CN104552335A - Symmetrical telescopic mechanical arm - Google Patents
Symmetrical telescopic mechanical arm Download PDFInfo
- Publication number
- CN104552335A CN104552335A CN201510040392.9A CN201510040392A CN104552335A CN 104552335 A CN104552335 A CN 104552335A CN 201510040392 A CN201510040392 A CN 201510040392A CN 104552335 A CN104552335 A CN 104552335A
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- China
- Prior art keywords
- hinged
- mechanical arm
- moving slider
- seat bar
- auxiliary rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 8
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
Abstract
The invention discloses a symmetrical telescopic mechanical arm comprising a base, a direct-current servo motor disposed within the base, a first support bar, a second support bar, a fixed electromagnetic coil, a moving slider, two arm members and a control system. The control system comprises an industrial personal computer, a motion control card, a motor driver, a first coil driver, a second coil driver and a position sensor used for detecting the position of the moving slider. The fixed electromagnetic coil drives the moving slider to slide on the first support bar, thereby driving the mechanical arm to telescope; two parallelogram mechanisms allow the hand parts of the arm members to keep horizontal; the symmetrical structure allows simultaneous operating on both sides, and stability of the mechanical arm and its operating efficiency are improved; an electromagnetic arc-groove fixture is adopted, allowing emergency braking of the second bar; the mechanical arm is compact in structure and convenient to operate, is applicable to various uses such as stacking and carrying, allows all-directional operation and is stable and efficient.
Description
Technical field
The present invention relates to a kind of symmetrical extension type mechanical arm, can be applicable to the multiple occasion such as piling, carrying.
Background technology
Along with the fast development of the industries such as logistics, the mechanical arm scheme for article carrying is constantly designed and is applied to workplace, as how compact frame for movement accurately and efficiently completes given task, is the effect that multiple design is pursued.When designing mechanical arm, need consider according to various factors such as the integral layout of manipulator weight capacity, number of degrees of freedom, working range, movement velocity and manipulator and conditions of work, to reach, action is accurate, reliable, flexible, compact conformation, rigidity are large, it is little to conduct oneself with dignity, thus ensures certain positional precision and response speed.
Summary of the invention
The object of the present invention is to provide a kind of simple and compact for structure, stability strong and the symmetrical extension type mechanical arm that operating efficiency is high.
Symmetrical extension type mechanical arm of the present invention, comprise base, the DC servo motor be placed in base, seat bar, cradling piece, Motionless electromagnetic coil, the moving slider being built-in with magnet, two mechanical arm bodies and control system;
Described base top has hollow annular cylinder, seat bar lower end is passed hollow annular cylinder and is connected with the output shaft of DC servo motor by rolling bearing, fix in the middle part of seat bar upper end and cradling piece, and seat bar and cradling piece perpendicular, seat bar has slide rail, moving slider and Motionless electromagnetic coil are all placed in seat bar, moving slider is positioned at the top of Motionless electromagnetic coil, Motionless electromagnetic coil and base are fixed, two arc groove fixtures are built-in with at the hollow annular cylinder of base, be symmetrically distributed in the both sides of seat bar, solenoid is had in arc groove fixture, there is valve rubber on the arc groove surface of arc groove fixture, cradling piece is fixed with the position sensor for detecting moving slider positional information, position sensor is relative with moving slider,
Two described mechanical arm body symmetries be installed on seat bar both sides, each mechanical arm body comprises forearm, postbrachium, first drive rod, second drive rod, elbow, first auxiliary rod, second auxiliary rod and the palm, one end and the moving slider of the first drive rod are hinged, the middle part of the other end and postbrachium is hinged, the upper end of postbrachium and the side of cradling piece hinged, one end of lower end and elbow is hinged, the other end of elbow and the middle part of forearm hinged, one end of second drive rod and the middle part of the first drive rod hinged, the lower end of the other end and forearm is hinged, the upper end of forearm and the middle part of the palm hinged, the lower end of the first auxiliary rod, the lower end of the second auxiliary rod is all hinged with the middle part of elbow, the upper end of the first auxiliary rod and the end of cradling piece hinged, the upper end of the second auxiliary rod and one end of the palm hinged, the lower end of the palm is in order to connect load, first auxiliary rod, postbrachium, elbow and cradling piece form a parallel-crank mechanism, second auxiliary rod, forearm, elbow and the palm also form a parallel-crank mechanism,
Described control system comprises industrial computer, motion control card, for driving the motor driver of DC servo motor, for controlling the first coil actuator of Motionless electromagnetic coil and the second coil actuator for controlling solenoid in arc groove fixture, described industrial computer is connected with motion control card, three outputs of motion control card respectively with the input of motor driver, the input of the first coil actuator and the input of the second coil actuator are connected, the signal output part of position sensor and the signal output part of DC servo motor inner encoder are connected with the input of motion control card respectively.
Beneficial effect of the present invention is: the present invention adopts solenoid to drive moving slider to slide in seat bar, thus driving machine mechanical arm is flexible; Adopt two parallel-crank mechanisms the metacarpus of mechanical arm body can be made to remain level, to meet job requirement; Adopt symmetrical structure, both sides can be realized and operate simultaneously, improve stability and the operating efficiency of device; Adopt electromagnetic type arc groove fixture, the brake hard of seat bar can be realized.Mechanical arm compact conformation of the present invention, easy to operate, can be used for the multiple occasion such as piling, carrying, and comprehensive operation can be realized and stability and high efficiency.
Accompanying drawing explanation
Fig. 1 is the frame for movement schematic diagram of symmetrical extension type mechanical arm;
Fig. 2 is the clamp structure schematic diagram in the hollow mesa-shaped structure of mechanical arm base;
Fig. 3 is the control system schematic diagram of symmetrical extension type mechanical arm;
Structural representation when Fig. 4 is the stretching, extension of symmetrical extension type mechanical arm.
In figure, 1. base, the hollow mesa-shaped structure of 1-1., 2. Motionless electromagnetic coil, 3. moving slider, 4. seat bar, 5. cradling piece, 6. the first drive rod, 7. the second drive rod, 8. elbow, 9. postbrachium, 10. forearm, 11. palms, 12. first auxiliary rods, 13. second auxiliary rods, 14. arc groove fixtures, 14-1. valve rubber, 15. position sensors, 16. DC servo motors, 17. industrial computers, 18. motion control cards, 19. motor drivers, 20. first coil actuators, 21. second coil actuators.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
See figures.1.and.2, symmetrical extension type mechanical arm of the present invention, comprise base 1, the DC servo motor 16 be placed in base, seat bar 4, cradling piece 5, Motionless electromagnetic coil 2, inside be equipped with moving slider 3, two mechanical arm bodies and control systems of magnet;
Described base 1 top has hollow annular cylinder 1-1, seat bar 4 lower end is passed hollow annular cylinder 1-1 and is connected by the output shaft of rolling bearing with DC servo motor 16, fix in the middle part of seat bar 4 upper end and cradling piece 5, and seat bar 4 is perpendicular with cradling piece 5, seat bar 4 has slide rail, moving slider 3 and Motionless electromagnetic coil 2 are all placed in seat bar 4, moving slider 3 is positioned at the top of Motionless electromagnetic coil 2, Motionless electromagnetic coil 2 is fixed with base 1, two arc groove fixtures 14 are built-in with at the hollow annular cylinder 1-1 of base 1, be symmetrically distributed in the both sides of seat bar 4, solenoid is had in arc groove fixture, there is valve rubber 14-1 on the arc groove surface of arc groove fixture 14, cradling piece 5 is fixed with the position sensor 15 for detecting moving slider positional information, position sensor 15 is relative with moving slider 3, two position sensors are provided with in this example, lay respectively at seat bar both sides,
When the DC servo motor 16 in base 1 stops operating, seat bar 4 can be rotated further due to inertia, second coil actuator 21 controls the electric current in arc groove fixture 14 in solenoid, thus control the power that solenoid produces magnetic field, adhesive under the now effect of magnetic field force that produces at built-in electromagnetic coil of two arc groove fixtures 14, clasping support bar 4, play braking action, valve rubber 14-1 is equipped with at the arc groove place of arc groove fixture 14, to increase frictional force when clamping contacts and between seat bar, seat bar is stopped operating immediately; After seat bar stops operating, two fixtures are separated under the effect of electromagnetic force, release seat bar;
Two described mechanical arm body symmetries be installed on seat bar 4 both sides, each mechanical arm body comprises forearm 10, postbrachium 9, first drive rod 6, second drive rod 7, elbow 8, first auxiliary rod 12, second auxiliary rod 13 and the palm 11, one end and the moving slider 3 of the first drive rod 6 are hinged, the middle part of the other end and postbrachium 9 is hinged, the upper end of postbrachium 9 and the side of cradling piece 5 hinged, one end of lower end and elbow 8 is hinged, the other end of elbow 8 and the middle part of forearm 10 hinged, one end of second drive rod 7 and the middle part of the first drive rod 6 hinged, the lower end of the other end and forearm 10 is hinged, and the upper end of forearm 10 is hinged with the middle part of the palm 11, the lower end of the first auxiliary rod 12, the lower end of the second auxiliary rod 13 is all hinged with the middle part of elbow 8, the upper end of the first auxiliary rod 12 and the end of cradling piece 5 hinged, the upper end of the second auxiliary rod 13 is hinged with one end of the palm 11, the first auxiliary rod 12, postbrachium 9, elbow 8 and cradling piece 5 form a parallel-crank mechanism, the second auxiliary rod 13, forearm 10, elbow 8 and the palm 11 also form a parallel-crank mechanism,
Described control system comprise industrial computer 17, motion control card 18, for driving the motor driver 19 of DC servo motor 16, for controlling the first coil actuator 20 of Motionless electromagnetic coil 2 and the second coil actuator 21 for controlling solenoid in arc groove fixture; Described industrial computer 17 is connected with motion control card 18, three outputs of motion control card 18 are connected with the input of the input of motor driver 19, the first coil actuator 20 and the second coil actuator 21 respectively, the signal output part of position sensor 15 and the signal output part of DC servo motor 16 inner encoder are connected with the input of motion control card 18 respectively, in the present invention, the rotational angle of seat bar 4 is by the encoder indirect detection of DC servo motor 16.
During work, industrial computer issues control instruction, after motion control card processes instruction, be handed down to motor driver and coil actuator, motor driver drives DC servo motor, thus drives seat bar to rotate, and drives two mechanical arm bodies to rotate, the comprehensive operation of mechanical arm can be realized, the rotational angle of the encoder indirect detection seat bar of DC servo motor by this information feed back to motion control card; First coil driver control Motionless electromagnetic coil, the power that Motionless electromagnetic coil produces magnetic field is controlled by controlling electric current by the first coil actuator, slide up and down along seat bar axle center under the magnetic field force effect that the moving slider being built-in with magnet produces at Motionless electromagnetic coil, moving slider drives the first drive rod motion, and then drive the motion of both sides mechanical arm body, realize stretching, extension and the contraction of mechanical arm body, position sensor detect moving slider positional information and by this information feed back to motion control card; Parallel-crank mechanism is adopted to make the palm keep level in mechanical arm body.
The concrete motion process of mechanical arm is as follows:
1) at the operating position place of load, complete the loading work of load, seat bar, under the effect of DC servo motor, rotates a certain angle, and can realize the rotation of mechanical arm entirety;
2) expansion of mechanical arm body: the magnetic field force that Motionless electromagnetic coil produces is contrary with the magnetic field force direction in moving slider, now moving slider moves up under the influence of a magnetic field, the first drive rod is driven to rotate, first drive rod drives postbrachium to rotate, drive the second drive rod to drive forearm rotation simultaneously, realize the expansion of mechanical arm body, the palm 11 is under the effect of the first auxiliary rod and the second auxiliary rod, remain parallel with seating plane, as shown in Figure 4, meanwhile position sensor constantly detects the positional information of moving slider and feeds back to motion control card;
3) after the palm 11 of end reaches the operating position of unloading load, position sensor constantly detect the positional information of moving slider and Real-time Feedback to motion control card, the magnetic field force of now Motionless electromagnetic coil generation is in order to overcome the gravity of mechanical arm body and end load, mechanical arm body is made to keep this state, until complete the unloaded operation of load;
4) contraction of mechanical arm body: the magnetic field force that Motionless electromagnetic coil produces is identical with the magnetic field force direction in moving slider, now moving slider moves down under the influence of a magnetic field, the first drive rod is driven to rotate, first drive rod drives postbrachium to rotate, drive the second drive rod to drive forearm rotation simultaneously, and then realize the contraction of mechanical arm body, the palm 11 is under the effect of the first auxiliary rod and the second auxiliary rod, remain parallel with seating plane, as shown in Figure 1, meanwhile position sensor constantly detects the positional information of moving slider and feeds back to motion control card;
5) seat bar is under the effect of DC servo motor, rotates a certain angle in the other direction, makes mechanical arm get back to the operating position of load;
6) after the palm 11 of end reaches the operating position of load, position sensor constantly detect the positional information of moving slider and Real-time Feedback to motion control card, the magnetic field force of now Motionless electromagnetic coil generation is in order to overcome the gravity of mechanical arm body, mechanical arm body is made to keep this state, until complete the loading work of load;
7) the carrying work of load objects and so forth, is completed.
Claims (1)
1. a symmetrical extension type mechanical arm, is characterized in that comprising base (1), the DC servo motor (16) be placed in base (1), seat bar (4), cradling piece (5), Motionless electromagnetic coil (2), inside is equipped with the moving slider (3) of magnet, two mechanical arm bodies and control system;
Described base (1) top has hollow annular cylinder (1-1), seat bar (4) lower end is passed hollow annular cylinder (1-1) and is connected by the output shaft of rolling bearing with DC servo motor (16), seat bar (4) upper end and cradling piece (5) middle part are fixed, and seat bar (4) is perpendicular with cradling piece (5), (4) have slide rail to seat bar, moving slider (3) and Motionless electromagnetic coil (2) are all placed in seat bar (4), moving slider (3) is positioned at the top of Motionless electromagnetic coil (2), Motionless electromagnetic coil (2) is fixed with base (1), two arc groove fixtures (14) are built-in with at the hollow annular cylinder (1-1) of base (1), be symmetrically distributed in the both sides of seat bar (4), solenoid is had in arc groove fixture, there is valve rubber (14-1) on the arc groove surface of arc groove fixture (14), cradling piece (5) is fixed with the position sensor (15) for detecting moving slider positional information, position sensor (15) is relative with moving slider (3),
Two described mechanical arm body symmetries be installed on seat bar (4) both sides, each mechanical arm body comprises forearm (10), postbrachium (9), first drive rod (6), second drive rod (7), elbow (8), first auxiliary rod (12), second auxiliary rod (13) and the palm (11), one end and the moving slider (3) of the first drive rod (6) are hinged, the middle part of the other end and postbrachium (9) is hinged, the upper end of postbrachium (9) and the side of cradling piece (5) hinged, one end of lower end and elbow (8) is hinged, the other end of elbow (8) and the middle part of forearm (10) hinged, one end of second drive rod (7) and the middle part of the first drive rod (6) hinged, the lower end of the other end and forearm (10) is hinged, the upper end of forearm (10) and the middle part of the palm (11) hinged, the lower end of the first auxiliary rod (12) and the lower end of the second auxiliary rod (13) all hinged with the middle part of elbow (8), the upper end of the first auxiliary rod (12) and the end of cradling piece (5) hinged, the upper end of the second auxiliary rod (13) and one end of the palm (11) hinged, first auxiliary rod (12), postbrachium (9), elbow (8) and cradling piece (5) form a parallel-crank mechanism, second auxiliary rod (13), forearm (10), elbow (8) and the palm (11) also form a parallel-crank mechanism,
Described control system comprises industrial computer (17), motion control card (18), for driving the motor driver (19) of DC servo motor (16), for controlling first coil actuator (20) of Motionless electromagnetic coil (2), and for controlling second coil actuator (21) of arc groove fixture (14) interior solenoid, described industrial computer (17) is connected with motion control card (18), three outputs of motion control card (18) respectively with the input of motor driver (19), the input of the first coil actuator (20) and the input of the second coil actuator (21) are connected, two inputs of motion control card (18) are connected with the signal output part of position sensor (15) and the signal output part of DC servo motor (16) inner encoder respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510040392.9A CN104552335B (en) | 2015-01-27 | 2015-01-27 | Symmetrical extension type mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510040392.9A CN104552335B (en) | 2015-01-27 | 2015-01-27 | Symmetrical extension type mechanical arm |
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| Publication Number | Publication Date |
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| CN104552335A true CN104552335A (en) | 2015-04-29 |
| CN104552335B CN104552335B (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510040392.9A Expired - Fee Related CN104552335B (en) | 2015-01-27 | 2015-01-27 | Symmetrical extension type mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106523633A (en) * | 2016-11-30 | 2017-03-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Double-compound movement mechanism |
| CN109319408A (en) * | 2018-11-28 | 2019-02-12 | 苏子程 | A kind of industrial rail transfer robot |
| CN110220704A (en) * | 2019-05-27 | 2019-09-10 | 芜湖莫森泰克汽车科技股份有限公司 | Skylight running noises detection device |
| CN111758684A (en) * | 2020-06-02 | 2020-10-13 | 界首市欧思润体育用品有限公司 | Bionic bait capable of jumping freely |
| CN114793514A (en) * | 2022-05-18 | 2022-07-29 | 扬州大学 | Electromagnetic moving lifting extension chassis and working method thereof |
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| RU2223177C2 (en) * | 2002-02-06 | 2004-02-10 | Закрытое акционерное общество "Втормет" | Device for metal drum utilization |
| CN200987756Y (en) * | 2006-12-22 | 2007-12-12 | 东南大学 | Rehabilitation exercising mechanical arm |
| CN202726912U (en) * | 2012-05-24 | 2013-02-13 | 青岛华东工程机械有限公司 | Loading/unloading servo simulation manipulator |
| CN203650537U (en) * | 2013-12-04 | 2014-06-18 | 严逢辉 | Gripping device for gripping open thin wall articles |
| CN204450583U (en) * | 2015-01-27 | 2015-07-08 | 浙江理工大学 | A kind of symmetrical extension type mechanical arm |
-
2015
- 2015-01-27 CN CN201510040392.9A patent/CN104552335B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3822008A1 (en) * | 1987-07-07 | 1989-01-19 | Jakobs Dieter | Extendable telephone pivot arm |
| RU2223177C2 (en) * | 2002-02-06 | 2004-02-10 | Закрытое акционерное общество "Втормет" | Device for metal drum utilization |
| CN200987756Y (en) * | 2006-12-22 | 2007-12-12 | 东南大学 | Rehabilitation exercising mechanical arm |
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| CN204450583U (en) * | 2015-01-27 | 2015-07-08 | 浙江理工大学 | A kind of symmetrical extension type mechanical arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106523633A (en) * | 2016-11-30 | 2017-03-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Double-compound movement mechanism |
| CN109319408A (en) * | 2018-11-28 | 2019-02-12 | 苏子程 | A kind of industrial rail transfer robot |
| CN110220704A (en) * | 2019-05-27 | 2019-09-10 | 芜湖莫森泰克汽车科技股份有限公司 | Skylight running noises detection device |
| CN111758684A (en) * | 2020-06-02 | 2020-10-13 | 界首市欧思润体育用品有限公司 | Bionic bait capable of jumping freely |
| CN114793514A (en) * | 2022-05-18 | 2022-07-29 | 扬州大学 | Electromagnetic moving lifting extension chassis and working method thereof |
| CN114793514B (en) * | 2022-05-18 | 2023-11-21 | 扬州大学 | Electromagnetic mobile lifting extension chassis and working method thereof |
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| Publication number | Publication date |
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| CN104552335B (en) | 2016-05-18 |
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Effective date of registration: 20171218 Address after: 313000 Zhejiang province Huzhou Zhili town of Wuxing District in the South (south town government compound) Patentee after: HUZHOU ZHILI CHILDREN'S CLOTHING DEVELOPMENT Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310018 Park in Xiasha Higher Education Patentee before: Zhejiang Sci-Tech University |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160518 |