CN103240733B - Five-degree-of-freedmanipulator manipulator - Google Patents
Five-degree-of-freedmanipulator manipulator Download PDFInfo
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- CN103240733B CN103240733B CN201210020978.5A CN201210020978A CN103240733B CN 103240733 B CN103240733 B CN 103240733B CN 201210020978 A CN201210020978 A CN 201210020978A CN 103240733 B CN103240733 B CN 103240733B
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- 230000003028 elevating effect Effects 0.000 claims abstract description 9
- 208000037873 arthrodesis Diseases 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 30
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000004080 punching Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 239000000463 material Substances 0.000 description 11
- 230000003139 buffering effect Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
A kind of Five-degree-of-freedmanipulator manipulator, it includes vertical lifting joint, transverse translation joint, longitudinal extension joint and jaw joint, described jaw arthrodesis is on described longitudinal extension joint, described longitudinal extension arthrodesis is on described transverse translation joint, described transverse translation arthrodesis is on described vertical lifting joint, and described jaw joint includes jaw elevating mechanism and jaw clamping device.The Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention not only adds degree of freedom compared to the mechanical hand of Three Degree Of Freedom in prior art or four-degree-of-freedom, and, each joint of Five-degree-of-freedmanipulator manipulator the most all can assemble and dismounting as motion module in independent assortment collocation, modular design makes Five-degree-of-freedmanipulator manipulator simple and compact for structure, while realizing multipoint positioning, it is ensured that the high efficient and reliable of location.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of multiple degrees of freedom Pneumatic manipulator.
Background technology
In recent years, develop rapidly and the deepening continuously of robotics research along with socioeconomic, work
Factory relied on the artificial mode transporting material the most progressively to start to develop towards automatization's mode from the past, intelligent
Direction develop, this mode not only efficiency is high, and greatly reduces the danger that workman is the most potential
Danger.But, the multiple degrees of freedom conveying robot of current robot field exists that structure is complicated, cost high,
The shortcomings such as range of application is narrow, positioning precision is poor.
Therefore, for above-mentioned technical problem, it is necessary to provide one to have structure improved multiple degrees of freedom machine
Tool hands, to overcome drawbacks described above.
Summary of the invention
In view of this, the present invention provides a kind of simple in construction, high efficient and reliable, multipoint positioning, high positioning accurate
Degree, can wide variety of five degree of freedom Pneumatic manipulator, thus robot automatic transporting, the skill of feeding
Art pushes application to.
For achieving the above object, the present invention provides following technical scheme:
A kind of Five-degree-of-freedmanipulator manipulator, it includes vertical lifting joint, transverse translation joint, longitudinal extension
Joint and jaw joint, described jaw arthrodesis on described longitudinal extension joint, described longitudinal extension
Arthrodesis is on described transverse translation joint, and described transverse translation arthrodesis is closed in described vertical lifting
On joint, described jaw joint includes jaw elevating mechanism and jaw clamping device, described jaw elevating mechanism
Including being installed on jaw lifting support, jaw base plate and the jaw lifting being vertically arranged on jaw base plate
Cylinder, described jaw lift cylinder is connected with described jaw lifting support, and described jaw clamping device includes
Jaw location collision block, gripper cylinder, gripper cylinder head, positioning cylinder and positioning cylinder head, described clamping
Cylinder head is fixed on the piston rod head of gripper cylinder, and described positioning cylinder head is fixed on the work of positioning cylinder
Stopper rod head.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described vertical lifting joint, transverse translation joint,
The motion mode in longitudinal extension joint and jaw joint is pneumatic mode.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described vertical lifting joint, transverse translation joint,
Longitudinal extension joint and jaw joint are equipped with buffer unit and/or bolt, delaying of described buffer unit
The mode of punching is oleo cushion or pressure buffer or spring buffer.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, the piston rod both sides pair of described jaw lift cylinder
Claiming several slide blocks that are connected, described slide block is installed on jaw clamping device, and described jaw elevating mechanism is also
Including coordinating the guide rail slided with slide block, described guide rail is vertically arranged on jaw lifting support.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, the positioning cylinder of described jaw clamping device and institute
Stating gripper cylinder horizontal symmetry to arrange, the cylinder diameter of described positioning cylinder is more than the cylinder diameter of described gripper cylinder.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described gripper cylinder head is right with on positioning cylinder head
Claiming to be provided with clamping limb and pawl head, gripper cylinder head together constitutes left jaw with described clamping limb and pawl head
With right jaw.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described vertical lifting joint includes lifting at the bottom of slide unit
Plate, bedframe, it is fixed on bedframe central authorities and the vertical lifting cylinder vertically placed, is fixed on the end
The optical axis of seat frame frame both sides and be positioned at vertical lifting cylinder both sides and coordinate the slide block slided with optical axis, described
Vertical lifting cylinder is provided with cylinder piston rod, and the end of described cylinder piston rod is connected lifting slide unit base plate.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described transverse translation joint includes horizontal joint base
Seat, two rectangular guidewaies, front first locating flange, rear first locating flange, longitudinal joint install pedestal,
It is fixed on transverse translation cylinder and the horizontal joint guide rail datum plate of this pedestal one end, horizontal joint, described
Longitudinal joint is installed pedestal and is fixed between front first locating flange and rear first locating flange, described two
The symmetrical parallel both sides being fixed on horizontal joint guide rail datum plate of rectangular guideway, described horizontal joint guide rail base
Four Angle Position of the bottom of quasi-plate are provided with four the first rectangular shaped slider.
Preferably, in above-mentioned Five-degree-of-freedmanipulator manipulator, described longitudinal extension joint includes longitudinal joint
Guide rail datum plate, be fixed on two rectangular guidewaies of longitudinal guide rail datum plate both sides, joint, longitudinal joint is led
Rail slide block pedestal, longitudinal joint impact block, longitudinal extension cylinder, longitudinal joint pedestal, rear second location
Flange, described longitudinal extension cylinder is fixed on one end of described longitudinal joint pedestal, described longitudinal extension gas
The direction of motion of cylinder is mutually perpendicular to the direction of motion in transverse translation joint, described after the second locating flange with
Piston rod front end is connected and is fixed on the guide rail slide block pedestal of longitudinal joint, longitudinal joint guide rail slide block pedestal
Four angular positions of bottom are provided with four the second rectangular shaped slider.
From technique scheme it can be seen that the Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention not only compared to
In prior art, the mechanical hand of Three Degree Of Freedom or four-degree-of-freedom adds degree of freedom, and, five degree of freedom machine
Each joint of tool hands the most all can assemble and dismounting, modularity as motion module in independent assortment collocation
Design make Five-degree-of-freedmanipulator manipulator simple and compact for structure, it is achieved while multipoint positioning, it is ensured that fixed
The high efficient and reliable of position.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing for the present invention in description is only some embodiments of the present invention, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the schematic perspective view of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 2 is the left view of Five-degree-of-freedmanipulator manipulator in Fig. 1；
Fig. 3 is the front view in the vertical lifting joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 4 is the left view in the vertical lifting joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 5 is the front view in the transverse translation joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 6 is the axonometric chart in the transverse translation joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 7 is the axonometric chart in the longitudinal extension joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 8 is the left view of the jaw elevating mechanism in the jaw joint of Five-degree-of-freedmanipulator manipulator of the present invention；
Fig. 9 is the top view of the jaw clamping device in the jaw joint of Five-degree-of-freedmanipulator manipulator of the present invention.
Detailed description of the invention
The invention discloses a kind of simple in construction, high efficient and reliable, multipoint positioning, high position precision, can be wide
The five degree of freedom Pneumatic manipulator of general application, thus the technology of robot automatic transporting, feeding is pushed to answer
With.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Detailed description, it is clear that described embodiment is only a part of embodiment of the present invention rather than complete
The embodiment in portion.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
Property work on the premise of the every other embodiment that obtained, broadly fall into the scope of protection of the invention.
As shown in Figures 1 and 2, the Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention includes vertical lifting joint
100, transverse translation joint 200, longitudinal extension joint 300 and jaw joint 400.Jaw joint 400
Being fixed on longitudinal extension joint 300, longitudinal extension joint 300 is fixed on transverse translation joint 200,
Transverse translation joint 200 is fixed on vertical lifting joint 100, vertical lifting joint 100, transverse translation
The motion in joint 200, longitudinal extension joint 300 and jaw joint 400 is realized by pneumatic mode.Vertically
Lifting joint 100, transverse translation joint 200, longitudinal extension joint 300 and jaw joint 400 are equipped with
Buffer unit and/or bolt, the buffering method of described buffer unit be oleo cushion or pressure buffer or
Spring buffer.The Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention is not only compared to Three Degree Of Freedom in prior art
Or the mechanical hand of four-degree-of-freedom adds degree of freedom, and, each joint of Five-degree-of-freedmanipulator manipulator is as fortune
Dynamic model block the most all can assemble and dismounting in independent assortment collocation, and modular design makes five degree of freedom
Robot manipulator structure is the compactest, it is achieved while multipoint positioning, it is ensured that the high efficient and reliable of location.Its
In, each joint of Five-degree-of-freedmanipulator manipulator as motion module each other independent assortment collocation assemble and
Dismounting refers to dismantle transverse translation joint 200 and/or longitudinal extension joint 300, then makes vertically to rise
Fall joint 100 assembles with jaw joint 400 collocation, or makes vertical lifting joint 100, jaw joint
400 arrange in pairs or groups with transverse translation joint 200 or longitudinal extension joint 300 respectively assembles.
As shown in Figures 3 and 4, vertical lifting joint 100 includes lifting slide unit base plate 1, location collision block
3, rectangular seat framework 4, be fixed on bedframe 4 central authorities and the vertical lifting cylinder 6 vertically placed,
Lifting slide unit mount holder 7, it is fixed on the optical axis 8 of bedframe 4 both sides, is positioned at vertical lifting cylinder 6
The slide block 9 of both sides and the first bolt 10.Location collision block 3 is fixed on lifting slide unit mount holder 7.
Bedframe 4 is provided with top dead centre (down to point) 5 and the first buffer.Vertical lifting cylinder 6 is provided with gas
Cylinder piston rod 2, the end of cylinder piston rod 2 is connected lifting slide unit base plate 1, on vertical lifting cylinder 6
When rising or decline, lifting slide unit mount holder 7 moves therewith, thus band movable slider 9 is sliding on optical axis 8
Dynamic, slide block 9 and optical axis 8 make vertical lifting joint 100 simple in construction, safe and reliable.When vertically rising
When sending down the abnormal ascending QI cylinder 6 upwards moves (downwards), location collision block 3 rises (decline) therewith, until stopping with upper
Point (down to point) 5 collision stops, it is achieved thereby that being accurately positioned of mechanical hand z-axis in a coordinate system, and
Position in the first relative z-axis of bolt 10 can adjust；During this period, by being installed on bedframe
First buffer of 4 carries out buffer deceleration, absorbs vibrations.
As shown in Figures 5 and 6, transverse translation joint 200 is rack-mounted in the lifting in vertical lifting joint 100
On slide unit base plate 1.Transverse translation joint 200 includes a horizontal joint built by hollow square steel pipe
18, two rectangular guidewaies 11 of pedestal, front first locating flange 12, rear first locating flange 13, longitudinal direction
Joint is installed pedestal 15, is fixed on the transverse translation cylinder 17, second of this pedestal 18 one end, horizontal joint
Bolt, the second buffer and horizontal joint guide rail datum plate 19.The cylinder of transverse translation cylinder 17
When piston rod 16 moves in the horizontal direction, rear first locating flange 13 is connected with piston rod front end, longitudinally
Joint is installed pedestal 15 and is fixed between front first locating flange 12 and rear first locating flange 13.Laterally
Four Angle Position of the bottom of joint guide rail datum plate 19 are provided with four the first rectangular shaped slider 14.Two squares
Shape guide rail 11 slides with the first rectangular shaped slider 14 level and matches, and two rectangular guidewaies 11 are symmetrically fixed on
Laterally guide rail datum plate 19 both sides, joint.Horizontal joint guide rail datum plate 19 after leveling is fixed on laterally
On joint pedestal 18.When transverse translation cylinder 17 is pushed ahead, front first locating flange 12 and second is fixed
The damping pushed away before position bolt and second buffer common guarantee transverse translation cylinder 17 and hi-Fix；
When transverse translation cylinder 17 pulls back, rear first locating flange the 13, second bolt and the second buffering
The damping of device common guarantee transverse translation cylinder 17 post-tensioning and hi-Fix, so that simple in construction
Mechanical hand achieves being accurately positioned of x-axis direction in a coordinate system, and the second bolt is relative to x-axis side
Position upwards can adjust.
As it is shown in fig. 7, the rack-mounted longitudinal direction in aforementioned lateral translation joint 200 in longitudinal extension joint 300 is closed
Joint is installed on pedestal 15.Longitudinal extension joint 300 includes longitudinal joint guide rail datum plate 20, is fixed on
Two rectangular guidewaies 21 of longitudinal guide rail datum plate 20 both sides, joint, longitudinal joint guide rail slide block pedestal 22,
Longitudinal joint impact block 23, rear location pedestal 24,25, one, longitudinal extension cylinder are taken by hollow square steel pipe
Longitudinal joint pedestal the 26, the 3rd bolt the 27, the 3rd buffer 29 built, rear second locating flange
30, the 4th buffer 31 and buffering location nut 32.Longitudinal extension cylinder 25 is fixed on longitudinal joint
One end of pedestal 26.The piston rod of longitudinal extension cylinder 25 moves along the longitudinal direction, longitudinal extension cylinder
The direction of motion of 25 is mutually perpendicular to the direction of motion in transverse translation joint 200.Rear second locating flange 30
Being connected with piston rod front end, rear second locating flange 30 is fixed on longitudinal joint guide rail slide block pedestal 22,
Four angular positions bottom longitudinal joint guide rail slide block pedestal 22 are provided with four the second rectangular shaped slider 28.Two
Root rectangular guideway 21 slides with slide block level and matches.Longitudinal joint guide rail datum plate 20 after leveling is solid
It is connected on longitudinal joint pedestal 26.When longitudinal extension cylinder 25 is pushed ahead, in transverse translation joint 200
Effect under, longitudinal joint impact block 23 positions nut 32 common guarantee with the 4th buffer 31 and buffering
The hi-Fix of the damping pushed away before longitudinal extension cylinder 25 and left and right sides diverse location；Longitudinal extension
When cylinder 25 pulls back, rear second locating flange the 30, the 3rd bolt 27 and the 3rd buffer 29
The damping of common guarantee longitudinal extension cylinder 25 post-tensioning and hi-Fix, so that the machine of simple in construction
Tool hands achieves being accurately positioned of y-axis direction in a coordinate system, and bolt is relative on y-axis direction
Position can adjust.
As can be seen from figures 8 and 9, jaw joint 400 is installed on vertical by the jaw base plate 37 arranged on it
On the vertical arthrotropic guide rail slide block pedestal 22 of telescopic joint 300, jaw joint 400 includes jaw liter
Descending mechanism and jaw clamping device two parts.
As shown in Figure 8, jaw elevating mechanism has been used for the movement of jaw joint 400 in the vertical direction
And location.Jaw elevating mechanism includes being installed on jaw lifting support 36, being vertically arranged to jaw base plate 37
On jaw lift cylinder 35, to be installed on jaw lifting support about 36 both sides and adjustable for height buffering fixed
Position device 34 and guide rail 38.Jaw lift cylinder 35 is connected with jaw lifting support 36.Jaw lifts
The piston rod lateral symmetry of cylinder 35 is connected several slide blocks 33, and slide block 33 is installed on jaw clamping machine
On structure.Guide rail 38 coordinates slip and is vertically arranged on jaw lifting support 36 with slide block 33.Jaw liter
The piston rod of sending down the abnormal ascending QI cylinder 35 vertically flexible can drive jaw clamping device to move up and down, then coordinates
Buffering locator 34, can be achieved with the secondary accurate positioning of a whole set of mechanical hand short transverse.
As it is shown in figure 9, jaw clamping device is provided with gripper cylinder 44 and the location gas that horizontal symmetry is placed
Cylinder 45, wherein the cylinder diameter of positioning cylinder 45 is more than the cylinder diameter of gripper cylinder 44.Jaw clamping device includes
Jaw location collision block 41, gripper cylinder head 42, backstop 43, positioning cylinder head 46.Gripper cylinder head
42 piston rod heads being fixed on gripper cylinder 44, positioning cylinder head 46 is also fixed on positioning cylinder 45
Piston rod head.Two cylinder heads are symmetrically installed with clamping limb 39 and pawl head 40, clamping limb 39 with
Pawl head 40 together constitutes left jaw and right jaw.Pawl head 40 is loaded on jaw arm 39 front end, it is simple to change,
Thus shape, the size of material is had adaptability widely.Pawl head 40 is high temperature resistant, high-abrasive material,
So that mechanical hand can clamp high-temperature material.The out movement by size cylinder of the jaw clamping device,
Realize mechanical hand to the clamping of material and location.
Continue as it is shown in figure 9, after collision block 41 position, jaw location is fixing, positioning cylinder 45 and clamping gas
The piston rod of cylinder 44 drives positioning cylinder head 46 and gripper cylinder head 42 at backstop 43 and jaw respectively
Move between the collision block 41 of location, owing to the cylinder diameter of positioning cylinder 45 is more than the cylinder diameter of gripper cylinder 44, therefore
Simultaneously when jaw location collision block 41 moves, positioning cylinder head 46 is by bigger thrust thus is close to folder
On the collision block 41 of pawl location, it is achieved that being accurately positioned of feeding position；Gripper cylinder head 42 is by less
Thrust makes right jaw drive material level to be moved to the left, it is achieved thereby that the clamping of material.
The operation principle of the Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention is:
When a upper unit has material to arrive, transverse translation joint cylinder 17 is regained, by the second location spiral shell
Bolt and the second buffer determine the mechanical hand elements of a fix x1 in x direction；Longitudinal extension cylinder 25 is regained,
The mechanical hand elements of a fix y1 in y direction is determined by the 3rd bolt and the 3rd buffer；Vertically rise
Sending down the abnormal ascending QI cylinder 6 jacking, the cylinder piston rod 2 of vertical lifting cylinder 6 drives and rises on other joints, jaw liter
Sending down the abnormal ascending QI cylinder 35 drives grip unit jacking, determines that mechanical hand is in z direction by bolt and buffer
Elements of a fix z1.After initial position A (x1, y1, z1) determines, the positioning cylinder of jaw clamping device
45 act on gripper cylinder 44 simultaneously, and material is held.Vertical lifting cylinder 6 is regained, vertical lifting gas
The piston rod 2 of cylinder 6 drives other joints to decline, and determines that mechanical hand is at z by bolt and buffer
The elements of a fix z2 in direction；Transverse translation cylinder 17 is regained, and determines machinery by bolt and buffer
Hands is at the elements of a fix x2 in x direction；Longitudinal extension cylinder 25 stretches, true by bolt and buffer
Determine the mechanical hand elements of a fix y2 in y direction, i.e. feeding position B (x2, y2, z2).For x, y,
The combined crosswise of the z direction elements of a fix, mechanical hand can realize the location of more diverse location, as (x2,
Y2, z3), (x1, y2, z2) etc..
Above-described embodiment limits the present invention never in any form, all employing equivalents or equivalent transformation, repaiies
The technical scheme that the mode changed is obtained, all falls within protection scope of the present invention.
Compared to prior art, the Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention has the advantage that
(1) realize the crawl of material, conveying by pneumatic mode, there is efficient, the advantage of low cost.
The present invention, relative to traditional Three Degree Of Freedom or four-degree-of-freedom mechanical hand, adds degree of freedom, and from knot
Significantly optimizing on structure, while ensureing high precision positioning precision, structure is compacter, more firm；
(2) Five-degree-of-freedmanipulator manipulator of the embodiment of the present invention, by pneumatic mode realize material crawl,
Conveying, the executive component of each movable joint is cylinder, thus improves movement velocity, and efficiency is high and becomes
This is low；
(3) relative to traditional three freedom degree manipulator, the Five-degree-of-freedmanipulator manipulator of the present invention is by mechanical hand
It is decomposed into multiple joint module being easy to load and unload and do not affect the assembling in other joints, compact conformation, assembling
Rationally, it is simple to dismount and change, the most applicable in terms of automated handling, feeding, and, system is total
Degree of freedom can be by splitting joint module as required, so that mechanical hand reduces to four from five degree of freedom
Degree of freedom or three degree of freedom；
(4) each movable joint by linear motion unit and buffer with the use of, it is achieved that mechanical hand
Being accurately positioned and buffering in the x, y, z-directions, shock-absorbing, and position location, each joint is adjustable；
(5) jaw pawl head is high temperature resistant, high-abrasive material, and is independently conveniently replaceable, thus the shape to material
Shape, size have adaptability widely.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment,
And without departing from the spirit or essential characteristics of the present invention, it is possible to real in other specific forms
The existing present invention.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and
Being nonrestrictive, the scope of the present invention is limited by claims rather than described above, therefore purport
All changes in falling in the implication of equivalency and scope of claim are included in the present invention.
Should not be considered as limiting involved claim by any reference in claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, but the most each reality
Mode of executing only comprises an independent technical scheme, and this narrating mode of description is only for understand
Seeing, those skilled in the art should be using description as an entirety, and the technical scheme in each embodiment is also
Other embodiments that it will be appreciated by those skilled in the art that can be formed through appropriately combined.
Claims (8)
1. a Five-degree-of-freedmanipulator manipulator, it is characterised in that: include vertical lifting joint, transverse translation joint,
Longitudinal extension joint and jaw joint, described jaw arthrodesis is on described longitudinal extension joint, described vertical
Being fixed on described transverse translation joint to telescopic joint, described transverse translation arthrodesis is in described vertical liter
On fall joint, described jaw joint includes jaw elevating mechanism and jaw clamping device, described jaw elevator
Structure includes jaw lifting support, jaw base plate and the jaw lift cylinder being vertically arranged on jaw base plate,
Described jaw lift cylinder is connected with described jaw lifting support, and described jaw clamping device includes that jaw positions
Collision block, gripper cylinder, gripper cylinder head, positioning cylinder and positioning cylinder head, described gripper cylinder head is connected
In the piston rod head of gripper cylinder, described positioning cylinder head is fixed on the piston rod head of positioning cylinder, institute
Stating positioning cylinder to arrange with described gripper cylinder horizontal symmetry, the cylinder diameter of described positioning cylinder is more than described clamping
The cylinder diameter of cylinder.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described vertical lifting joint,
Motion mode between transverse translation joint, longitudinal extension joint and jaw joint is pneumatic mode.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described vertical lifting joint,
It is equipped with buffer unit and/or bolt between transverse translation joint, longitudinal extension joint and jaw joint.
Five-degree-of-freedmanipulator manipulator the most according to claim 3, it is characterised in that: delaying of described buffer unit
The mode of punching is oleo cushion or pressure buffer or spring buffer.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described jaw lift cylinder
Piston rod lateral symmetry be connected several slide blocks, described slide block is installed on jaw clamping device, described folder
Pawl elevating mechanism also includes coordinating the guide rail slided with slide block, and described guide rail is vertically arranged to jaw lifting support
On.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described vertical lifting joint
Including lifting slide unit base plate, bedframe, it is fixed on bedframe central authorities and the vertical lifting gas vertically placed
Cylinder, be fixed on bedframe both sides optical axis and be positioned at vertical lifting cylinder both sides coordinate with optical axis slide
Slide block, described vertical lifting cylinder is provided with cylinder piston rod, and the end of described cylinder piston rod is connected and lifts
Slide unit base plate.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described transverse translation joint
Including horizontal joint pedestal, two rectangular guidewaies, front first locating flange, rear first locating flange, longitudinal directions
Pedestal, the transverse translation cylinder being fixed on these pedestal two ends, horizontal joint and horizontal joint guide rail are installed in joint
Datum plate, described longitudinal joint installation pedestal is fixed between front first locating flange and rear first locating flange,
Described two rectangular guidewaies are symmetrically fixed on the both sides of horizontal joint guide rail datum plate, described horizontal joint guide rail
Four Angle Position of the bottom of datum plate are provided with four the first rectangular shaped slider.
Five-degree-of-freedmanipulator manipulator the most according to claim 1, it is characterised in that: described longitudinal extension joint
Include longitudinal joint guide rail datum plate, be fixed on longitudinal guide rail datum plate both sides, joint two rectangular guidewaies,
Longitudinal joint guide rail slide block pedestal, longitudinal joint impact block, longitudinal extension cylinder, longitudinal joint pedestal, after
Second locating flange, described longitudinal extension cylinder is fixed on one end of described longitudinal joint pedestal, described longitudinal direction
The direction of motion of telescopic cylinder is mutually perpendicular to the direction of motion in transverse translation joint, described rear second positioning mode
The blue piston rod front end with longitudinal extension cylinder is connected and is fixed on the guide rail slide block pedestal of longitudinal joint, longitudinally
Four angular positions of joint guide rail slide block base bottom are provided with four the second rectangular shaped slider.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210020978.5A CN103240733B (en) | 2012-02-01 | 2012-02-01 | Five-degree-of-freedmanipulator manipulator |
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| CN201210020978.5A CN103240733B (en) | 2012-02-01 | 2012-02-01 | Five-degree-of-freedmanipulator manipulator |
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| CN103240733B true CN103240733B (en) | 2016-08-24 |
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| CN111702750A (en) * | 2020-06-04 | 2020-09-25 | 广东汇成真空科技股份有限公司 | Vacuum coating machine workpiece jig rotating cabin mechanical arm |
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| CN103240733A (en) | 2013-08-14 |
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