CN103419196A - Manipulator stacker driven by double-gear speed reducer - Google Patents
Manipulator stacker driven by double-gear speed reducer Download PDFInfo
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- CN103419196A CN103419196A CN2013103502787A CN201310350278A CN103419196A CN 103419196 A CN103419196 A CN 103419196A CN 2013103502787 A CN2013103502787 A CN 2013103502787A CN 201310350278 A CN201310350278 A CN 201310350278A CN 103419196 A CN103419196 A CN 103419196A
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Abstract
The invention discloses a manipulator stacker driven by a double-gear speed reducer and relates to the manipulator stacker. The manipulator stacker consists of a gripper (10), a rotating mechanism (20), a front arm (30), a rear arm upper beam (40), a rear arm lower beam (50), a moving mechanism (60) and a driving slewing mechanism (70), wherein the driving slewing mechanism (70) consists of a first driving mechanism (71), a second driving mechanism (72) and a slewing mechanism (73); the first driving mechanism (71) and the second driving mechanism (72) are respectively connected with the slewing mechanism (73). According to the manipulator stacker disclosed by the invention, the high-precision position control is realized by using a common gear speed reducer; the driving device is simple in structure and low in construction cost; the manipulator stacker is used for application occasions with a greater load and high requirement on position control precision.
Description
Technical field
The present invention relates to a kind of manipulator stacking machine, relate in particular to a kind of manipulator stacking machine driven by the Double-gear reductor.The present invention relates to modern advanced manufacturing industry field, scattered articles can be pooled to it to stamp dish upper, also can break and come stamping the article that collect on dish.Can replace manually carrying out piling and de-stacking with it, be a kind of transhipment machinery of intelligence.
Background technology
Along with the fast development of modern science and technology, Robotics has been widely used in the every field of human society.The industrial robot be born in manufacturing industry is after engine, computer and the comprehensive extension mankind's muscle power occurred and the tool of production of new generation of intelligence, and the manipulator stacking machine is exactly a kind of of these type of numerous robots.
The function of stacking machine, pile up sacked goods or case dress article to stamp on dish exactly and transported.This just requires stacking machine except can outputting power realizing carrying, and also accurate controlled motion position, accomplish to treat accurately picking up of yard article, and realization is accurately piled up stamping on dish.This just require the system control accuracy want high in, drive and accuracy of mechanical system also must corresponding raising.Generally adopt at present both at home and abroad harmonic drive and planet-gear speed reducer and other mechanisms all the low back clearance reductor of more complicated as the driving mechanism of manipulator stacking machine.But harmonic wave speed reducing machine process structure complexity, manufacturing cost is high, basically take at present import as main.The planet-gear speed reducer transmitted power is limited, mainly with small-power, is main at present.Also more or less there is similar problem in other reductors.
Gear reduction unit is the driving mechanism that machinery industry is most widely used, its technology maturation, and simple in structure, transmission efficiency is high, reliable operation, cost is relatively cheap.But, because there is gap in engagement between gear, when drive unit passes through this speed reducer drive, positioning precision is poor, can't directly use in machine-hand driving system.
General robot palletizer is all 4 axle servo-control systems, and wherein most important is the slew gear of support, this mechanism, and the power demand maximum, required precision is the highest.The current domestic production of the reductor of support does not all reach a standard, and all by import, price is high, and delivery cycle is long.Be unfavorable for the development of domestic robot.
Because the integrated artistic level of domestic machining is relatively backward, the reductor of production can't reach the required precision of robot.
Summary of the invention
Purpose of the present invention just is to overcome the shortcoming and defect that prior art exists, and a kind of manipulator stacking machine driven by the Double-gear reductor is provided.
Purpose technical scheme of the present invention is:
By adopting the chirokinesthetic method of the common driving device of Double-gear reductor, utilize the differential principle of double-drive device, use modern control technology, closed-loop control is carried out respectively in position to two cover drive motors, just can effectively eliminate the gap of driving mechanism, reach the purpose that improves system accuracy.
Use double driving mechanism, adopt bi-motor, when rate request is not too high, can use the logical Asynchronous Frequency-variable motor of two Daeporis and frequency converter; Use two servomotors and servo-driver during high speed.This two classes motor, be connected with gear reduction unit, forms drive system.The panoramic table of this drive unit driving device hand.This manipulator stacking machine is 4 axle servo-control systems, and wherein most important is the slew gear of support, this mechanism, and the power demand maximum, required precision is the highest.
For gear and most of other reductors, owing to manufacturing and assembly precision, when driving wheel rotates and reverse, with contacting of follower, can there is the existence in certain ，Gai gap, gap, can directly affect system accuracy.Use double driving mechanism, the principle of utilizing exactly two driving wheels to be controlled respectively, when static, the two-wheeled move toward one another, clamp driven pulley, eliminates static clearance.Now record the P-pulse of two driving wheels, the P-pulse of these two drive units, the same location point of indication mechanism, simultaneously, record the pulse difference of these two drive units.Wherein, a set of drive unit is positive rotary driving device, and another set of is the reversion drive unit.During forward, positive rotary driving device is exerted oneself, and the reversion drive unit is according to P-pulse, and the pulse difference of record while keeping static with positive rotary driving device all the time, with positive rotary driving device motion.Equally, when reversion, the reversion drive unit is exerted oneself, and positive rotary driving device is according to P-pulse, and the pulse difference of record while keeping static with the reversion drive unit all the time, with the motion of reversion drive unit.Like this, no matter static, still rotate and reverse, can eliminate the gap of gear, reach accurate Position Control.
Specifically, this manipulator stacking machine is comprised of handgrip, rotating mechanism, forearm, postbrachium upper beam, postbrachium underbeam, travel mechanism and driving slew gear;
The front end of handgrip, rotating mechanism and forearm is connected successively, and the rear end of forearm is connected with the front end of postbrachium underbeam with the postbrachium upper beam respectively, and the rear end of postbrachium upper beam and postbrachium underbeam is connected with travel mechanism respectively; Travel mechanism is connected with the driving slew gear;
Described driving slew gear is comprised of the 1st driving mechanism, the 2nd driving mechanism and slew gear;
The 1st driving mechanism is connected with slew gear respectively with the 2nd driving mechanism;
The 1st driving mechanism comprises the 1st driving mechanism encoder, the 1st driving mechanism brake, the 1st driving mechanism motor, the 1st driving mechanism reductor and the 1st driving mechanism driven wheel connected successively;
The 2nd driving mechanism comprises the 2nd driving mechanism encoder, the 2nd driving mechanism brake, the 2nd driving mechanism motor, the 2nd driving mechanism reductor and the 2nd driving mechanism driven wheel connected successively;
Slew gear comprises slew gear driven pulley, slew gear main shaft, slew gear main shaft bearing and the slew gear platform connected successively.
The present invention has following advantages and good effect:
1. use common gear reduction unit to realize high precision position control;
2. this driving device structure is simple, cheap;
3. larger for load, and position control accuracy requires high application scenario.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the block diagram that drives slew gear;
Fig. 3 is the structural representation that drives slew gear;
Fig. 4 is the A-A cutaway view of Fig. 3;
Fig. 5 is the partial enlarged drawing (the 1st, 2 driving mechanism driven wheels mesh sight figure with the slew gear driven pulley respectively) of Fig. 4.
In figure:
10-handgrip;
20-rotating mechanism;
30-forearm;
40-postbrachium upper beam;
50-postbrachium underbeam;
60-travel mechanism;
70-driving slew gear,
The 71-the 1 driving mechanism, the 72-the 2 driving mechanism,
71.1 the-the 1 driving mechanism encoder, the 72.1-the 2 driving mechanism encoder,
71.2 the-the 1 driving mechanism brake, the 72.2-the 2 driving mechanism brake,
71.3 the-the 1 driving mechanism motor, the 72.3-the 2 driving mechanism motor,
71.4 the-the 1 driving mechanism reductor, the 72.4-the 2 driving mechanism reductor,
71.5 the-the 1 driving mechanism driven wheel, the 72.5-the 2 driving mechanism driven wheel,
73-slew gear,
73.1-slew gear driven pulley, 73.2-slew gear main shaft,
73.3-slew gear platform, 73.4-slew gear main shaft bearing.
The specific embodiment
One, structure
1, overall
As Fig. 1, the present invention is by handgrip 10, rotating mechanism 20, forearm 30, postbrachium upper beam 40, postbrachium underbeam 50, travel mechanism 60 and drive slew gear 70 to form;
Its position and annexation are:
Handgrip 10, rotating mechanism 20 and the front end of forearm 20 are connected successively, and the rear end of forearm 20 is connected with the front end of postbrachium underbeam 50 with postbrachium upper beam 40 respectively, and the rear end of postbrachium upper beam 40 and postbrachium underbeam 50 is connected with travel mechanism 60 respectively; Travel mechanism 60 is connected with driving slew gear 70.
Working mechanism:
When control system drives slew gear 70, can make slew gear 70 carry out 330 degree rotations, be positioned at the travel mechanism 60 of slew gear 70 tops by driving postbrachium upper beam 40 and postbrachium underbeam 50 to drive the two dimensional motion that forearm 20 is done upper and lower and front and back, the rotating mechanism 20 that is positioned at forearm 20 front ends drives handgrip 10 rotations; Like this, the four-dimensional movement that handgrip 10 just can be realized comprising before and after slew gear 70 rotations, forearm are 20 Shang Xia and rotating mechanism 20 rotates, and pick up after yard article, just complete the piling task.
2, functional part
1) handgrip 10
Handgrip 10 is current mechanism, by cylinder, controls folding, when handgrip is closed, can picks up and treat yard article (sack or chest), when handgrip 10 is opened, can put down the article of being picked up.
2) rotating mechanism 20
Rotating mechanism 20 is current mechanism, by servomotor and reductor, drives, and completes the rotation of 360 degree.
3) forearm 30
Forearm 30 is current mechanism, and forearm 30 is connected with postbrachium with rotating mechanism 20, realizes the anterior motion of arm of manipulator.Differential by underarm on postbrachium, realize the motion of the upper and lower and front and back of manipulator arm.
4) postbrachium upper beam 40 and postbrachium underbeam 50
Postbrachium upper beam 40 and postbrachium underbeam 50 are current mechanism, with travel mechanism 60, are connected, and drive the motion of upper underbeam to pass to forearm 30 travel mechanism 60, realize that manipulator arm is upper and lower and 2 maintenance and operations front and back are moving.
5) travel mechanism 60
Travel mechanism 60 is current mechanism, and two servomotors are installed in travel mechanism, by ball screw, with postbrachium upper beam 40, with postbrachium underbeam 50, is connected respectively; Manipulator control system drives respectively postbrachium upper beam 40 and postbrachium underbeam 50, realizes the driving to manipulator arm.
6) drive slew gear 70
Drive slew gear 70 to be formed by the 1st driving mechanism the 71, the 2nd driving mechanism 72 and slew gear 73;
The 1st driving mechanism 71 is connected with slew gear 73 respectively with the 2nd driving mechanism 72;
The 1st driving mechanism 71 comprises the 1st driving mechanism encoder the 71.1, the 1st driving mechanism brake the 71.2, the 1st driving mechanism motor the 71.3, the 1st driving mechanism reductor 71.4 and the 1st driving mechanism driven wheel 71.5 connected successively;
The 2nd driving mechanism 72 comprises the 2nd driving mechanism encoder the 72.1, the 2nd driving mechanism brake the 72.2, the 2nd driving mechanism motor the 72.3, the 2nd driving mechanism reductor 72.4 and the 2nd driving mechanism driven wheel 72.5 connected successively;
The 1st driving mechanism 71 is identical with the structure of the 2nd driving mechanism 72.
Each following functional part is universal component.
* the 1st driving mechanism encoder 71.1
Adopt the high-resolution rotary encoder, divide by differentiating 0.5 arc after reductor, guarantee system accuracy.If the employing servomotor, can directly use servomotor to carry encoder.Encoder is indicated the driving coordinate of the 1st driving mechanism 71 thus.
* the 1st driving mechanism brake 71.2
The safety guard that this brake is the 1st driving mechanism 71, be the 1st driving mechanism motor 71.3 corresponding devices, and no matter type selecting variable-frequency motor or servomotor, all must select with the brake of mentioning.
When slew gear platform 73.3 needs the long period static, for saving electric power and preventing that the motor feels hot, this brake action, then the 1st driving mechanism motor 71.3 just can cut off the power supply, and revolving dial 73.3 will be locked by this brake, can not rotate voluntarily.When the system accident power-off, this brake outage action is locked, and anti-locking system is out of control.
* the 1st driving mechanism motor 71.3:
This motor is driving and the location power resources of slew gear platform 73.3.Generally adopt servomotor, when positioning accuracy request is low, also can adopt variable-frequency motor, in order to reduce costs.
* the 1st driving mechanism reductor 71.4:
This reductor is connected with the 1st driving mechanism motor 71.3, in order to improve the output torque of the first driving mechanism 71, reaches the effect that drives slew gear platform 73.3.Due to the principle in elimination driving mechanism of the present invention gap, the inter-lobe clearance of this reductor, can not produce on the positioning precision of slew gear platform 73.3 obviously impact, so the type selecting of this reductor, can select simple and the most ripe gear engaging speed reducer; This reductor reliable operation, with low cost.
* the 1st driving mechanism driven wheel 71.5:
By the power of the first driving mechanism 71 outputs, by this driven wheel and 73.1 engagements of slew gear driven pulley, pass to slew gear platform 73.3; When this driven wheel forward drive and reverse drive, play the part of respectively and drive and two roles of resistance; Just because of this has realized gapless driving between gear.
* the slew gear driven pulley 73.1
Slew gear driven pulley 73.1 and the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 mesh simultaneously, are subject to driving engagement and the resistance engagement of two driving mechanisms simultaneously.Like this, slew gear driven pulley 73.1 and two driving mechanisms will be realized tight mesh.
* the slew gear main shaft 73.2
This slew gear main shaft 73.2 closely is connected with slew gear driven pulley 73.1, and both sides can not relatively rotate.Because this running clearance, can not be overcome by double driving mechanism, must use interference fit, eliminate this both gap.The rotation of driving mechanism is passed to slew gear platform 73.3 accurately.
* the slew gear main shaft bearing 73.4
Slew gear main shaft bearing 73.4 is supporting slew gear main shaft 73.2 and slew gear platform 73.3, and whole robot movement part and the weight of being picked up object all are carried on this bearing, and its suffered axial force is larger, needs the employing axial thrust bearing.
* the slew gear platform 73.3
Slew gear platform 73.3 closely is connected with travel mechanism 60 with slew gear main shaft 73.2, and the rotating drive power of the 1st driving mechanism 71 and the 2nd driving mechanism 72 is passed to travel mechanism 60.
Working mechanism:
Control system drives control to the 1st driving mechanism 71 and the 2nd driving mechanism 72 respectively, it is acted on slew gear 73 simultaneously, and the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 act on (as Fig. 2,3,4,5) on slew gear driven pulley 73.1 simultaneously;
When static, the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 move toward one another, slew gear driven pulley 73.1 is clamped, wherein the 1st driving mechanism driven wheel 71.5 is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 turns clockwise, their contact point is just in time contrary, so just eliminated the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 and with the static clearance of slew gear driven pulley 73.1.
Now record the P-pulse of the 1st driving mechanism encoder 71.1 and the 2nd driving mechanism encoder 72.1, the P-pulse of these two driving mechanism encoders, the same location point of indication mechanism; Simultaneously, record the pulse difference of these two driving mechanism encoders; When slew gear main shaft 73.2 turns clockwise, the 1st driving mechanism driven wheel 71.5 is exerted oneself and is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 is according to P-pulse, while keeping static with the 1st driving mechanism driven wheel 71.5 all the time, the pulse difference of record, do and be rotated counterclockwise with slew gear main shaft 73.2; Equally, when slew gear main shaft 73.2 is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 is exerted oneself to do and is turned clockwise, and the 1st driving mechanism driven wheel 72.5 is according to P-pulse, while remaining static, the pulse difference of record, do and turn clockwise with slew gear main shaft 73.2; Like this, no matter be at static or forward or reverse, can eliminate the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 and with the gear backlash of slew gear driven pulley 73.1, reach accurate Position Control.
Claims (1)
1. the manipulator stacking machine driven by the Double-gear reductor, be comprised of handgrip (10), rotating mechanism (20), forearm (30), postbrachium upper beam (40), postbrachium underbeam (50), travel mechanism (60) and driving slew gear (70);
Handgrip (10), rotating mechanism (20) and the front end of forearm (30) are connected successively, the rear end of forearm (30) is connected with the front end of postbrachium underbeam (50) with postbrachium upper beam (40) respectively, and the rear end of postbrachium upper beam (40) and postbrachium underbeam (50) is connected with travel mechanism (60) respectively; Travel mechanism (60) is connected with driving slew gear (70);
It is characterized in that:
Described driving slew gear (70) is comprised of the 1st driving mechanism (71), the 2nd driving mechanism (72) and slew gear (73);
The 1st driving mechanism (71) is connected with slew gear (73) respectively with the 2nd driving mechanism (72);
The 1st driving mechanism (71) comprises the 1st driving mechanism encoder (71.1), the 1st driving mechanism brake (71.2), the 1st driving mechanism motor (71.3), the 1st driving mechanism reductor (71.4) and the 1st driving mechanism driven wheel (71.5) connected successively;
The 2nd driving mechanism (72) comprises the 2nd driving mechanism encoder (72.1), the 2nd driving mechanism brake (72.2), the 2nd driving mechanism motor (72.3), the 2nd driving mechanism reductor (72.4) and the 2nd driving mechanism driven wheel (72.5) connected successively;
Slew gear (73) comprises slew gear driven pulley (73.1), slew gear main shaft (73.2), slew gear main shaft bearing (73.4) and the slew gear platform (73.3) connected successively.
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| CN2013103502787A CN103419196A (en) | 2013-08-13 | 2013-08-13 | Manipulator stacker driven by double-gear speed reducer |
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| CN106064387A (en) * | 2016-08-19 | 2016-11-02 | 兰州兰石集团有限公司 | Dual Drive formula industrial robot joint structure |
| CN106287581A (en) * | 2015-05-28 | 2017-01-04 | 广州市明道灯光科技股份有限公司 | A kind of asynchronous operation mechanism |
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN108189073A (en) * | 2018-01-19 | 2018-06-22 | 东北大学 | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm |
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Application publication date: 20131204 |