CN101204812A - Three degrees of freedom right angle coordinate manipulator - Google Patents
Three degrees of freedom right angle coordinate manipulator Download PDFInfo
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- CN101204812A CN101204812A CNA2007101156924A CN200710115692A CN101204812A CN 101204812 A CN101204812 A CN 101204812A CN A2007101156924 A CNA2007101156924 A CN A2007101156924A CN 200710115692 A CN200710115692 A CN 200710115692A CN 101204812 A CN101204812 A CN 101204812A
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Abstract
The invention relates to a three-freedom rectangular coordinate manipulator, which essentially consists of a machinery part and a control part. The machinery part comprises the three mechanisms of X, Y and Z directions essentially finishing moving in a solid space range. Objects can be grabbed by adding a paw controlled by an electromagnet on the Z direction. The three motions are directly driven by a stepping motor and then a screw rob nut pair is utilized to switch the rotating motion of the motor into the linear motion of the nut. The paw is added on the Z direction to finish the motion of grabbing objects. The control part essentially comprises an upper position computer, a SCM, a driver, a stepping motor and an arm. A control system adopts a distribution structure. A distribution control system is provided with an upper position secondary structure and a lower position secondary structure. The invention has the advantages of wide application environment and multiple functions; besides, the manufacturing and processing precisions are a little lower than an industrial robot with a high cost performance; and a teaching robot has the advantages of small size and light weight. The teaching arm plays a very important role in teaching for the advantages of intuitionism, easy operation and integration.
Description
Technical field
The present invention relates to a kind of three degrees of freedom right angle coordinate manipulator, this system selects for use single-chip microcomputer as the control core.
Background technology
Robot is the intensive electromechanical integrated product of new and high technology that develops rapidly in recent years, and industrial robot is used widely in developed country.Along with the development of technology, the range of application of robot constantly enlarges, and spreads all over industry, national defence, cosmic space, ocean development, rescue and relief work, medical rehabilitation, even enters human lives's various aspects.
Teaching is a kind of suitable student's of college the training experimental with open feature with robot, be multiple high-tech fusion, can finish a hundreds of real training experiment of many courses such as electrician, electronics, single-chip microcomputer, Machine Design, sensor, artificial intelligence, Electromechanical Control, Digital Signal Processing.Ambits such as fuzzy control, behavior control, artificial intelligence, robotics, many life entities, guide robot, intelligent domestic electrical equipment can all better be understood and be grasped in the real training experiment, thereby students'comprehensive is improved.Teaching robot's effect mainly to show frame for movement, motion feature and functional relationship, with respect to industrial robot, has its particularity: at first, a teaching robot is equivalent to a test platform, to show multiple exercise performance, therefore, applied environment is extensive, diverse in function.Secondly, its manufacturing adds precision a little less than industrial robot, and the cost performance height.In addition, teaching robot's volume is little, and is in light weight.By using to know and merge to be gained knowledge, the student provides a good platform.But also there is not a complete suitable device at present.
Summary of the invention
At above-mentioned the deficiencies in the prior art, the invention provides a kind of three degrees of freedom right angle coordinate teaching manipulator.
The present invention is achieved by the following technical solutions:
A kind of three degrees of freedom right angle coordinate manipulator, mainly be made up of mechanical part and control section, mechanical part mainly comprises base, line slideway, screw rod, stepper motor, shaft coupling, bearing block, slide block, deep groove ball bearing, feed rod, electromagnet, finger, circular cone roller bearing.Mechanical part is made up of X, Y, three direction mechanisms of Z, mainly finishes in a solid space scope and moves, and the paw that adds a magnet control in the Z direction can grasp article.Three motions are directly driven by stepper motor, change into the rectilinear motion of nut by rotatablely moving of bolt and nut adjutant motor again, add the action that a paw is finished holding articles in the Z direction.Wherein, the main parts size of directions X motion has base, motor, shaft coupling, screw rod, nut and line slideway auxiliary.Directions X has two guide rails, the i.e. range of movement of Y direction.It is identical with the directions X composition that the parts of Y direction are formed, place vertical with X, between connect with gusset piece.The different guide rails that are of Z direction and X, Y direction replace with two feed rods, and place a paw on the nut of z direction.The motion of X, Y, Z three directions is respectively by three motor-driven mutually noninterferes, the coordinated movement of various economic factors.
Control section mainly comprises host computer, single-chip microcomputer, driver, stepper motor and manipulator composition.Control system adopts the distributed frame dcs by the upper and lower computer secondary structure, and host computer adopts PC, and main frame is responsible for whole system management and coordinate transform and track computing in control system, coordinates and fault detect between each slave.Slave computer (slave) is made up of a single-chip microcomputer, is used to control three motors, and they finish control task concurrently, thereby has improved operating rate and disposal ability.The control system of this manipulator is not real-time control, and therefore the motion change once will to the single-chip microcomputer read-write once because this manipulator is mainly used in teaching, helps the student and bring into play manipulative ability and improve students'interest in learning like this.
The invention provides a kind of three degrees of freedom right angle coordinate manipulator, applied environment is extensive, diverse in function, and secondly its manufacturing adds precision a little less than industrial robot, and the cost performance height, teaching robot's volume is little in addition, and is in light weight.This teaching manipulator with its intuitive, ease for operation, comprehensive teaching is had crucial meaning.
Description of drawings
Fig. 1 is the front view of three degrees of freedom right angle coordinate manipulator;
Fig. 2 is the vertical view of three degrees of freedom right angle coordinate manipulator;
Fig. 3 is the left view of three degrees of freedom right angle coordinate manipulator;
Fig. 4 is the control section block diagram of three degrees of freedom right angle coordinate manipulator.
Wherein, 1, base a, 2, line slideway, 3, screw rod a, 4, screw, 5, shaft coupling, 6, bearing block a, 7, stepper motor, 8, slide block, 9, joint cover a, 10, nut a, 11, deep groove ball bearing, 12, a set of cups a, 13, feed rod a, 14, hitch, 15, nut b, 16, bearing block b, 17, bolt, 18, a set of cups b, 19, screw b, 20, screw rod b, 21, feed rod b, 22, bearing block c, 23, electromagnet, 24, wrist, 25, gusset piece b, 26, finger, 27, pin, 28, bearing block d, 29, bearing cap, 30, screw c, 31, base b, 32, gusset piece c, 33, base c, 34, taper roll bearing.
The specific embodiment
Among Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of three degrees of freedom right angle coordinate manipulator, mechanical part mainly comprise base, line slideway 2, screw rod, stepper motor 7, shaft coupling 5, bearing block, slide block 8, deep groove ball bearing 11, feed rod, electromagnet 23, finger 26, circular cone roller bearing 34.Mechanical part is made up of X, Y, three direction mechanisms of Z, Y direction mechanism, and line slideway 2 is fixed and is fixed on the base b31 by screw 4, and screw rod a3 is by the output shaft of shaft coupling 5 connection stepper motors 7, and screw rod a3 two ends are supported by bearing block a6.Directions X mechanism is identical with the essential structure of Y direction mechanism, both connect by nut a10, Y direction mechanism is fixed on the slide block 8 by joint cover a9 and gusset piece c 32, slide block 8 can move along base c33 and base a1 direction, a set of cups a12 is positioned at deep groove ball bearing 11 outsides, bearing cap 29 is positioned at the outside of bearing block d28, and bearing block d28 is fixed on the base b31 by screw c30.In the Z direction mechanism, the two ends of feed rod a13, screw rod b20, feed rod b21 are supported by bearing block b16 and bearing block c22, bearing block b16 and bearing block c22 are fixed on the hitch 14 by nut b15, bolt 17, a set of cups b18, screw b19, taper roll bearing 34 is installed in the bearing block b16, Z direction mechanism by gusset piece b25 be fixed on can be along on the slide block 8 of directions X mechanism kinematic, electromagnet 23 links to each other with wrist 24, and finger 26 is connected with wrist 24 by pin 27.
It is identical with the directions X composition that the parts of Y direction are formed, place vertical with X, between connect with gusset piece.The different guide rails that are of Z direction and X, Y direction replace with two feed rods, and place a paw on the nut of z direction.The motion of X, Y, Z three directions is respectively by three motor-driven mutually noninterferes, the coordinated movement of various economic factors.
Control section mainly comprises host computer, single-chip microcomputer, driver, stepper motor and manipulator composition.Control system adopts the distributed frame dcs by the upper and lower computer secondary structure, and host computer adopts PC, and main frame is responsible for whole system management and coordinate transform and track computing in control system, coordinates and fault detect between each slave.Slave computer (slave) is made up of a single-chip microcomputer, is used to control three motors, and they finish control task concurrently, thereby has improved operating rate and disposal ability.The control system of this manipulator is not real-time control, and therefore the motion change once will to the single-chip microcomputer read-write once because this manipulator is mainly used in teaching, helps the student and bring into play manipulative ability and improve students'interest in learning like this.
Claims (2)
1. three degrees of freedom right angle coordinate manipulator, comprise mechanical part and control section, mechanical part comprises base, line slideway, screw rod, stepper motor, shaft coupling, bearing block, slide block, deep groove ball bearing, feed rod, electromagnet, finger, the circular cone roller bearing, it is characterized in that: mechanical part is by X, Y, three direction mechanisms of Z form, Y direction mechanism, line slideway is fixed on the base b by screw, screw rod a connects the output shaft of stepper motor by shaft coupling, screw rod a two ends are supported by bearing block a, directions X mechanism is identical with the essential structure of Y direction mechanism, both connect by nut a, Y direction mechanism is fixed on the slide block by joint cover a and gusset piece c, slide block can move along base c and base a direction, a set of cups a is positioned at the deep groove ball bearing outside, bearing cap is positioned at the outside of bearing block d, in the Z direction mechanism, feed rod a, screw rod b, the two ends of feed rod b are supported by bearing block b and bearing block c, bearing block b and bearing block c are by nut b, bolt, screw b is fixed on the hitch, in the bearing block b taper roll bearing is installed, Z direction mechanism by gusset piece b be fixed on can be along on the slide block of directions X mechanism kinematic, electromagnet links to each other with wrist, and finger is connected with wrist by pin.
2. three degrees of freedom right angle coordinate manipulator according to claim 1, it is characterized in that: control section comprise host computer, single-chip microcomputer, driver, stepper motor and, host computer is connected with single-chip microcomputer, single-chip microcomputer is connected with three drivers by control line, connects three stepper motors behind three drivers.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007101156924A CN101204812A (en) | 2007-12-19 | 2007-12-19 | Three degrees of freedom right angle coordinate manipulator |
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| CNA2007101156924A CN101204812A (en) | 2007-12-19 | 2007-12-19 | Three degrees of freedom right angle coordinate manipulator |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786136A (en) * | 2010-02-26 | 2010-07-28 | 华南理工大学 | Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure |
| CN101947781A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Modularized multi-control Cartesian coordinate robot |
| CN102000970A (en) * | 2010-09-10 | 2011-04-06 | 中国科学院合肥物质科学研究院 | Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom |
| CN102085656A (en) * | 2009-12-03 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Right-angle coordinate robot |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN102556655A (en) * | 2012-01-17 | 2012-07-11 | 邹建炀 | Novel right-angled carrying manipulator |
| CN101770192B (en) * | 2010-01-03 | 2012-08-29 | 宁波舜韵光电科技有限公司 | Organic photo conductor drum production assembly line |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN102729248A (en) * | 2012-02-29 | 2012-10-17 | 机械科学研究总院先进制造技术研究中心 | Yarn-grabbing robot |
| CN101774171B (en) * | 2010-01-03 | 2012-12-26 | 宁波舜韵光电科技有限公司 | Automatic manipulator picking and placing device |
| CN102950598A (en) * | 2012-11-02 | 2013-03-06 | 北京农业信息技术研究中心 | Portable three-dimensional micro-range moving device for acquiring cell tissue ion flow |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN103302200A (en) * | 2013-06-05 | 2013-09-18 | 苏州市越海拉伸机械有限公司 | Transfer mechanical hand |
| CN103538072A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Manipulator with accurate positioning ability |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN104528380A (en) * | 2014-12-31 | 2015-04-22 | 桂林电子科技大学 | Intelligent three-dimensional flexible grabbing transferring mechanism |
| CN104669271A (en) * | 2013-11-27 | 2015-06-03 | 深圳职业技术学院 | Grab chuck component, triaxial feeding device, loading robot and machining system |
| CN105016239A (en) * | 2015-07-24 | 2015-11-04 | 广西科技大学 | Dismountable heavy-duty lead screw transmission mechanism |
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN105082126A (en) * | 2015-09-02 | 2015-11-25 | 浙江斯凯瑞机器人股份有限公司 | High-speed mute full-closed right-angle coordinate mechanical arm |
| CN105313325A (en) * | 2014-07-24 | 2016-02-10 | 常州星宇车灯股份有限公司 | Three axis mechanical arm automatic grabbing device |
| CN105772996A (en) * | 2015-04-20 | 2016-07-20 | 骏马石油装备制造有限公司 | Prefabricating working station for convection section frameworks of high-pressure gas injection units |
| CN105923378A (en) * | 2016-05-30 | 2016-09-07 | 湖南飞沃新能源科技股份有限公司 | Automatic material transportation device |
| CN106683561A (en) * | 2017-02-20 | 2017-05-17 | 苏州市职业大学 | Processing demonstration system for mechanical teaching |
-
2007
- 2007-12-19 CN CNA2007101156924A patent/CN101204812A/en active Pending
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085656A (en) * | 2009-12-03 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Right-angle coordinate robot |
| CN102085656B (en) * | 2009-12-03 | 2013-09-18 | 鸿富锦精密工业（深圳）有限公司 | Right-angle coordinate robot |
| CN101770192B (en) * | 2010-01-03 | 2012-08-29 | 宁波舜韵光电科技有限公司 | Organic photo conductor drum production assembly line |
| CN101774171B (en) * | 2010-01-03 | 2012-12-26 | 宁波舜韵光电科技有限公司 | Automatic manipulator picking and placing device |
| CN101786136A (en) * | 2010-02-26 | 2010-07-28 | 华南理工大学 | Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN101947781A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Modularized multi-control Cartesian coordinate robot |
| CN102000970B (en) * | 2010-09-10 | 2012-05-23 | 中国科学院合肥物质科学研究院 | Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom |
| CN102000970A (en) * | 2010-09-10 | 2011-04-06 | 中国科学院合肥物质科学研究院 | Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom |
| CN102556655A (en) * | 2012-01-17 | 2012-07-11 | 邹建炀 | Novel right-angled carrying manipulator |
| CN102556655B (en) * | 2012-01-17 | 2014-06-25 | 邹建炀 | Right-angled carrying manipulator |
| CN102729248A (en) * | 2012-02-29 | 2012-10-17 | 机械科学研究总院先进制造技术研究中心 | Yarn-grabbing robot |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN103009031B (en) * | 2012-10-23 | 2014-11-19 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN102950598A (en) * | 2012-11-02 | 2013-03-06 | 北京农业信息技术研究中心 | Portable three-dimensional micro-range moving device for acquiring cell tissue ion flow |
| CN102950598B (en) * | 2012-11-02 | 2015-10-28 | 北京农业信息技术研究中心 | A kind of Portable three-dimensional microspur telecontrol equipment gathered for cell tissue ion current |
| CN103302200A (en) * | 2013-06-05 | 2013-09-18 | 苏州市越海拉伸机械有限公司 | Transfer mechanical hand |
| CN103538072A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Manipulator with accurate positioning ability |
| CN104669271A (en) * | 2013-11-27 | 2015-06-03 | 深圳职业技术学院 | Grab chuck component, triaxial feeding device, loading robot and machining system |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN104029194B (en) * | 2014-06-18 | 2016-04-06 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
| CN105313325A (en) * | 2014-07-24 | 2016-02-10 | 常州星宇车灯股份有限公司 | Three axis mechanical arm automatic grabbing device |
| CN104528380A (en) * | 2014-12-31 | 2015-04-22 | 桂林电子科技大学 | Intelligent three-dimensional flexible grabbing transferring mechanism |
| CN105772996A (en) * | 2015-04-20 | 2016-07-20 | 骏马石油装备制造有限公司 | Prefabricating working station for convection section frameworks of high-pressure gas injection units |
| CN105772996B (en) * | 2015-04-20 | 2017-12-05 | 骏马石油装备制造有限公司 | A kind of convection current segment frames prefabricated work station of high pressure steam injection unit |
| CN105016239A (en) * | 2015-07-24 | 2015-11-04 | 广西科技大学 | Dismountable heavy-duty lead screw transmission mechanism |
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN105058374B (en) * | 2015-07-31 | 2016-11-02 | 广东省自动化研究所 | A kind of suspension type mechanical hand |
| CN105082126B (en) * | 2015-09-02 | 2016-07-13 | 浙江斯凯瑞机器人股份有限公司 | The totally-enclosed right angle coordinate manipulator of high-speed silent |
| CN105082126A (en) * | 2015-09-02 | 2015-11-25 | 浙江斯凯瑞机器人股份有限公司 | High-speed mute full-closed right-angle coordinate mechanical arm |
| CN105923378A (en) * | 2016-05-30 | 2016-09-07 | 湖南飞沃新能源科技股份有限公司 | Automatic material transportation device |
| CN105923378B (en) * | 2016-05-30 | 2018-05-22 | 湖南飞沃新能源科技股份有限公司 | A kind of material automatic carriage |
| CN106683561A (en) * | 2017-02-20 | 2017-05-17 | 苏州市职业大学 | Processing demonstration system for mechanical teaching |
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