CN105881507B - A kind of puma manipulator control device - Google Patents
A kind of puma manipulator control device Download PDFInfo
- Publication number
- CN105881507B CN105881507B CN201610349395.5A CN201610349395A CN105881507B CN 105881507 B CN105881507 B CN 105881507B CN 201610349395 A CN201610349395 A CN 201610349395A CN 105881507 B CN105881507 B CN 105881507B
- Authority
- CN
- China
- Prior art keywords
- support
- hydraulic column
- support bar
- gripper
- hydraulic
- 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.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of puma manipulator control devices,Including support base,The support base upper surface is equipped with turntable,Turntable is equipped with rotary support,And the lower surface of support base is equipped with motor,Equipment is driven to be rotated by first motor,Facilitate moving left and right for manipulator with this,The first hydraulic column is also provided in equipment,Second hydraulic column and third hydraulic column,Pass through the first hydraulic column,Second hydraulic column and third hydraulic column can drive first support bar,Second support bar carries out doing bending or stretches action with third supporting rod,Electric telescopic rod is provided in equipment,Gripper is set to firmly grasp object by the promotion movable supporting ring of electric telescopic rod,Infrared induction device is additionally provided in equipment,It can detect around gripper whether have barrier by infrared induction device,The device structure simple operations are easy,Machinery can be automatically controlled to be operated,Convenient staff.
Description
Technical field
The present invention relates to field of mechanical technique, specially a kind of puma manipulator control device.
Background technology
Robot is used for loading/unloading products, and user can complete the work to be completed of operator, machine using robot
Although people can replace operator, to maintain robot to load, can increase the workload of engineer, but current most of all be
It is completed by manually, for this purpose, it is proposed that a kind of puma manipulator control device.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of puma manipulator control device
Problem.
To achieve the above object, the present invention provides the following technical solutions：A kind of puma manipulator control device, including support
Pedestal, the support base upper surface are equipped with turntable, and turntable is equipped with rotary support, and the lower surface of support base is equipped with
Motor, motor output shaft end are connected through the lower end of support base and rotary support, and the side of rotary support upper surface is equipped with
First support bar, and first support bar is connect by shaft with rotating base, the side of the first support bar and rotary support
Between be equipped with the first hydraulic column, the upper end of the first support bar is connected with second support bar by shaft, first support bar with
The second hydraulic column is connected between second support bar, the other end of the second support bar is connected with third support by shaft
Bar is equipped with third hydraulic column between second support bar and third supporting rod, the side of the end of third supporting rod is equipped with gripper,
The outside of described gripper one end is equipped with movable supporting ring, and the side of the movable supporting ring is equipped with support plate, and support plate passes through
Four electric telescopic rods are connect with one end of movable supporting ring, and the upper surface of the rotary support is equipped with hydraulic cylinder, and hydraulic cylinder is logical
It crosses oil pipe to connect with the first hydraulic column, the second hydraulic column and third hydraulic column, the side of the rotary support is equipped with controller, control
Device electrical connection hydraulic cylinder, motor and electric telescopic rod processed.
Preferably, blade tooth there are four being set on the gripper, blade tooth is connected by the end of shaft and gripper, and blade tooth
End is additionally provided with spring.
Preferably, the gripper is equipped with pressure sensor and infrared induction device, infrared induction device and pressure
Force snesor is electrically connected controller.
Preferably, it is electrically connected with blue-tooth device in the controller.
Compared with prior art, the beneficial effects of the invention are as follows：The puma manipulator control device is provided with electricity in equipment
Machine drives equipment to be rotated by first motor, facilitates moving left and right for manipulator with this, is also provided in equipment
One hydraulic column, the second hydraulic column and third hydraulic column can be driven by the first hydraulic column, the second hydraulic column and third hydraulic column
First support bar, second support bar and third supporting rod carry out doing bending or stretch action, and electric telescopic rod is provided in equipment,
So that gripper is firmly grasped object by the promotion movable supporting ring of electric telescopic rod, infrared induction dress is additionally provided in equipment
It sets, can detect around gripper whether have barrier by infrared induction device, the device structure simple operations are easy,
Machinery can be automatically controlled to be operated, staff is facilitated.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is that the present invention looks up face structural schematic diagram.
In figure：1 controller, 2 support bases, 3 rotary supports, 4 first support bars, 5 second hydraulic columns, 6 second support bars,
7 third hydraulic columns, 8 third supporting rods, 9 electric telescopic rods, 10 movable supporting rings, 11 grippers, 12 first hydraulic columns, 13 hydraulic pressure
Cylinder, 14 springs, 15 motors, 16 support plates.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of puma manipulator control device, including support bottom
Seat 2,2 upper surface of support base are equipped with turntable, and turntable is equipped with rotary support 3, and the lower surface of support base 2 is equipped with electricity
Machine 15,15 output shaft end of motor are connect through support base 2 with the lower end of rotary support 3, and equipment is driven by motor 15
It being rotated, moving left and right for manipulator 11 is facilitated with this, the side of 3 upper surface of rotary support is equipped with first support bar 4, and
First support bar 4 is connect by shaft with rotating base 3, and the first liquid is equipped between the side and rotary support 3 of first support bar 4
Compression leg 12, the upper end of first support bar 4 are connected with second support bar 6 by shaft, first support bar 4 and second support bar 6 it
Between be connected with the second hydraulic column 5, the other end of second support bar 6 is connected with third supporting rod 8, second support bar 6 by shaft
Third hydraulic column 7 is equipped between third supporting rod 8, the side of the end of third supporting rod 8 is equipped with gripper 11, gripper 11
On set there are four blade tooth, blade tooth is connect by shaft with the end of gripper 11, and blade tooth end is additionally provided with spring 14, gripper
The outside of 11 one end is equipped with movable supporting ring 10, and the side of movable supporting ring 10 is equipped with support plate 16, and support plate 16 passes through four
Electric telescopic rod 9 is connect with one end of movable supporting ring 10, makes machinery by the promotion movable supporting ring 10 of electric telescopic rod 9
Pawl 11 firmly grasps object, and the upper surface of rotary support 3 is equipped with hydraulic cylinder 13, and hydraulic cylinder 13 passes through oil pipe and the first hydraulic column 12, the
Two hydraulic columns 5 and third hydraulic column 7 connect, and can be driven by the first hydraulic column 12, the second hydraulic column 5 and third hydraulic column 7
First support bar 4, second support bar 6 carry out doing bending or stretch action with third supporting rod 8, and the side of rotary support 3 is equipped with
Controller 1, controller 1 are electrically connected hydraulic cylinder 13, motor 15 and electric telescopic rod 9, gripper 11 be equipped with pressure sensor and
Infrared induction device, whether gripper 11 around have barrier, infrared ray sense if can be detected by infrared induction device
It answers device and pressure sensor to be electrically connected controller 1, blue-tooth device is electrically connected in controller 1, it can be by blue-tooth device
Row remote operation, the device structure simple operations are easy, can automatically control machinery and be operated, facilitate staff.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (3)
1. a kind of puma manipulator control device, including support base (2), it is characterised in that：Support base (2) upper surface
Equipped with turntable, turntable is equipped with rotary support (3), and the lower surface of support base (2) is equipped with motor (15), motor (15)
Output shaft end is connect through support base (2) with the lower end of rotary support (3), and the side of rotary support (3) upper surface is equipped with
First support bar (4), and first support bar (4) is connect by shaft with rotating base (3), the one of the first support bar (4)
It is equipped with the first hydraulic column (12) between side and rotary support (3), the upper end of the first support bar (4) is connected with the by shaft
Two supporting rods (6) are connected with the second hydraulic column (5), second support between first support bar (4) and second support bar (6)
The other end of bar (6) is connected with third supporting rod (8) by shaft, is equipped between second support bar (6) and third supporting rod (8)
Third hydraulic column (7), the side of the end of third supporting rod (8) are equipped with gripper (11), described gripper (11) one end it is outer
Side is equipped with movable supporting ring (10), and the side of the movable supporting ring (10) is equipped with support plate (16), and support plate (16) passes through four
A electric telescopic rod (9) connect with one end of movable supporting ring (10), and the upper surface of the rotary support (3) is equipped with hydraulic cylinder
(13), hydraulic cylinder (13) is connect by oil pipe with the first hydraulic column (12), the second hydraulic column (5) and third hydraulic column (7), described
The side of rotary support (3) is equipped with controller (1), and controller (1) is electrically connected hydraulic cylinder (13), motor (15) and electric telescopic rod
(9)；The gripper (11) is equipped with pressure sensor and infrared induction device, infrared induction device and pressure sensor
It is electrically connected controller (1).
2. a kind of puma manipulator control device according to claim 1, it is characterised in that：It is set on the gripper (11)
There are four blade tooths, and blade tooth is connect by shaft with the end of gripper (11), and blade tooth end is additionally provided with spring (14).
3. a kind of puma manipulator control device according to claim 1, it is characterised in that：It is electric in the controller (1)
It is connected with blue-tooth device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349395.5A CN105881507B (en) | 2016-05-19 | 2016-05-19 | A kind of puma manipulator control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349395.5A CN105881507B (en) | 2016-05-19 | 2016-05-19 | A kind of puma manipulator control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881507A CN105881507A (en) | 2016-08-24 |
| CN105881507B true CN105881507B (en) | 2018-09-14 |
Family
ID=56716857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610349395.5A Expired - Fee Related CN105881507B (en) | 2016-05-19 | 2016-05-19 | A kind of puma manipulator control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881507B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106734695A (en) * | 2016-12-28 | 2017-05-31 | 滁州品之达电器科技有限公司 | A kind of high accuracy punching press feeding mechanical hand |
| CN107128547A (en) * | 2017-06-16 | 2017-09-05 | 南通神马线业有限公司 | A kind of line product inspection device |
| CN107309621A (en) * | 2017-06-29 | 2017-11-03 | 聂文斌 | A kind of metal parts positioning grab bucket |
| CN107378911B (en) * | 2017-08-02 | 2020-07-10 | 娄底景明新材料有限公司 | Novel manipulator |
| CN107571233A (en) * | 2017-09-28 | 2018-01-12 | 中国矿业大学 | A kind of remote pick device controlled by Bluetooth of mobile phone |
| CN108691287A (en) * | 2018-04-03 | 2018-10-23 | 黄永怀 | A kind of Intelligent sweeping machine device people |
| CN108839012A (en) * | 2018-08-07 | 2018-11-20 | 上海大学 | A kind of sixdegree-of-freedom simulation |
| CN108967460A (en) * | 2018-09-18 | 2018-12-11 | 广州酒家集团利口福食品有限公司 | A kind of moon cake swabbing intelligent robot |
| CN110568143A (en) * | 2019-09-25 | 2019-12-13 | 浙江海洋大学 | Seawater salinity measuring device in regional scope |
| CN111015707B (en) * | 2019-12-24 | 2022-05-24 | 广东技术师范大学 | Simple mechanical arm of industrial robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3608743A (en) * | 1970-05-04 | 1971-09-28 | Gen Electric | Material-handling apparatus |
| DE2851961A1 (en) * | 1977-12-06 | 1979-06-07 | Vyzk Vyvojovy Ustav Elektric | Industrial robot grab head - has screw on motor shaft working in nut actuating swing grab arms |
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| CN202622801U (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod type manipulator |
| CN203031161U (en) * | 2013-01-24 | 2013-07-03 | 无锡市陆生机械设备有限公司 | Mechanical arm assisting production of steel structural components |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
-
2016
- 2016-05-19 CN CN201610349395.5A patent/CN105881507B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3608743A (en) * | 1970-05-04 | 1971-09-28 | Gen Electric | Material-handling apparatus |
| DE2851961A1 (en) * | 1977-12-06 | 1979-06-07 | Vyzk Vyvojovy Ustav Elektric | Industrial robot grab head - has screw on motor shaft working in nut actuating swing grab arms |
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| CN202622801U (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod type manipulator |
| CN203031161U (en) * | 2013-01-24 | 2013-07-03 | 无锡市陆生机械设备有限公司 | Mechanical arm assisting production of steel structural components |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881507A (en) | 2016-08-24 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170615 Address after: 262700 Weifang Institute of science and technology, Xueyuan Road, Shouguang City, No. 166, Applicant after: Weifang University of Science & Technology Address before: 262700 Weifang Institute of science and technology, Xueyuan Road, Shouguang City, No. 166, Applicant before: Huang Zongjing |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20210519 |
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| CF01 | Termination of patent right due to non-payment of annual fee |