fig. 1 is provided by this utility model embodiment one；
The top perspective structural representation of the three axle Delta mechanical hands that Fig. 2 is provided by this utility model embodiment two；
The three axle Delta mechanical hands that Fig. 3 is provided by this utility model embodiment two look up perspective view.
Wherein, 101 for base, 102 be the first driving assembly, 103 be the second driving assembly, 104 be the first main motion arm,
105 it is the first movable connecting rod, 106 is the second main motion arm, 107 is the second movable connecting rod, 108 is the first auxiliary rod, 109 is
Two auxiliary rods, 110 be the 3rd auxiliary rod, 111 be the 4th auxiliary rod, 112 for handgrip, 113 for installing rack, 114 for guide rail, 115
It it is the 4th driving assembly.
Detailed description of the invention
Core of the present utility model is to provide a kind of three axle Delta mechanical hands, to improve production efficiency；This utility model
Second purpose be to provide a kind of robot.
Hereinafter, referring to the drawings embodiment is illustrated.Additionally, embodiments illustrated below is not to described in claim
Utility model content play any restriction effect.It addition, the full content of the composition represented by example below is not limited to conduct
Necessary to the solution of the utility model described in claim.
Refer to the three-dimensional knot of the three axle Delta mechanical hands that Fig. 1 to Fig. 3, Fig. 1 are provided by this utility model embodiment one
Structure schematic diagram；The top perspective structural representation of the three axle Delta mechanical hands that Fig. 2 is provided by this utility model embodiment two；
The three axle Delta mechanical hands that Fig. 3 is provided by this utility model embodiment two look up perspective view.
The three axle Delta mechanical hands that this utility model embodiment provides include that base 101, first drives assembly 102, second
Assembly the 103, the 3rd is driven to drive assembly, first main motion arm the 104, first movable connecting rod the 105, second main motion arm 106, second
Movable connecting rod the 107, first auxiliary rod the 108, second auxiliary rod the 109, the 3rd auxiliary rod the 110, the 4th auxiliary rod 111 is hinged and handgrip
112.Wherein, the effect of base 101 is used for supporting other parts, and first drives assembly 102, second to drive assembly 103 and the
Three drive assembly to be arranged on base 101；
One end of first main motion arm 104 drives assembly 102 to be fixedly linked with first, another of the first main motion arm 104
Holding hinged with one end of the first movable connecting rod 105, the other end of the first movable connecting rod 105 is hinged on handgrip 112；
One end of second main motion arm 106 drives assembly 103 to be fixedly linked with second, another of the second main motion arm 106
Holding hinged with one end of the second movable connecting rod 107, the other end of the second movable connecting rod 107 is hinged on handgrip 112；
One end of first auxiliary rod 108 drives assembly to be fixedly linked with the 3rd, the first auxiliary rod 108 and the second auxiliary rod
109 is hinged, and base the 101, first auxiliary rod the 108, second main motion arm 106 forms first parallel four even with the second auxiliary rod 109
Linkage；
One end of 3rd auxiliary rod 110 is hinged with the second auxiliary rod 109, and the 3rd auxiliary rod 110 cuts with scissors with the 4th auxiliary rod 111
Connecing, the 4th auxiliary rod 111 is fixed on handgrip 112, the second auxiliary rod 109, the 3rd auxiliary rod 110, the 4th auxiliary rod 111 and
Two movable connecting rods 107 form the second parallel four-bar linkage.
During use, first drives assembly 102 to drive the first main motion arm 104, and second drives assembly 103 to drive the second main fortune
Swing arm 106, and by the effect of the first movable connecting rod 105 and the second movable connecting rod 107, handgrip 112 is run to extreme lower position,
And under the effect of first auxiliary rod the 108, second auxiliary rod the 109, the 3rd auxiliary rod 110 and the 4th auxiliary rod 111, capture product
Product；Then first driving assembly 102 to drive the first main motion arm 104, second drives assembly 103 to drive the second main motion arm 106,
And by the effect of the first movable connecting rod 105 and the second movable connecting rod 107, handgrip 112 is run to extreme higher position, pre-when arriving
If during position, then by the first auxiliary rod the 108, second auxiliary rod the 109, the 3rd auxiliary rod 110 and work of the 4th auxiliary rod 111
Putting down with lower product, the crawl finally realizing product is put down.Three axle Delta mechanical hands of the present utility model can be the most flat
Freely activity in face, and realize grasping movement, therefore, use three axle Delta mechanical hands of the present utility model to be capable of automatically
Sorting and packaging, greatly increase production efficiency.
Wherein, the first active exercise arm and the second main motion arm 106 mainly realize moving up and down of this mechanical hand；And first
Auxiliary rod the 108, second auxiliary rod the 109, the 3rd auxiliary rod 110 and the 4th auxiliary rod 111 mainly realize the rotation of handgrip 112.
When first drives assembly 102 to drive the first main motion arm 104 to rotate counterclockwise, second drives assembly 103 to drive the
When two main motion arms 106 turn clockwise, the first movable connecting rod 105 and the second movable connecting rod 107 are close to each other, and handgrip 112 exists
Move downward under the effect of the first movable connecting rod 105 and the second movable connecting rod 107；When first drives assembly 102 to drive the first master
Movement arm 104 turns clockwise, and when the second driving assembly 103 drives the second main motion arm 106 to rotate counterclockwise, the first motion is even
Bar 105 and the second movable connecting rod 107 are located remotely from each other, and handgrip 112 is at the first movable connecting rod 105 and work of the second movable connecting rod 107
Move upward under with.
When the 4th drives assembly 115 to drive the first auxiliary rod 108 to turn clockwise, due to base the 101, first auxiliary rod
108, the second main motion arm 106 and the second auxiliary rod 109 form the first parallel four-bar linkage, and the second auxiliary rod 109 is clockwise
Rotating, due to the second auxiliary rod the 109, the 3rd auxiliary rod the 110, the 4th auxiliary rod 111 and the second movable connecting rod 107, to form second flat
Row quadric chain, the 4th auxiliary rod 111 turns clockwise, and final handgrip 112 turns clockwise, and is picked up by product；When the 4th
When driving assembly 115 to drive the first auxiliary rod 108 to rotate counterclockwise, due to base the 101, first auxiliary rod the 108, second main motion
Arm 106 and the second auxiliary rod 109 form the first parallel four-bar linkage, and the second auxiliary rod 109 rotates counterclockwise, owing to second is auxiliary
Bar the 109, the 3rd auxiliary rod the 110, the 4th auxiliary rod 111 and the second movable connecting rod 107 is helped to form the second parallel four-bar linkage, the
Four auxiliary rods 111 rotate counterclockwise, and final handgrip 112 rotates counterclockwise, is put down by product.
Above-mentioned four kinds of kinestates cooperate, it is possible to realize the crawl of the product in differing heights position and put down.
Device structure, the second movable connecting rod 107 and the hinged center of handgrip 112 is simplified in order to improve the running precision of equipment
Hinged center superposition with the first movable connecting rod 105 with handgrip 112.
Device structure, the second auxiliary rod 109 and hinge of the second main motion arm 106 is simplified in order to improve the running precision of equipment
Connect center and the second movable connecting rod 107 and hinged center superposition of the second main motion arm 106.
Device structure, the second movable connecting rod 107 and the hinged center of handgrip 112 is simplified in order to improve the running precision of equipment
It is arranged on the 4th auxiliary rod 111.
In order to improve the stability of the operation of equipment, the quantity of the first movable connecting rod 105 is two.
In order to improve the suitability of this equipment, this three axles Delta mechanical hand also includes that installing rack 113, base 101 are arranged on
On installing rack 113.By this installing rack 113, whole mechanical hand can be arranged on desired location, simplify the installation of equipment.
In various embodiments above, this three axles Delta mechanical hand be capable of mechanical hand in perpendicular upwards, grab downwards
Take/put down product.
In order to realize the three-dimensional mobile of this mechanical hand, installing rack 113 has two guide rails 114 arranged in parallel,
Base 101 is slidably arranged with guide rail 114, and wherein, the bearing of trend of this guide rail 114 is vertical with the plane of motion of mechanical hand.
Realize mechanical hand movement on guide rail 114 and can also realize control automatically by frame for movement with manual operation,
Concrete, when automatically controlling, this three axles Delta mechanical hand also includes driving base 101 on guide rail 114 the of movement
Four drive assembly 115.4th driving assembly 115 can be gear-rack drive assembly, thread screw driving assembly, belt drives
Assembly.In this utility model embodiment, the 4th drives assembly 115 to drive assembly for Timing Belt, and Timing Belt drives the same of assembly
Step band is paralleled with guide rail 114, and base 101 is provided with the walking mechanism driving the Timing Belt of assembly to match with Timing Belt.
When needing the product motion opposite side by side:
4th drives assembly 115 to drive base 101 to move to the surface of side；First drives assembly 102 to drive first
Main motion arm 104 rotates counterclockwise, when the second driving assembly 103 drives the second main motion arm 106 to turn clockwise, and the first motion
Connecting rod 105 and the second movable connecting rod 107 are close to each other, and handgrip 112 is at the first movable connecting rod 105 and the second movable connecting rod 107
Moving downward under effect, when moving to extreme lower position, the 4th drives assembly 115 to drive the first auxiliary rod 108 to turn clockwise
Time, drive the second auxiliary rod 109 to turn clockwise, the 4th auxiliary rod 111 turns clockwise, and final handgrip 112 turns clockwise,
The product that will be located in side is picked up.First drives assembly 102 to drive the first main motion arm 104 to turn clockwise, the second driving group
When part 103 drives the second main motion arm 106 to rotate counterclockwise, the first movable connecting rod 105 and the second movable connecting rod 107 are the most remote
From, handgrip 112 moves upward, until moving to highest order under the effect of the first movable connecting rod 105 and the second movable connecting rod 107
Put.
4th drives assembly 115 to drive base 101 to move to opposite side.First drives assembly 102 to drive the first main motion
Arm 104 rotates counterclockwise, when the second driving assembly 103 drives the second main motion arm 106 to turn clockwise, and the first movable connecting rod
105 and second movable connecting rod 107 close to each other, handgrip 112 is in the first movable connecting rod 105 and effect of the second movable connecting rod 107
Under move downward, when moving to extreme lower position, the 4th drives assembly 115 when driving the first auxiliary rod 108 to rotate counterclockwise, band
Dynamic second auxiliary rod 109 rotates counterclockwise, and the 4th auxiliary rod 111 rotates counterclockwise, and final handgrip 112 rotates counterclockwise, will produce
Product put down.
This utility model embodiment also discloses a kind of robot, including three axle Delta of the most any of the above-described technical scheme
Mechanical hand.Owing to above-mentioned three axle Delta mechanical hands have the effect above, the robot with this three axles Delta mechanical hand has
Corresponding effect, here is omitted.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this practicality new
Type.Multiple amendment to these embodiments will be apparent from for those skilled in the art, is determined herein
The General Principle of justice can realize in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause
This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (10)
1. an axle Delta mechanical hand, it is characterised in that including:
Base (101)；
Be arranged on the first driving assembly (102) of described base (101), the second driving assembly (103) and the 3rd drives assembly；
The first main motion arm (104) that one end is fixedly linked with described first driving assembly (102), described first main motion arm
(104) the other end and one end of the first movable connecting rod (105) are hinged, and the other end of described first movable connecting rod (105) is hinged
On handgrip (112)；
The second main motion arm (106) that one end is fixedly linked with described second driving assembly (103), described second main motion arm
(106) the other end and one end of the second movable connecting rod (107) are hinged, and the other end of described second movable connecting rod (107) is hinged
On described handgrip (112)；
The first auxiliary rod (108) that one end is fixedly linked with described 3rd driving assembly, described first auxiliary rod (108) and second
Auxiliary rod (109) is hinged, described base (101), the first auxiliary rod (108), the second main motion arm (106) and the second auxiliary rod
(109) the first parallel four-bar linkage is formed；And
The 3rd auxiliary rod (110) that one end is hinged with described second auxiliary rod (109), described 3rd auxiliary rod (110) and the 4th
Auxiliary rod (111) is hinged, and described 4th auxiliary rod (111) is fixed on described handgrip (112), described second auxiliary rod (109),
Described 3rd auxiliary rod (110), described 4th auxiliary rod (111) form second parallel four with described second movable connecting rod (107)
Linkage.
Three axle Delta mechanical hands the most as claimed in claim 1, it is characterised in that described second movable connecting rod (107) is with described
The hinged center superposition of the hinged center of handgrip (112) and described first movable connecting rod (105) and described handgrip (112).
Three axle Delta mechanical hands the most as claimed in claim 2, it is characterised in that described second auxiliary rod (109) and described the
The hinge of the hinged center of two main motion arms (106) and described second movable connecting rod (107) and described second main motion arm (106)
Connect center superposition.
Three axle Delta mechanical hands the most as claimed in claim 3, it is characterised in that described second movable connecting rod (107) is with described
The hinged of handgrip (112) is centrally disposed on described 4th auxiliary rod (111).
Three axle Delta mechanical hands the most as claimed in claim 4, it is characterised in that the quantity of described first movable connecting rod (105)
It it is two.
Three axle Delta mechanical hands the most as claimed in claim 5, it is characterised in that also include installing rack (113), described base
(101) it is arranged on described installing rack (113).
Three axle Delta mechanical hands the most as claimed in claim 6, it is characterised in that there are on described installing rack (113) two phases
The guide rail (114) be arrangeding in parallel mutually, described base (101) is slidably arranged with described guide rail (114).
Three axle Delta mechanical hands the most as claimed in claim 7, it is characterised in that also include driving described base (101)
The 4th driving assembly (115) in the upper movement of described guide rail (114).
Three axle Delta mechanical hands the most as claimed in claim 8, it is characterised in that the described 4th drives assembly (115) for synchronizing
Band drives assembly, and described Timing Belt drives the Timing Belt of assembly to parallel with described guide rail (114), and described base sets on (101)
It is equipped with the walking mechanism driving the Timing Belt of assembly to match with described Timing Belt.
10. a robot, it is characterised in that include three axle Delta mechanical hands as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620526324.3U CN205668261U (en) | 2016-05-31 | 2016-05-31 | A kind of three axle Delta mechanical hand and robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620526324.3U CN205668261U (en) | 2016-05-31 | 2016-05-31 | A kind of three axle Delta mechanical hand and robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205668261U true CN205668261U (en) | 2016-11-02 |
Family
ID=57193484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620526324.3U Expired - Fee Related CN205668261U (en) | 2016-05-31 | 2016-05-31 | A kind of three axle Delta mechanical hand and robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205668261U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798892A (en) * | 2016-05-31 | 2016-07-27 | 珠海格力智能装备有限公司 | Three-axis Delta mechanical arm and robot |
-
2016
- 2016-05-31 CN CN201620526324.3U patent/CN205668261U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798892A (en) * | 2016-05-31 | 2016-07-27 | 珠海格力智能装备有限公司 | Three-axis Delta mechanical arm and robot |
| CN105798892B (en) * | 2016-05-31 | 2019-02-19 | 珠海格力智能装备有限公司 | Three axis Delta manipulators of one kind and robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161102 |