CN103878763B - Three freedom degree manipulator - Google Patents
Three freedom degree manipulator Download PDFInfo
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- CN103878763B CN103878763B CN201410092252.1A CN201410092252A CN103878763B CN 103878763 B CN103878763 B CN 103878763B CN 201410092252 A CN201410092252 A CN 201410092252A CN 103878763 B CN103878763 B CN 103878763B
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- arm
- pedestal
- paw
- assembly
- sprocket wheel
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Abstract
The present invention designs technical field of mechanical automation, particularly relates to a kind of manipulator of Three Degree Of Freedom, and be made up of base assembly, arm component and paw assembly, described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component.The present invention has following beneficial effect, and three freedom degree manipulator work station can be applicable to the automatic food delivery of catering trade, and the Similarity Principles laboratory practices teaching of colleges and universities, automaticity is reached advanced world standards.Base assembly, arm component, paw assembly three branches adopt nested form to install, and frame for movement antiwear property is strong, and Robot actions is more safe and reliable.
Description
Technical field
The present invention designs technical field of mechanical automation, particularly relates to a kind of multivariant manipulator.
Background technology
In recent years, along with deepening continuously of socioeconomic develop rapidly and Robotics research, factory from relied in the past artificial mode of transporting material progressively develop towards automation mode, intelligentized future development, this mode not only efficiency is high, and greatly reduces workman's danger potential in operation.But there is the shortcomings such as complex structure, cost is high, range of application is narrow, positioning precision is poor in the multiple degrees of freedom conveying robot of current robot field.
For manipulator existing on market, existing patent three freedom degree manipulator controls mainly with PLC, there is the automatic lack of identification of pattern, patent of invention 201210027553.7 feeding mechanical hand cylinder has impact, be not suitable for small-power engineering goods, the low production efficiency of robot manipulator structure wear resistance is not high, without judging the problems such as geometry height.
Summary of the invention
The object of the invention is to provide a kind of three freedom degree manipulator work station, solve automatic capturing and transmission control, this object realizes by following measures:
Three freedom degree manipulator of the present invention, be made up of base assembly, arm component and paw assembly, described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises pedestal drive motors 1, pedestal motor reducer 2, pedestal worm screw 3, pedestal turbine 4, susceptor rotating shaft 7 form, pedestal drive motors 1 drives pedestal motor reducer 2 to be with moving base worm screw 3, pedestal turbine 4 engaged transmission, and pedestal turbine 4 connects pedestal 32 by susceptor rotating shaft 7;
Arm component comprises mechanical arm body 8, arm motor 9, arm motor reducer 10, arm second worm screw 12, arm second turbine 11, second driving shaft 13, second sprocket wheel 14, chain 15, first sprocket wheel 16, first power transmission shaft 17, crank 18, follower connecting rod 19 forms, arm motor 9 drives arm motor reducer 10 to drive arm second worm screw 12, arm second turbine 11 engaged transmission, arm second turbine 11 is connected with the second sprocket wheel 14 by second driving shaft 13, second sprocket wheel 14, chain 15, first sprocket wheel 16 forms chain and sprocket driving device, first sprocket wheel 16 is connected by the first power transmission shaft 17 with crank 18, crank 18 is connected with the helical screw 26 in paw assembly by follower connecting rod 19,
Paw assembly comprises gripper motor 22, gripper motor decelerator 23, universal joint 24, shaft coupling 25, helical screw 26, spiral shell block 27, two forks 28, two distant bars 29, two mechanical paws 30; Gripper motor 22 drives universal joint 24 to drive helical screw 26 to rotate by gripper motor decelerator 23, helical screw 26 is through shaft coupling 25, helical screw 26 is provided with the spiral shell block 27 matched, the relative both sides of spiral shell block 27 connect fork 28 respectively, the movable of spiral shell block 27 drives distant bar 29 by fork 28, driving device paw 30 opening or closed.
Above-mentioned base assembly also comprises one end that the first travel switch 5, first limit switch 6, first travel switch 5 is arranged on pedestal worm screw 3, and the first limit switch 6 is arranged on the side of pedestal turbine 4.
Above-mentioned arm component also comprises one end that the second travel switch 20, second limit switch 21, second travel switch 20 is arranged on the first power transmission shaft 17, and the second limit switch 21, is arranged on the side of crank 18.
Above-mentioned paw assembly also comprises third trip switch 31, and third trip switch 31 is arranged on nearly helical screw 26 position.
The present invention has following beneficial effect:
Three freedom degree manipulator work station can be applicable to the automatic food delivery of catering trade, and the Similarity Principles laboratory practices teaching of colleges and universities, automaticity is reached advanced world standards.
In three freedom degree manipulator, critical component is by DC motor Driver, pedestal worm screw 3 on base assembly, pedestal turbine 4 mechanism can make mechanical arm rotate at XOY plane, nested form is adopted to install base assembly, arm component, paw assembly three branches, make mechanical arm lifting flexibly can at XOZ Plane Rotation, frame for movement antiwear property be strong.
In screw mechanism in paw assembly, the length of helical screw can flexible modulation as required, thus meet the movable of the spiral shell block of different stroke, drive fork to swing and make mechanical paw opening and closing, mechanical paw chucking power is large, all has good adaptability to the chucking power of various different tableware.
Three freedom degree manipulator work station has intelligent pattern recognition function, makes Robot actions more safe and reliable.
Accompanying drawing explanation
Fig. 1 is three freedom degree manipulator overall structure figure.
Fig. 2 is base assembly structure diagram.
Fig. 3 is arm component structure diagram.
Fig. 4 is paw modular construction sketch.
Detailed description of the invention
As shown in the figure, three freedom degree manipulator of the present invention, be made up of base assembly, arm component and paw assembly, described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises pedestal drive motors 1, pedestal motor reducer 2, pedestal worm screw 3, pedestal turbine 4, susceptor rotating shaft 7 form, pedestal turbine 4 connects pedestal 32 by susceptor rotating shaft 7, pedestal drive motors 1 drives pedestal motor reducer 2 to be with moving base worm screw 3, pedestal turbine 4 engaged transmission, thus band moving base 32 rotates; Base assembly also comprises the first travel switch 5, first limit switch 6, first travel switch 5 is arranged on one end of pedestal worm screw 3, first limit switch 6 is arranged on the side of pedestal turbine 4, determines by the first travel switch 5, first limit switch 6 angle that pedestal 32 rotates.Fig. 2 is base assembly structure diagram.
Arm component comprises mechanical arm body 8, arm motor 9, arm motor reducer 10, arm second worm screw 12, arm second turbine 11, second driving shaft 13, second sprocket wheel 14, chain 15, first sprocket wheel 16, first power transmission shaft 17, crank 18, follower connecting rod 19 forms, arm motor 9 drives arm motor reducer 10 to drive arm second worm screw 12, arm second turbine 11 engaged transmission, arm second turbine 11 is connected with the second sprocket wheel 14 by second driving shaft 13, second sprocket wheel 14, chain 15, first sprocket wheel 16 forms chain and sprocket driving device, realize the horizontal movement of mechanical arm, first sprocket wheel 16 is connected by the first power transmission shaft 17 with crank 18, and crank 18 is connected with the helical screw 26 in paw assembly by follower connecting rod 19, wherein crank 18 is strain shape cam structure shape, makes stroke ratio shorter, utilize arm second worm screw 12, the feature of arm second turbine 11 self-locking when engaging, its reverse self-locking captures weight to gripper can play safeguard protection effect.
In manipulator arm, crank 18 adopts ball and cylindrical pair to form 2 grades, space higher pair with the connection of follower connecting rod 19, in arm, the follower connecting rod 19 of connecting crank 18 is connected with cylindrical pair with helical screw 26, keep moving both vertically of mechanical arm, mechanical arm can be flexible in the lifting of XOZ Plane Rotation.
Above-mentioned arm component also comprises one end that the second travel switch 20, second limit switch 21, second travel switch 20 is arranged on the first power transmission shaft 17, and the second limit switch 21, is arranged on the side of crank 18.Second limit switch 21 controls mechanical arm lifting degree, and solve the problem of mechanical arm lifting, structural design has novelty.Arm component is shown in Fig. 3 at XOZ Plane Rotation constructional device sketch.
Paw assembly comprises gripper motor 22, gripper motor decelerator 23, universal joint 24, shaft coupling 25, helical screw 26, spiral shell block 27, two forks 28, two distant bars 29, two mechanical paws 30; Gripper motor 22 drives universal joint 24 to drive helical screw 26 to rotate by gripper motor decelerator 23, helical screw 26 is through shaft coupling 25, helical screw 26 is provided with the spiral shell block 27 matched, the relative both sides of spiral shell block 27 connect fork 28 respectively, the movable of spiral shell block 27 drives distant bar 29 by fork 28, driving device paw 30 opening or closed, above-mentioned paw assembly also comprises third trip switch 31, and third trip switch 31 is arranged on nearly helical screw 26 position.Fig. 4 is shown in by paw modular construction sketch.
Claims (4)
1. a three freedom degree manipulator, is characterized in that: be made up of base assembly, arm component and paw assembly, described arm component is arranged on base assembly, and paw assembly is arranged on the end of arm component;
Base assembly comprises pedestal drive motors (1), pedestal motor reducer (2), pedestal worm screw (3), pedestal worm gear (4), susceptor rotating shaft (7), pedestal drive motors (1) drives pedestal motor reducer (2) band moving base worm screw (3), pedestal worm gear (4) engaged transmission, and pedestal worm gear (4) connects pedestal (32) by susceptor rotating shaft (7);
Arm component comprises mechanical arm body (8), arm motor (9), arm motor reducer (10), arm second worm screw (12), arm second worm gear (11), second driving shaft (13), second sprocket wheel (14), chain (15), first sprocket wheel (16), first power transmission shaft (17), crank (18), follower connecting rod (19), arm motor (9) drives arm motor reducer (10) to drive arm second worm screw (12), arm second worm gear (11) engaged transmission, arm second worm gear (11) is connected with the second sprocket wheel (14) by second driving shaft (13), second sprocket wheel (14), chain (15), first sprocket wheel (16) forms chain and sprocket driving device, first sprocket wheel (16) is connected by the first power transmission shaft (17) with crank (18), crank (18) is connected with the helical screw (26) in paw assembly by follower connecting rod (19),
Paw assembly comprises gripper motor (22), gripper motor decelerator (23), universal joint (24), shaft coupling (25), helical screw (26), spiral shell block (27), two forks (28), two distant bars (29), two mechanical paws (30); Gripper motor (22) drives universal joint (24) to drive helical screw (26) to rotate by gripper motor decelerator (23), helical screw (26) is through shaft coupling (25), helical screw (26) is provided with the spiral shell block (27) matched, the relative both sides of spiral shell block (27) connect fork (28) respectively, the movable of spiral shell block (27) drives distant bar (29) by fork (28), driving device paw (30) opening or closed.
2. three freedom degree manipulator according to claim 1, it is characterized in that: base assembly also comprises the first travel switch (5), the first limit switch (6), first travel switch (5) is arranged on one end of pedestal worm screw (3), and the first limit switch (6) is arranged on the side of pedestal worm gear (4).
3. three freedom degree manipulator according to claim 1, it is characterized in that: arm component also comprises the second travel switch (20), the second limit switch (21), second travel switch (20) is arranged on one end of the first power transmission shaft (17), second limit switch (21), is arranged on the side of crank (18).
4. three freedom degree manipulator according to claim 1, is characterized in that: paw assembly also comprises third trip switch (31), and third trip switch (31) is arranged on the position near helical screw (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410092252.1A CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410092252.1A CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878763A CN103878763A (en) | 2014-06-25 |
| CN103878763B true CN103878763B (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410092252.1A Expired - Fee Related CN103878763B (en) | 2014-03-14 | 2014-03-14 | Three freedom degree manipulator |
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| CN (1) | CN103878763B (en) |
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| WO2016200722A1 (en) * | 2015-06-08 | 2016-12-15 | Covidien Lp | Mounting device for surgical systems and method of use |
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| CN105922281B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
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| CN106976095B (en) * | 2017-05-25 | 2023-09-22 | 盐城工业职业技术学院 | Massage robot and robot massage bed |
| CN107300357B (en) * | 2017-06-22 | 2023-05-12 | 昆明理工大学 | Non-contact three-degree-of-freedom optical three-dimensional measurement turntable |
| CN107301721B (en) * | 2017-07-21 | 2023-01-17 | 江苏大学 | Intelligent sorting machine and control method thereof |
| CN107803827B (en) * | 2017-11-24 | 2023-08-11 | 中国科学院自动化研究所 | Manipulator clamp and double-station manipulator |
| CN107984491B (en) * | 2017-11-28 | 2019-09-17 | 广东工贸职业技术学院 | Automatic change mechanical clamping jaw |
| CN108340393B (en) * | 2018-03-19 | 2018-11-30 | 卢晶 | A kind of advanced manufacturing technology robot functionality finger |
| CN108820857A (en) * | 2018-07-18 | 2018-11-16 | 浙江辛帝亚自动化科技有限公司 | A kind of automatic transfer mechanical arm |
| CN110181545B (en) * | 2019-05-06 | 2021-05-25 | 江苏大学 | Multifunctional mechanical claw |
| CN110091936B (en) * | 2019-05-21 | 2023-05-05 | 南华大学 | Four-foot robot based on five-bar mechanism and gait control method |
| CN110450248B (en) * | 2019-08-19 | 2024-04-09 | 安吉德迈竹木机械有限公司 | Positioning mechanism for bamboo material |
| CN110496563A (en) * | 2019-09-08 | 2019-11-26 | 张步有 | A kind of food factory's automation stirring haulage equipment |
| CN112936236A (en) * | 2021-02-09 | 2021-06-11 | 浙江万胜智能科技股份有限公司 | High-precision ammeter clamping manipulator |
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|---|---|---|---|---|
| SU664909A1 (en) * | 1978-01-05 | 1979-05-30 | Предприятие П/Я В-8539 | Manipulator with manual control |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN102581840A (en) * | 2012-02-09 | 2012-07-18 | 西北工业大学 | Paper-based friction plate feeding manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4132318A (en) * | 1976-12-30 | 1979-01-02 | International Business Machines Corporation | Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system |
-
2014
- 2014-03-14 CN CN201410092252.1A patent/CN103878763B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU664909A1 (en) * | 1978-01-05 | 1979-05-30 | Предприятие П/Я В-8539 | Manipulator with manual control |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN102581840A (en) * | 2012-02-09 | 2012-07-18 | 西北工业大学 | Paper-based friction plate feeding manipulator |
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| CN103878763A (en) | 2014-06-25 |
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