CN202702235U - Manipulator device - Google Patents
Manipulator device Download PDFInfo
- Publication number
- CN202702235U CN202702235U CN 201220300984 CN201220300984U CN202702235U CN 202702235 U CN202702235 U CN 202702235U CN 201220300984 CN201220300984 CN 201220300984 CN 201220300984 U CN201220300984 U CN 201220300984U CN 202702235 U CN202702235 U CN 202702235U
- Authority
- CN
- China
- Prior art keywords
- arms
- driving
- active
- hinged
- rotary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000013519 translation Methods 0.000 claims abstract description 26
- 238000009434 installation Methods 0.000 claims abstract 3
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a manipulator device. The utility model discloses a: revolving stage, translation platform, rotary driving device, two sets of horizontal drive device, every horizontal drive device of group includes: two driving arms, two driven arms and a connecting rod; the side surface of the rotating platform is provided with an installation plate, the two driving arms are arranged in parallel, the upper ends of the two driving arms are hinged with the installation plate, the lower ends of the two driving arms are respectively hinged with the connecting rod, the connecting rod is horizontally arranged, and 4 hinged points of the two driving arms are distributed in a parallelogram shape; the two driven arms are arranged in parallel, the upper ends of the driven arms are hinged with the connecting rod or the lower ends of the corresponding driving arms, the lower ends of the two driven arms are respectively hinged with the translation table, and 4 hinged points of the two driven arms are also distributed in a parallelogram shape; the utility model has simple structure and quick mechanism action; the object can be flexibly moved to any three-dimensional position, and the object is always kept horizontal in the moving process, so that the object can be stably moved.
Description
Technical field
The utility model relates to a kind of manipulator, particularly a kind of robot device that is used for mobile object.
Background technology
When industrial production, often object need to be carried out position transfer, carry out the processing of different operations to make things convenient for object; In order to improve the efficient of industrial production processing, a lot of companies all adopt manipulator to carry out the position transfer of object; Object is when carrying out position transfer, generally can simply not carry out the movement of horizontal or vertical direction, it is mobile generally can to carry out three-dimensional, move in order to allow object can carry out accurately three-dimensional, existing manipulator is provided with the distance that a plurality of sensors come the perception object to move, robot manipulator structure is complicated, cost is high thereby cause, and existing manipulator is because the long slow movement that causes of sensitive time.
Summary of the invention
The purpose of this utility model is to solve the deficiencies in the prior art, provides a kind of simple in structure, easy to use and move fast robot device.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of robot device, it comprises:
Turntable;
Horizontally disposed translation platform;
Be used for driving the rotating driving device of turntable rotation; Rotating driving device is connected with turntable;
Two groups of horizontal drive apparatus, every group of horizontal drive apparatus comprises: two master arms, two slave arms and connecting rod; The side of turntable is provided with installing plate, described two master arms be arranged in parallel, and the upper end of described two master arms is all hinged with installing plate, the lower end of described two master arms respectively with described rod hinge connection, and connecting rod is and is horizontally disposed with, and 4 pin joint parallelograms of two master arms distribute; Described two slave arms be arranged in parallel, and the lower end of the upper end of slave arm and connecting rod or corresponding master arm is hinged, and the lower end of described two slave arms connects with the translation table-hinges respectively, and the also parallelogram distribution of 4 pin joints of two slave arms;
Two active driving devices that are used for driving the master arm rotation, an active driving device is connected with at least one master arm of corresponding one group of horizontal drive apparatus.
Further, described translation platform is equipped with whirligig.Whirligig is used for driving the object rotation.
Further, described turntable is rotating circular disk; Described rotating circular disk is provided with external gear, and described rotary drive mechanism comprises travelling gear and turntable drive motors, travelling gear and rotating circular disk engagement, and the rotating shaft of the axis hole of travelling gear and turntable drive motors socket.
Further, the middle part of described turntable is provided with installing hole, and described a kind of robot device also comprises power transmission shaft and transmission mechanism, and an end of power transmission shaft is installed in the described installing hole, the other end of power transmission shaft is connected with transmission mechanism, and transmission mechanism is connected with described rotating driving device.
Further, described transmission mechanism is synchronous belt drive mechanism, and synchronous belt drive mechanism comprises driven pulley, Timing Belt and driving wheel, and driving wheel drives driven pulley by Timing Belt, driven pulley is connected with the other end of described power transmission shaft, and described rotating driving device is the turntable drive motors.
Further, active driving device is the master arm drive motors.
Further, described whirligig is the 4th axis drive motor.
Upper and lower, left and right in the present specification are all take accompanying drawing as reference; Wait up and down the orientation the application's technical scheme not to be construed as limiting.
The beneficial effects of the utility model are: the utility model is simple in structure, and cost is low; Can flexibly object be moved on arbitrary three-dimensional position, and object keeps level always in moving process, object moves steadily; And need not induction in the utility model moving process, be quick in action.
Description of drawings
Fig. 1 is the front view of embodiment 1 of the present utility model.
Fig. 2 is the schematic diagram at the second visual angle of Fig. 1.
Fig. 3 is the schematic diagram at the third visual angle of Fig. 1.
Fig. 4 is the schematic diagram at the 4th kind of visual angle of Fig. 1.
Fig. 5 is the perspective view of embodiment 2 of the present utility model.
Reference numeral is:
1---master arm drive motors 2---installing plate
3---master arm 4---connecting rod
5---slave arm 6---translation platform
7---the 4th axis drive motor 8---rotating circular disk
9---turntable drive motors 10---travelling gear
11---driving wheel 12---Timing Belt
13---driven pulley 14---power transmission shaft.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described further book.
Embodiment 1: to Fig. 4, a kind of robot device comprises referring to accompanying drawing 1:
Turntable;
Horizontally disposed translation platform 6;
Be used for driving the rotating driving device of turntable rotation; Rotating driving device is connected with turntable;
Two groups of horizontal drive apparatus, every group of horizontal drive apparatus comprises: two master arms 3, two slave arms 5 and connecting rod 4; The side of turntable is provided with installing plate 2, described two master arms 3 be arranged in parallel, and the upper end of described two master arms 3 is all hinged with installing plate 2, the lower end of described two master arms 3 is hinged with described connecting rod 4 respectively, and connecting rod 4 is and is horizontally disposed with, and 4 pin joint parallelograms of two master arms 3 distribute; Described two slave arms 5 be arranged in parallel, and the lower end of the upper end of slave arm 5 and connecting rod 4 or corresponding master arm 3 is hinged, and the lower end of described two slave arms 5 is hinged with translation platform 6 respectively, and the also parallelogram distribution of 4 pin joints of two slave arms 5;
Two active driving devices that are used for driving master arm 3 rotations, active driving device is connected with one of them master arm 3 of corresponding horizontal drive apparatus at least.
In the utility model when work,, robot device can will be positioned over or be fixed in movement of objects on the translation platform 6 to arbitrary three-dimensional position.
1, can to control object vertically mobile for this robot device:
Vertically move down as example take the control object: two active driving devices drive master arm 3 motions of two groups of horizontal drive apparatus, the master arm 3 of the horizontal drive apparatus on the left of being positioned at is to right rotation, be positioned at master arm 3 synchronous rotary left of the horizontal drive apparatus on right side, because two master arms 3 of every group of horizontal drive apparatus, connecting rod 4 and installing plate 2 form four connecting rods, 4 mechanisms that are shaped as parallelogram, when master arm 3 rotation, drivening rod 4 moves, and connecting rod 4 maintenance levels; Also drive simultaneously slave arm 5 motions; Two slave arms 5, translation platform 6 and connecting rods 4 also form four connecting rods, 4 mechanisms that are shaped as parallelogram, since connecting rod 4 maintenance levels, keeping parallelism during two slave arm 5 motions, and then so that translation platform 6 keeps horizontal movement; Be positioned at the left side slave arm 5 since connected master arm 3 to right rotation, and be positioned at the right side slave arm 5 since connected master arm 3 to anticlockwise, move downward to anticlockwise promotion translation platform 6 so that be positioned at the slave arm 5 in left side, and so that the slave arm 5 that is positioned at the right side to the right rotary synchronous promote translation platform 6 and move downward, thereby realize that translation platform 6 moves downward, and translation platform 6 maintenance levels when moving downward.When object is vertically moved up, only need two active driving devices to drive master arm 3 motions of two groups of horizontal drive apparatus, and the master arm 3 of the horizontal drive apparatus on the left of being positioned at is to anticlockwise, the master arm 3 that is positioned at the horizontal drive apparatus on right side gets final product to right rotation, the process that the motion process of its two groups of horizontal drive apparatus can vertically move down with reference to above-mentioned control object.Hence one can see that, and this robot device can control translation platform 6 moves at vertical direction.Can find out simultaneously, every group master arm 3 when motion all the slave arm 5 of keeping parallelism and every group when motion, also all keep level, therefore when motion, connecting rod 4 and translation platform 6 remain level.
2, this robot device can be controlled object along level left and right sides transverse shifting:
Move horizontally to the right as example take the control object: two active driving devices drive master arm 3 motions of two groups of horizontal drive apparatus, be positioned at the master arm 3 of horizontal drive apparatus in left side to right rotation, the master arm 3 of horizontal drive apparatus that is positioned at the right side with corresponding angular speed to right rotation; When the master arm 3 of horizontal drive apparatus in left side rotatablely moved to the right, the slave arm 5 that is positioned at the horizontal drive apparatus in left side rotated to the right or left to corresponding, to keep 6 horizontal movements to the right of translation platform; When simultaneously the master arm 3 of the horizontal drive apparatus on right side rotatablely moves, be positioned at the slave arm 5 of horizontal drive apparatus on right side to also corresponding rotate to the right or left, to keep 6 horizontal movements to the right of translation platform to the right; Therefore under the working condition of two active driving devices of control, regulate the rotating speed of master arm 3 of the horizontal drive apparatus of both sides, can reach with translation platform 6 levels to the right or be moved to the left, namely can control object along level left and right sides transverse shifting.
3, this robot device can be with the position of movement of objects to the longitudinal direction:
As need to be with movement of objects certain position to the longitudinal direction, calculate first this position to the fore-and-aft distance of the rotating shaft of turntable, again object is controlled transverse shifting by robot device, so that arriving the lateral separation of the rotating shaft of turntable, the position behind the transverse shifting of object equates with above-mentioned fore-and-aft distance, then rotate to an angle by rotating driving device driven rotary platform, with the object rotation position to the predefined longitudinal direction.
Therefore can be by the combination of above-mentioned three actions, can be with movement of objects arbitrary three-dimensional position extremely.And in the moving process, because translation platform 6 keeps level always, so object keeps level always, steadily mobile.
Equivalent variations as the technical program, can between two master arms 3 of every group horizontal drive apparatus, set up other master arms 3, and keep these master arms 3 parallel, also can between connecting rod 4 and turntable or translation platform 6, set up other connecting rods 4, and keep these connecting rods 4 parallel; These only are quantitative variations, still drop in the protection domain of the present utility model.
Present embodiment is for easy to operate, be designed to the same with shape the structure of all master arms 3, the structure of all slave arms 5 is designed to the same with shape, the structure of all connecting rods 4 is designed to the same with shape, two groups of horizontal drive apparatus are the axisymmetry design about turntable, carrying out vertical mode when moving, only need to two active driving device locking phases to or opposing motion get final product.
Further, active driving device is master arm drive motors 1.
Further, described translation platform 6 is equipped with whirligig.Further, described whirligig is the 4th axis drive motor 7.
From above-mentioned robot device the process of the position of movement of objects to the longitudinal direction can be found out: although movement of objects to default lengthwise position, when self relative position of object changes, namely rotation has occured in the position of object itself; If a direction be changed to an Axial changes, still can not be with object translation to three-dimensional arbitrary position by three above-mentioned Axial changes, for self relative position with object remains unchanged, be provided with whirligig, object is connected with whirligig, rotate to an angle so that object resets by whirligig band animal body, whirligig is the 4th axis drive motor 7, and the Axial changes by the 4th axle reaches object translation to three-dimensional arbitrary position.
Further, described turntable is rotating circular disk 8; Described rotating circular disk 8 is provided with external gear, and described rotary drive mechanism comprises travelling gear 10 and turntable drive motors 9, travelling gear 10 and rotating circular disk 8 engagements, and the rotating shaft of the axis hole of travelling gear 10 and turntable drive motors 9 socket.
Drive travelling gear 10 by turntable drive motors 9 and rotate, the purpose of rotating to reach driven rotary disk 8.
As the equivalent variations of the technical program, travelling gear 10 is replaced by worm screw, worm screw and rotating circular disk 8 engagements, worm screw is connected with turntable drive motors 9, drives worm screw by turntable drive motors 9 and rotates, and then reach the purpose that driven rotary disk 8 rotates.
Rotating driving device drives the transmission mechanism motion, and transmission mechanism drives power transmission shaft 14 and rotates, and then the rotation of driven rotary platform.
Further, described transmission mechanism is synchronous belt drive mechanism, and synchronous belt drive mechanism comprises driven pulley 13, Timing Belt 12 and driving wheel 11, and driven pulley 13 is connected with the other end of described power transmission shaft 14, and described rotating driving device is turntable drive motors 9.
Drive power transmission shaft 14 by toothed belt transmission and rotate, as the distortion of synchronous belt drive mechanism, synchronous belt drive mechanism can replace with belt gear, also can replace with chain drive.
Below only be the application's preferred embodiment, equivalent technical solutions on this basis still falls into the application protection domain.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220300984 CN202702235U (en) | 2012-06-26 | 2012-06-26 | Manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220300984 CN202702235U (en) | 2012-06-26 | 2012-06-26 | Manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202702235U true CN202702235U (en) | 2013-01-30 |
Family
ID=47582571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220300984 Expired - Fee Related CN202702235U (en) | 2012-06-26 | 2012-06-26 | Manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202702235U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
| CN103505882A (en) * | 2013-07-12 | 2014-01-15 | 北京理工大学 | Automatic telescopic frame of soccer robot goalkeeper |
| CN108080523A (en) * | 2018-01-31 | 2018-05-29 | 塞伯睿机器人技术（长沙）有限公司 | For the robot of press machine loading and unloading and the loading and unloading system of press machine |
| CN108732790A (en) * | 2018-06-03 | 2018-11-02 | 迈博知识产权代理秦皇岛有限公司 | A kind of multi-functional glasses cleaning machine |
-
2012
- 2012-06-26 CN CN 201220300984 patent/CN202702235U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699910A (en) * | 2012-06-26 | 2012-10-03 | 东莞理工学院 | Manipulator device |
| CN103505882A (en) * | 2013-07-12 | 2014-01-15 | 北京理工大学 | Automatic telescopic frame of soccer robot goalkeeper |
| CN103505882B (en) * | 2013-07-12 | 2016-03-02 | 北京理工大学 | Automatic telescopic frame of soccer robot goalkeeper |
| CN108080523A (en) * | 2018-01-31 | 2018-05-29 | 塞伯睿机器人技术（长沙）有限公司 | For the robot of press machine loading and unloading and the loading and unloading system of press machine |
| CN108732790A (en) * | 2018-06-03 | 2018-11-02 | 迈博知识产权代理秦皇岛有限公司 | A kind of multi-functional glasses cleaning machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204414100U (en) | Liquid crystal panel vanning four axle arm modules | |
| KR200484533Y1 (en) | A two-way transfer robot with two rods by parallel principle | |
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN203471773U (en) | Mechanical arm capable of performing grabbing | |
| CN202702235U (en) | Manipulator device | |
| CN102699910A (en) | Manipulator device | |
| CN205526379U (en) | A fully automatic plate handling equipment | |
| CN103192366B (en) | Manipulator capable of rotating continuously | |
| CN103481283A (en) | Three-axis five-bar parallel manipulator | |
| CN205766158U (en) | A high-precision five-axis manipulator | |
| CN104802154B (en) | A kind of four-degree-of-freedom high-speed parallel manipulator | |
| CN205928638U (en) | Multi freedom intelligent machine arm | |
| CN106249179A (en) | Automatically multiple degrees of freedom measurement of magnetic field laboratory table | |
| CN102601794B (en) | High stiffness four-degree-of-freedom parallel mechanism with attitude adjustment capability | |
| CN206066448U (en) | A kind of six axle side wall-shaped mechanical hand mobile devices | |
| CN206140491U (en) | Interval rotary grabbing device | |
| CN204893985U (en) | Horizontal articulated robot structure | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN103273482A (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN104742124B (en) | A kind of double-rod double-shaft two-way parallel track robot | |
| CN104723361B (en) | Two-way parallelogram articulated system on a kind of transfer robot | |
| CN109895074B (en) | Linear unit type double-arm cooperative robot | |
| CN207566472U (en) | A transfer robot | |
| CN104308841A (en) | Heavy-load parallel manipulator | |
| CN103978480B (en) | Industrial desktop computer mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130130 Termination date: 20130626 |