CN102554921B - Numerical-control manipulator with five degrees of freedom - Google Patents
Numerical-control manipulator with five degrees of freedom Download PDFInfo
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- CN102554921B CN102554921B CN201210025178.2A CN201210025178A CN102554921B CN 102554921 B CN102554921 B CN 102554921B CN 201210025178 A CN201210025178 A CN 201210025178A CN 102554921 B CN102554921 B CN 102554921B
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- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 210000000245 forearm Anatomy 0.000 claims abstract description 20
- 230000001141 propulsive effect Effects 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 229920000642 polymer Polymers 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000005611 electricity Effects 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 numerical-control manipulator with five degrees of freedom.
Background technology
Along with the development of industrial automation, manipulator is widely used in the industry.Manipulator has following advantage, and one is that security is high.Enter in mould with staff and get product, if injection machine fault or by mistake button cause matched moulds, have the danger of hand clamping, use manipulator to guarantee safety.Two is can raise the efficiency and quality.Three is reduce product fraction defective.Firm shaped article temperature is too high, and personnel take out product can cause hand trace, produces defective products, because manipulator uses special tool to take out, so can not hurt product.Four is save manpower and time.Five is conservations, reduces costs, and it is indefinite that personnel get the product time, and the particularity of raw material can cause product shrink, modification, and the time of taking out because of manipulator is fixed, so steady quality.
But manipulator of the prior art has intrinsic defect, as robot movement form is simple, only single operation can be realized.Structure is firm not, as easy as rolling off a log damaged.Location is not accurate, and control performance is low, is not easily considered to operation.
For solving defect of the prior art, CN102229142A discloses a kind of Five-degree-of-freedom electric manipulator, this manipulator adopts the mode of friction pulley motor and pulley electric motor braking to manipulate manipulator, and structure is relatively simple, and can realize multi-motion form, but due to motor braking underaction, cause this manipulator to be located not accurate enough, control performance is low, not easy to operate, and paw function singleness, effect is not strong.
Summary of the invention
For the shortcoming that prior art exists.The object of the present invention is to provide a kind of numerical-control manipulator with five degrees of freedom, on the simple basis of structure, can reach accurate positioning, controlling is strong, easy to operate, the technique effect of of many uses and long service life.
The invention provides a kind of numerical-control manipulator with five degrees of freedom, comprise base, turntable, large arm, forearm, wrist and paw, described base is connected with turntable, and turntable is connected by shoulder with large arm, and large arm is connected with forearm by ancon; forearm is connected with paw by wrist; arrange first free degree between described base and turntable, and shoulder arranges second free degree, and ancon arranges Three Degree Of Freedom; wrist arranges four-degree-of-freedom, and paw arranges five degree of freedom; The described free degree is realized by servomotor, and servomotor is controlled by digital control system.
Further preferably, described first free degree is that turntable rotates, second free degree is shoulder lifting, Three Degree Of Freedom is ancon lifting, four-degree-of-freedom is wrist lifting, five degree of freedom is paw clamping.
The material of further preferred described base, turntable, large arm, forearm, wrist and paw is aluminium alloy.
Preferably the moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom further.The moment of torsion of the servomotor of described first free degree is 30kgcm.
Further preferred described manipulator height is 400mm-600mm; Described manipulator width is 150mm-210mm.
The length of further preferred described large arm is 150mm-200mm; The length of described forearm is 120mm-160mm.
Paw preferably described further adopts two propulsive mechanism, makes paw clamp angle and remains at 0 degree.
Further preferred described paw has finger, installs pad additional between described finger and article; The chucking power of described finger is 10 kilograms.
Further preferred described manipulator adopts lithium polymer battery.
Described digital control system comprises computer control system, No. 24 servomotor main circuit boards, five Serve Motor Control circuit boards.
Described computer control system and No. 24 servomotor main circuit boards are positioned at base, and five Serve Motor Control circuit boards are arranged in turntable, paw, shoulder ancon and wrist respectively.
Computer control system is connected by Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five Serve Motor Control circuit boards by servomotor connecting line.
Computer control system is used for programming Control work, adopts 3 dimension tridimensional virtual programing systems, program is transferred to No. 24 servomotor main circuit boards by Serial Port Line.
No. 24 servomotor main circuit boards adopt single-chip computer control system, and instruction is sent to five Serve Motor Control circuit boards by servomotor connecting line.
Five Serve Motor Control circuit board acquisition instructions also control to be positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist completes the operations such as turntable rotation, shoulder lifting, ancon lifting, wrist lifting and paw clamping.
Manipulator tool of the present invention is adopted to have the following advantages: adopt the mode that base, turntable, large arm, forearm, wrist and paw combine, structure is simple; Adopt servomotor to realize five frees degree, servomotor is controlled by digital control system, and controlling is strong, motion is flexible, joint strength is large and accurate positioning; Adopt alloy and ABS engineering plastics material, make manipulator sturdy and durable, long service life; Paw adopts two propulsive mechanism, and installs pad additional between finger and article, increases the range of application of paw, makes the purposes of manipulator more extensive.
Accompanying drawing explanation
Fig. 1: the structural representation of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention;
Fig. 2: the side view of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention;
Fig. 3: the structural representation of the paw of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention.
Wherein: 1 is base, 2 is turntable, and 3 is large arm, and 4 is forearm, and 5 is wrist, and 6 is paw, and 7 is shoulder, and 8 is ancon, and 9 is wrist, and 10 is finger, and 11 is connecting rod, and 12 is driving gear, and 13 is driven gear, and 14 is mount pad.
Detailed description of the invention
According to Figure of description 1-3, the invention provides a kind of numerical-control manipulator with five degrees of freedom, comprise base 1, turntable 2, large arm 3, forearm 4, wrist 5 and paw 6, described base 1 is connected with turntable 2, turntable 2 is connected by shoulder 7 with large arm 3, large arm 3 is connected with forearm 4 by ancon 8, and forearm 4 is connected with paw 6 by wrist 9.Arrange first free degree between described base 1 and turntable 2, shoulder 7 arranges second free degree, and ancon 8 arranges Three Degree Of Freedom, and wrist 9 arranges four-degree-of-freedom, and paw 6 arranges five degree of freedom; The described free degree is realized by servomotor, and servomotor is controlled by digital control system.
Described first free degree is that turntable 2 rotates, second free degree is that shoulder 7 is elevated, Three Degree Of Freedom is that ancon 8 is elevated, four-degree-of-freedom is that wrist 9 is elevated, five degree of freedom is that paw 6 clamps.
The material of described base 1, turntable 2, large arm 3, forearm 4, wrist 5 and paw 6 is aluminium alloy.
The moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
The moment of torsion of the servomotor of described first free degree is 30kgcm.
Described manipulator height is 400mm-600mm.Described manipulator width is 150mm-210mm.
The length of described large arm 3 is 150mm-200mm.The length of described forearm 4 is 120mm-160mm.
Described paw 6 adopts two propulsive mechanism, this pair of propulsive mechanism adopts two steering wheels, one is active steering wheel, connect the holding wire from digital control system, initiatively steering wheel output shaft drives driving gear 12 to rotate, another is driven steering wheel, this driven steering wheel does not connect holding wire, the rotation of driven gear 13 relies on driving gear 12 to drive, as shown in Figure 3, driving gear 12 and driven gear 13 and connecting rod 11, point 10, mount pad 14 forms a parallel four-bar linkage, when driving gear 12 rotates, drive driven gear 13 makes finger 10 move in parallel.Make paw clamp angle and remain at 0 degree.Described paw 6 has finger 10, installs pad additional between described finger 10 and article.The chucking power of described finger 10 is 10 kilograms.
Described manipulator adopts lithium polymer battery.Lithium polymer battery volume is little, quality is light, electricity is large, immediate current is large, the life-span is long, safety.
Described digital control system comprises computer control system, No. 24 servomotor main circuit boards, five Serve Motor Control circuit boards.
Described computer control system and No. 24 servomotor main circuit boards are positioned at base 1, and five Serve Motor Control circuit boards are arranged in turntable 2, paw 6, shoulder 7, ancon 8 and wrist 9 respectively.
Computer control system is connected by Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five Serve Motor Control circuit boards by servomotor connecting line.
Computer control system is used for programming Control work, adopts 3 dimension tridimensional virtual programing systems, program is transferred to No. 24 servomotor main circuit boards by Serial Port Line.
No. 24 servomotor main circuit boards adopt single-chip computer control system, and instruction is sent to five Serve Motor Control circuit boards by servomotor connecting line.
Five Serve Motor Control circuit board acquisition instructions also control to be positioned at turntable 2, paw 6, shoulder 7, and the servomotor of ancon 8 and wrist 9 completes that turntable 2 rotates, shoulder 7 is elevated, ancon 8 is elevated, wrist 9 is elevated and the operation such as paw 6 clamping.
This manipulator control is strong, motion is flexible, joint strength is large and accurate positioning, sturdy and durable, and long service life is of many uses.
Claims (11)
1. a numerical-control manipulator with five degrees of freedom, comprise base (1), turntable (2), large arm (3), forearm (4), wrist (5) and paw (6), described base (1) is connected with turntable (2), turntable (2) is connected by shoulder (7) with large arm (3), large arm (3) is connected with forearm (4) by ancon (8), forearm (4) is connected with paw (6) by wrist (9), it is characterized in that, between described base (1) and turntable (2), first free degree is set, shoulder (7) arranges second free degree, ancon (8) arranges Three Degree Of Freedom, wrist (9) arranges four-degree-of-freedom, paw (6) arranges five degree of freedom, above-mentioned five frees degree are realized by servomotor, and servomotor is controlled by digital control system, described digital control system comprises computer control system, No. 24 servomotor main circuit boards, five Serve Motor Control circuit boards, described computer control system and No. 24 servomotor main circuit boards are positioned at base (1), and five Serve Motor Control circuit boards are arranged in turntable (2), paw (6), shoulder (7), ancon (8) and wrist (9) respectively, computer control system is connected by Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five Serve Motor Control circuit boards by servomotor connecting line, computer control system is used for programming Control work, adopts three-dimensional tridimensional virtual programing system, program is transferred to No. 24 servomotor main circuit boards by Serial Port Line, paw (6) adopts two propulsive mechanism, makes paw clamp angle and remains at 0 degree, this pair of propulsive mechanism adopts two steering wheels, described first free degree is that turntable (2) rotates, second free degree is shoulder (7) lifting, Three Degree Of Freedom is ancon (8) lifting, four-degree-of-freedom is wrist (9) lifting, five degree of freedom is paw (6) clamping.
2. numerical-control manipulator with five degrees of freedom according to claim 1, is characterized in that, the material of described base (1), turntable (2), large arm (3), forearm (4), wrist (5) and paw (6) is aluminium alloy.
3. numerical-control manipulator with five degrees of freedom according to claim 1, the moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
4. numerical-control manipulator with five degrees of freedom according to claim 1, the moment of torsion of the servomotor of described first free degree is 30kgcm.
5. numerical-control manipulator with five degrees of freedom according to claim 1, described manipulator height is 400mm-600mm.
6. numerical-control manipulator with five degrees of freedom according to claim 1, described manipulator width is 150mm-210mm.
7. numerical-control manipulator with five degrees of freedom according to claim 1, the length of described large arm (3) is 150mm-200mm.
8. numerical-control manipulator with five degrees of freedom according to claim 1, the length of described forearm (4) is 120mm-160mm.
9. numerical-control manipulator with five degrees of freedom according to claim 8, described paw (6) has finger (10), installs pad additional between described finger (10) and article.
10. numerical-control manipulator with five degrees of freedom according to claim 9, the chucking power of described finger (10) is 10 kilograms.
11. numerical-control manipulator with five degrees of freedoms according to claim 1, described manipulator adopts lithium polymer battery.
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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| Publication Number | Publication Date |
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| CN102554921A CN102554921A (en) | 2012-07-11 |
| CN102554921B true CN102554921B (en) | 2015-01-28 |
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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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| 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 |
| CN102873684B (en) * | 2012-09-19 | 2016-01-20 | 深圳市中科鸥鹏智能科技有限公司 | Five-degree-of-freedmanipulator manipulator, drive circuit and control method |
| CN103121218A (en) * | 2013-02-04 | 2013-05-29 | 长兴技师学院 | 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 |
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| CN105269585A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Manipulator |
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| 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 |
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| 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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| GB955715A (en) * | 1960-09-23 | 1964-04-22 | Paolo Cattaneo | Improvements relating to an automatic transfer device for bottles or like articles |
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| CN102554921A (en) | 2012-07-11 |
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