CN104589333B - There is the stacking machine mechanical arm of five degree of freedom - Google Patents
There is the stacking machine mechanical arm of five degree of freedom Download PDFInfo
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- CN104589333B CN104589333B CN201510040397.1A CN201510040397A CN104589333B CN 104589333 B CN104589333 B CN 104589333B CN 201510040397 A CN201510040397 A CN 201510040397A CN 104589333 B CN104589333 B CN 104589333B
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- 241000276425 Xiphophorus maculatus Species 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000012636 effector Substances 0.000 description 4
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- 230000010355 oscillation Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
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Abstract
The invention discloses a kind of stacking machine mechanical arm with five degree of freedom, comprise mechanical arm body and control system, described mechanical arm body comprises base plate, two pieces of support plates, first plectane, second plectane, U-shaped base, forearm, postbrachium, palm, first connecting rod, second connecting rod, third connecting rod, double leval jib, triangular shape elbow connecting rod and four DC servo motors, described control system comprises industrial computer, motion control card, be respectively used to four drivers of driving four DC servo motors, for detecting the primary importance sensor of U-shaped base corner information, for detecting the second place sensor of postbrachium positional information and the 3rd position sensor for detecting forearm positions information, mechanical arm of the present invention is that four axles drive five degree-of-freedom manipulators, its compact mechanical structure, easy to operate, can be used for the multiple occasions such as carrying, piling, loading and unloading, can implementation space multi-angle operate.
Description
Technical field
The present invention relates to a kind of stacking machine mechanical arm with five degree of freedom, for multiple occasions such as carrying, piling, loading and unloadings.
Background technology
Along with the application of Robotics in stacking and stacking technology, stacking machine mechanical arm is widely applied in industrial circle, and then reduces the working strength of hand stowage, improves production efficiency.Meanwhile, the product scheme design for stacking machine mechanical arm also emerges in an endless stream, to meet different piling tasks and requirement.
Summary of the invention
The object of the present invention is to provide a kind of compact conformation, lightweight, can be used for multiple occasion and the high stacking machine mechanical arm with five degree of freedom of operating efficiency.
The stacking machine mechanical arm with five degree of freedom of the present invention, comprise mechanical arm body and control system, described mechanical arm body comprises base plate, two pieces of support plates, the first plectane, the second plectane, U-shaped base, forearm, postbrachium, palm, first connecting rod, second connecting rod, third connecting rod, double leval jib, triangular shape elbow connecting rod, the first DC servo motor, the second DC servo motor and the 3rd DC servo motors;
Two pieces of support plates are fixed on base plate relatively, first plectane is fixed on two support plates, second plectane is fixed on the first plectane by pad cylinder, and the second plectane is equipped with rolling bearing, first DC servo motor is fixed on the lower surface of the first plectane, its output shaft is also connected with U-shaped base by the rolling bearing on the second plectane through the first plectane, second DC servo motor and the 3rd DC servo motor are coaxially individually fixed in two side plate outer surfaces of U-shaped base, the output shaft of the second DC servo motor is fixed through the lower end of side plate and postbrachium, the arc groove that this side plate to have with the second DC servo motor output shaft be the center of circle, the output shaft of the 3rd DC servo motor is fixed through one end of another side plate and second connecting rod, the middle part of forearm, the upper end of postbrachium and one end of triangular shape elbow connecting rod hinged, the other end of triangular shape elbow connecting rod and one end of first connecting rod hinged, the other end of first connecting rod and the arc groove place of U-shaped base side plate hinged, postbrachium, triangular shape elbow connecting rod, first connecting rod and the base side plate fixing the second DC servo motor form first space parallel-crank mechanism, the other end of second connecting rod and one end of third connecting rod hinged, the other end of third connecting rod and the upper end thereof of forearm, postbrachium, second connecting rod, the upper end of third connecting rod and forearm forms second space parallel-crank mechanism, the lower end of forearm and the lower end of palm hinged, 3rd end of triangular shape elbow connecting rod and one end of double leval jib hinged, the other end of double leval jib and the upper end thereof of palm, forearm, triangular shape elbow connecting rod, double leval jib and palm form the 3rd space parallel-crank mechanism,
Palm upper surface is fixed with the 4th DC servo motor, and the output shaft of the 4th DC servo motor is fixed through palm and installing plate, and installing plate has installing hole;
Described stacking machine mechanical arm also comprises bracing frame and back shaft, be fixed on U-shaped base between the biside plate that bracing frame is placed in U-shaped base, back shaft passes the top of bracing frame and is fixed on bracing frame, the output shaft of back shaft and the second DC servo motor, the output shaft of the 3rd DC servo motor are positioned at same axis, back shaft is connected with postbrachium by rolling bearing, inner ring and the back shaft of rolling bearing are fixed, and outer ring and postbrachium are fixed.
Second plectane is fixed with the primary importance sensor for detecting U-shaped base corner information, the U-shaped base side plate fixing the second DC servo motor is fixed with the second place sensor for detecting postbrachium positional information, the U-shaped base side plate fixing the 3rd DC servo motor is fixed with the 3rd position sensor for detecting forearm positions information;
Described control system comprises industrial computer, motion control card and be respectively used to driving first DC servo motor, second DC servo motor, first driver of the 3rd DC servo motor and the 4th DC servo motor, second driver, 3rd driver and four-wheel drive device, described industrial computer is connected with motion control card, the output of motion control card connects the input of the first driver respectively, the input of the second driver, the input of the 3rd driver and the input of four-wheel drive device, the signal output part of primary importance sensor, the signal output part of second place sensor and the signal output part of the 3rd position sensor are all connected with the input of motion control card.
In technique scheme, the first described DC servo motor can adopt worm gear type DC servo motor, drives base rotation.
Described forearm and postbrachium all adopt hollow platy structure, to alleviate mechanical arm weight, and ensure the intensity of mechanical arm.
Base plate can be fixed on a mobile platform, and whole stacking machine mechanical arm can be moved with mobile platform; In addition the first DC servo motor can drive U-shaped base by rolling bearing thus driving mechanical arm rotates around bearing, realizes the circular motion of mechanical arm; Postbrachium is contained on base, is driven, realize the swing of postbrachium by the second DC servo motor; Forearm is contained on postbrachium, by first space parallel-crank mechanism or/and second space parallel-crank mechanism realizes the swing of forearm, then can drive palm motion in conjunction with the 3rd space parallel-crank mechanism; Palm is contained on forearm, can pass through the position of the pin joint of arc groove on adjustment first connecting rod and U-shaped base side plate, to realize the adjustment of angle between palm and ground; Palm end can install different end effectors according to actual needs, and the 4th DC servo motor is housed, and in order to control the rotation of end effector, can realize different piling tasks.Bracing frame and back shaft can supplemental support postbrachium, forearm and palms, prevent the second DC servo motor output shaft and the 3rd DC servo motor output shaft from occuring bending and deformation because radial force is excessive.
Beneficial effect of the present invention is: the present invention is that four axles drive five degree-of-freedom manipulator, be made up of mechanical construction and control system, adopt multiple DC servo motor, auxiliary with three space parallel-crank mechanisms, the unitary rotation realizing mechanical arm controls, compared to prior art, mechanical arm of the present invention is lightweight, compact conformation, floor space are little, operating efficiency is high and energy consumption is low.In addition, palm place can require to install different end effectors according to different pilings, can realize multiple piling task.
Accompanying drawing explanation
Fig. 1 is the mechanical arm body structure schematic diagram of the stacking machine mechanical arm with five degree of freedom;
Fig. 2 is the backsight part-structure schematic diagram of the mechanical arm body of the stacking machine mechanical arm with five degree of freedom;
Fig. 3 is the structural representation of another angle of mechanical arm body of the stacking machine mechanical arm with five degree of freedom;
Fig. 4 is the structural representation of supporting seat and back shaft in the stacking machine mechanical arm with five degree of freedom;
Fig. 5 is the junction schematic diagram of back shaft and the postbrachium amplified;
Fig. 6 is the control principle schematic diagram of the stacking machine mechanical arm with five degree of freedom.
In figure: 1. base plate, 2. support plate, 3-1. first plectane, 3-2. second plectane, 4.U type base, 4-1. arc groove, 5. the second DC servo motor, 6. the 3rd DC servo motor, 7. the first DC servo motor, 8. second connecting rod, 9. first connecting rod, 10. third connecting rod, 11. triangular shape elbow connecting rods, 12. forearms, 13. postbrachiums, 14. double leval jib, 15. palms, 16. primary importance sensors, 17. second place sensors, 18. the 3rd position sensors, 19. industrial computers, 20. motion control cards, 21. first drivers, 22. second drivers, 23. the 3rd drivers, 24. four-wheel drive devices, 25. the 4th DC servo motors, 26. installing plates, 27. bracing frames, 28. back shafts.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the stacking machine mechanical arm with five degree of freedom of the present invention, comprise mechanical arm body and control system, described mechanical arm body comprises base plate 1, two pieces of support plate 2, first plectane 3-1, the second plectane 3-2, U-shaped base 4, forearm 12, postbrachium 13, palm 15, first connecting rod 9, second connecting rod 8, third connecting rod 10, double leval jib 14, triangular shape elbow connecting rod 11, first DC servo motor 7, second DC servo motor 5 and the 3rd DC servo motors 6;
Two pieces of support plates 2 are fixed on base plate relatively, first plectane 3-1 is fixed on two support plates 2, second plectane 3-2 is fixed on the first plectane 3-1 by pad cylinder, and the second plectane 3-2 is equipped with rolling bearing, first DC servo motor 7 is fixed on the lower surface of the first plectane 3-1, its output shaft is passed the first plectane 3-1 and is connected with U-shaped base 4 by the rolling bearing on the second plectane 3-2, second DC servo motor 5 and the 3rd DC servo motor 6 are coaxially individually fixed in two side plate outer surfaces of U-shaped base 4, the output shaft of the second DC servo motor 5 is fixed through the lower end of side plate and postbrachium 13, the arc groove 4-1 that this side plate to have with the second DC servo motor output shaft be the center of circle, the output shaft of the 3rd DC servo motor 6 is fixed through one end of another side plate and second connecting rod 8, the middle part of forearm 12, the upper end of postbrachium 13 and one end of triangular shape elbow connecting rod 11 hinged, the other end of triangular shape elbow connecting rod 11 and one end of first connecting rod 9 hinged, the other end of first connecting rod 9 and the arc groove place of U-shaped base side plate hinged, postbrachium 13, triangular shape elbow connecting rod 11, first connecting rod 9 and the base side plate fixing the second DC servo motor form first space parallel-crank mechanism, the other end of second connecting rod 8 and one end of third connecting rod 10 hinged, the other end of third connecting rod 10 and the upper end thereof of forearm 12, postbrachium 13, second connecting rod 8, the upper end of third connecting rod 10 and forearm 12 forms second space parallel-crank mechanism, the lower end of forearm 12 and the lower end of palm 15 hinged, 3rd end of triangular shape elbow connecting rod 11 and one end of double leval jib 14 hinged, the other end of double leval jib 14 and the upper end thereof of palm 15, forearm, triangular shape elbow connecting rod 11, double leval jib 14 and palm 15 form the 3rd space parallel-crank mechanism,
The output shaft that palm 15 upper surface is fixed with the 4th DC servo motor the 25, four DC servo motor 25 is fixed through palm 15 and installing plate 26, and installing plate 26 has installing hole;
Described stacking machine mechanical arm also comprises bracing frame 27 and back shaft 28, be fixed on U-shaped base between the biside plate that bracing frame 27 is placed in U-shaped base 4, back shaft 28 passes the top of bracing frame 27 and is fixed on bracing frame 27, the output shaft of back shaft 28 and the second DC servo motor 5, the output shaft of the 3rd DC servo motor 6 are positioned at same axis, back shaft 28 is connected with postbrachium 13 by rolling bearing, inner ring and the back shaft 28 of rolling bearing are fixed, and outer ring and postbrachium 13 are fixed, as shown in Figure 5.
Near the output shaft place of the first DC servo motor on the second plectane 3-2, be fixed with the primary importance sensor 16 for detecting U-shaped base corner information, near the output shaft place of this motor on the U-shaped base side plate fixing the second DC servo motor 5, be fixed with the second place sensor 17 for detecting postbrachium positional information, near the output shaft place of this motor on the U-shaped base side plate fixing the 3rd DC servo motor 6, be fixed with the 3rd position sensor 18 for detecting forearm positions information;
Described control system comprises industrial computer 19, motion control card 20 and is respectively used to the first driver 21, second driver 22, the 3rd driver 23 and the four-wheel drive device 24 of driving first DC servo motor 7, second DC servo motor 5, the 3rd DC servo motor 6 and the 4th DC servo motor 25; Described industrial computer 19 is connected with motion control card 20, the output of motion control card 20 connects the input of the first driver 21, second driver 22, the 3rd driver 23 and four-wheel drive device 24 respectively, the signal output part of the signal output part of primary importance sensor 16, the signal output part of second place sensor 17 and the 3rd position sensor 18 is all connected with the input of motion control card 20, as shown in Figure 6.
In technique scheme, described forearm 12 is hollow platy structure with postbrachium 13.
The first described DC servo motor 7 is worm gear type DC servo motor.
In the present invention, the impact of rotation precision on end orbit of base, postbrachium and forearm is larger, for detecting the rotational angle of the corresponding mechanism of each turning cylinder, present invention employs three contactless position sensors, respectively in order to detect the rotational angle signal of base, postbrachium and forearm.Certainly, according to different piling tasks and end movement track, increase multiple sensors can be assisted, in order to detect multiple rotation or movable signal, and feed back to motion control card, with the intelligent effect of enhanced machine mechanical arm.
When motion starts, end orbit instruction is issued by industrial computer, motion control card is according to given trajectory signal, obtain the rotational angle of each driving joint by inverse arithmetic and be handed down to each driver, and then drive respective straight flow servo motor to rotate, make mechanical arm tail end walk out the track approached mutually with given trace.Feed back to motion control card place in the set of signals that position sensor detects to process, by residual oscillation Restrainable algorithms, realize suppressing the residual oscillation of each driving joint, and then walk out ideal movement locus, realize the stable operation of mechanical arm tail end.
In addition, the present invention is by the articulated position of arc groove on adjustment first connecting rod and U-shaped base side plate, and then the angle between adjustment palmar aspect and ground, makes palmar aspect be in working face state; Palm can be equipped with small-sized DC servomotor and installing plate, installing plate can need to install different dismountable end effectors according to real work, realize different piling tasks.
Claims (3)
1. one kind has the stacking machine mechanical arm of five degree of freedom, it is characterized in that comprising mechanical arm body and control system, described mechanical arm body comprises base plate (1), two pieces of support plates (2), the first plectane (3-1), the second plectane (3-2), U-shaped base (4), forearm (12), postbrachium (13), palm (15), first connecting rod (9), second connecting rod (8), third connecting rod (10), double leval jib (14), triangular shape elbow connecting rod (11), the first DC servo motor (7), the second DC servo motor (5) and the 3rd DC servo motors (6);
Two pieces of support plates (2) are fixed on base plate relatively, first plectane (3-1) is fixed on two support plates (2), second plectane (3-2) is fixed on the first plectane (3-1) by pad cylinder, and the second plectane (3-2) is equipped with rolling bearing, first DC servo motor (7) is fixed on the lower surface of the first plectane (3-1), its output shaft is passed the first plectane (3-1) and is connected with the bottom surface of U-shaped base (4) by the rolling bearing on the second plectane (3-2), second DC servo motor (5) and the 3rd DC servo motor (6) are coaxially individually fixed in the outside of two side plates of U-shaped base (4), the output shaft of the second DC servo motor (5) is fixed through the lower end of side plate and postbrachium (13), the arc groove (4-1) that this side plate to have with the second DC servo motor output shaft be the center of circle, the output shaft of the 3rd DC servo motor (6) is fixed through one end of another side plate and second connecting rod (8), the middle part of forearm (12), the upper end of postbrachium (13) and one end of triangular shape elbow connecting rod (11) hinged, the other end of triangular shape elbow connecting rod (11) and one end of first connecting rod (9) hinged, arc groove (4-1) on the other end of first connecting rod (9) and U-shaped base side plate is hinged, postbrachium (13), triangular shape elbow connecting rod (11), first connecting rod (9) and the U-shaped base side plate fixing the second DC servo motor (5) form first space parallel-crank mechanism, the other end of second connecting rod (8) and one end of third connecting rod (10) hinged, the other end of third connecting rod (10) and the upper end thereof of forearm (12), postbrachium (13), second connecting rod (8), the upper end of third connecting rod (10) and forearm (12) forms second space parallel-crank mechanism, the lower end of forearm (12) and the lower end of palm (15) hinged, 3rd end of triangular shape elbow connecting rod (11) and one end of double leval jib (14) hinged, the other end of double leval jib (14) and the upper end thereof of palm (15), forearm, triangular shape elbow connecting rod (11), double leval jib (14) and palm (15) form the 3rd space parallel-crank mechanism,
Palm (15) upper surface is fixed with the 4th DC servo motor (25), and the output shaft of the 4th DC servo motor (25) is fixed through palm (15) and installing plate (26), and (26) have installing hole to installing plate;
Described stacking machine mechanical arm also comprises bracing frame (27) and back shaft (28), be fixed on U-shaped base between the biside plate that bracing frame (27) is placed in U-shaped base (4), back shaft (28) through bracing frame (27) top and be fixed on bracing frame (27), the output shaft of back shaft (28) and the second DC servo motor (5), the output shaft of the 3rd DC servo motor (6) is positioned at same axis, back shaft (28) is connected with postbrachium (13) by rolling bearing, the inner ring of rolling bearing and back shaft (28) are fixed, outer ring and postbrachium (13) are fixed,
Second plectane (3-2) is fixed with the primary importance sensor (16) for detecting U-shaped base corner information, the U-shaped base side plate fixing the second DC servo motor (5) is fixed with the second place sensor (17) for detecting postbrachium positional information, the U-shaped base side plate fixing the 3rd DC servo motor (6) is fixed with the 3rd position sensor (18) for detecting forearm positions information;
Described control system comprises industrial computer (19), motion control card (20) and is respectively used to first driver (21) of driving first DC servo motor (7), the second DC servo motor (5), the 3rd DC servo motor (6) and the 4th DC servo motor (25), the second driver (22), the 3rd driver (23) and four-wheel drive device (24); Described industrial computer (19) is connected with motion control card (20), the output of motion control card (20) connects the input of the first driver (21), the input of the second driver (22), the input of the 3rd driver (23) and the input of four-wheel drive device (24) respectively, and the signal output part of the signal output part of primary importance sensor (16), the signal output part of second place sensor (17) and the 3rd position sensor (18) is all connected with the input of motion control card (20).
2. the stacking machine mechanical arm with five degree of freedom according to claim 1, is characterized in that described forearm (12) and postbrachium (13) are hollow platy structure.
3. the stacking machine mechanical arm with five degree of freedom according to claim 1, is characterized in that described the first DC servo motor (7) is Worm-gear type DC servo motor.
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| JP2812582B2 (en) * | 1991-05-21 | 1998-10-22 | 株式会社日立製作所 | Industrial robot controller |
| JP2004326417A (en) * | 2003-04-24 | 2004-11-18 | Institute Of Physical & Chemical Research | Direct-acting actuator unit |
| CN102107780A (en) * | 2009-12-24 | 2011-06-29 | 百超玻璃设备技术(上海)有限公司 | Electric glass loading platform equipment and corresponding control method |
| CN103029131A (en) * | 2011-10-06 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Mechanical arm motion control system and mechanical arm motion control method |
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Effective date of registration: 20171208 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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