CN211220693U - Five-branch-chain parallel manipulator - Google Patents
Five-branch-chain parallel manipulator Download PDFInfo
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- CN211220693U CN211220693U CN201922440535.1U CN201922440535U CN211220693U CN 211220693 U CN211220693 U CN 211220693U CN 201922440535 U CN201922440535 U CN 201922440535U CN 211220693 U CN211220693 U CN 211220693U
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Abstract
The utility model relates to a five branch chain parallel manipulators, including frame, vertical branch chain and horizontal branch chain to and polygon movable platform. The upper ends of the four longitudinal branched chains are connected with the frame, and the lower ends of the four longitudinal branched chains are connected with the polygonal movable platform; the longitudinal branched chain comprises a rotating seat and two link mechanisms connected below the rotating seat, wherein the bottom ends of the two link mechanisms are connected with the polygonal movable platform; the transverse branch chain is one and comprises a swing arm and a quadrilateral mechanism which are horizontally arranged, the swing arm is rotatably connected with the rack, one supporting rod of the quadrilateral mechanism is rotatably connected with the swing arm, and the other supporting rod opposite to the swing arm is rotatably connected with the polygonal movable platform; the polygonal movable platform is a five-link mechanism, and adjacent links of the polygonal movable platform are connected end to form a closed ring and are respectively and correspondingly connected with the four longitudinal branched chains and the transverse branched chain. The utility model discloses can be at level and vertical direction upward quick travel to can realize once only snatching the function that a plurality of irregular objects of placing.
Description
Technical Field
The utility model relates to a manipulator, especially a five branch chain parallel manipulators.
Background
The multi-branch-chain manipulator has the advantages of high precision and high rigidity, particularly the rapid positioning and grabbing capacity of the multi-branch-chain manipulator is suitable for a production line, and the multi-branch-chain manipulator shows great industrial application potential, but the traditional manipulator generally only has one movable platform, can only grab one object at a time, or can only grab a plurality of objects which are regularly arranged at a time, and is difficult to grab at a time when irregular objects are placed, so that the grabbing efficiency is low.
The present invention is provided in view of this point.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a five branch chain parallel manipulators, it can be at level and vertical direction upward quick travel to can realize once only snatching the function that a plurality of irregularities placed the object.
In order to realize the purpose, the utility model adopts the following technical scheme:
a five-branched-chain parallel manipulator comprises a frame, a longitudinal branched chain and a transverse branched chain which are arranged on the frame, and a polygonal movable platform connected with the longitudinal branched chain and the transverse branched chain,
the upper ends of the four longitudinal branched chains are connected with the rack, and the lower ends of the four longitudinal branched chains are connected with the polygonal movable platform; the longitudinal branched chain comprises a rotating seat which is rotationally connected with the frame and a two-link mechanism which is connected below the rotating seat, wherein the bottom end of the two-link mechanism is connected with the polygonal movable platform;
the transverse branch chain is one and comprises a swing arm and a quadrilateral mechanism, wherein the swing arm is horizontally arranged and is rotationally connected with the rack, the quadrilateral mechanism is arranged in parallel to a vertical plane, one support rod is rotationally connected with the swing arm, and the other support rod opposite to the swing arm is rotationally connected with the polygonal movable platform;
the polygonal movable platform is a five-link mechanism, and adjacent links of the polygonal movable platform are connected end to form a closed ring and are respectively and correspondingly connected with the four longitudinal branched chains and the transverse branched chain.
Further, the two-link mechanism comprises an upper connecting rod rotatably connected with the rotating seat, a first driving motor which is arranged on the rotating seat and drives the upper connecting rod to rotate relative to the rotating seat, and a lower connecting rod hinged with the upper connecting rod, wherein the lower connecting rod is connected with the polygonal movable platform through a spherical joint.
Furthermore, the two-link mechanism further comprises a second driving motor installed on the rotating seat, and the second driving motor drives the lower connecting rod to rotate relative to the upper connecting rod through a transmission mechanism.
Further, the transmission mechanism comprises a belt transmission device and a gear transmission device, the gear transmission device comprises a first gear arranged on the upper connecting rod, a second gear arranged at the hinged position of the upper connecting rod and the lower connecting rod, and a third gear arranged on the lower connecting rod, and the second gear is respectively meshed with the first gear and the third gear; the belt transmission device comprises a driving belt wheel connected with the second driving motor, a driven belt wheel coaxially and fixedly connected with the first gear, and a synchronous belt connecting the driving belt wheel and the driven belt wheel.
Further, the longitudinal branched chain further comprises a third driving motor, the rotating seat is connected with the rack through the third driving motor, the third driving motor is configured to drive the rotating seat to horizontally rotate relative to the rack, and four third driving motors are distributed in a regular quadrangle.
Further, the transverse branched chain further comprises a fourth driving motor, the swing arm is connected with the rack through the fourth driving motor, and the fourth driving motor is configured to drive the swing arm to horizontally swing relative to the rack.
Furthermore, the quadrilateral mechanism comprises a pair of vertical supporting rods and a pair of transverse supporting rods, the central axis of each vertical supporting rod is parallel to the vertical plane, the middle part of one vertical supporting rod is rotatably connected with the swinging arm, and the middle part of the other vertical supporting rod is rotatably connected with one connecting rod forming the polygonal movable platform.
Furthermore, the polygon movable platform is horizontally arranged, and the lengths of the five connecting rods are the same.
Further, the frame is a gantry type frame.
Adopt technical scheme after, bring following beneficial effect:
the utility model provides a five-branch-chain parallel manipulator, adopt polygon movable platform that can warp, its shape can form different gestures according to the work needs, the utility model has five motion branch chains, not only structural strength is high, but also can drive polygon movable platform through different motion modes to warp and move; during actual work, the polygon moving platform can be changed into different shapes and postures, so that objects at a plurality of different positions can be grabbed at one time, the grabbing efficiency is effectively improved, the production efficiency of a production line is further improved, and enterprises are helped to obtain better benefits.
Drawings
FIG. 1: the utility model discloses the whole structure chart of embodiment one;
FIG. 2: the first embodiment of the utility model is a structure drawing without a frame;
FIG. 3: is a bottom view of fig. 2;
FIG. 4: is a right side view of fig. 2;
FIG. 5: the second embodiment of the utility model removes the structure diagram of the frame;
FIG. 6: the embodiment of the utility model provides a second in the structure chart of vertical branch chain;
wherein: 1. the device comprises a frame 2, a longitudinal branched chain 3, a transverse branched chain 4, a polygonal movable platform 21, a rotary seat 22, a third driving motor 23, a first driving motor 24, an upper connecting rod 25, a lower connecting rod 26, a second driving motor 27, a gear transmission device 28, a belt transmission device 31, a swing arm 32, a fourth driving motor 33, a quadrilateral mechanism 33a, a vertical supporting rod 33b, a transverse supporting rod 271, a first gear 272, a second gear 273, a third gear 281, a driving pulley 282, a driven pulley 283 and a synchronous belt.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Example one
As shown in fig. 1 to 4, a five-branched-chain parallel manipulator includes a frame 1, four longitudinal branched chains 2, a transverse branched chain 3, and a polygonal movable platform 4.
The upper end of the longitudinal branched chain 2 is connected with the frame 1, the lower end of the longitudinal branched chain is connected with the polygonal movable platform 4, and the longitudinal branched chain 2 is used for driving the polygonal movable platform 4 to move up and down, back and forth, left and right and deform; horizontal branch chain 3's one end and frame 1 middle part are connected, and the other end is connected in one side that the platform 4 was moved to the polygon, the utility model discloses a vertical branch chain 2, horizontal branch chain 3 and polygon move platform 4 and have constituted redundant mechanism jointly, make whole mechanism have higher stability.
Specifically, the longitudinal branched chain 2 includes a rotating seat 21 rotatably connected to the frame 1, and two link mechanisms connected below the rotating seat 21, bottom ends of the two link mechanisms are connected to the polygonal movable platform 4, the longitudinal branched chain 2 further includes a third driving motor 22, the rotating seat 21 is connected to the frame 1 through the third driving motor 22, and the third driving motor 22 is configured to drive the rotating seat 21 to horizontally rotate relative to the frame 1. Preferably, four third driving motors 22 are distributed in a regular quadrangle. The two-link mechanism comprises an upper connecting rod 24 rotationally connected with the rotating base 21, a first driving motor 23 which is arranged on the rotating base 21 and drives the upper connecting rod 24 to rotate relative to the rotating base 21, and a lower connecting rod 25 hinged with the upper connecting rod 24, wherein the lower connecting rod 25 is connected with the polygonal movable platform 4 through a spherical joint.
Specifically, the transverse branch 3 includes a horizontally disposed swing arm 31 and a quadrilateral mechanism 33, and preferably, the transverse branch 3 further includes a fourth driving motor 32, the swing arm 31 is connected to the frame 1 through the fourth driving motor 32, and the fourth driving motor 32 is configured to drive the swing arm 31 to swing horizontally relative to the frame 1. The quadrilateral mechanism 33 is arranged parallel to the vertical plane, one of the support rods is pivotally connected to the swing arm 31, and the other support rod opposite to the swing arm is pivotally connected to the polygonal movable platform 4.
The quadrilateral mechanism 33 comprises a pair of vertical supporting rods 33a and a pair of transverse supporting rods 33b, the central axes of the vertical supporting rods 33a are parallel to the vertical plane, the middle part of one vertical supporting rod 33a is rotatably connected with the swinging arm 31, and the middle part of the other vertical supporting rod 33a is rotatably connected with one connecting rod forming the polygonal movable platform 4. The transverse supporting rod 33b is hinged with the vertical supporting rod 33a, and the transverse supporting rod 33b can rotate up and down. The quadrilateral mechanism 33 deforms along with the up-and-down movement of the polygon movable platform 4, and ensures that the polygon movable platform 4 is always kept horizontal, and when the polygon movable platform 4 moves in the front-back and left-right directions, the fourth driving motor 32 drives the swing arm 31 to move along with the polygon movable platform 4, so as to keep the stability of the polygon movable platform 4.
Specifically, the polygonal movable platform 4 is a five-link mechanism, adjacent links are connected end to form a closed ring and are correspondingly connected with the four longitudinal branched chains 2 and the transverse branched chains 3 one by one, and the polygonal movable platform 4 can move in parallel in the vertical, front-back and left-right directions and can rotate relatively to each link on the horizontal plane to generate deformation.
Preferably, the polygon moving platform 4 is horizontally arranged, the length of five connecting rods of the polygon moving platform is the same, the bottom of the polygon moving platform 4 can be provided with a grabbing mechanism to realize grabbing function, the grabbing mechanism can be a sucker or a grab (not shown in the figure), and five sets of grabbing mechanisms can be arranged on the five connecting rods to grab at least five articles at a time.
Preferably, the rack 1 is a gantry type rack, the longitudinal branch chain 2 is installed on a beam at the top end of the rack 1, and the transverse branch chain 3 is installed on an upright post of the rack 1.
Example two
As shown in fig. 5 and fig. 6, the present embodiment is different from the first embodiment in that the two-bar linkage mechanism of the present embodiment further includes a second driving motor 26 mounted on the rotary base 21, the second driving motor 26 drives the lower bar 25 to rotate relative to the upper bar 24 through a transmission mechanism, and the second driving motor 26 and the transmission mechanism effectively improve the carrying capacity and stability of the whole mechanism.
In particular, the transmission comprises a belt transmission 28 and a gear transmission 27. The gear transmission 27 includes a first gear 271 provided on the upper link 24, a second gear 272 provided at a hinge joint of the upper link 24 and the lower link 25, and a third gear 273 provided on the lower link 25, the second gear 272 being engaged with the first gear 271 and the third gear 273, respectively. The belt transmission 28 includes a driving pulley 281 connected to the second driving motor 26, a driven pulley 282 coaxially and fixedly connected to the first gear 271, and a timing belt 283 connecting the driving pulley 281 and the driven pulley 282. When the second driving motor 26 rotates, the driving pulley 281 is driven to rotate, the driving pulley 281 drives the driven pulley 282 to rotate through the timing belt 283, the driven pulley 282 rotates synchronously with the first gear 271, and when the first gear 271 rotates, the second gear 272 and the third gear 273 are driven to rotate, so that the lower link 25 rotates relative to the upper link 24.
The utility model discloses a working process does:
firstly, moving the polygonal movable platform 4 up and down: the four first driving motors 23 rotate simultaneously to drive the polygonal movable platform 4 to move up and down.
Secondly, moving the polygonal movable platform 4 left and right: first, the third driving motor 22 drives the rotary base 21 to rotate, so that two of the four longitudinal branched chains 2 are kept in a parallel state, then the third driving motors 22 of the two longitudinal branched chains 2 are kept in a locked state, so that the moving directions of the two longitudinal branched chains 2 are defined as the left and right directions, then the four first driving motors 23 rotate at different rotating speeds and directions, and simultaneously the third driving motors 22 of the other two longitudinal branched chains 2 rotate, so that the polygonal movable platform 4 moves in the left and right directions.
Thirdly, moving the polygonal movable platform 4 back and forth: the forward and backward movement is similar to the leftward and rightward movement except that the moving direction of the two longitudinal branched chains 2 maintaining the parallel state is defined as the forward and backward direction.
And fourthly, deformation movement of the polygonal movable platform 4: the four third driving motors 22 rotating at different rotating speeds and directions will make the polygonal movable platform 4 perform deformation movement.
The four motion modes can be generated independently, and can also be generated simultaneously in a plurality of motion modes, for example, the polygonal movable platform 4 can also generate deformation motion while moving up and down.
The above description is an embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and this should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a five branch chain parallel manipulators, includes the frame, installs vertical branch chain and horizontal branch chain in the frame to and the polygon that is connected with vertical branch chain and horizontal branch chain move the platform, its characterized in that:
the upper ends of the four longitudinal branched chains are connected with the rack, and the lower ends of the four longitudinal branched chains are connected with the polygonal movable platform; the longitudinal branched chain comprises a rotating seat which is rotationally connected with the frame and a two-link mechanism which is connected below the rotating seat, wherein the bottom end of the two-link mechanism is connected with the polygonal movable platform;
the transverse branch chain is one and comprises a swing arm and a quadrilateral mechanism, wherein the swing arm is horizontally arranged and is rotationally connected with the rack, the quadrilateral mechanism is arranged in parallel to a vertical plane, one support rod is rotationally connected with the swing arm, and the other support rod opposite to the swing arm is rotationally connected with the polygonal movable platform;
the polygonal movable platform is a five-link mechanism, and adjacent links of the polygonal movable platform are connected end to form a closed ring and are respectively and correspondingly connected with the four longitudinal branched chains and the transverse branched chain.
2. The five-branch parallel manipulator according to claim 1, wherein: the two-link mechanism comprises an upper connecting rod rotatably connected with the rotating seat, a first driving motor which is arranged on the rotating seat and drives the upper connecting rod to rotate relative to the rotating seat, and a lower connecting rod hinged with the upper connecting rod, wherein the lower connecting rod is connected with the polygonal movable platform through a spherical joint.
3. The five-branch parallel manipulator according to claim 2, wherein: the two-link mechanism further comprises a second driving motor arranged on the rotating seat, and the second driving motor drives the lower connecting rod to rotate relative to the upper connecting rod through a transmission mechanism.
4. The five-branch parallel manipulator according to claim 3, wherein: the transmission mechanism comprises a belt transmission device and a gear transmission device, the gear transmission device comprises a first gear arranged on the upper connecting rod, a second gear arranged at the hinged position of the upper connecting rod and the lower connecting rod, and a third gear arranged on the lower connecting rod, and the second gear is respectively meshed with the first gear and the third gear; the belt transmission device comprises a driving belt wheel connected with the second driving motor, a driven belt wheel coaxially and fixedly connected with the first gear, and a synchronous belt connecting the driving belt wheel and the driven belt wheel.
5. The five-branch parallel manipulator according to claim 1, wherein: the longitudinal branched chain further comprises a third driving motor, the rotating seat is connected with the rack through the third driving motor, the third driving motor is configured to drive the rotating seat to horizontally rotate relative to the rack, and four third driving motors are distributed in a regular quadrangle.
6. The five-branch parallel manipulator according to claim 1, wherein: the transverse branched chain further comprises a fourth driving motor, the swinging arm is connected with the rack through the fourth driving motor, and the fourth driving motor is configured to drive the swinging arm to horizontally swing relative to the rack.
7. The five-branch parallel manipulator according to claim 1, wherein: the quadrilateral mechanism comprises a pair of vertical supporting rods and a pair of transverse supporting rods, the central axis of each vertical supporting rod is parallel to the vertical plane, the middle part of one vertical supporting rod is rotatably connected with the swinging arm, and the middle part of the other vertical supporting rod is rotatably connected with one connecting rod forming the polygonal movable platform.
8. The five-branch parallel manipulator according to claim 1, wherein: the polygon movable platform is horizontally arranged, and the lengths of the five connecting rods are the same.
9. The five-branch parallel manipulator according to claim 1, wherein: the frame is a gantry type frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922440535.1U CN211220693U (en) | 2019-12-30 | 2019-12-30 | Five-branch-chain parallel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922440535.1U CN211220693U (en) | 2019-12-30 | 2019-12-30 | Five-branch-chain parallel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211220693U true CN211220693U (en) | 2020-08-11 |
Family
ID=71925538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922440535.1U Expired - Fee Related CN211220693U (en) | 2019-12-30 | 2019-12-30 | Five-branch-chain parallel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211220693U (en) |
-
2019
- 2019-12-30 CN CN201922440535.1U patent/CN211220693U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200811 Termination date: 20201230 |