CN103240733A - Five-degree-of-freedom manipulator - Google Patents
Five-degree-of-freedom manipulator Download PDFInfo
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- CN103240733A CN103240733A CN2012100209785A CN201210020978A CN103240733A CN 103240733 A CN103240733 A CN 103240733A CN 2012100209785 A CN2012100209785 A CN 2012100209785A CN 201210020978 A CN201210020978 A CN 201210020978A CN 103240733 A CN103240733 A CN 103240733A
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- 238000013519 translation Methods 0.000 claims description 38
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 230000003028 elevating effect Effects 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 208000037873 arthrodesis Diseases 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 11
- 238000013016 damping Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 2
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Abstract
A five-degree-of-freedom manipulator comprises a vertical lifting joint, a horizontal translational joint, a longitudinal expansible joint and a clamping jaw joint. The clamping jaw joint is fixed on the longitudinal expansible joint which is fixed on the horizontal translational joint; the horizontal translational joint is fixed on the vertical lifting joint; and the clamping jaw joint comprises a clamping jaw lifting mechanism and a clamping jaw clamping mechanism. According to the five-degree-of-freedom manipulator, the degree of freedom is added compared with a three-degree-of-freedom manipulator or a four-degree-of-freedom manipulator in the prior art, various joints of the five-degree-of-freedom manipulator can be freely combined and matched to be assembled and detached among each other as movement modules, and a modular design enables the structure of the five-degree-of-freedom manipulator to be simple and compact, multipoint positioning to be achieved and the high efficiency and reliability of the positioning to be guaranteed at the same time.
Description
Technical field
The present invention relates to the Robotics field, relate in particular to a kind of multiple degrees of freedom Pneumatic manipulator.
Background technology
In recent years, along with deepening continuously of rapid development of social economy and Robotics research, factory had progressively begun to develop towards the automation mode from rely on the mode of manually transporting material in the past, intelligentized direction develops, this mode is the efficient height not only, and greatly reduces workman's potential danger in operation.Yet there are shortcomings such as complex structure, cost height, range of application are narrow, positioning accuracy difference in current robot field's multiple degrees of freedom conveying robot.
Therefore, at above-mentioned technical problem, be necessary to provide a kind of structure improved multi freedom degree mechanical hand that has, to overcome above-mentioned defective.
Summary of the invention
In view of this, but the invention provides the five degree of freedom Pneumatic manipulator of a kind of simple in structure, high efficient and reliable, multipoint positioning, high position precision extensive use, thus robot carry automatically, the technology of feeding pushes to use.
For achieving the above object, the invention provides following technical scheme:
A kind of five degree of freedom manipulator, it comprises the vertical lifting joint, the transverse translation joint, longitudinal extension joint and jaw joint, described jaw arthrodesis is on described longitudinal extension joint, described longitudinal extension arthrodesis is on described transverse translation joint, described transverse translation arthrodesis is on described vertical lifting joint, described jaw joint comprises jaw elevating mechanism and jaw clamping device, described jaw elevating mechanism comprises and is installed on the jaw lifting support, jaw base plate and vertically be installed on jaw lift cylinder on the jaw base plate, described jaw lift cylinder and described jaw lifting support are connected, described jaw clamping device comprises jaw location collision block, gripper cylinder, the gripper cylinder head, positioning cylinder and positioning cylinder head, described gripper cylinder head is fixed on the piston rod head of gripper cylinder, and described positioning cylinder head is fixed on the piston rod head of positioning cylinder.
Preferably, in above-mentioned five degree of freedom manipulator, the motion mode in described vertical lifting joint, transverse translation joint, longitudinal extension joint and jaw joint is pneumatic mode.
Preferably, in above-mentioned five degree of freedom manipulator, described vertical lifting joint, transverse translation joint, longitudinal extension joint and jaw joint are equipped with buffer unit and/or bolt, and the buffering method of described buffer unit is oleo cushion or pressure buffer or spring buffer.
Preferably, in above-mentioned five degree of freedom manipulator, the piston rod bilateral symmetry of described jaw lift cylinder several slide blocks that are connected, described slide block is installed on the jaw clamping device, described jaw elevating mechanism also comprises the guide rail that cooperates slip with slide block, and described guide rail vertically is installed on the jaw lifting support.
Preferably, in above-mentioned five degree of freedom manipulator, the positioning cylinder of described jaw clamping device and described gripper cylinder horizontal symmetrical arrange, and the cylinder diameter of described positioning cylinder is greater than the cylinder diameter of described gripper cylinder.
Preferably, in above-mentioned five degree of freedom manipulator, be symmetrically installed with clamping limb and pawl head on described gripper cylinder head and the positioning cylinder head, gripper cylinder head and described clamping limb and pawl head have constituted left jaw and right jaw jointly.
Preferably, in above-mentioned five degree of freedom manipulator, described vertical lifting joint comprises lifting slide unit base plate, bedframe, is fixed in bedframe central authorities and the vertical lifting cylinder of vertically placing, is fixed on the optical axis of bedframe both sides and is positioned at vertical lifting cylinder both sides and cooperate with optical axis the slide block of slip, described vertical lifting cylinder is provided with cylinder piston rod, the end of the described cylinder piston rod lifting slide unit base plate that is being connected.
Preferably, in above-mentioned five degree of freedom manipulator, described transverse translation joint comprises horizontal joint pedestal, two rectangular guidewaies, preceding first locating flange, back first locating flange, vertical joint mounting base, be fixed in transverse translation cylinder and the horizontal joint guide rail datum plate of this horizontal joint pedestal one end, described vertical joint mounting base is fixed between preceding first locating flange and back first locating flange, described two rectangular guideway symmetrical parallel are fixed in the both sides of horizontal joint guide rail datum plate, and the position, four angles of the bottom of described horizontal joint guide rail datum plate is equipped with four first rectangular shaped slider.
Preferably, in above-mentioned five degree of freedom manipulator, described longitudinal extension joint includes vertical joint guide rail datum plate, be fixed in two rectangular guidewaies of guide rail datum plate both sides, vertical joint, vertical joint guide rail slide block pedestal, vertical joint impact block, the longitudinal extension cylinder, vertical joint pedestal, back second locating flange, described longitudinal extension cylinder is fixed in an end of described vertical joint pedestal, the direction of motion of described longitudinal extension cylinder is vertical mutually with the direction of motion in transverse translation joint, described back second locating flange and piston rod front end are connected and are fixed on the guide rail slide block pedestal of vertical joint, and vertically four angular positions of joint guide rail slide block base bottom are equipped with four second rectangular shaped slider.
From technique scheme as can be seen, the five degree of freedom manipulator of the embodiment of the invention not only in the prior art manipulator of Three Degree Of Freedom or four-degree-of-freedom increased the free degree, and, but each joint of five degree of freedom manipulator is as motion module all independent assortment collocation assembling and dismountings each other, modular design makes the five degree of freedom robot manipulator structure simply compact, when realizing multipoint positioning, guaranteed the high efficient and reliable of location.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing relevant of the present invention in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic perspective view of five degree of freedom manipulator of the present invention;
Fig. 2 is the left view of five degree of freedom manipulator among Fig. 1;
Fig. 3 is the front view in the vertical lifting joint of five degree of freedom manipulator of the present invention;
Fig. 4 is the left view in the vertical lifting joint of five degree of freedom manipulator of the present invention;
Fig. 5 is the front view in the transverse translation joint of five degree of freedom manipulator of the present invention;
Fig. 6 is the stereogram in the transverse translation joint of five degree of freedom manipulator of the present invention;
Fig. 7 is the stereogram in the longitudinal extension joint of five degree of freedom manipulator of the present invention;
Fig. 8 is the left view of jaw elevating mechanism in the jaw joint of five degree of freedom manipulator of the present invention;
Fig. 9 is the vertical view of jaw clamping device in the jaw joint of five degree of freedom manipulator of the present invention.
The specific embodiment
But the invention discloses the five degree of freedom Pneumatic manipulator of a kind of simple in structure, high efficient and reliable, multipoint positioning, high position precision extensive use, thus robot carry automatically, the technology of feeding pushes to use.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is described in detail, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belongs to the scope of protection of the invention.
As shown in Figures 1 and 2, the five degree of freedom manipulator of the embodiment of the invention comprises vertical lifting joint 100, transverse translation joint 200, longitudinal extension joint 300 and jaw joint 400.Jaw joint 400 is fixed on the longitudinal extension joint 300, longitudinal extension joint 300 is fixed on the transverse translation joint 200, transverse translation joint 200 is fixed on the vertical lifting joint 100, and the motion in vertical lifting joint 100, transverse translation joint 200, longitudinal extension joint 300 and jaw joint 400 realizes by pneumatic mode.Vertical lifting joint 100, transverse translation joint 200, longitudinal extension joint 300 and jaw joint 400 are equipped with buffer unit and/or bolt, and the buffering method of described buffer unit is oleo cushion or pressure buffer or spring buffer.The five degree of freedom manipulator of the embodiment of the invention not only in the prior art manipulator of Three Degree Of Freedom or four-degree-of-freedom increased the free degree, and, but each joint of five degree of freedom manipulator is as motion module all independent assortment collocation assembling and dismountings each other, modular design makes the five degree of freedom robot manipulator structure simply compact, when realizing multipoint positioning, guaranteed the high efficient and reliable of location.Wherein, independent assortment collocation assembling and dismounting each other refers to transverse translation joint 200 and/or 300 dismountings of longitudinal extension joint as motion module in each joint of five degree of freedom manipulator, make then and vertical lifting joint 100 and the 400 collocation assemblings of jaw joint perhaps make vertical lifting joint 100, jaw joint 400 assemble with transverse translation joint 200 or 300 collocation of longitudinal extension joint respectively.
As shown in Figures 3 and 4, vertical lifting joint 100 includes lifting slide unit base plate 1, location collision block 3, rectangle bedframe 4, is fixed in vertical lifting cylinder 6, lifting slide unit mount holder 7, the optical axis 8 that is fixed on bedframe 4 both sides, the slide block 9 that is positioned at vertical lifting cylinder 6 both sides and first bolt 10 of bedframe 4 central authorities and vertically placement.Location collision block 3 is fixed on lifting slide unit mount holder 7.Bedframe 4 is provided with top dead centre (down to point) 5 and first buffer.Vertical lifting cylinder 6 is provided with cylinder piston rod 2, the end of the cylinder piston rod 2 lifting slide unit base plate 1 that is being connected, when vertical lifting cylinder 6 rises or descends, lifting slide unit mount holder 7 movement therewith, slide at optical axis 8 thereby drive slide block 9, slide block 9 makes that with optical axis 8 vertical lifting joint 100 is simple in structure, safe and reliable.When vertical lifting cylinder 6 makes progress (downwards) motion, location collision block 3 thereupon rise (decline), stop until colliding with top dead centre (down to point) 5, thus the accurate location of having realized manipulator z axle in coordinate system, and the position on first bolt, the 10 relative z axles can be adjusted; During this period, carry out buffer deceleration, absorbing vibration by first buffer that is installed on bedframe 4.
As Fig. 5 and shown in Figure 6,200 in transverse translation joint is loaded on the lifting slide unit base plate 1 in vertical lifting joint 100.Transverse translation joint 200 includes horizontal joint pedestal 18, two rectangular guidewaies 11, preceding first locating flange 12, back first locating flange 13, vertical joint mounting base 15, the transverse translation cylinder 17 that is fixed in these horizontal joint pedestal 18 1 ends, second bolt, second buffer and the horizontal joint guide rail datum plates 19 built by the hollow square steel pipe.When cylinder piston rod 16 along continuous straight runs of transverse translation cylinder 17 moved, back first locating flange 13 was connected with the piston rod front end, and vertically joint mounting base 15 is fixed between preceding first locating flange 12 and back first locating flange 13.Laterally the position, four angles of the bottom of joint guide rail datum plate 19 is equipped with four first rectangular shaped slider 14.Two rectangular guidewaies 11 match with 14 horizontal slips of first rectangular shaped slider, and two rectangular guidewaies 11 are symmetrically fixed on guide rail datum plate 19 both sides, horizontal joint.Horizontal joint guide rail datum plate 19 after the leveling is fixed on the horizontal joint pedestal 18.When transverse translation cylinder 17 is pushed ahead, preceding first locating flange 12 and second bolt and the second buffer common guarantee damping and the hi-Fix that push away before the transverse translation cylinder 17; When transverse translation cylinder 17 pulls back, back first locating flange 13, second bolt and the second buffer common guarantee damping and the hi-Fix of transverse translation cylinder 17 post-tensionings, thereby make manipulator simple in structure realize the axial accurate location of x in coordinate system, and the position on the relative x direction of principal axis of second bolt can be adjusted.
As shown in Figure 7,300 in longitudinal extension joint is loaded on vertical joint mounting base 15 in aforementioned lateral translation joint 200.Longitudinal extension joint 300 includes vertical joint guide rail datum plate 20, is fixed in two rectangular guidewaies 21 of guide rail datum plate 20 both sides, vertical joint, vertically joint guide rail slide block pedestal 22, vertically joint impact block 23, back positioning pedestal 24, longitudinal extension cylinder 25, vertical joint pedestal 26, the 3rd bolt 27, the 3rd buffer 29, back second locating flange 30, the 4th buffer 31 and a buffering setscrew nut 32 of being built by the hollow square steel pipe.Longitudinal extension cylinder 25 is fixed in an end of vertical joint pedestal 26.The piston rod of longitudinal extension cylinder 25 moves along fore-and-aft direction, and the direction of motion of longitudinal extension cylinder 25 is vertical mutually with the direction of motion in transverse translation joint 200.Back second locating flange 30 is connected with the piston rod front end, and back second locating flange 30 is fixed on vertical joint guide rail slide block pedestal 22, and vertically four angular positions of guide rail slide block pedestal 22 bottoms, joint are equipped with four second rectangular shaped slider 28.Two rectangular guidewaies 21 match with the slide block horizontal slip.Vertical joint guide rail datum plate 20 after the leveling is fixed on vertical joint pedestal 26.When longitudinal extension cylinder 25 is pushed ahead, under the effect in transverse translation joint 200, vertically joint impact block 23 and the 4th buffer 31 and the cushioned setscrew nut 32 common guarantee damping that pushes away before the longitudinal extension cylinder 25 and the hi-Fix 7 of left and right sides diverse location; When longitudinal extension cylinder 25 pulls back, back second locating flange 30, the 3rd bolt 27 and the 3rd buffer 29 common guarantee damping and the hi-Fix of longitudinal extension cylinder 25 post-tensionings, thereby make manipulator simple in structure realize the axial accurate location of y in coordinate system, and the position on the relative y direction of principal axis of bolt can be adjusted.
As Fig. 8 and shown in Figure 9, jaw joint 400 is installed on by the jaw base plate 37 that arranges on it on guide rail slide block pedestal 22 in vertical joint in longitudinal extension joint 300, and jaw joint 400 comprises jaw elevating mechanism and jaw clamping device two parts.
As shown in Figure 8, the jaw elevating mechanism is for movement and the location of finishing jaw joint 400 in the vertical directions.The jaw elevating mechanism comprise be installed on jaw lifting support 36, vertically be installed on jaw lift cylinder 35 on the jaw base plate 37, be installed on jaw lifting support both sides and adjustable for height buffering locator 34 and guide rail 38 about in the of 36.Jaw lift cylinder 35 is connected with jaw lifting support 36.The piston rod bilateral symmetry of jaw lift cylinder 35 several slide blocks 33 that are connected, and slide block 33 is installed on the jaw clamping device.Guide rail 38 cooperates slip and vertically is installed on the jaw lifting support 36 with slide block 33.The piston rod of the jaw lift cylinder 35 flexible jaw clamping device that can drive vertically moves up and down, and cooperates buffering locator 34 again, just can realize the secondary accurate positioning of a whole set of manipulator short transverse.
As shown in Figure 9, the jaw clamping device is equipped with the gripper cylinder 44 and positioning cylinder 45 that horizontal symmetrical is placed, and wherein the cylinder diameter of positioning cylinder 45 is greater than the cylinder diameter of gripper cylinder 44.The jaw clamping device comprises jaw location collision block 41, gripper cylinder head 42, backstop 43, positioning cylinder head 46.Gripper cylinder head 42 is fixed on the piston rod head of gripper cylinder 44, and positioning cylinder head 46 also is fixed on the piston rod head of positioning cylinder 45.Be symmetrically installed with clamping limb 39 and pawl head 40 at two cylinder heads, clamping limb 39 has constituted left jaw and right jaw jointly with pawl head 40.Pawl head 40 is loaded on jaw arm 39 front ends, is convenient to change, thereby shape, the size of material had adaptability widely.Pawl head 40 is high temperature resistant, high-abrasive material, thereby makes the manipulator can the clamping high-temperature material.The jaw clamping device realizes that by the out movement of big or small cylinder manipulator is to clamping and the location of material.
Continue as shown in Figure 9, after collision block 41 fixed-site of jaw location, the piston rod of positioning cylinder 45 and gripper cylinder 44 drives positioning cylinder head 46 respectively and gripper cylinder head 42 is mobile between backstop 43 and jaw location collision block 41, because the cylinder diameter of positioning cylinder 45 is greater than the cylinder diameter of gripper cylinder 44, so when moving to jaw location collision block 41 simultaneously, thereby positioning cylinder head 46 is subjected to bigger thrust is close on the collision block 41 of jaw location the accurate location of having realized feeding position; Gripper cylinder head 42 is subjected to less thrust is moved to the left right jaw drive material level, thereby has realized the clamping of material.
The operation principle of the five degree of freedom manipulator of the embodiment of the invention is:
When a last unit had material to arrive, transverse translation closes displacements of cylinders 17 to be regained, and determines that by second bolt and second buffer manipulator is at the elements of a fix x1 of x direction; Longitudinal extension cylinder 25 is regained, and determines that by the 3rd bolt and the 3rd buffer manipulator is at the elements of a fix y1 of y direction; 6 jackings of vertical lifting cylinder, the cylinder piston rod 2 of vertical lifting cylinder 6 drives on other joints and rises, and jaw lift cylinder 35 drives the grip unit jacking, determines that by bolt and buffer manipulator is at the elements of a fix z1 of z direction.After initial position A (x1, y1, z1) determined, positioning cylinder 45 and the gripper cylinder 44 of jaw clamping device acted on simultaneously, and material is held.Vertical lifting cylinder 6 is regained, and the piston rod 2 of vertical lifting cylinder 6 drives other joints and descends, and determines that by bolt and buffer manipulator is at the elements of a fix z2 of z direction; Transverse translation cylinder 17 is regained, and determines that by bolt and buffer manipulator is at the elements of a fix x2 of x direction; Longitudinal extension cylinder 25 stretches, and determines manipulator at the elements of a fix y2 of y direction by bolt and buffer, i.e. feeding position B (x2, y2, z2).At x, y, the combined crosswise of the z direction elements of a fix, manipulator can be realized the location of more diverse locations, as (x2, y2, z3), (x1, y2, z2) etc.
Above-described embodiment does not limit the present invention in any way, and all employings are equal to the technical scheme that the mode of replacement or equivalent transformation, modification obtains, and all drop in protection scope of the present invention.
Compared to prior art, the five degree of freedom manipulator of the embodiment of the invention has following advantage:
(1) realizes extracting, the conveying of material by pneumatic mode, have efficiently, advantage cheaply.The present invention has increased the free degree with respect to traditional Three Degree Of Freedom or four-degree-of-freedom manipulator, and optimizes greatly on structure, and when guaranteeing the high precision positioning accuracy, structure is compacter, and is more firm;
(2) the five degree of freedom manipulator of the embodiment of the invention is realized extracting, the conveying of material by pneumatic mode, and the executive component of each movable joint is cylinder, thereby has improved movement velocity, and efficient height and cost are low;
(3) with respect to traditional three freedom degree manipulator, five degree of freedom manipulator of the present invention is decomposed into a plurality of joint modules of being convenient to load and unload and do not influence the assembling in other joints with manipulator, compact conformation, assembling are rationally, be convenient to dismounting and replacing, comparatively suitable aspect automated handling, feeding, and the total free degree of system can be by splitting joint module as required, thereby make manipulator reduce to four frees degree or three degree of freedom from five frees degree;
(4) each movable joint is used by rectilinear motion unit and buffer, realized accurate location and the buffering, shock-absorbing of manipulator on x, y, z direction, and each position location, joint is adjustable;
(5) jaw pawl head is high temperature resistant, high-abrasive material, and independently is convenient to change, thereby shape, the size of material had adaptability widely.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and under the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims rather than above-mentioned explanation, therefore is intended to include in the present invention dropping on the implication that is equal to important document of claim and all changes in the scope.Any Reference numeral in the claim should be considered as limit related claim.
In addition, be to be understood that, though this specification is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (9)
1. five degree of freedom manipulator, it is characterized in that: comprise the vertical lifting joint, the transverse translation joint, longitudinal extension joint and jaw joint, described jaw arthrodesis is on described longitudinal extension joint, described longitudinal extension arthrodesis is on described transverse translation joint, described transverse translation arthrodesis is on described vertical lifting joint, described jaw joint comprises jaw elevating mechanism and jaw clamping device, described jaw elevating mechanism comprises and is installed on the jaw lifting support, jaw base plate and vertically be installed on jaw lift cylinder on the jaw base plate, described jaw lift cylinder and described jaw lifting support are connected, described jaw clamping device comprises jaw location collision block, gripper cylinder, the gripper cylinder head, positioning cylinder and positioning cylinder head, described gripper cylinder head is fixed on the piston rod head of gripper cylinder, and described positioning cylinder head is fixed on the piston rod head of positioning cylinder.
2. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: the motion mode in described vertical lifting joint, transverse translation joint, longitudinal extension joint and jaw joint is pneumatic mode.
3. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: described vertical lifting joint, transverse translation joint, longitudinal extension joint and jaw joint are equipped with buffer unit and/or bolt, and the buffering method of described buffer unit is oleo cushion or pressure buffer or spring buffer.
4. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: the piston rod bilateral symmetry of described jaw lift cylinder several slide blocks that are connected, described slide block is installed on the jaw clamping device, described jaw elevating mechanism also comprises the guide rail that cooperates slip with slide block, and described guide rail vertically is installed on the jaw lifting support.
5. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: the positioning cylinder of described jaw clamping device and described gripper cylinder horizontal symmetrical arrange, and the cylinder diameter of described positioning cylinder is greater than the cylinder diameter of described gripper cylinder.
6. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: be symmetrically installed with clamping limb and pawl head on described gripper cylinder head and the positioning cylinder head, gripper cylinder head and described clamping limb and pawl head have constituted left jaw and right jaw jointly.
7. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: described vertical lifting joint comprises lifting slide unit base plate, bedframe, is fixed in bedframe central authorities and the vertical lifting cylinder of vertically placing, is fixed on the optical axis of bedframe both sides and is positioned at vertical lifting cylinder both sides and cooperate with optical axis the slide block of slip, described vertical lifting cylinder is provided with cylinder piston rod, the end of the described cylinder piston rod lifting slide unit base plate that is being connected.
8. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: described transverse translation joint comprises horizontal joint pedestal, two rectangular guidewaies, preceding first locating flange, back first locating flange, vertical joint mounting base, be fixed in transverse translation cylinder and the horizontal joint guide rail datum plate of this horizontal joint pedestal one end, described vertical joint mounting base is fixed between preceding first locating flange and back first locating flange, described two rectangular guideway symmetrical parallel are fixed in the both sides of horizontal joint guide rail datum plate, and the position, four angles of the bottom of described horizontal joint guide rail datum plate is equipped with four first rectangular shaped slider.
9. according to the described five degree of freedom manipulator of claim 1, it is characterized in that: described longitudinal extension joint includes vertical joint guide rail datum plate, be fixed in two rectangular guidewaies of guide rail datum plate both sides, vertical joint, vertical joint guide rail slide block pedestal, vertical joint impact block, the longitudinal extension cylinder, vertical joint pedestal, back second locating flange, described longitudinal extension cylinder is fixed in an end of described vertical joint pedestal, the direction of motion of described longitudinal extension cylinder is vertical mutually with the direction of motion in transverse translation joint, described back second locating flange and piston rod front end are connected and are fixed on the guide rail slide block pedestal of vertical joint, and vertically four angular positions of joint guide rail slide block base bottom are equipped with four second rectangular shaped slider.
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| CN201210020978.5A CN103240733B (en) | 2012-02-01 | 2012-02-01 | Five-degree-of-freedmanipulator manipulator |
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| CN201210020978.5A CN103240733B (en) | 2012-02-01 | 2012-02-01 | Five-degree-of-freedmanipulator manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106738973A (en) * | 2016-12-31 | 2017-05-31 | 苏州凯尔博精密机械有限公司 | A kind of edge covering mechanism on automatic hot apparatus taping machine |
| CN108044628A (en) * | 2017-12-29 | 2018-05-18 | 上海乾承机械设备有限公司 | A kind of skylight localizer station |
| CN108214470A (en) * | 2016-03-04 | 2018-06-29 | 温州市科泓机器人科技有限公司 | Adaptive quick catching robot |
| CN108274451A (en) * | 2018-03-20 | 2018-07-13 | 湖北乾奥建设工程有限公司 | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator and operating method |
| CN109570374A (en) * | 2019-01-10 | 2019-04-05 | 浙江鹤立智能机械有限公司 | Multiple hydraulic transfer press |
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