CN104552335B - Symmetrical extension type mechanical arm - Google Patents
Symmetrical extension type mechanical arm Download PDFInfo
- Publication number
- CN104552335B CN104552335B CN201510040392.9A CN201510040392A CN104552335B CN 104552335 B CN104552335 B CN 104552335B CN 201510040392 A CN201510040392 A CN 201510040392A CN 104552335 B CN104552335 B CN 104552335B
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- China
- Prior art keywords
- hinged
- mechanical arm
- seat bar
- moving slider
- cradling piece
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 3
- 208000031872 Body Remains Diseases 0.000 abstract description 2
- 210000001037 metacarpus Anatomy 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 10
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 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
- 238000000034 method Methods 0.000 description 1
Abstract
The invention discloses a kind of symmetrical extension type mechanical arm, comprise base, be placed in DC servo motor in base, arc groove fixture, seat bar, cradling piece, Motionless electromagnetic coil, moving slider, two mechanical arm bodies and control system, described control system comprises industrial computer, motion control card, motor driver, the first coil actuator, the second coil actuator and the position sensor for detection of moving slider position. The present invention adopts solenoid to drive moving slider to slide in seat bar, thereby driving device arm is flexible; Adopt two parallel-crank mechanisms can make the metacarpus of mechanical arm body remain level; Adopt symmetrical structure, can realize both sides and operate simultaneously, improve stability and the operating efficiency of device; Adopt electromagnetic type arc groove fixture, can realize the brake hard of seat bar. Mechanical arm compact conformation of the present invention, easy to operate, can be used for the multiple occasion such as piling, carrying, can realize comprehensive operation and stability and high efficiency.
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, constantly designed and be applied to workplace for the mechanical arm scheme of article carrying, as how compact frame for movement accurately and efficiently completes given task, be the effect that multiple design is pursued. In the time of design mechanical arm, the various factors such as integral layout and condition of work that need capture weight, number of degrees of freedom,, working range, movement velocity and manipulator according to manipulator considers, with reach action accurately, reliable, flexibly, compact conformation, rigidity be large, it is little to conduct oneself with dignity, thereby ensure 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 is strong and operating efficiency is high symmetrical extension type mechanical arm.
Symmetrical extension type mechanical arm of the present invention, comprises base, is placed in DC servo motor, seat bar, cradling piece, Motionless electromagnetic coil in base, is built-in with the moving slider of 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, seat bar upper end and cradling piece middle part are fixing, and seat bar and cradling piece are perpendicular, in seat bar, there is 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, be built-in with two arc groove fixtures at the hollow annular cylinder of base, be symmetrically distributed in the both sides of seat bar, in arc groove fixture, there is solenoid, there is valve rubber on the arc groove surface of arc groove fixture, on cradling piece, be fixed with the position sensor for detection of 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, the first drive rod, the second drive rod, elbow, the first auxiliary rod, the 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, one side of the upper end of postbrachium and cradling piece is hinged, Yu Zhou one end, lower end is hinged, the other end of elbow and the middle part of forearm are hinged, the middle part of one end of the second drive rod and the first drive rod is hinged, the lower end of the other end and forearm is hinged, the upper end of forearm and the middle part of the palm are 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 are hinged, Yu Zhang one end, upper end of the second auxiliary rod is hinged, the lower end of the palm is in order to connect load, the first auxiliary rod, postbrachium, elbow and cradling piece form a parallel-crank mechanism, the 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 for controlling the second coil actuator of 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 input of the first coil actuator and the second coil actuator is connected, the signal output part of the signal output part of position sensor and DC servo motor inner encoder is 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, thereby driving device arm is flexible; Adopt two parallel-crank mechanisms can make the metacarpus of mechanical arm body remain level, to meet job requirement; Adopt symmetrical structure, can realize both sides and operate simultaneously, improve stability and the operating efficiency of device; Adopt electromagnetic type arc groove fixture, can realize the brake hard of seat bar. Mechanical arm compact conformation of the present invention, easy to operate, can be used for the multiple occasion such as piling, carrying, and can realize comprehensive operation and stability and high efficiency.
Brief description of the drawings
Fig. 1 is the frame for movement schematic diagram of symmetrical extension type mechanical arm;
Fig. 2 is the clamp structure schematic diagram in hollow shape 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 symmetrical extension type mechanical arm stretching, extension.
In figure, 1. base, hollow shape 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, comprises base 1, is placed in moving slider 3, two mechanical arm bodies and control systems that DC servo motor 16, seat bar 4, cradling piece 5, Motionless electromagnetic coil 2, inside in base is equipped with magnet;
Described base 1 top has hollow annular cylinder 1-1, seat bar 4 lower ends are passed hollow annular cylinder 1-1 and are connected with the output shaft of DC servo motor 16 by rolling bearing, seat bar 4 upper ends and cradling piece 5 middle parts are fixed, and seat bar 4 is perpendicular with cradling piece 5, in seat bar 4, there is 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 fixing with base 1, hollow annular cylinder 1-1 at base 1 is built-in with two arc groove fixtures 14, be symmetrically distributed in the both sides of seat bar 4, in arc groove fixture, there is solenoid, there is valve rubber 14-1 on the arc groove surface of arc groove fixture 14, on cradling piece 5, be fixed with the position sensor 15 for detection of moving slider positional information, position sensor 15 is relative with moving slider 3, in this example, be provided with two position sensors, lay respectively at seat bar both sides,
In the time that the DC servo motor 16 in base 1 stops operating, seat bar 4 is because inertia can be rotated further, the second coil actuator 21 is controlled the electric current in the interior solenoid of arc groove fixture 14, produce the power in magnetic field thereby control solenoid, now two arc groove fixture 14 adhesives under the effect of the magnetic field force of built-in electromagnetic coil generation, clasping support bar 4, play braking action, valve rubber 14-1 is equipped with at the arc groove place of arc groove fixture 14, frictional force while contact to increase clamping and between seat bar, stops operating seat bar immediately; After seat bar stops operating, two fixtures separate under the effect of electromagnetic force, discharge 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, the first drive rod 6, the second drive rod 7, elbow 8, the first auxiliary rod 12, the second auxiliary rod 13 and the palm 11, one end of the first drive rod 6 and moving slider 3 are hinged, the middle part of the other end and postbrachium 9 is hinged, one side of the upper end of postbrachium 9 and cradling piece 5 is hinged, and one end of lower end and elbow 8 is hinged, and the middle part of the other end of elbow 8 and forearm 10 is hinged, the middle part of one end of the second drive rod 7 and the first drive rod 6 is 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, and the end of the upper end of the first auxiliary rod 12 and cradling piece 5 is hinged, and 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 comprises 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 for controlling the second coil actuator 21 of 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 input, the first coil actuator 20 and second coil actuator 21 of motor driver 19 respectively, the signal output part of the signal output part of position sensor 15 and DC servo motor 16 inner encoders is 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.
When work, industrial computer issues control instruction, after motion control card is processed instruction, be handed down to motor driver and coil actuator, motor driver drives DC servo motor, thereby drives seat bar to rotate, and drives two mechanical arm bodies to rotate, can realize the comprehensive operation of mechanical arm, the rotational angle of the encoder indirect detection seat bar of DC servo motor also feeds back to motion control card by this information; The first coil driver control Motionless electromagnetic coil, Motionless electromagnetic coil produces the power in magnetic field and is controlled by controlling electric current by the first coil actuator, the moving slider that is built-in with magnet slides up and down along seat bar axle center under the magnetic field force effect of Motionless electromagnetic coil generation, moving slider drives the first drive rod motion, and then the motion of drive both sides mechanical arm body, realize stretching, extension and the contraction of mechanical arm body, position sensor detects the positional information of moving slider and this information is fed back to motion control card; In mechanical arm body, adopt parallel-crank mechanism to make the palm keep level.
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 opposite direction in magnetic field force and moving slider that Motionless electromagnetic coil produces, now moving slider moves up under the effect in magnetic field, drive the first drive rod to rotate, the 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) when the palm 11 of end reaches behind the operating position of unloading load, position sensor constantly detects the positional information of moving slider Real-time Feedback to motion control card, the magnetic field force that now Motionless electromagnetic coil produces is in order to overcome the gravity of mechanical arm body and end load, make mechanical arm body 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 effect in magnetic field, drive the first drive rod to rotate, the 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, and the angle that opposite spin is certain, makes mechanical arm get back to the operating position of load;
6) when the palm 11 of end reaches behind the operating position of load, position sensor constantly detects the positional information of moving slider Real-time Feedback to motion control card, the magnetic field force that now Motionless electromagnetic coil produces is in order to overcome the gravity of mechanical arm body, make mechanical arm body keep this state, until complete the loading work of load;
7) complete and so forth, the carrying work of load object.
Claims (1)
1. a symmetrical extension type mechanical arm, is characterized in that comprising base (1), is placed in moving slider (3) that DC servo motor (16), seat bar (4), cradling piece (5), Motionless electromagnetic coil (2), inside in base (1) is equipped with 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 with the output shaft of DC servo motor (16) by rolling bearing, seat bar (4) upper end and cradling piece (5) middle part are fixing, and seat bar (4) is perpendicular with cradling piece (5), seat bar has slide rail on (4), 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 fixing with base (1), hollow annular cylinder (1-1) at base (1) is built-in with two arc groove fixtures (14), be symmetrically distributed in the both sides of seat bar (4), in arc groove fixture, there is solenoid, there is valve rubber (14-1) on the arc groove surface of arc groove fixture (14), on cradling piece (5), be fixed with the position sensor (15) for detection of 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), the first drive rod (6), the second drive rod (7), elbow (8), the first auxiliary rod (12), the second auxiliary rod (13) and the palm (11), one end of the first drive rod (6) and moving slider (3) are hinged, the middle part of the other end and postbrachium (9) is hinged, one side of the upper end of postbrachium (9) and cradling piece (5) is hinged, one end of lower end and elbow (8) is hinged, the middle part of the other end of elbow (8) and forearm (10) is hinged, the middle part of one end of the second drive rod (7) and the first drive rod (6) is hinged, the lower end of the other end and forearm (10) is hinged, the middle part of the upper end of forearm (10) and the palm (11) is hinged, the lower end of the lower end of the first auxiliary rod (12) and the second auxiliary rod (13) is all hinged with the middle part of elbow (8), the end of the upper end of the first auxiliary rod (12) and cradling piece (5) is hinged, one end of the upper end of the second auxiliary rod (13) and the palm (11) is hinged, 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 comprises industrial computer (17), motion control card (18), be used for driving the motor driver (19) of DC servo motor (16), be used for controlling first coil actuator (20) of Motionless electromagnetic coil (2), and for controlling second coil actuator (21) of the interior solenoid of arc groove fixture (14), 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 input of the first coil actuator (20) and the second coil actuator (21) is 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 CN104552335A (en) | 2015-04-29 |
| CN104552335B true CN104552335B (en) | 2016-05-18 |
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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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| 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 |
| CN110220704B (en) * | 2019-05-27 | 2021-04-02 | 芜湖莫森泰克汽车科技股份有限公司 | Skylight running noise 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 |
| CN114793514B (en) * | 2022-05-18 | 2023-11-21 | 扬州大学 | Electromagnetic mobile lifting extension chassis and working method thereof |
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 |
| 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 |
| 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 |
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| CN104552335A (en) | 2015-04-29 |
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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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