CN102554921A - Numerical-control manipulator with five degrees of freedom - Google Patents
Numerical-control manipulator with five degrees of freedom Download PDFInfo
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- CN102554921A CN102554921A CN2012100251782A CN201210025178A CN102554921A CN 102554921 A CN102554921 A CN 102554921A CN 2012100251782 A CN2012100251782 A CN 2012100251782A CN 201210025178 A CN201210025178 A CN 201210025178A CN 102554921 A CN102554921 A CN 102554921A
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- 210000000707 wrist Anatomy 0.000 claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000001141 propulsive effect Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000002950 deficient Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 229920000642 polymer Polymers 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention provides a numerical-control manipulator with five degrees of freedom, which comprises a base, a turntable, an upper arm, a forearm, a wrist and a paw. The base is connected with the turntable, the turntable is connected with the upper arm by a shoulder, the upper arm is connected with the forearm by an elbow, and the forearm is connected with the paw by the wrist. A space between the base and the turntable has a first degree of freedom, the shoulder has a second degree of freedom, the elbow has a third degree of freedom, the wrist has a fourth degree of freedom, the paw has a fifth degree of freedom, the degrees of freedom are realized by servo motors, and the servo motors are controlled by a numerical control system.
Description
Technical field
The present invention relates to a kind of robot device, particularly a kind of five degree of freedom numerical controlled machinery hand.
Background technology
Along with the development of industrial automation, manipulator has obtained using widely in industry.Manipulator has following advantage, and the one, safe.With getting product in the staff entering mould, if injection machine fault or mistake button cause matched moulds, the danger of the hand of crushing is arranged, use manipulator can guarantee safety.The 2nd, can raise the efficiency and quality.The 3rd, reduce the product fraction defective.Just the shaped article temperature is too high, and personnel take out product can cause the hand trace, produces defective products, takes out because of manipulator uses special tool, so can not hurt product.The 4th, be to save manpower and time.The 5th, conservation reduces cost, and it is indefinite that personnel get the product time, and the particularity of raw material can cause product shrink, modification, because of the time that manipulator takes out is fixed, so steady quality.
Yet manipulator of the prior art has intrinsic defective, and is simple like the robot movement form, only can realize single operation.Structure is firm inadequately, as easy as rolling off a log being damaged.Locate not precisely, and control performance is low, is difficult for being considered to operation.
For solving defective of the prior art, CN102229142A discloses a kind of five degree of freedom electric manipulator, and this manipulator adopts the mode of friction pulley motor and pulley electric motor braking that manipulator is controlled; Structure is simple relatively, and can realize multiple forms of motion, but because the motor braking underaction; Cause this manipulator location not accurate enough, control performance is low, and is not easy to operate; And the paw function singleness, effect is not strong.
Summary of the invention
Shortcoming to the prior art existence.The object of the present invention is to provide a kind of five degree of freedom numerical controlled machinery hand, on basis simple in structure, can reach accurate positioning, controlled strong, easy to operate, the technique effect of of many uses and long service life.
The invention provides a kind of five degree of freedom numerical controlled machinery hand, comprise base, turntable, big arm, forearm, wrist and paw, said base is connected with turntable; Turntable is connected through shoulder with big arm, and big arm is connected with forearm through ancon, and forearm is connected with paw through wrist; First free degree is set between said base and the turntable, and shoulder is provided with second free degree, and ancon is provided with Three Degree Of Freedom; Wrist is provided with four-degree-of-freedom, and paw is provided with five degree of freedom; The said free degree is realized that by servomotor servomotor is controlled by digital control system.
Further preferred, said first free degree is that turntable rotation, second free degree are that shoulder goes up and down, Three Degree Of Freedom is that ancon goes up and down, four-degree-of-freedom is that wrist goes up and down, five degree of freedom is that paw clamps.
Further the material of preferred said base, turntable, big arm, forearm, wrist and paw is an aluminium alloy.
Further the moment of torsion of the servomotor of preferred said second free degree is 3 times of moment of torsion of the servomotor of four-degree-of-freedom.The moment of torsion of the servomotor of said first free degree is 30kg.cm.
Further preferred said manipulator height is 400mm-600mm; Said manipulator width is 150mm-210mm.
The length of further preferred said big arm is 150mm-200mm; The length of said forearm is 120mm-160mm.
Further preferred described paw adopts two propulsive mechanisms, makes paw clamping angle remain at 0 degree.
Further preferred said paw has finger, installs pad additional between said finger and article; The chucking power of said finger is 10 kilograms.
Further preferred said manipulator adopts lithium polymer battery.
Said digital control system comprises computer control system, No. 24 servomotor main circuit boards, five servomotor control circuit boards.
Said computer control system and No. 24 servomotor main circuit boards are positioned at base, and five servomotor control circuit boards are arranged at respectively in turntable, paw, shoulder ancon and the wrist.
Computer control system is connected through Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five servomotor control circuit boards through the servomotor connecting line.
Computer control system is used for programming Control work, adopts 3 dimension tridimensional virtual programing systems, and program is transferred to No. 24 servomotor main circuit boards through Serial Port Line.
No. 24 servomotor main circuit boards adopt single-chip computer control system, will instruct to be sent to five servomotor control circuit boards through the servomotor connecting line.
Five servomotor control circuit board acquisition instructions are also controlled and are positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist is accomplished operations such as turntable rotation, shoulder up-down, ancon up-down, wrist up-down and paw clamping.
Adopt manipulator of the present invention to have following advantage: the mode that adopts base, turntable, big arm, forearm, wrist and paw to combine, simple in structure; Adopt servomotor to realize five frees degree, servomotor is controlled by digital control system, and controlled strong, motion flexibly, joint strength is big and accurate positioning; Adopt alloy and ABS engineering plastics material, make manipulator sturdy and durable, long service life; Paw adopts two propulsive mechanisms, and between finger and article, installs pad additional, increases the range of application of paw, makes the purposes of manipulator more extensive.
Description of drawings
Fig. 1: the structural representation of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention; Fig. 2: the side view of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention; Fig. 3: the structural representation of the paw of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention.
Wherein: 1, base, 2, turntable, 3, big arm, 4, forearm, 5, wrist, 6, paw, 7, shoulder, 8, ancon, 9, wrist, 10, finger, 11, connecting rod, 12, driving gear, 13, driven gear, 14, mount pad.
The specific embodiment
1-3 is said according to Figure of description; The invention provides a kind of five degree of freedom numerical controlled machinery hand; Comprise base 1, turntable 2, big arm 3, forearm 4, wrist 5 and paw 6, said base 1 is connected with turntable 2, and turntable 2 is connected through shoulder 7 with big arm 3; Big arm 3 is connected with forearm 4 through ancon 8, and forearm 4 is connected with paw 6 through wrist 9.Between said base 1 and the turntable 2 first free degree is set, shoulder 7 is provided with second free degree, and ancon 8 is provided with Three Degree Of Freedom, and wrist 9 is provided with four-degree-of-freedom, and paw 6 is provided with five degree of freedom; The said free degree is realized that by servomotor servomotor is controlled by digital control system.
Said first free degree is that turntable 2 rotations, second free degree are that shoulder 7 goes up and down, Three Degree Of Freedom is that ancon 8 goes up and down, four-degree-of-freedom is that wrist 9 goes up and down, five degree of freedom is that paw 6 clamps.
The material of said base 1, turntable 2, big arm 3, forearm 4, wrist 5 and paw 6 is an aluminium alloy.
The moment of torsion of the servomotor of said second free degree is 3 times of moment of torsion of the servomotor of four-degree-of-freedom.
The moment of torsion of the servomotor of said first free degree is 30kg.cm.
Said manipulator height is 400mm-600mm.Said manipulator width is 150mm-210mm.
The length of said big arm 3 is 150mm-200mm.The length of said forearm 4 is 120mm-160mm.
Described paw 6 adopts two propulsive mechanisms, and this pair propulsive mechanism adopts two steering wheels, and one is the active steering wheel; Connection is from the holding wire of digital control system; Initiatively the steering wheel output shaft drives driving gear 12 rotations, and another is driven steering wheel, and this driven steering wheel does not connect holding wire; The rotation of driven gear 13 is to rely on driving gear 12 to drive; As shown in Figure 3, driving gear 12 constitutes a parallel four-bar linkage with driven gear 13 and connecting rod 11, finger 10, mount pad 14, and driving gear 12 drives driven gear 13 and makes finger 10 parallel moving when rotating.Make paw clamping angle remain at 0 degree.Said paw 6 has finger 10, installs pad additional between said finger 10 and article.The chucking power of said finger 10 is 10 kilograms.
Said manipulator adopts lithium polymer battery.The lithium polymer battery volume is little, light weight, electric weight is big, immediate current is big, the life-span is long, safety.
Said digital control system comprises computer control system, No. 24 servomotor main circuit boards, five servomotor control circuit boards.
Said computer control system and No. 24 servomotor main circuit boards are positioned at 1, five servomotor control circuit board of base and are arranged at respectively in turntable 2, paw 6, shoulder 7, ancon 8 and the wrist 9.
Computer control system is connected through Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five servomotor control circuit boards through the servomotor connecting line.
Computer control system is used for programming Control work, adopts 3 dimension tridimensional virtual programing systems, and program is transferred to No. 24 servomotor main circuit boards through Serial Port Line.
No. 24 servomotor main circuit boards adopt single-chip computer control system, will instruct to be sent to five servomotor control circuit boards through the servomotor connecting line.
Five servomotor control circuit board acquisition instructions are also controlled and are positioned at turntable 2, paw 6, shoulder 7, and the servomotor of ancon 8 and wrist 9 is accomplished operations such as turntable 2 rotations, shoulder 7 up-downs, ancon 8 up-downs, wrist 9 up-downs and paw 6 clampings.
This manipulator is controlled by force, motion is flexible, joint strength is big and accurate positioning, and is sturdy and durable, and long service life is of many uses.
Claims (10)
1. a five degree of freedom numerical controlled machinery hand comprises base (1), turntable (2), big arm (3), forearm (4), wrist (5) and paw (6), and said base (1) is connected with turntable (2); Turntable (2) is connected through shoulder (7) with big arm (3), and big arm (3) is connected with forearm (4) through ancon (8), and forearm (4) is connected with paw (6) through wrist (9); It is characterized in that; Between said base (1) and the turntable (2) first free degree is set, shoulder (7) is provided with second free degree, and ancon (8) is provided with Three Degree Of Freedom; Wrist (9) is provided with four-degree-of-freedom, and paw (6) is provided with five degree of freedom; The said free degree is realized that by servomotor servomotor is controlled by digital control system.
2. five degree of freedom numerical controlled machinery hand according to claim 1; It is characterized in that said first free degree is that turntable (2) rotation, second free degree are that shoulder (7) goes up and down, Three Degree Of Freedom is that ancon (8) goes up and down, four-degree-of-freedom is that wrist (9) goes up and down, five degree of freedom is that paw (6) clamps.
3. five degree of freedom numerical controlled machinery hand according to claim 1 and 2 is characterized in that, the material of said base (1), turntable (2), big arm (3), forearm (4), wrist (5) and paw (6) is an aluminium alloy.
4. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the moment of torsion of the servomotor of said second free degree are 3 times of moment of torsion of the servomotor of four-degree-of-freedom.
5. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the moment of torsion of the servomotor of said first free degree is 30kg.cm.
6. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, said manipulator height is 400mm-600mm.
7. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, said manipulator width is 150mm-210mm.
8. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the length of said big arm (3) is 150mm-200mm.
9. five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the length of said forearm (4) is 120mm-160mm.
10. five degree of freedom numerical controlled machinery hand according to claim 1 and 2 is characterized in that, described paw (6) adopts two propulsive mechanisms, makes paw clamping angle remain at 0 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210025178.2A CN102554921B (en) | 2012-02-06 | 2012-02-06 | Numerical-control manipulator with five degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210025178.2A CN102554921B (en) | 2012-02-06 | 2012-02-06 | Numerical-control manipulator with five degrees of freedom |
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| CN102554921A true CN102554921A (en) | 2012-07-11 |
| CN102554921B CN102554921B (en) | 2015-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210025178.2A Expired - Fee Related CN102554921B (en) | 2012-02-06 | 2012-02-06 | Numerical-control manipulator with five degrees of freedom |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764823A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Movement mechanism of stamping and transferring manipulator |
| CN102873684A (en) * | 2012-09-19 | 2013-01-16 | 深圳市中科鸥鹏智能科技有限公司 | Five-degree-of-freedom manipulator, drive circuit and control method |
| CN103112001A (en) * | 2013-02-05 | 2013-05-22 | 浙江机电职业技术学院 | Mechanical arm |
| CN103121218A (en) * | 2013-02-04 | 2013-05-29 | 长兴技师学院 | Mechanical arm |
| CN103331752A (en) * | 2013-07-04 | 2013-10-02 | 太原重工股份有限公司 | Hydraulic drive mechanical arm |
| CN103448069A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Manipulator for wheelchair |
| CN103538070A (en) * | 2013-09-27 | 2014-01-29 | 杭州电子科技大学 | Five-freedom-degree hydraulic servo manipulator |
| CN104552324A (en) * | 2015-01-05 | 2015-04-29 | 张广山 | Mechanical arm pliers |
| CN104575232A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Teaching mechanical arm |
| CN104772752A (en) * | 2015-04-03 | 2015-07-15 | 华东师范大学 | Mechanical arm |
| CN105108519A (en) * | 2015-09-28 | 2015-12-02 | 南通海高数控机械有限公司 | Numerical control processing machine |
| CN105269585A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Manipulator |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN106003123A (en) * | 2016-06-12 | 2016-10-12 | 江苏新光数控技术有限公司 | Mechanical arms with gear protecting function |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN107433608A (en) * | 2017-08-16 | 2017-12-05 | 洛阳理工学院 | A kind of catching robot |
| CN108032284A (en) * | 2017-12-14 | 2018-05-15 | 苏州羽美尚精密机械有限公司 | A kind of stabilization can flexibly turn to manipulator |
| CN108582050A (en) * | 2018-05-08 | 2018-09-28 | 重庆工业职业技术学院 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
| CN108942910A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of rock-core borer drilling rod automatic-discharging manipulator |
| CN110092163A (en) * | 2019-04-17 | 2019-08-06 | 丽水学院 | It is a kind of based on the automatic sensing handling device for seeking side centering algorithm |
| CN110193869A (en) * | 2019-07-09 | 2019-09-03 | 邢珊珊 | A kind of wood processing machine of the pressing mechanism containing folding |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN113814952A (en) * | 2021-09-30 | 2021-12-21 | 西南石油大学 | Intelligent logistics trolley |
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| CN102229142A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Five-degree-of-freedom electric manipulator |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764823B (en) * | 2012-07-26 | 2015-09-09 | 江苏尚诚精密模具科技有限公司 | The motion of punching press transfer manipulator |
| CN102764823A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Movement mechanism of stamping and transferring manipulator |
| CN102873684A (en) * | 2012-09-19 | 2013-01-16 | 深圳市中科鸥鹏智能科技有限公司 | Five-degree-of-freedom manipulator, drive circuit and control method |
| CN103121218A (en) * | 2013-02-04 | 2013-05-29 | 长兴技师学院 | Mechanical arm |
| CN103112001A (en) * | 2013-02-05 | 2013-05-22 | 浙江机电职业技术学院 | Mechanical arm |
| CN103112001B (en) * | 2013-02-05 | 2015-10-07 | 浙江机电职业技术学院 | A kind of manipulator |
| CN103331752A (en) * | 2013-07-04 | 2013-10-02 | 太原重工股份有限公司 | Hydraulic drive mechanical arm |
| CN103448069A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Manipulator for wheelchair |
| CN103538070A (en) * | 2013-09-27 | 2014-01-29 | 杭州电子科技大学 | Five-freedom-degree hydraulic servo manipulator |
| CN103538070B (en) * | 2013-09-27 | 2015-10-21 | 杭州电子科技大学 | A kind of five-freedom-degree hydraulic servo manipulator |
| CN104575232A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Teaching mechanical arm |
| CN104552324A (en) * | 2015-01-05 | 2015-04-29 | 张广山 | Mechanical arm pliers |
| CN104772752A (en) * | 2015-04-03 | 2015-07-15 | 华东师范大学 | Mechanical arm |
| CN105108519A (en) * | 2015-09-28 | 2015-12-02 | 南通海高数控机械有限公司 | Numerical control processing machine |
| CN105269585A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Manipulator |
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN106003123A (en) * | 2016-06-12 | 2016-10-12 | 江苏新光数控技术有限公司 | Mechanical arms with gear protecting function |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN106976073B (en) * | 2017-03-28 | 2023-03-31 | 昆明理工大学 | Fruit vegetables letter sorting manipulator |
| CN107234610B (en) * | 2017-07-21 | 2020-08-07 | 阳西县精科塑业有限公司 | Novel five-degree-of-freedom manipulator |
| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN107433608A (en) * | 2017-08-16 | 2017-12-05 | 洛阳理工学院 | A kind of catching robot |
| CN108032284A (en) * | 2017-12-14 | 2018-05-15 | 苏州羽美尚精密机械有限公司 | A kind of stabilization can flexibly turn to manipulator |
| CN108582050A (en) * | 2018-05-08 | 2018-09-28 | 重庆工业职业技术学院 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
| CN108942910B (en) * | 2018-07-16 | 2021-04-02 | 武汉科技大学 | Automatic drill rod arranging manipulator of core drilling machine |
| CN108942910A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of rock-core borer drilling rod automatic-discharging manipulator |
| CN110092163A (en) * | 2019-04-17 | 2019-08-06 | 丽水学院 | It is a kind of based on the automatic sensing handling device for seeking side centering algorithm |
| CN110193869A (en) * | 2019-07-09 | 2019-09-03 | 邢珊珊 | A kind of wood processing machine of the pressing mechanism containing folding |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN113814952A (en) * | 2021-09-30 | 2021-12-21 | 西南石油大学 | Intelligent logistics trolley |
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