CN104647357A - Four-degree-of-freedom stepper motor driving joint-type manipulator - Google Patents
Four-degree-of-freedom stepper motor driving joint-type manipulator Download PDFInfo
- Publication number
- CN104647357A CN104647357A CN201510010324.8A CN201510010324A CN104647357A CN 104647357 A CN104647357 A CN 104647357A CN 201510010324 A CN201510010324 A CN 201510010324A CN 104647357 A CN104647357 A CN 104647357A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- push rod
- motor push
- degree
- pitching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a four-degree-of-freedom stepper motor driving joint-type manipulator. The four-degree-of-freedom stepper motor driving joint-type manipulator consists of a base, a rotary motor, a rotary table, a pitching stepper motor push rod, a stand column, a telescopic stepper motor push rod, a rotatable wrist and a claw, which are installed in sequence as shown in the figure; the pitching stepper motor push rod is used for converting the linear motion of the stepper motor push rod to the pitching action of the manipulator along a horizontal axis by virtue of a four-link mechanism, the structure for realizing the pitching motion of an arm is relatively simple, modularization of the structure can be easy to realize, the pitching stepper motor push rod and the telescopic stepper motor push rod are respectively provided with a position sensor, and a controller controls the stepper motor push rod to move and stop so as to realize the random positioning of the manipulator, so that the four-degree-of-freedom stepper motor driving joint-type manipulator has characteristics of low cost, good dynamic performance, simple structure, high modularization degree and high universality.
Description
Technical field
The present invention relates to manipulator technical field, particularly a kind of four-degree-of-freedom driving stepper motor articulated robot hand.
Background technology
Along with the extensive use of manipulator technology, there is independent control, flexible movements, the Unimate that is applicable to small batch automated production developed rapidly, current Unimate adopts motor to be arranged on the frame mode of joint, drive motors is all arranged on each joint of manipulator, by the rotation in each joint of driven by motor manipulator, realize the various actions of manipulator; There is following problem in this frame mode: manipulator arm needs the weight carrying motor also need meet rigidity requirement, arm sectional dimension needs to do larger, the load of drive motors can be increased like this, increase the movement inertia of arm, manipulator dynamic property is caused to decline, drive motors is all arranged on the complex structure that joint position causes manipulator simultaneously, and the degree of modularity of product is low.And have that cost is low, dynamic property good, structure is simple, the Unimate of the degree of modularity high feature is more and more important in the effect of small batch automated production.
Summary of the invention
The object of the invention is to: high for existing machinery hand cost, the deficiency that dynamic property is low, complex structure, the degree of modularity are low, a kind of four-degree-of-freedom driving stepper motor articulated robot hand is proposed, pitching can be realized, motion that flexible, rotation turns, turns wrist four frees degree, have the advantages that cost is low, dynamic property good, structure is simple, the degree of modularity is high, can be used for the small batch automated production in modern manufacturing industry.
Technical scheme provided by the invention is: a kind of four-degree-of-freedom driving stepper motor articulated robot hand, by base, turning motor, slew gear, panoramic table, pitching stepper motor push rod, column, flexible stepper motor push rod, rotatable wrist, paw forms, column and pitching stepper motor push rod are arranged on panoramic table, pitching stepper motor push rod is connected with flexible stepper motor push rod by hinge, flexible stepper motor push rod is arranged on column, flexible stepper motor push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, be connected with panoramic table.
Outstanding advantages of the present invention is: the transform linear motion of stepper motor push rod is that manipulator faces upward around trunnion axis action of bowing by quadric chain by pitching stepper motor push rod, realize arm and face upward the relatively simple for structure of motion of bowing, structure easily realizes modularization, controller passes through motion and the stopping of control step motor push rod, the random positioned needs of manipulator can be realized, thus it is low to make the present invention have cost, dynamic property is good, structure is simple, the degree of modularity is high and the feature of highly versatile.
Accompanying drawing explanation
Fig. 1 is a kind of four-degree-of-freedom driving stepper motor articulated robot hand schematic diagram of the present invention.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
A kind of four-degree-of-freedom driving stepper motor articulated robot hand, by 1 base, 2 turning motors, 3 slew gears, 4 panoramic tables, 5 pitching stepper motor push rods, 6 columns, 7 flexible stepper motor push rods, 8 rotatable wrists, 9 paw compositions, column and pitching stepper motor push rod are arranged on panoramic table, pitching stepper motor push rod is connected with flexible stepper motor push rod by hinge, flexible stepper motor push rod is arranged on column, flexible stepper motor push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, be connected with panoramic table.
The transform linear motion of stepper motor push rod is that manipulator faces upward around trunnion axis action of bowing by quadric chain by pitching stepper motor push rod, realize arm and face upward the relatively simple for structure of motion of bowing, structure easily realizes modularization, by motion and the stopping of control step motor push rod, the random positioned needs of manipulator can be realized, thus it is low to make the present invention have cost, dynamic property is good, structure is simple, the degree of modularity is high and the feature of highly versatile.
Claims (1)
1. a four-degree-of-freedom driving stepper motor articulated robot, by base, turning motor, slew gear, panoramic table, pitching stepper motor push rod, column, flexible stepper motor push rod, rotatable wrist, paw forms, column and pitching stepper motor push rod are arranged on panoramic table, pitching stepper motor push rod is connected with flexible stepper motor push rod by hinge, flexible stepper motor push rod is arranged on column, flexible stepper motor push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, be connected with panoramic table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510010324.8A CN104647357A (en) | 2015-01-09 | 2015-01-09 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510010324.8A CN104647357A (en) | 2015-01-09 | 2015-01-09 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104647357A true CN104647357A (en) | 2015-05-27 |
Family
ID=53239254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510010324.8A Pending CN104647357A (en) | 2015-01-09 | 2015-01-09 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104647357A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105381961A (en) * | 2015-12-23 | 2016-03-09 | 胡琳丽 | Comprehensive detection device for brake blocks |
| CN107866795A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of articulated robot |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| CN109454644A (en) * | 2018-10-13 | 2019-03-12 | 广东嗨学云教育科技有限公司 | Mechanical device is used in the multi-functional processing of one kind |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT365503B (en) * | 1978-09-22 | 1982-01-25 | Schlatter Ag | DEVICE FOR PROGRAMMING A HANDLING DEVICE |
| JP3327770B2 (en) * | 1996-04-26 | 2002-09-24 | 川崎重工業株式会社 | Robot device |
| CN2759719Y (en) * | 2004-12-24 | 2006-02-22 | 张建明 | Multifunctional mechanical device used for fire fighting and emergency |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN203266665U (en) * | 2013-04-26 | 2013-11-06 | 毛桂女 | Multi-degree of freedom type industrial robot |
| CN103726518A (en) * | 2014-01-10 | 2014-04-16 | 徐工集团工程机械股份有限公司道路机械分公司 | Multifunctional all-terrain walking type hydraulic excavator |
| CN203783596U (en) * | 2014-02-26 | 2014-08-20 | 徐州徐工施维英机械有限公司 | Shotcreting manipulator |
| CN104179508A (en) * | 2014-05-29 | 2014-12-03 | 襄阳忠良工程机械有限责任公司 | Roadway cleaning machine |
-
2015
- 2015-01-09 CN CN201510010324.8A patent/CN104647357A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT365503B (en) * | 1978-09-22 | 1982-01-25 | Schlatter Ag | DEVICE FOR PROGRAMMING A HANDLING DEVICE |
| JP3327770B2 (en) * | 1996-04-26 | 2002-09-24 | 川崎重工業株式会社 | Robot device |
| CN2759719Y (en) * | 2004-12-24 | 2006-02-22 | 张建明 | Multifunctional mechanical device used for fire fighting and emergency |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN203266665U (en) * | 2013-04-26 | 2013-11-06 | 毛桂女 | Multi-degree of freedom type industrial robot |
| CN103726518A (en) * | 2014-01-10 | 2014-04-16 | 徐工集团工程机械股份有限公司道路机械分公司 | Multifunctional all-terrain walking type hydraulic excavator |
| CN203783596U (en) * | 2014-02-26 | 2014-08-20 | 徐州徐工施维英机械有限公司 | Shotcreting manipulator |
| CN104179508A (en) * | 2014-05-29 | 2014-12-03 | 襄阳忠良工程机械有限责任公司 | Roadway cleaning machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105381961A (en) * | 2015-12-23 | 2016-03-09 | 胡琳丽 | Comprehensive detection device for brake blocks |
| CN107866795A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of articulated robot |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| CN109454644A (en) * | 2018-10-13 | 2019-03-12 | 广东嗨学云教育科技有限公司 | Mechanical device is used in the multi-functional processing of one kind |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203495947U (en) | Horizontal multi-joint robot not driven by belt | |
| CN104608116A (en) | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism | |
| CN110524522B (en) | Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN104647357A (en) | Four-degree-of-freedom stepper motor driving joint-type manipulator | |
| CN104708619A (en) | Three-degree-of-freedom transfer robot with movable support | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN103203741A (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN104029195A (en) | Double-rotating and one movement overconstrained parallel mechanism | |
| CN104786211B (en) | A kind of Six-DOF industrial robot containing ball screw assembly, | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN102579137B (en) | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally | |
| CN104669245A (en) | Four-degree-of-freedom articulated stepping motor driven teaching manipulator | |
| CN104690724A (en) | Three-freedom-degree carrying robot | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| CN204525478U (en) | Gear drive electric cylinder heavy duty two translation manipulators | |
| CN101823262A (en) | Balancing device for industrial robot | |
| CN104589321B (en) | The swingable parallel rod synchronous telescoping mechanism of V belt translation formula | |
| CN101259616A (en) | Branched chain nesting three-freedom moving platform continuously turning parallel connection robot mechanism | |
| CN203293189U (en) | Dual translation parallel robot with separated driving branch and driven branch | |
| CN102294693A (en) | Double-freedom degree rotation parallel mechanism | |
| CN104589330B (en) | Band drives electric cylinder two translation manipulators at a high speed | |
| CN204487556U (en) | The swingable parallel rod synchronous telescoping mechanism of V belt translation formula | |
| CN110000756B (en) | Parallel mechanism with three-movement and two-movement one-spiral movement modes | |
| CN210061122U (en) | Electric cylinder driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150527 |