CN101791799A - Multi-degree-of-freedom shifting mechanical arm - Google Patents
Multi-degree-of-freedom shifting mechanical arm Download PDFInfo
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- CN101791799A CN101791799A CN 201010124006 CN201010124006A CN101791799A CN 101791799 A CN101791799 A CN 101791799A CN 201010124006 CN201010124006 CN 201010124006 CN 201010124006 A CN201010124006 A CN 201010124006A CN 101791799 A CN101791799 A CN 101791799A
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Abstract
The invention relates to a multi-degree-of-freedom shifting mechanical arm and aims at providing a multi-degree-of-freedom shifting mechanical arm which has simple structure and low cost and can realize three-dimensional fixed length, one-dimensional fixed angle grabbing, shifting and single rectangular object placement and ensure that the length displacement and the angle displacement of a conveyed object are accurate, and grabbing and placing actions are more simplified, quick and reliable. The multi-degree-of-freedom shifting mechanical arm comprises a stand and is characterized in that one end of a connecting piece capable of realizing multi-degree-of-freedom actions is arranged on the stand, while the other end of the connecting piece is connected with a paw. The invention is mainly used for multi-degree-of-freedom (three-dimensional fixed length and one-dimensional fixed angle) grabbing, shifting and single rectangular object placement.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of multi-degree-of-freedom shifting mechanical arm mainly is applicable to multiple degrees of freedom (three-dimensional measured length, one dimension are decided angle) extracting, transfer and the single rectangle object of placement.
Background technology
Along with the progress of society, the reach of science, automation procedure has occupied important effect with advantages such as it are efficient, energy-conservation, error rate is low in social production.Yet in the prior art, when the extracting of needs multiple degrees of freedom, transfer and placement object, usually adopt robot to finish, robot can realize the displacement (abbreviation flexiblesystem) of multiple degrees of freedom optional position and angle by computer and servo control technique, but its cost an arm and a leg, technical support is complicated.Yet when manipulator only needs the function surplus will occur, cause the significant wastage of investment as if selecting for use robot to finish this task when three-dimensional measured length decide angle displacement, moreover the domestic market is not found as yet and is had this multivariant manipulator.Invent a kind of manipulator that is exclusively used in rectangle object multiple degrees of freedom (three-dimensional measured length, one dimension are decided angle) extracting, transfer and placement and seem very necessary.
Summary of the invention
The technical problem to be solved in the present invention is: at the problem of above-mentioned existence provide a kind of simple in structure, cost is low, the three-dimensional measured length of energy realization, one dimension are decided the multi-degree-of-freedom shifting mechanical arm of angle extracting, transfer and placement single rectangular object, be intended to make the length displacement and the angular displacement that are transmitted object accurate, grasp with the action of placing simplify more, quick and reliable.
The technical solution adopted in the present invention is: multi-degree-of-freedom shifting mechanical arm, have frame, and it is characterized in that: the connector that can realize the multiple degrees of freedom action is installed on the described frame, and this connector other end is connected with paw.
Described connector comprises the Y-axis Rodless cylinder that is vertically mounted on the frame, the vertical with it X-axis Rodless cylinder of fixed installation on the slide block of Y-axis Rodless cylinder, install back rotation mechanism on the slide block of X-axis Rodless cylinder, perpendicular to the axis of Y-axis Rodless cylinder and X-axis Rodless cylinder, the output of slew gear is connected with paw by telescopic cylinder the centre of gyration line of this slew gear simultaneously.Utilize the impulse stroke of X-axis Rodless cylinder and Y-axis Rodless cylinder to realize the action of manipulator on X, Y two-dimensional directional.
Described slew gear comprises fixed mount and the cylinder that is installed on the fixed mount, its piston rod is connected with tooth bar by drive plate, the axis of this tooth bar length direction and piston rod axis are positioned at same plane and are parallel to each other, the rack and pinion engagement, and gear is installed telescopic cylinder on one side end face.During work,,, realize angle adjustable slew gear arbitrarily by the rack-and-pinion transmission by air cylinder driven, bigger than in the market the little moment of rotary cylinder volume.
On the described drive plate guide post is set; its axis and piston rod axis are positioned at same plane and are parallel to each other; the guide post overcoat matches and is fixedly mounted on fairlead on the fixed mount; utilize the guide post and the fairlead of coupling mutually; overcome the force unbalance that produces when cylinder and rack-and-pinion are worked, guarantee the stability of slew gear work.
Described paw comprises the gas pawl that is connected with telescopic cylinder, and the motion end of this gas pawl connects finger, is mainly used in the extracting rectangle object, and the full-size that can grasp is about 180 * 120 * 65 (mm), and the biggest quality is 2kg.
One group of guide runner is installed in described frame bottom, the glide direction of this group guide runner is identical with the centre of gyration line length direction of slew gear, can control whole frame under the drive of guide runner by servo-drive system, realize the accurate location of manipulator optional position on the Z axle.
The invention has the beneficial effects as follows: the present invention is with unit reasonable combination and configurations such as X, Y-axis Rodless cylinder, frame guide runner, slew gear and paws, make manipulator can succinctly finish multiple degrees of freedom (three-dimensional measured length, one dimension are decided angle) extracting, transfer and placement rectangle object fast, the flexiblesystem that is adopted compared to prior art, greatly reduce job costs, alleviate the technical support burden, avoided the wasting of resources that causes because of task simple (finishing with respect to flexiblesystem of task) simultaneously.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a left view of the present invention.
Fig. 3 is the cutaway view of slew gear cylinder compressive state among the present invention.
Fig. 4 is the front view of slew gear cylinder extended state among the present invention.
Fig. 5 is that the A-A of Fig. 3 is to cutaway view.
Fig. 6 is that the B-B of Fig. 5 is to cutaway view.
The specific embodiment
As shown in Figure 1 and Figure 2, present embodiment comprises frame 2, by four contour columns Y-axis Rodless cylinder 7 is installed vertically on it, the vertical with it X-axis Rodless cylinder 8 of fixed installation on the slide block of Y-axis Rodless cylinder 7, install back rotation mechanism 6 on the slide block of X-axis Rodless cylinder 8, perpendicular to the axis of Y-axis Rodless cylinder 7 and X-axis Rodless cylinder 8, the output of slew gear 6 is connected with paw by telescopic cylinder 5 centre of gyration line of this slew gear simultaneously; In this example, paw comprises the gas pawl 4 that is connected with telescopic cylinder 5, and the motion end of this gas pawl connects finger 3, is mainly used in and grasps rectangle object (for example electric energy meter), and the full-size that can grasp is about 180 * 120 * 65 (mm), and the biggest quality is 2kg; One group of guide runner 1 is installed in frame 2 bottoms, and the glide direction of this group guide runner is identical with the centre of gyration line length direction of slew gear 6.Wherein Y-axis Rodless cylinder 7 is used to realize that manipulator moves in the fixed length of vertical direction (Y-axis), makes that manipulator can two ad-hoc location A, B on vertical direction (Y-axis) grasps, transfer and placement article; X-axis Rodless cylinder 8 is used to realize that manipulator moves in the fixed length of horizontal cross (X-axis), make that manipulator can two ad-hoc location C, D on horizontal cross (X-axis) grasps, transfer and placement article, manipulator all is controlled at 400～600mm in the displacement of the lines length of horizontal cross (X-axis) and vertical direction (Y-axis); The effect of guide runner 1 is to control whole frame 2 (comprising Y-axis Rodless cylinder 7, X-axis Rodless cylinder 8, slew gear 6, telescopic cylinder 5 and paw) along horizontally vertically moving by servo-drive system, realize manipulator level vertically (Z axle) go up the accurate location of optional position, slew gear 6 is used to realize that the angle of deciding of manipulator rotates.
As Fig. 3-shown in Figure 6, in this example, slew gear comprises fixed mount 6-7 and the cylinder 6-1 that is installed on the fixed mount 6-7, its piston rod is connected with tooth bar 6-3 by drive plate 6-2, the axis of this tooth bar length direction and piston rod axis are positioned at same plane and are parallel to each other, telescopic cylinder 5 is installed in tooth bar 6-3 and gear 6-4 engagement on gear 6-4 one side end face.In order to overcome the force unbalance that produces when cylinder 6-1, tooth bar 6-3 and gear 6-4 work; guarantee the stability of slew gear 6 work; guide post 6-5 is set on drive plate 6-2; its axis and piston rod axis are positioned at same plane and are parallel to each other; the piston rod, drive plate 6-2, tooth bar 6-3 and the guide post 6-5 that are cylinder 6-1 form " mountain " font, and guide post 6-5 overcoat matches and is fixedly mounted on fairlead 6-6 on the fixed mount 6-7.During work, drive by cylinder 6-1, rotate by tooth bar 6-3 driven gear 6-4, thereby realize the adjustable arbitrarily of manipulator rotational angle, its angular displacement range (being the angle α between telescopic cylinder axis and the Y-axis Rodless cylinder axis) is controlled at 55 °-75 °, and is bigger than in the market the little moment of rotary cylinder volume.
Claims (6)
1. a multi-degree-of-freedom shifting mechanical arm has frame (2), it is characterized in that: described frame (2) goes up the connector that installation can realize the multiple degrees of freedom action, and this connector other end is connected with paw.
2. multi-degree-of-freedom shifting mechanical arm according to claim 1, it is characterized in that: described connector comprises the Y-axis Rodless cylinder (7) that is vertically mounted on the frame (2), the vertical with it X-axis Rodless cylinder (8) of fixed installation on the slide block of Y-axis Rodless cylinder (7), install back rotation mechanism (6) on the slide block of X-axis Rodless cylinder (8), perpendicular to the axis of Y-axis Rodless cylinder (7) and X-axis Rodless cylinder (8), the output of slew gear (6) is connected with paw by telescopic cylinder (5) centre of gyration line of this slew gear simultaneously.
3. multi-degree-of-freedom shifting mechanical arm according to claim 2, it is characterized in that: described slew gear comprises fixed mount (6-7) and is installed in cylinder (6-1) on the fixed mount (6-7), its piston rod is connected with tooth bar (6-3) by drive plate (6-2), the axis of this tooth bar length direction and piston rod axis are positioned at same plane and are parallel to each other, tooth bar (6-3) and gear (6-4) engagement, gear (6-4) is installed telescopic cylinder (5) on the side end face.
4. multi-degree-of-freedom shifting mechanical arm according to claim 3, it is characterized in that: described drive plate (6-2) is provided with guide post (6-5), its axis and piston rod axis are positioned at same plane and are parallel to each other, and guide post (6-5) overcoat matches and is fixedly mounted on fairlead (6-6) on the fixed mount (6-7).
5. multi-degree-of-freedom shifting mechanical arm according to claim 2 is characterized in that: described paw comprises the gas pawl (4) that is connected with telescopic cylinder (5), and the motion end of this gas pawl connects finger (3).
6. multi-degree-of-freedom shifting mechanical arm according to claim 2 is characterized in that: one group of guide runner (1) is installed in described frame (2) bottom, and the glide direction of this group guide runner is identical with the centre of gyration line length direction of slew gear (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010124006 CN101791799A (en) | 2010-03-12 | 2010-03-12 | Multi-degree-of-freedom shifting mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010124006 CN101791799A (en) | 2010-03-12 | 2010-03-12 | Multi-degree-of-freedom shifting mechanical arm |
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| CN101791799A true CN101791799A (en) | 2010-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201010124006 Pending CN101791799A (en) | 2010-03-12 | 2010-03-12 | Multi-degree-of-freedom shifting mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285146A (en) * | 2011-08-26 | 2011-12-21 | 济南铸造锻压机械研究所有限公司 | Material taking/feeding manipulator |
| CN104647374A (en) * | 2015-02-11 | 2015-05-27 | 华中科技大学 | Multi-degree-of-freedom mechanical hand for transferring flexible film |
| CN113370255A (en) * | 2021-06-19 | 2021-09-10 | 南京科技职业学院 | Material taking and clamping device of robot for mechanical automation manufacturing |
| CN113386104A (en) * | 2021-08-17 | 2021-09-14 | 捷尔杰（天津）设备有限公司 | Turnover truss manipulator for aerial work platform |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88211340U (en) * | 1988-01-16 | 1988-10-19 | 上海电机厂 | Telescopic arm welding operation machine |
| CN201625981U (en) * | 2010-03-12 | 2010-11-10 | 杭州轻通博科自动化技术有限公司 | Multi-freedom degree conveying manipulator |
-
2010
- 2010-03-12 CN CN 201010124006 patent/CN101791799A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88211340U (en) * | 1988-01-16 | 1988-10-19 | 上海电机厂 | Telescopic arm welding operation machine |
| CN201625981U (en) * | 2010-03-12 | 2010-11-10 | 杭州轻通博科自动化技术有限公司 | Multi-freedom degree conveying manipulator |
Non-Patent Citations (3)
| Title |
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| 《工业机器人》 20071231 刘文波等 工业机器人的臂部的结构形式 51 1-6 , 第1版 * |
| 《工业机械手》 19781231 《工业机械手》编写组 《工业机械手》 20-22，217-219 1-6 , 第1版 * |
| 《组合机床与自动化加工技术》 20051130 谭晓东 用于齿轮淬火的圆柱坐标机器人单元 75 1-6 , 第11期 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285146A (en) * | 2011-08-26 | 2011-12-21 | 济南铸造锻压机械研究所有限公司 | Material taking/feeding manipulator |
| CN102285146B (en) * | 2011-08-26 | 2014-09-03 | 济南铸造锻压机械研究所有限公司 | Material taking/feeding manipulator |
| CN104647374A (en) * | 2015-02-11 | 2015-05-27 | 华中科技大学 | Multi-degree-of-freedom mechanical hand for transferring flexible film |
| CN113370255A (en) * | 2021-06-19 | 2021-09-10 | 南京科技职业学院 | Material taking and clamping device of robot for mechanical automation manufacturing |
| CN113386104A (en) * | 2021-08-17 | 2021-09-14 | 捷尔杰（天津）设备有限公司 | Turnover truss manipulator for aerial work platform |
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Open date: 20100804 |