CN105563476A - Three-freedom-degree mechanical arm - Google Patents
Three-freedom-degree mechanical arm Download PDFInfo
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- CN105563476A CN105563476A CN201510337811.5A CN201510337811A CN105563476A CN 105563476 A CN105563476 A CN 105563476A CN 201510337811 A CN201510337811 A CN 201510337811A CN 105563476 A CN105563476 A CN 105563476A
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Abstract
The invention discloses a three-freedom-degree mechanical arm. The three-freedom-degree mechanical arm comprises an X-axis unit, a Y-axis unit and a Z-axis unit, wherein the X-axis unit is arranged in the X-axis direction of a space rectangular coordinate system, the Y-axis unit is arranged in the Y-axis direction of the space rectangular coordinate system, and the Z-axis unit is arranged in the Z-axis direction of the space rectangular coordinate system. According to the three-freedom-degree mechanical arm, three freedom degrees are achieved, the control stroke of each freedom degree can be adjusted according to needs, and multiple industrial field requirements are met. The response of a servo motor and a linear air cylinder is fast and accurate, and the work precision and the production efficiency are improved; and the load capacity is high, and the work process is safe and reliable. A mechanical arm tail end executing device is an opening type expanding connecting plate, and can be connected with different jigs according to needs to meet the actual requirements.
Description
Technical field
The present invention relates to automated machine apparatus field, refer to a kind of three freedom degree manipulator especially.
Background technology
Manipulator is the manual automation equipment of a kind of simulation people, and it can capture according to fixed routine, carry object or clamping device completes some and specifically operate.Application machine hand can replace people to be engaged in dullness, repetition or heavy manual labor, realizes automated production process, also can operate under hostile environment, improve work situation, ensures safety of workers.
At present, robot device is widely used in the fields such as various industrial production.As conveyer belt carrying, workpiece-taking of plastic jetting-moulding machine, packaging products in boxes etc.The deficiencies such as conventional manipulator ubiquity complex structure, cost is high, control accuracy is low.
Summary of the invention
In view of this, the object of the invention is to propose that a kind of structure is simple, cost is low, the three freedom degree manipulator that control accuracy is higher.
Based on above-mentioned purpose a kind of three freedom degree manipulator provided by the invention, comprising: respectively along X-axis unit, Y-axis unit and Z axis unit that the X-axis of rectangular coordinate system in space, Y-axis, Z-direction are arranged;
Described X-axis unit, comprise: the fixing square steel extended along X-direction, described fixing square steel upper surface is provided with the X-axis guide rail of X-axis slide block, and described X-axis slide block is fixed with X-axis substrate, described X-axis substrate arranges a servomotor, the motor shaft of described servomotor is arranged a roller; Described fixing square steel is also provided with belt along described X-axis guide rail, and described belt is connected with described roller by belt pulley;
Described Y-axis unit, comprising: one end is fixed on the Y-axis aluminium section bar extended on described X-axis substrate and along Y direction, a side of described Y-axis aluminium section bar is provided with the Y-axis guide rail of Y-axis slide block, described Y-axis slide block is fixed with Y-axis substrate; The described Y-axis aluminium section bar other end is provided with Y-axis cylinder, and the piston rod of described Y-axis cylinder is fixedly attached to described Y-axis substrate;
Described Z axis unit, comprising: Z axis aluminium section bar, be fixedly attached to the Z axis pedestal of described Y-axis substrate; Described Z axis aluminium section bar extends along Z-direction, and one side is provided with the Z axis guide rail of Z axis slide block, and described Z axis slide block is fixedly connected with described Z axis pedestal; Described Z axis pedestal is also provided with Z axis cylinder, and the piston rod of described Z axis cylinder is fixedly attached to the bottom of described Z axis aluminium section bar; The bottom of described Z axis aluminium section bar is also provided with the expansion connecting plate for installation exercise instrument.
Preferably, described X-axis unit also comprises X-axis drag chain; Described X-axis substrate is arranged X-axis drag chain upper mounted plate, described fixing square steel is arranged X-axis drag chain bottom plate; The two ends of described X-axis drag chain connect described X-axis drag chain upper mounted plate and X-axis drag chain bottom plate respectively, and the power line of described servomotor and control line are placed in described X-axis drag chain.
Preferably, the two ends of described fixing square steel are respectively arranged with limit on the left sensor block and limit on the right-right-hand limit sensor block; The two ends, left and right of described X-axis base lower surface arrange limit on the left induction installation and limit on the right-right-hand limit induction installation respectively.
Preferably, described fixing square steel is provided with gets thing sensor block and glove sensor block; Described X-axis base lower surface is provided with gets thing induction installation and glove induction installation.
Preferably, described Y-axis unit also comprises Y-axis drag chain; Described Y-axis substrate is arranged Y-axis drag chain upper mounted plate, described Y-axis aluminium section bar is arranged Y-axis drag chain bottom plate, the two ends of described Y-axis drag chain connect described Y-axis drag chain upper mounted plate and Y-axis drag chain bottom plate respectively, and the tracheae of described Y-axis cylinder and control line are placed in described Y-axis drag chain.
Preferably, on described Y-axis aluminium section bar, in the minimum and maximum travel position place of Y-axis cylinder piston rod, a Y-axis oil buffer is respectively set.
Preferably, the lower end of described Y-axis substrate is also provided with anti-dropping gas cylinder, Z axis aluminium section bar free-falling during for preventing that in described example, manipulator source of the gas breaks down.
Preferably, described Z axis unit also comprises Z axis drag chain; Described Z axis aluminium section bar top arranges Z axis drag chain upper mounted plate, and described Y-axis substrate top arranges Z axis drag chain bottom plate; The two ends of described Z axis drag chain connect described Z axis drag chain upper mounted plate and Z axis drag chain bottom plate respectively, and the tracheae of described Z axis cylinder and control line are placed in described Y-axis drag chain.
Preferably, described Z axis aluminium section bar is fixedly connected with by the bottom of Z axis lower connecting plate with described Z axis aluminium section bar, and the upper end of described Z axis guide rail arranges block; The two ends up and down of described Z axis pedestal respectively arrange a Z axis oil buffer.
Preferably, described expansion connecting plate is provided with the sucker for installation exercise instrument and/or fixture.
As can be seen from above, three freedom degree manipulator provided by the invention, the X-axis unit, Y-axis unit and the Z axis unit that are arranged by the X-axis respectively along rectangular coordinate system in space, Y-axis, Z-direction; Achieve three degree of freedom, the control stroke of each free degree can adjust as required, meet multiple industry spot demand; Servomotor and straight line cylinder fast response time and accurate, improve operating accuracy and production efficiency; Load capacity is strong, and the course of work is safe and reliable; Arm end actuating unit is open expansion connecting plate, can connect different tools according to demand and coordinate actual demand.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the three freedom degree manipulator general structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the X-axis cellular construction schematic diagram of the embodiment of the present invention;
Fig. 3 is the Y-axis cellular construction schematic diagram of the embodiment of the present invention;
Fig. 4 is the Z axis cellular construction schematic diagram of the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Embodiments provide a kind of three freedom degree manipulator, comprise: X-axis unit, Y-axis unit and Z axis unit, above-mentioned three unit are arranged along the X-axis of rectangular coordinate system in space, Y-axis, Z-direction respectively, and namely the three freedom degree manipulator of the present embodiment can realize moving of X, Y, Z tri-change in coordinate axis direction under rectangular coordinate system in space.
With reference to figure 1 and Fig. 2, described X-axis unit comprises: the fixing square steel 2 extended along X-direction.Fixing square steel 2 is fixing with a support 1 by soket head cap screw, and support 1 is positioned at the bottommost of whole three freedom degree manipulator, for carrying and other each several part mechanisms of fixing three freedom degree manipulator.The upper surface of fixing square steel 2 is provided with the X-axis guide rail 3 of X-axis slide block (not shown), in the present embodiment, is provided with two X-axis guide rails 3, every bar X-axis guide rail 3 is provided with two X-axis slide blocks; In other embodiments, according to concrete need of work, X-axis slide block and X-axis guide rail can be selected to be set to other quantity.Four X-axis slide blocks secure an X-axis substrate 4, X-axis substrate 4 is provided with motor mounting plate 5, servomotor 6 is installed on motor mounting plate 5 after being connected with reductor 7, the motor shaft of servomotor 6 is arranged a roller 8.Fixing square steel 2 is also provided with belt 9 along described X-axis guide rail 3, and belt 9 is arranged on fixing square steel 2 by the belt fixed block 10 being installed on fixing square steel 2 two ends, and belt fixed block 10 can be used for the degree of tightness regulating belt 9.Belt 9 is connected with roller 8 by belt pulley, and in the present embodiment, belt 9 is connected with roller 8 by two belt pulleys, and in other embodiments, according to concrete need of work, belt pulley can also be set to other quantity.
During work, servomotor 6 drives roller 8 to rotate, and by the transmission of belt pulley and belt 9, X-axis substrate 4 is moved back and forth along X-axis guide rail by X-axis slide block.
Further, fixing square steel 2 is also provided with electric control box 11, its inside is provided with power module and the control module of servomotor in the present embodiment and each cylinder.Accordingly, the X-axis unit of the present embodiment also comprises an X-axis drag chain 12; In the present embodiment, X-axis drag chain 12 is rotationally connected successively by multiple chain link head and the tail, and to form the chain structure of a hollow, its hollow space can be used in cabling.X-axis substrate 4 is arranged X-axis drag chain upper mounted plate 13, fixing square steel 2 arranges X-axis drag chain bottom plate 14, and the two ends of X-axis drag chain 12 connect X-axis drag chain upper mounted plate 13 and X-axis drag chain bottom plate 14 respectively; Wherein, X-axis drag chain bottom plate 14 is microscler channel-shaped structure, and X-axis drag chain 12, near putting in the inner with a part for X-axis drag chain bottom plate 14 connecting place, can be subject to the guiding function of X-axis drag chain bottom plate 14 when X-axis drag chain 12 moves, to carry out regular motion, there is higher stability.The power line of servomotor 6 and control line are placed in X-axis drag chain 12 after being drawn by electric control box 11; During X-axis cell operation, X-axis substrate 4 can drive the power line of servomotor 6 and control line to move back and forth, and X-axis drag chain 12 can play restriction and guiding function for the motion of the power line of servomotor 6 and control line, ensures its service life.
Further, the two ends of fixing square steel 2 are respectively arranged with limit on the left sensor block 15 and limit on the right-right-hand limit sensor block 16; Accordingly, the two ends, left and right of X-axis substrate 4 lower surface arrange limit on the left induction installation (not shown) and limit on the right-right-hand limit induction installation (not shown) respectively, limit on the left induction installation and limit on the right-right-hand limit induction installation preferably magnetic induction proximity switch; In other embodiments, limit on the left induction installation and limit on the right-right-hand limit induction installation also can select infrared inductor, laser inductor, or other object detection device.Limit on the left induction installation and limit on the right-right-hand limit induction installation are used in the motion process of X-axis substrate 4, to the sensing of limit on the left sensor block 15 and limit on the right-right-hand limit sensor block 16, exceed Derivative limit on the left or on the right position to ensure that X-axis substrate 4 can not move.Such as, X-axis substrate 4, left in motion process, moves closer to limit on the left position, limit on the left induction installation can sense limit on the left sensor block 15, and produce induced signal and be sent to control module, under the control of control module, control servomotor 6 brake hard, anti-locking apparatus breaks.
With reference to figure 1 and Fig. 3, described Y-axis unit comprises: one end is fixed on the Y-axis aluminium section bar 17 extended on X-axis substrate 4 and along Y direction.Y-axis aluminium section bar 17 is fixed on X-axis substrate 4 by Y-axis connecting plate 18 (shown in Fig. 2).A side of Y-axis aluminium section bar 17 is provided with the Y-axis guide rail 19 of Y-axis slide block (not shown); In the present embodiment, Y-axis guide rail 19 has two, and every bar Y-axis guide rail 19 is provided with two Y-axis slide blocks; In other embodiments, according to concrete need of work, Y-axis slide block and Y-axis guide rail can be selected to be set to other quantity.Four Y-axis slide blocks secure a Y-axis substrate 20.Y-axis cylinder 21 is fixed on the other end at Y-axis aluminium section bar 17 by Y-axis air cylinder fixed plate 22; Y-axis substrate 20 also extends a cylinder piston rod fixed head 23, the piston rod of Y-axis cylinder 21 is fixedly attached to cylinder piston rod fixed head 23.
During work, the piston rod of Y-axis cylinder 21 drives cylinder piston rod fixed head 23 to move, and the Y-axis substrate 20 be connected with cylinder piston rod fixed head 23 is moved back and forth along Y-axis guide rail 19 by Y-axis slide block.
Further, the Y-axis unit of the present embodiment also comprises a Y-axis drag chain 24, and the structure of Y-axis drag chain 24 is identical with X-axis drag chain 12.Y-axis substrate 20 is provided with Y-axis drag chain upper mounted plate 25; Y-axis aluminium section bar 17 is provided with Y-axis drag chain bottom plate 26.The two ends of Y-axis drag chain 24 connect Y-axis drag chain upper mounted plate 25 and Y-axis drag chain bottom plate 26 respectively.Y-axis drag chain bottom plate 26 is also microscler channel-shaped structure, identical with the effect of X-axis drag chain bottom plate 14, can play guiding restriction to Y-axis drag chain 2.The tracheae of Y-axis cylinder 21 and control line arrive the position of Y-axis cylinder 21 after being drawn by electric control box 11 by X-axis drag chain 12 and Y-axis drag chain 24; Same, in Y-axis unit motion process, Y-axis drag chain 24 can play restriction and guiding function for the tracheae of Y-axis cylinder 21 and control line, ensures its service life.
Further, Y-axis aluminium section bar 17 is also provided with oil buffer installing plate 27.Shown in figure 3, because Y-axis cylinder 21 is installed in Y-axis air cylinder fixed plate 22, the position of Y-axis air cylinder fixed plate 22 is the minimum stroke of Y-axis cylinder 21 piston rod; Oil buffer installing plate 27 is fixed on position that is relative with Y-axis air cylinder fixed plate 22 and certain air line distance of being separated by by soket head cap screw, and the length of this distance is substantially equal to the range of Y-axis cylinder 21 piston rod; Accordingly, oil buffer installing plate 27 and Y-axis air cylinder fixed plate 22 respectively arrange an oil buffer 28, for reducing the infringement of brake hard to Y-axis cylinder 21.
With reference to figure 1 and Fig. 4, described Z axis unit comprises: Z axis aluminium section bar 29, be fixedly attached to the Z axis pedestal 30 of described Y-axis substrate 20.Z axis aluminium section bar 29 extends along Z-direction, and one side is provided with the Z axis guide rail 31 of Z axis slide block (not shown).In the present embodiment, a Z axis guide rail 31 is set, it has two Z axis slide blocks; In other embodiments, according to concrete need of work, Z axis slide block and Z axis guide rail can be selected to be set to other quantity.Two Z axis slide blocks are fixedly connected with Z axis pedestal 30 by soket head cap screw.Z axis pedestal 30 is also provided with Z axis cylinder 32.The bottom of Z axis aluminium section bar 29 is provided with Z axis lower connecting plate 33, and the piston rod of Z axis cylinder 32 is fixedly attached to Z axis lower connecting plate 33.The bottom of Z axis aluminium section bar 29 is also provided with expansion connecting plate 34, and expansion connecting plate 34 is provided with at least 4 soket head cap screws, installs the sucker that is used for installation exercise instrument or fixture etc. by soket head cap screw.
During work, Z axis cylinder 32 piston rod drives Z axis aluminium section bar 29 by Z axis lower connecting plate 33, based on the sliding relation between Z axis slide block and Z axis guide rail 31, Z axis aluminium section bar 29 is moved back and forth along Z-direction.
Further, Z axis unit also comprises Z axis drag chain 35, and the structure of Z axis drag chain 35 is identical with X-axis drag chain 12.Z axis aluminium section bar 29 top arranges Z axis drag chain upper mounted plate 36, and Y-axis substrate 20 (shown in Fig. 3) top arranges Z axis drag chain bottom plate 37.The two ends of Z axis drag chain 35 connect Z axis drag chain upper mounted plate 36 and Z axis drag chain bottom plate 37 respectively.After the tracheae of Z axis cylinder 32 and control line are drawn by electric control box 11, successively by after X-axis drag chain 12 and Y-axis drag chain 24, then through Z axis drag chain 35, reach Z axis cylinder 32 place; Same, in Z axis unit motion process, Z axis drag chain 35 can play restriction and guiding function for the tracheae of Z axis cylinder 32 and control line, ensures its service life.
Further, the upper end of Z axis guide rail 31 arranges block 38.The two ends up and down of Z axis pedestal 30 respectively arrange a Z axis oil buffer 39.In Z axis cell operation process, the reduction brake hard that the cooperating of Z axis oil buffer 39 and upper block 38 and Z axis lower connecting plate 33 can be same is to the infringement of Z axis cylinder 32.
For above-mentioned complete the present embodiment, according to different handling situations, required power tool is fixed on expansion connecting plate 34 by sucker, fixture.By X-axis unit, Y-axis unit, Z axis unit respectively X-axis, Y-axis, Z axis motion with carry out expand connecting plate 34 position adjustment, and by it on installation power tool carry out concrete operation.
As preferably, with reference to figure 2, in X-axis unit, fixing square steel 2 is also provided with and gets thing sensor block 40 and glove sensor block 41.Accordingly, thing induction installation (not shown) and glove induction installation (not shown) is got in the lower surface setting of X-axis substrate 4.Getting thing induction installation and glove induction installation can be infrared inductor, laser inductor, or other object detection device; Move at X-axis substrate 4 and get thing sensor block 40 place, get thing induction installation and sense to get after thing sensor block 40 and stop, this position is default get object location, and now the Z axis aluminium section bar 29 of Z axis unit can move downward, and is undertaken getting thing by expansion connecting plate 34.To get thing induction installation similar with getting thing sensor block 40 and setting, for controlling glove process for glove sensor block 41 and glove induction installation working method.According to different working conditions, get thing sensor block 40 and glove sensor block 41, and the setting position getting thing induction installation and glove induction installation is set can changes.
As preferably, with reference to figure 3, the lower end of Y-axis substrate 20 is also provided with anti-dropping gas cylinder 42, anti-dropping gas cylinder 42 is fixed on Y-axis substrate 20 by anti-dropping gas cylinder installing plate 43, anti-dropping gas cylinder bar fills a spring, in robot movement process, due to the cause specifics such as fault do not have suddenly a source of the gas time, by the active force of spring, anti-dropping gas cylinder masthead is stopped arm, prevent Z axis arm from causing the accident because Action of Gravity Field falls; When bleed pressure is normal, cylinder rod is retracted.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a three freedom degree manipulator, is characterized in that, comprising: respectively along X-axis unit, Y-axis unit and Z axis unit that the X-axis of rectangular coordinate system in space, Y-axis, Z-direction are arranged;
Described X-axis unit, comprise: the fixing square steel extended along X-direction, described fixing square steel upper surface is provided with the X-axis guide rail of X-axis slide block, and described X-axis slide block is fixed with X-axis substrate, described X-axis substrate arranges a servomotor, the motor shaft of described servomotor is arranged a roller; Described fixing square steel is also provided with belt along described X-axis guide rail, and described belt is connected with described roller by belt pulley;
Described Y-axis unit, comprising: one end is fixed on the Y-axis aluminium section bar extended on described X-axis substrate and along Y direction, a side of described Y-axis aluminium section bar is provided with the Y-axis guide rail of Y-axis slide block, described Y-axis slide block is fixed with Y-axis substrate; The described Y-axis aluminium section bar other end is provided with Y-axis cylinder, and the piston rod of described Y-axis cylinder is fixedly attached to described Y-axis substrate;
Described Z axis unit, comprising: Z axis aluminium section bar, be fixedly attached to the Z axis pedestal of described Y-axis substrate; Described Z axis aluminium section bar extends along Z-direction, and one side is provided with the Z axis guide rail of Z axis slide block, and described Z axis slide block is fixedly connected with described Z axis pedestal; Described Z axis pedestal is also provided with Z axis cylinder, and the piston rod of described Z axis cylinder is fixedly attached to the bottom of described Z axis aluminium section bar; The bottom of described Z axis aluminium section bar is also provided with the expansion connecting plate for installation exercise instrument.
2. three freedom degree manipulator according to claim 1, is characterized in that, described X-axis unit also comprises X-axis drag chain; Described X-axis substrate is arranged X-axis drag chain upper mounted plate, described fixing square steel is arranged X-axis drag chain bottom plate; The two ends of described X-axis drag chain connect described X-axis drag chain upper mounted plate and X-axis drag chain bottom plate respectively, and the power line of described servomotor and control line are placed in described X-axis drag chain.
3. three freedom degree manipulator according to claim 1, is characterized in that, the two ends of described fixing square steel are respectively arranged with limit on the left sensor block and limit on the right-right-hand limit sensor block; The two ends, left and right of described X-axis base lower surface arrange limit on the left induction installation and limit on the right-right-hand limit induction installation respectively.
4. three freedom degree manipulator according to claim 1, is characterized in that, described fixing square steel is provided with and gets thing sensor block and glove sensor block; Described X-axis base lower surface is provided with gets thing induction installation and glove induction installation.
5. three freedom degree manipulator according to claim 1, is characterized in that, described Y-axis unit also comprises Y-axis drag chain; Described Y-axis substrate is arranged Y-axis drag chain upper mounted plate, described Y-axis aluminium section bar is arranged Y-axis drag chain bottom plate, the two ends of described Y-axis drag chain connect described Y-axis drag chain upper mounted plate and Y-axis drag chain bottom plate respectively, and the tracheae of described Y-axis cylinder and control line are placed in described Y-axis drag chain.
6. three freedom degree manipulator according to claim 1, is characterized in that, on described Y-axis aluminium section bar, in the minimum and maximum travel position place of Y-axis cylinder piston rod, respectively arranges a Y-axis oil buffer.
7. three freedom degree manipulator according to claim 1, is characterized in that, the lower end of described Y-axis substrate is also provided with anti-dropping gas cylinder, Z axis aluminium section bar free-falling during for preventing that in described example, manipulator source of the gas breaks down.
8. three freedom degree manipulator according to claim 1, is characterized in that, described Z axis unit also comprises Z axis drag chain; Described Z axis aluminium section bar top arranges Z axis drag chain upper mounted plate, and described Y-axis substrate top arranges Z axis drag chain bottom plate; The two ends of described Z axis drag chain connect described Z axis drag chain upper mounted plate and Z axis drag chain bottom plate respectively, and the tracheae of described Z axis cylinder and control line are placed in described Y-axis drag chain.
9. three freedom degree manipulator according to claim 1, is characterized in that, described Z axis aluminium section bar is fixedly connected with by the bottom of Z axis lower connecting plate with described Z axis aluminium section bar, and the upper end of described Z axis guide rail arranges block; The two ends up and down of described Z axis pedestal respectively arrange a Z axis oil buffer.
10. three freedom degree manipulator according to claim 1, is characterized in that, described expansion connecting plate is provided with the sucker for installation exercise instrument and/or fixture.
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| CN201510337811.5A CN105563476A (en) | 2015-06-17 | 2015-06-17 | Three-freedom-degree mechanical arm |
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