CN102633116A - Bionic multi-joint mechanical arm for carrying - Google Patents
Bionic multi-joint mechanical arm for carrying Download PDFInfo
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- CN102633116A CN102633116A CN2012101060922A CN201210106092A CN102633116A CN 102633116 A CN102633116 A CN 102633116A CN 2012101060922 A CN2012101060922 A CN 2012101060922A CN 201210106092 A CN201210106092 A CN 201210106092A CN 102633116 A CN102633116 A CN 102633116A
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Abstract
The invention discloses a bionic multi-joint mechanical arm for carrying, which comprises a grab mechanism, a front arm, a rear arm, a base, a first servo cylinder, a second servo cylinder and an analogue sampling controller of a human body, wherein the grab mechanism, the front arm, the rear arm and the base are sequentially hinged from front to back; the first servo cylinder is hinged between the front arm and the rear arm; the second servo cylinder is hinged between the rear arm and the base, and the grab mechanism, the first servo cylinder and the second servo cylinder are electrically connected with the analogue sampling controller of the human body. The mechanical arm disclosed by the invention is variable in action track, flexible in operation, simple and visualized in control and operation and easier to use at the same time. With the adoption of the mechanical arm disclosed by the invention, the labour force can be effectively saved and the work efficiency can be improved. The mechanical arm disclosed by the invention can replace the personnel to operate under a poisonous, high-radiation and high-risk work environment, so the health and personal safety of the personnel are effectively ensured, and labor shortage caused by a bad work environment of an enterprise is solved. The mechanical arm disclosed by the invention can replace the existing expensive imported numerical control three-dimensional manipulator, thereby effectively saving the production cost.
Description
Technical field
The present invention relates to a kind of handling machinery, be specifically related to a kind of bionical multi-joint handling machinery arm.
Background technology
Mechanical arm is the automated machine device that all obtains broad practice in fields such as industry manufacturing, therapeutic treatment, entertainment service, military affairs and space probations.Although the form of mechanical arm of the prior art is had nothing in common with each other, they all have a common characteristic, can accept instruction exactly, accurately navigate to certain a bit enterprising capable operation of three-dimensional or two-dimensional space.
According to the difference of version, mechanical arm is divided into multi-joint manipulator arm, rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm and cylindrical coordinates mechanical arm etc.The multi-joint manipulator arm can arrive any coordinate points in the space through three main degree of freedom with X axis rotating mechanism and the Y axial rotation mechanism that the execution terminal installs additional.
Mostly the mode of above-mentioned several kinds of mechanical arms is computer programming control or image recognition control.The computer programming mode can only be carried out the work that repeats of the point-to-point or multiple spot position of mono-according to the program of finishing in advance.The image recognition mode is to utilize pick up camera to be carried out digitized processing to picking up thing, finds out unique point, and control system is after judgement, and the control mechanical arm is finished the work.Adopt the mechanical arm movement locus of above-mentioned two kinds of modes to fix, inflexible, programming is complicated, the control system processing data is many, control operation is complicated.
Because the three-dimensional mechanical hand technical development of China is not mature enough, some enterprise takes the import three-dimensional mechanical hand to substitute manual operation.Yet the import three-dimensional mechanical hand is comparatively expensive, and can only accomplish the specific polishing operation of some Casting Parts, is mostly nonstandard equipment for customizing, has caused the simplification of its converted products.
Summary of the invention
The present invention is in order to overcome the deficiency that prior art exists, and provides that a kind of movement locus is changeable, the simple bionical multi-joint handling machinery arm of control operation.
The present invention realizes through following technical scheme: a kind of bionical multi-joint handling machinery arm; Comprise grasping mechanism, forearm, postbrachium, pedestal, first servo cylinder, second servo cylinder and human body simulation sampling controller; Said grasping mechanism, said forearm, said postbrachium, said pedestal are hinged successively after all in the past; Said first servo cylinder is articulated between said forearm and the said postbrachium; Said second servo cylinder is articulated between said postbrachium and the said pedestal, and said grasping mechanism, said first servo cylinder, said second servo cylinder all are electrically connected with said human body simulation sampling controller.
Said human body simulation sampling controller comprises that from front to back bonded assembly extracting controlling of sampling structure, hand joint controlling of sampling structure, simulation forearm, the first joint controlling of sampling structure, simulation postbrachium, second joint controlling of sampling structure, pedestal rotate controlling of sampling structure, control pedestal and be arranged at the control circuit system of controlling in the pedestal successively, and said hand joint controlling of sampling structure, the said first joint controlling of sampling structure, said second joint controlling of sampling structure, said pedestal rotation controlling of sampling structure are provided with and are used for the rotary encoder that the sampling location signal also sends this position signal to control circuit system.
Said first servo cylinder, said second servo cylinder constitute by servomotor with this servomotor bonded assembly screw mechanism.
The invention has the beneficial effects as follows: human body simulation sampling controller of the present invention cooperates the limb action control mechanical arm of human body to accomplish carrying work as corresponding actions, and the present invention has adopted bionics principle.Unique control mode of the present invention makes that mechanical arm movement locus of the present invention is changeable, operating flexibility, and its control operation simultaneously is simple, directly perceived, is easier to left-hand seat, and the application of the invention is labor savings effectively, increases work efficiency.The present invention can replace employee's operation in poisonous, high radiation, high-risk working environment, and employee's health, personal safety are effectively guaranteed, has solved the recruitment famine that enterprise causes because of work under bad environment.The import numerical control three-dimensional mechanical hand of the alternative existing costliness of the present invention has effectively been practiced thrift productive costs.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is the local structure for amplifying scheme drawing of the A portion of Fig. 1.
In the drawings: the 1-grasping mechanism; The 2-forearm; The 3-postbrachium; The 4-pedestal; 5-first servo cylinder; 6-second servo cylinder; 7-human body simulation sampling controller; 8-grasps the controlling of sampling structure; 9-hand joint sampling controller structure; The 10-first joint controlling of sampling structure; 11-second joint controlling of sampling structure; 12-pedestal rotation controlling of sampling structure; 13-controls pedestal; 14-simulates forearm; 15-simulates postbrachium.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
As shown in Figure 1; A kind of bionical multi-joint handling machinery arm; Comprise grasping mechanism 1, forearm 2, postbrachium 3, pedestal 4, first servo cylinder 5, second servo cylinder 6, human body simulation sampling controller 7; Grasping mechanism 1, forearm 2, postbrachium 3, pedestal 4 is hinged successively after all in the past; First servo cylinder 5 is articulated between forearm 2 and the postbrachium 3, and second servo cylinder 6 is articulated between postbrachium 3 and the pedestal 4, and grasping mechanism 1, first servo cylinder 5, second servo cylinder 6 all are electrically connected with human body simulation sampling controller 7.
As shown in Figure 2; Human body simulation sampling controller 7 comprises that from front to back bonded assembly successively grasps controlling of sampling structure 8, hand joint controlling of sampling structure, simulation forearm 14, the first joint controlling of sampling structure 10, simulation postbrachium 15, second joint controlling of sampling structure 11, pedestal rotation controlling of sampling structure 12, control pedestal 13 and is arranged at the control circuit system in the control pedestal 13, and hand joint controlling of sampling structure, the first joint controlling of sampling structure 10, second joint controlling of sampling structure 11, pedestal rotation controlling of sampling structure 12 are provided with the rotary encoder that is used for the sampling location signal and this position signal is sent to control circuit system.
Wherein, Hand joint controlling of sampling structure is corresponding to the hinged place of grasping mechanism 1 with forearm 2; The first joint controlling of sampling structure 10 is corresponding to the hinged place of forearm 2 with postbrachium 3; Second joint controlling of sampling structure 11 is corresponding to postbrachium 3 hinged place with pedestal 4, and pedestal rotation controlling of sampling structure 12 is corresponding to the rotating mechanism on the pedestal 4, and postbrachium 3, second servo cylinder 6 are connected in the rotary head of rotating mechanism of pedestal 4.The position sampling that whole human body analog sampling controller 7 has formed people's limb action.During work; Operating personal is positioned over arm on the human body simulation sampling controller 7; Hold in hand and grasp controlling of sampling structure 8; Make whole sampling system be controlled by people's arm, when arm was done upper and lower, left and right, commentaries on classics wrist and grasping movement, rotary encoder can be gathered the position signal of variation and this position signal is sent to control circuit system; First servo cylinder 5, second servo cylinder 6 constitute by servomotor with this servomotor bonded assembly screw mechanism; The control circuit system control grasping mechanism 1 and the servomotor of first servo cylinder 5 and the servomotor of second servo cylinder 6 are done corresponding action, make the motion that whole device is accomplished up, down, left, right, before and after, turned round, and reach the mode of man-machine unification.
Mass motion characteristic of the present invention approaches the three-dimensional mechanical hand of prior art, but controls easily than the three-dimensional mechanical hand of prior art.The present invention can effectively improve employee's working strength, and what alleviated simultaneously that a dead lift causes accident such as injures by a crashing object.The working environment that the present invention is applicable to is poisonous, high pollution, high radiation etc. are not suitable for personnel's direct contact.In the course of the work, operating personal can make the mechanical arm process that fulfils assignment through control human body simulation sampling controller 7 at a confined space, and this effectively improves employee's working environment, has effectively improved production efficiency, has practiced thrift manpower.
In the present invention, grasping mechanism 1 can be pneumatic grasping mechanism 1, electromagnetism grasping mechanism 1 or mechanical lock mechanism.
Should be noted that at last; Above content is only in order to explain technical scheme of the present invention; But not to the restriction of protection domain of the present invention; The simple modification that those of ordinary skill in the art carries out technical scheme of the present invention perhaps is equal to replacement, does not all break away from the essence and the scope of technical scheme of the present invention.
Claims (3)
1. bionical multi-joint handling machinery arm; It is characterized in that: said bionical multi-joint handling machinery arm comprises grasping mechanism, forearm, postbrachium, pedestal, first servo cylinder, second servo cylinder and human body simulation sampling controller; Said grasping mechanism, said forearm, said postbrachium, said pedestal are hinged successively after all in the past; Said first servo cylinder is articulated between said forearm and the said postbrachium; Said second servo cylinder is articulated between said postbrachium and the said pedestal, and said grasping mechanism, said first servo cylinder, said second servo cylinder all are electrically connected with said human body simulation sampling controller.
2. bionical multi-joint handling machinery arm according to claim 1; It is characterized in that: said human body simulation sampling controller comprises that from front to back bonded assembly extracting controlling of sampling structure, hand joint controlling of sampling structure, simulation forearm, the first joint controlling of sampling structure, simulation postbrachium, second joint controlling of sampling structure, pedestal rotate controlling of sampling structure, control pedestal and be arranged at the control circuit system of controlling in the pedestal successively, and said hand joint controlling of sampling structure, the said first joint controlling of sampling structure, said second joint controlling of sampling structure, said pedestal rotation controlling of sampling structure are provided with and are used for the rotary encoder that the sampling location signal also sends this position signal to control circuit system.
3. bionical multi-joint handling machinery arm according to claim 2 is characterized in that: said first servo cylinder, said second servo cylinder constitute by servomotor with this servomotor bonded assembly screw mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101060922A CN102633116A (en) | 2012-04-12 | 2012-04-12 | Bionic multi-joint mechanical arm for carrying |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101060922A CN102633116A (en) | 2012-04-12 | 2012-04-12 | Bionic multi-joint mechanical arm for carrying |
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| CN102633116A true CN102633116A (en) | 2012-08-15 |
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| CN2012101060922A Pending CN102633116A (en) | 2012-04-12 | 2012-04-12 | Bionic multi-joint mechanical arm for carrying |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102944605A (en) * | 2012-11-08 | 2013-02-27 | 洛阳泰斯特探伤技术有限公司 | Arm type swinging following device |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN107378940A (en) * | 2017-07-21 | 2017-11-24 | 蚌埠学院 | A kind of all-hydraulic autonomous mechanical arm and its method of operating |
Citations (6)
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| JPH0410594A (en) * | 1990-04-27 | 1992-01-14 | Ngk Insulators Ltd | Manufacture of radio wave absorbing panel |
| JPH07194609A (en) * | 1993-12-29 | 1995-08-01 | Olympus Optical Co Ltd | Master-slave medical manipulator |
| JPH09210594A (en) * | 1996-02-05 | 1997-08-12 | Fuji Heavy Ind Ltd | Missile loading method and missile loading device |
| CN2540260Y (en) * | 2002-04-22 | 2003-03-19 | 刘旭东 | Class I three-freedom space prallel robot mechanism |
| CN1792572A (en) * | 2005-11-11 | 2006-06-28 | 北京航空航天大学 | Three-freedom dynamic sensing interexchanging apparatus |
| CN101106951A (en) * | 2004-11-24 | 2008-01-16 | 诺瓦尔外科系统公司 | Hand-actuated device for remote manipulation of a grasping tool |
-
2012
- 2012-04-12 CN CN2012101060922A patent/CN102633116A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0410594A (en) * | 1990-04-27 | 1992-01-14 | Ngk Insulators Ltd | Manufacture of radio wave absorbing panel |
| JPH07194609A (en) * | 1993-12-29 | 1995-08-01 | Olympus Optical Co Ltd | Master-slave medical manipulator |
| JPH09210594A (en) * | 1996-02-05 | 1997-08-12 | Fuji Heavy Ind Ltd | Missile loading method and missile loading device |
| CN2540260Y (en) * | 2002-04-22 | 2003-03-19 | 刘旭东 | Class I three-freedom space prallel robot mechanism |
| CN101106951A (en) * | 2004-11-24 | 2008-01-16 | 诺瓦尔外科系统公司 | Hand-actuated device for remote manipulation of a grasping tool |
| CN1792572A (en) * | 2005-11-11 | 2006-06-28 | 北京航空航天大学 | Three-freedom dynamic sensing interexchanging apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102944605A (en) * | 2012-11-08 | 2013-02-27 | 洛阳泰斯特探伤技术有限公司 | Arm type swinging following device |
| CN102944605B (en) * | 2012-11-08 | 2015-08-12 | 杨旭 | Arm-type swing following device |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN107378940A (en) * | 2017-07-21 | 2017-11-24 | 蚌埠学院 | A kind of all-hydraulic autonomous mechanical arm and its method of operating |
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Application publication date: 20120815 |