CN105619400A - Six-degree-of-freedom manipulator - Google Patents
Six-degree-of-freedom manipulator Download PDFInfo
- Publication number
- CN105619400A CN105619400A CN201610100006.5A CN201610100006A CN105619400A CN 105619400 A CN105619400 A CN 105619400A CN 201610100006 A CN201610100006 A CN 201610100006A CN 105619400 A CN105619400 A CN 105619400A
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- Prior art keywords
- mechanical arm
- degree
- freedom
- mechanical
- rotating shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
Abstract
The invention provides a six-degree-of-freedom manipulator. The six-degree-of-freedom manipulator comprises mechanical arms, a lifting upright column 2 and an output flange 12, wherein the mechanical arms comprise a mechanical arm A6, a mechanical arm B7, a mechanical arm C8 and a mechanical arm D10 which are sequentially connected to one another; a lifting track is arranged on the lifting upright column 2; the mechanical arm A6 is connected to the lifting track of the lifting upright column 2 in parallel; a lifting table 3 with a rotating shaft is arranged at a position where the mechanical arm A6 is connected with the lifting track; the mechanical arm B7 is connected with the mechanical arm A6 through a rotatable joint; the mechanical arm C8 is connected with the mechanical arm B7 through a rotatable joint; the mechanical arm D10 is connected with the mechanical arm C8 through a rotating shaft; and the output flange 12 is connected with the mechanical arm D10 through a rotating shaft. The positioning precision of the manipulator under complicated working conditions is improved, operation dead angles are reduced, the multi-degree-of-freedom manipulator capable of carrying a plurality of operation terminals is provided, and can drive the operation terminals to implement lifting, rotating and pitching in six-degree-of-freedom directions, the operation dead angles are eliminated in all directions, and therefore, the six-degree-of-freedom manipulator has high popularization and application value in lots of fields.
Description
Technical field
The present invention relates to mechanical hand technical field, specifically, relate to a kind of six degree of freedom mechanical hand.
Background technology
Replacing the device that staff completes operations function to be referred to as mechanical hand, mechanical hand is the robot apparatus realizing crawl automatically, carrying or operation by preset sequence, track and requirement. The mechanical hand applied in the industrial production is referred to as industry mechanical arm. Industry mechanical arm is the new technique occurred in automation field in modern age, and become an important component part in modern mechanical manufacturing production system, it relates to the scientific domains such as mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer technology, is a kind of high-tech automatic producing device of growing up of recent decades. Industry mechanical arm is also an important branch of industrial robot. His feature can be by programming to complete various intended operation, has people and the respective advantage of machine concurrently, be especially embodied in artificial intelligence and adaptability on structure and performance.
Mechanical hand can the replacement manual operation of part, and according to the requirement of production technology, it then follows certain program, time and position complete transmission and the handling of workpiece; The facility that can also operate necessity carry out welding and assembling, to improve the labor condition of workman and to raise labour productivity. Particularly in high temperature, high pressure, dust, noise and the occasion with radioactivity and pollution, application more extensive. Also had in recent years in China and developed faster, and obtained certain effect.
Development along with science and technology, mechanical hand in some applications, the motility of mechanical hand, degree of freedom there is increasingly higher requirement, such as fields such as assembling, cutting, spray-painting, cleanings, need mechanical hand being accurately positioned in complex working condition, existing mechanical hand programming complexity, cost is too high, it is difficult to the operation requirement of complex working condition, it is more difficult to realize the comprehensive operation without dead angle. At present, above-mentioned requirements is met in the urgent need to a kind of multiple degrees of freedom, flexible and convenient operation, mechanical hand that cost performance is high.
Summary of the invention
In order to solve current mechanical hand Problems existing, the present invention provides a kind of six degree of freedom mechanical hand, and its concrete technical scheme is as follows:
A kind of six degree of freedom mechanical hand, it includes mechanical arm, lifting column 2 and output flange 12, and described mechanical arm includes being sequentially connected with mechanical arm A6, mechanical arm B7, mechanical arm C8, mechanical arm D10, wherein:
Described lifting column 2 arranges fluctuating orbit, and mechanical arm A6 is connected in parallel to the fluctuating orbit of lifting column 2, and junction is provided with the lifting platform 3 of rotating shaft; Mechanical arm A6 can move up and down along fluctuating orbit, forms the first degree of freedom; Mechanical arm A6 can rotate within the scope of-90 �㡫90 �� around the rotating shaft of lifting platform 3, forms the second degree of freedom;
Between described mechanical arm B7 and mechanical arm A6, it is connected by rotatable joint between mechanical arm C8 and mechanical arm B7; Between mechanical arm B7 and mechanical arm A6, can realize relatively rotating between mechanical arm C8 and mechanical arm B7, formation the 3rd, four-degree-of-freedom;
Between described mechanical arm D10 and mechanical arm C8, it is connected by rotating shaft between output flange 12 and mechanical arm D10; Between mechanical arm D10 and mechanical arm C8, can realize rotating against between output flange 12 and mechanical arm D10, formation the 5th, six degree of freedom.
Further, the rotating shaft on described lifting platform 3, between mechanical arm B7 and mechanical arm A6, the rotating shaft between mechanical arm C8 and mechanical arm B7 is provided with electromagnetic brake 4 can with the rotation of limit rotating shaft.
Further, the junction of described mechanical arm D10 and mechanical arm C8 arranges reducing motor A9, it is rotated against and carries out power drive; Described output flange 12 arranges reducing motor B11 with mechanical arm D10 junction, it is rotated against and carries out power drive.
Further, reducing motor A9, reducing motor B11, electromagnetic brake 4 are connected with hand-held remote controller by wireless communication apparatus, hand-held remote controller be controlled action.
Further, the fluctuating orbit of described lifting column 2 is screw mechanism or pinion and rack.
Further, it arranges drag chain and carries out pipeline, described drag chain is fixed by runing rest 5, and described runing rest 5 is arranged at above lifting column 2 side, lifting platform 3, above mechanical arm A6, above mechanical arm B7, above mechanical arm C8/place of side or many places.
Further, described runing rest 5 is rotatable, swingable circular ring structure.
Further, described lifting column 2 is hollow type rectangular structure.
Further, arranging base 1 bottom described lifting column 2, described base 1 arranges bindiny mechanism, for entering to connect with fixing to mechanical hand.
Further, output flange 12 is connected with laser cleaning actuator.
A kind of six degree of freedom mechanical hand provided by the present invention, has the advantage that
The first, currently invention addresses the stationkeeping ability of the mechanical hand improved in complex working condition, reduce operation dead angle, a kind of Multi-freedom-degreemanipulator manipulator carrying multiple operation terminal is provided, operation terminal can be driven to realize the lifting in six-freedom degree direction, rotation, pitching, comprehensive elimination operation dead angle, it is achieved the precise positioning operation to operation object;
The second, the synchronous rotary problem of cable and mechanical arm is solved by runing rest and drag chain. Achieve the pipeline of whole device and mechanical arm synchronous rotary, make whole device more compact, operate, use more convenient.
3rd, the rotary setting of mechanical arm has manual and electronic mode, makes control process easily and effectively.
4th, electromagnetic brake is set at cradle head place, can effectively mechanical arm be positioned.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of six degree of freedom mechanical hand of the present invention;
Fig. 2 is one six degree of freedom mechanical hand front end robot arm section structure enlarged diagram of the present invention;
Fig. 3 is one six degree of freedom mechanical hand top view of the present invention.
[critical piece symbol description]
1: base; 2: lifting column; 3: lifting platform; 4: electromagnetic brake; 5: runing rest; 6: mechanical arm A; 7: mechanical arm B; 8: mechanical arm C; 9: reducing motor A; 10: mechanical arm D; 11: reducing motor B; 12: output flange.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiments of the invention, a kind of six degree of freedom mechanical hand of the present invention is described in further detail.
With reference to Fig. 1-3, a kind of six degree of freedom mechanical hand, it includes mechanical arm, lifting column 2 and output flange 12, and lifting column 2 is preferably hollow type rectangular structure, arranges mechanical arm described in some openings at sidewall and includes being sequentially connected with mechanical arm A6, mechanical arm B7, mechanical arm C8, mechanical arm D10.
Described lifting column 2 arranges fluctuating orbit, and mechanical arm A6 is connected in parallel to the fluctuating orbit of lifting column 2, and junction is provided with the lifting platform 3 of rotating shaft; Lifting platform 3 is provided with electromagnetic brake 4, it is possible to the rotation of its rotating shaft of limit. Mechanical arm A6 can move up and down along fluctuating orbit, forms the first degree of freedom; The fluctuating orbit of lifting column 2 is chosen as screw mechanism, rack-and-pinion or synchronous belt mechanism.
Mechanical arm A6 can rotate within the scope of-90 �㡫90 �� around the rotating shaft of lifting platform 3, forms the second degree of freedom; The main rotation of lifting of mechanical arm A6 mechanical arm A6 is driven by motor, and described motor is not in FIG with display.
Between described mechanical arm B7 and mechanical arm A6, it is connected by rotatable joint between mechanical arm C8 and mechanical arm B7; Between mechanical arm B7 and mechanical arm A6, can realize relatively rotating between mechanical arm C8 and mechanical arm B7, formation the 3rd, four-degree-of-freedom; Rotation process can manually drive or motor drives, it is preferred to manual actuation, it is achieved the rotation of mechanical arm, reaches positioning requirements.
Between described mechanical arm D10 and mechanical arm C8, it is connected by rotating shaft between output flange 12 and mechanical arm D10; The junction of described mechanical arm D10 and mechanical arm C8 arranges reducing motor A9, it is rotated against and carries out power drive. Described output flange 12 arranges reducing motor B11 with mechanical arm D10 junction, it is rotated against and carries out power drive. In one preferred version, reducing motor A9, reducing motor B11, electromagnetic brake 4 are connected with hand-held remote controller by wireless communication apparatus, hand-held remote controller be controlled action. Between mechanical arm D10 and mechanical arm C8, can realize rotating against between output flange 12 and mechanical arm D10, formation the 5th, six degree of freedom.
Owing to the degree of freedom of the six degree of freedom mechanical hand direction of rotation of the present invention is many, issue pipeline is the big difficult point needing to solve. If can not appropriate design, allow cable take larger space, and when mechanical arm rotates, easily occur the card of cable to wait indefinitely problem, bring inconvenience to the use of mechanical hand. The present invention arranges drag chain and carries out pipeline, and described drag chain is fixed by runing rest 5, and described runing rest 5 is arranged at above lifting column 2 side, lifting platform 3, above mechanical arm A6, above mechanical arm B7, above mechanical arm C8/place of side or many places. The circular ring structure that described runing rest 5 is preferably rotatable, swingable. So make drag chain easily with mechanical arm one body action, make pipeline reasonable, safely and effectively.
As a preferred version, arranging base 1 bottom described lifting column 2, described base 1 arranges bindiny mechanism, for entering to connect with fixing to mechanical hand. For example, it is possible to the mechanical hand of the present invention is fixed on traveling dolly by base 1, is driven by dolly and move formula operation.
In an Application Example of the mechanical hand of the present invention, the output flange 12 of this mechanical hand is connected with laser cleaning actuator, for tire-mold is carried out laser cleaning.
To sum up, currently invention addresses raising complex working condition mechanical hand positioning precision, reduce operation dead angle, a kind of Multi-freedom-degreemanipulator manipulator carrying multiple operation terminal is provided, operation terminal can be driven to realize the lifting in 6 degree of freedom directions, rotation, pitching, comprehensive elimination operation dead angle, it is achieved the precise positioning operation to operation object, has higher application value at numerous areas.
The foregoing is only the better embodiment of the present invention, all equalizations made according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (10)
1. a six degree of freedom mechanical hand, it is characterized in that: it includes mechanical arm, lifting column (2) and output flange (12), described mechanical arm includes being sequentially connected with mechanical arm A(6), mechanical arm B(7), mechanical arm C(8), mechanical arm D(10), wherein:
Described lifting column (2) arranges fluctuating orbit, mechanical arm A(6) it is connected in parallel to the fluctuating orbit of lifting column (2), junction is provided with the lifting platform (3) of rotating shaft; Mechanical arm A(6) can move up and down along fluctuating orbit, form the first degree of freedom; Mechanical arm A(6) can rotate within the scope of-90 �㡫90 �� around the rotating shaft of lifting platform (3), form the second degree of freedom;
Described mechanical arm B(7) with mechanical arm A(6) between, mechanical arm C(8) with mechanical arm B(7) between be connected by rotatable joint; Mechanical arm B(7) and mechanical arm A(6) between, mechanical arm C(8) and mechanical arm B(7) between can realize relatively rotating, formed the 3rd, four-degree-of-freedom;
Described mechanical arm D(10) with mechanical arm C(8) between, output flange (12) and mechanical arm D(10) between be connected by rotating shaft; Mechanical arm D(10) and mechanical arm C(8) between, output flange (12) and mechanical arm D(10) between can realize rotating against, form the 5th, six degree of freedom.
2. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: described lifting platform (3) is upper, mechanical arm B(7) and mechanical arm A(6) between rotating shaft, mechanical arm C(8) and mechanical arm B(7) between rotating shaft be provided with electromagnetic brake (4) can with the rotation of limit rotating shaft.
3. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: described mechanical arm D(10) with mechanical arm C(8) junction reducing motor A(9 is set), it is rotated against and carries out power drive; Described output flange (12) and mechanical arm D(10) junction arranges reducing motor B(11), it is rotated against and carries out power drive.
4. a kind of six degree of freedom mechanical hand according to claim 3, it is characterised in that: reducing motor A(9), reducing motor B(11), electromagnetic brake (4) be connected with hand-held remote controller by wireless communication apparatus, hand-held remote controller be controlled action.
5. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: the fluctuating orbit of described lifting column (2) is screw mechanism or pinion and rack or synchronous belt mechanism.
6. a kind of six degree of freedom mechanical hand according to claim 1, it is characterized in that: it arranges drag chain and is arranged pipeline, described drag chain is fixed by runing rest (5), and described runing rest (5) is arranged at lifting column (2) side, lifting platform (3) top, mechanical arm A(6) top, mechanical arm B(7) top, mechanical arm C(8) place of top/side or many places.
7. a kind of six degree of freedom mechanical hand according to claim 6, it is characterised in that: described runing rest (5) is rotatable, swingable circular ring structure.
8. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: described lifting column (2) is hollow type rectangular structure.
9. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: described lifting column (2) bottom arranges base (1), for entering to connect with fixing to mechanical hand.
10. a kind of six degree of freedom mechanical hand according to claim 1, it is characterised in that: output flange (12) is connected with laser cleaning actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100006.5A CN105619400A (en) | 2016-02-24 | 2016-02-24 | Six-degree-of-freedom manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100006.5A CN105619400A (en) | 2016-02-24 | 2016-02-24 | Six-degree-of-freedom manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105619400A true CN105619400A (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610100006.5A Pending CN105619400A (en) | 2016-02-24 | 2016-02-24 | Six-degree-of-freedom manipulator |
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| CN (1) | CN105619400A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
| CN106423610A (en) * | 2016-09-07 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom powder-spraying manipulator |
| CN106737615A (en) * | 2016-12-31 | 2017-05-31 | 中国工程物理研究院激光聚变研究中心 | Space six degree of freedom based on horizontal Automatic adjusument is servo-actuated joint Manipulator |
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107825396A (en) * | 2017-11-10 | 2018-03-23 | 广东电网有限责任公司东莞供电局 | A kind of electric operating carries the robot of high-tension porcelain insulator |
| WO2018086748A3 (en) * | 2016-11-14 | 2018-07-26 | Kuka Roboter Gmbh | Robot arm, mobile robot and logistics system |
| CN108593977A (en) * | 2018-06-11 | 2018-09-28 | 昆山宇辰光通自动化科技有限公司 | Clamping device for test equipment |
| CN108748359A (en) * | 2018-04-13 | 2018-11-06 | 盐城市协和机械有限公司 | A kind of fixed clamp system and clamping means of cutting machine |
| CN109318251A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device and its control method for joint of mechanical arm |
| CN109397268A (en) * | 2018-12-24 | 2019-03-01 | 襄阳蓬达高新科技有限公司 | A kind of simple multi-joint manipulator |
| CN110744312A (en) * | 2019-10-23 | 2020-02-04 | 西安航空职业技术学院 | Production line for modular workpiece machining |
| CN111266431A (en) * | 2020-01-21 | 2020-06-12 | 太原科技大学 | Gear type automatic placing device for backing plate of flatting mill |
| CN111495882A (en) * | 2020-04-24 | 2020-08-07 | 山东省科学院激光研究所 | Laser cleaning device |
| CN111702753A (en) * | 2020-04-30 | 2020-09-25 | 广西科技大学 | Redundant mechanical arm inverse priority impedance control system and control method |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112536793A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN112975118A (en) * | 2021-03-31 | 2021-06-18 | 江苏金孚驰智能装备有限公司 | Tire inner wall laser polishing method |
| US11065760B2 (en) | 2016-08-09 | 2021-07-20 | Inventec Appliances (Pudong) Corporation | Multiaxial robot with cover |
-
2016
- 2016-02-24 CN CN201610100006.5A patent/CN105619400A/en active Pending
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078710B (en) * | 2016-07-06 | 2018-03-06 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
| US11065760B2 (en) | 2016-08-09 | 2021-07-20 | Inventec Appliances (Pudong) Corporation | Multiaxial robot with cover |
| CN106423610A (en) * | 2016-09-07 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom powder-spraying manipulator |
| CN110167719A (en) * | 2016-11-14 | 2019-08-23 | 库卡德国有限公司 | Robots arm, mobile robot and logistics system |
| WO2018086748A3 (en) * | 2016-11-14 | 2018-07-26 | Kuka Roboter Gmbh | Robot arm, mobile robot and logistics system |
| CN106737615A (en) * | 2016-12-31 | 2017-05-31 | 中国工程物理研究院激光聚变研究中心 | Space six degree of freedom based on horizontal Automatic adjusument is servo-actuated joint Manipulator |
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107825396A (en) * | 2017-11-10 | 2018-03-23 | 广东电网有限责任公司东莞供电局 | A kind of electric operating carries the robot of high-tension porcelain insulator |
| CN107825396B (en) * | 2017-11-10 | 2023-10-20 | 广东电网有限责任公司东莞供电局 | Robot for carrying high-voltage porcelain insulator in electric power operation |
| CN108748359A (en) * | 2018-04-13 | 2018-11-06 | 盐城市协和机械有限公司 | A kind of fixed clamp system and clamping means of cutting machine |
| CN108593977A (en) * | 2018-06-11 | 2018-09-28 | 昆山宇辰光通自动化科技有限公司 | Clamping device for test equipment |
| CN109318251A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device and its control method for joint of mechanical arm |
| CN109397268A (en) * | 2018-12-24 | 2019-03-01 | 襄阳蓬达高新科技有限公司 | A kind of simple multi-joint manipulator |
| CN112309037B (en) * | 2019-08-01 | 2022-06-17 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN110744312A (en) * | 2019-10-23 | 2020-02-04 | 西安航空职业技术学院 | Production line for modular workpiece machining |
| CN111266431A (en) * | 2020-01-21 | 2020-06-12 | 太原科技大学 | Gear type automatic placing device for backing plate of flatting mill |
| CN111266431B (en) * | 2020-01-21 | 2022-08-26 | 太原科技大学 | Gear type automatic placing device for backing plate of flatting mill |
| CN111495882A (en) * | 2020-04-24 | 2020-08-07 | 山东省科学院激光研究所 | Laser cleaning device |
| CN111702753A (en) * | 2020-04-30 | 2020-09-25 | 广西科技大学 | Redundant mechanical arm inverse priority impedance control system and control method |
| CN112536793B (en) * | 2020-12-16 | 2021-10-22 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN112536793A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN112975118A (en) * | 2021-03-31 | 2021-06-18 | 江苏金孚驰智能装备有限公司 | Tire inner wall laser polishing method |
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Address after: 266000 Shandong province Qingdao City, Zhengzhou Road No. 3 Applicant after: QINGDAO WANLONG INTELLIGENT CONTROL TECHNOLOGY CO., LTD. Address before: 266000 Qingdao City, Shandong high tech Zone Torch Road No. 100 Pangu space D seat 206-14 Applicant before: QINGDAO WANLONG INTELLIGENT CONTROL TECHNOLOGY CO., LTD. |
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