CN106002984B - Articulated arm manipulator - Google Patents
Articulated arm manipulator Download PDFInfo
- Publication number
- CN106002984B CN106002984B CN201610587187.9A CN201610587187A CN106002984B CN 106002984 B CN106002984 B CN 106002984B CN 201610587187 A CN201610587187 A CN 201610587187A CN 106002984 B CN106002984 B CN 106002984B
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- CN
- China
- Prior art keywords
- arm body
- arm
- servo motor
- electric cabinet
- speed reducer
- Prior art date
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of articulated arm manipulators, including electric cabinet and the mechanical arm assembly being connected on electric cabinet, the mechanical arm assembly includes the first arm body, the second arm body and one for capturing the grabbing assembly of object, and the first arm body and the second arm body are the strip structure body in lateral arrangement；First arm body can be adjustably connected to respect to electric cabinet vertical position on electric cabinet by lift drive mechanism, while the first arm body can also be rotated relative to electric cabinet；Second arm body is undertaken on the one end in the first arm body length direction, and can be rotated relative to the first arm body；Grabbing assembly is undertaken on the one end of the second arm body far from the first arm body, and grabbing assembly can also be rotated relative to the second arm body；The movement locus of grabbing assembly is a circumferential surface in the articulated arm manipulator, and grabbing assembly can touch the arbitrary point on this circumferential surface, to greatly expand the gripping surface of grabbing assembly, is applicable to the production line of a variety of arrangement forms, applicability is wide.
Description
Technical field
The present invention relates to manipulator technical fields, specifically provide a kind of articulated arm manipulator.
Background technology
Manipulator can imitate certain holding functions of human hand and arm, to press fixed routine crawl, carry object or operation
The automatic pilot of tool.It can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operation is to protect personal safety under border, thus is widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
Manipulator is mostly articulated structure, that is, includes multiple mechanical arms, and movable between adjacent two mechanical arm
Connection, can realize walking of the manipulator between multiple stations；But there are following for existing articulated robot manipulator structure
It is insufficient：The movement locus of grabbing assembly generally remains point-blank, although the production line no-float with linear type arrangement,
But it cannot be effectively applicable to the production line of nonlinear type arrangement, thus there are one for the application of existing articulated manipulator
Fixed limitation.
In view of this, special propose the present invention.
Invention content
In order to overcome drawbacks described above, the present invention provides a kind of articulated arm manipulator, the manipulator is not only reasonable for structure,
Compact, positioning accuracy is high, and operation is flexibly and safe；The production line of variform is could be applicable to, applicability is wide.
The present invention in order to solve its technical problem used by technical solution be：A kind of articulated arm manipulator, including electricity
Control case and the mechanical arm assembly that is connected on the electric cabinet, the mechanical arm assembly include the first arm body, the second arm body, with
And one for capturing the grabbing assembly of object, the first arm body and the second arm body are the strip structure body in lateral arrangement；Institute
State the first arm body by a lift drive mechanism can the relatively described electric cabinet vertical position be adjustably connected to the electric cabinet
On, while the first arm body can also be rotated relative to the electric cabinet；It is long that the second arm body is undertaken in the first arm body
It spends on the one end in direction, and can be rotated relative to the first arm body；It is separate that the grabbing assembly is undertaken in the second arm body
On one end of the first arm body, and the grabbing assembly can also be rotated relative to the second arm body.
As a further improvement on the present invention, the lift drive mechanism includes the first servo motor, the first ball screw
Component, the first belt pulley set, the first synchronous belt, the first linear slide rail and lifting fixed seat, wherein first servo motor
Positioning is built in the electric cabinet, the first ball screw component include one be vertically built in the electric cabinet the
One screw rod and one is slidedly arranged on the first nut on first screw rod, and first belt pulley set is by a pair of first belt pulley set
At this is set to the first belt pulley difference fixing sleeve one shaft end of the output shaft and first screw rod of first servo motor
On, and this also connects the first belt pulley by first synchronous belt drive；First linear slide rail is also vertically fixed
Position is built in the electric cabinet, and the lifting fixed seat is undertaken on first linear slide rail, and linearly with described first
Sliding rail composition, which matches, to be slidably connected, and the lifting fixed seat is also located by connecting with first nut simultaneously；
In addition, the first arm body is undertaken in the lifting fixed seat, and can also be in the band of the lifting fixed seat
The relatively described electric cabinet moves up and down positioning under dynamic.
As a further improvement on the present invention, the first arm body can also be relative to the structure of electric cabinet rotation：
It is additionally provided with the first rotary drive mechanism, which includes the second servo motor, the first speed reducer and rotation master
Axis, the second servo motor positioning are set in the lifting fixed seat, and the input shaft of first speed reducer is connected to institute
The output shaft of the second servo motor is stated, the output shaft of first speed reducer is located by connecting in an axis side of the live spindle,
And the other end of another axis side of the live spindle also with the first arm body length direction is located by connecting.
As a further improvement on the present invention, the first arm body and the second arm body are hollow form；And second arm
Body is undertaken on the one end in the first arm body length direction, and the structure that can be rotated relative to the first arm body is：Also set
There is the second rotary drive mechanism, which includes third servo motor, the second speed reducer, the second belt pulley set
With the second synchronous belt, wherein third servo motor positioning is inserted in the live spindle, and the third is watched simultaneously
The output shaft also activity for taking motor is inserted in the first arm body other end；Second speed reducer positioning is built in described the
In one arm body one end, and also to stretch out in first arm external for the output shaft of the second speed reducer；Second belt pulley set is by one
To the second belt pulley set at this is set to the second belt pulley difference fixing sleeve the output shaft and described the of the third servo motor
On the input shaft of two speed reducers, and this also connects the second belt pulley by second synchronous belt drive；
In addition, the other end of the second arm body is located by connecting on the output shaft of second speed reducer.
As a further improvement on the present invention, the grabbing assembly is undertaken in the second arm body far from the first arm body
One end on, and the grabbing assembly can also relative to the second arm body rotate structure be：It is additionally provided with third rotation driving
Mechanism, the third rotary drive mechanism include the 4th servo motor and third speed reducer, and the 4th servo motor positioning is planted
In one end of the second arm body, the third speed reducer is placed in that second arm is external, and the third speed reducer is defeated
The output shaft for entering axis and the 4th servo motor is located by connecting, and the output shaft of the third speed reducer is located by connecting grabs in described
Take component.
As a further improvement on the present invention, the grabbing assembly includes arm support and grippers, and the arm support is by being in
The first linking arm and the second linking arm of long strip-board shape are connected and the T-type structure body that constitutes, and first linking arm is backwards
One end of second linking arm is located by connecting on the output shaft of the third speed reducer；The grippers are sucker, clamping jaw
With one kind in electromagnet, and the grippers are located by connecting on second linking arm.
As a further improvement on the present invention, the electric cabinet is vertical placement, has one to erect shell, a receiving shell
Body and a case, the case positioning are set on the top for erectting shell, and the lift drive mechanism is contained in
In the case；A vertical U-shaped notch is also provided on the case, the case positioning is inserted in described
In U-shaped notch, and the case also covers at outside first rotary drive mechanism simultaneously；
In addition, first rotary drive mechanism further includes having a third synchronous belt, the input shaft of first speed reducer
It is sequentially connected by the output shaft of the third synchronous belt and second servo motor；And the live spindle is movably set in
In the lifting fixed seat.
As a further improvement on the present invention, the electric cabinet is the hollow rectangular parallelepiped structure of horizontal placement, the lifting
Driving mechanism is contained in the hollow rectangular parallelepiped structure, also offers one and its inner cavity in the upper surface of the hollow rectangular parallelepiped structure
The impenetrating mouth to connect, the lifting fixed seat being capable of the relatively described impenetrating mouth stretching and retractions；
In addition, the second servo motor positioning is set on the top of the lifting fixed seat, the live spindle position
In the top of second servo motor, the lower axle side of the live spindle passes through first speed reducer and second servo
The output shaft of motor is located by connecting, and the upper axis side of the live spindle and the other end positioning in the first arm body length direction connect
It connects.
As a further improvement on the present invention, multiple adjusting lower margins are also provided on the bottom surface of the electric cabinet, this is more
A adjusting lower margin can drive the electric cabinet to carry out running fix a little up and down.
The beneficial effects of the invention are as follows：Compared to the prior art, in the articulated arm manipulator grabbing assembly movement rail
Mark is a circumferential surface, and grabbing assembly can touch the arbitrary point on this circumferential surface, to greatly expand grabbing for grabbing assembly
Take face；Thus, which is applicable to the production line of a variety of arrangement forms, and applicability is wide.In addition, the joint arm
The quick action of formula manipulator, operation are flexible, and positioning accuracy is high, and stationarity, safety are good.
Description of the drawings
Fig. 1 is the first embodiment of articulated arm manipulator of the present invention in zero-bit state (under off working state)
Dimensional structure diagram；
Fig. 2 is the side structure schematic view of articulated arm manipulator shown in Fig. 1；
Fig. 3 is the overlooking structure diagram of articulated arm manipulator shown in Fig. 1；
Fig. 4 is the connection relation structural schematic diagram of each driving mechanism in articulated arm manipulator shown in Fig. 1；
Fig. 5 is the structural schematic diagram of lift drive mechanism described in articulated arm manipulator shown in Fig. 1；
Fig. 6 is the structural schematic diagram of the first rotary drive mechanism described in articulated arm manipulator shown in Fig. 1；
Fig. 7 is the structural schematic diagram of the second rotary drive mechanism described in articulated arm manipulator shown in Fig. 1；
Fig. 8 is the structural schematic diagram of third rotary drive mechanism described in articulated arm manipulator shown in Fig. 1；
Fig. 9 is second of embodiment of articulated arm manipulator of the present invention in zero-bit state (under off working state)
Dimensional structure diagram；
Figure 10 is the main structure diagram of articulated arm manipulator shown in Fig. 9；
Figure 11 is the connection relation structural schematic diagram of each driving mechanism in articulated arm manipulator shown in Fig. 9；
Figure 12 is the structural schematic diagram of lift drive mechanism described in articulated arm manipulator shown in Fig. 9；
Figure 13 is the structural schematic diagram of the first rotary drive mechanism described in articulated arm manipulator shown in Fig. 9；
Figure 14 is the structural schematic diagram of the second rotary drive mechanism described in articulated arm manipulator shown in Fig. 9；
Figure 15 is the structural schematic diagram of third rotary drive mechanism described in articulated arm manipulator shown in Fig. 9.
In conjunction with attached drawing, make the following instructions：
1 --- the first arm body 2 --- second arm body
3 --- grabbing assembly 30 --- arm supports
31 --- grippers 4 --- electric cabinets
40 --- erectting shell 41 --- cases
42 --- case 5 --- lift drive mechanisms
50 --- the first servo motor 51 --- first screw rods
52 --- the first nut 53 --- first synchronous belts
54 --- the first linear slide rails 55 --- lift fixed seat
6 --- the first rotary drive mechanism 60 --- second servo motors
61 --- the first speed reducer 62 --- live spindles
7 --- the second rotary drive mechanism 70 --- third servo motors
71 --- the second speed reducer 72 --- second synchronous belts
8 --- third rotary drive mechanism 80 --- the 4th servo motors
81 --- third speed reducers 9 --- adjust lower margin
Specific implementation mode
Referring to figure to a preferred embodiment of the present invention will be described in detail.
The invention discloses a kind of articulated arm manipulator, including electric cabinet 4 and the machinery that is connected on the electric cabinet 4
Arm assembly, the mechanical arm assembly include the first arm body 1, the second arm body 2 and one for the grabbing assembly 3 of crawl object, institute
It states the first arm body 1 and the second arm body 2 be in lateral arrangement and section is pancake strip structure body (such as finger-type)；Described
One arm body 1 by a lift drive mechanism 5 can relatively described 4 vertical position of electric cabinet be adjustably connected to the electric cabinet 4
On, while the first arm body 1 can also be rotated relative to the electric cabinet 4；The second arm body 2 is undertaken in the first arm body
On one end of 1 length direction, and it can be rotated relative to the first arm body 1；The grabbing assembly 3 is undertaken in the second arm body
On 2 one end far from the first arm body 1, and the grabbing assembly 3 can also be rotated relative to the second arm body 2.
It realizes that the articulated arm manipulator of above-mentioned function can have various shapes and structure, is illustrated below：
First embodiment：
It please refers to shown in attached drawing 1-8, is the first embodiment structure of articulated arm manipulator of the present invention.
In the present embodiment, the electric cabinet 4 is vertical placement, has one to erect shell 40,41 and of a case
One case 42, the case 41, which positions, to be set on the top for erectting shell 40, also on the case 41
It is provided with a vertical U-shaped notch, the positioning of the case 42 is inserted in the U-shaped notch.
The lift drive mechanism 5 is contained in the case 41, and the lift drive mechanism 5 is watched including first
It is solid to take motor 50, the first ball screw component, the first belt pulley set, the first synchronous belt 53, the first linear slide rail 54 and lifting
Reservation 55, wherein the positioning of the first servo motor 50 is built in the electric cabinet 4, the first ball screw component packet
Include the first nut that the first screw rod 51 and one that one is vertically built in the electric cabinet 4 is slidedly arranged on first screw rod 51
52, first belt pulley set is by a pair of first belt pulley set at this is set to described first to the first belt pulley difference fixing sleeve
On one shaft end of the output shaft of servo motor 50 and first screw rod 51, and this is also same by described first to the first belt pulley
Belt 53 is walked to be sequentially connected；Also vertically positioning is built in the electric cabinet 4 first linear slide rail 54, and the lifting is solid
Reservation 55 is undertaken on first linear slide rail 54, and is matched and be slidably connected with first linear slide rail 54 composition, and
The lifting fixed seat 55 is also located by connecting with first nut 52 simultaneously；
In addition, the first arm body 1 is undertaken in the lifting fixed seat 55, and can also be in the lifting fixed seat 55
Drive under the electric cabinet 4 relatively move up and down positioning.
In the present embodiment, the first arm body 1 can also be relative to the structure of the rotation of the electric cabinet 4：It is additionally provided with
One rotary drive mechanism 6, it (is that the case 42 covers at institute which, which is contained in the case 42,
State outside the first rotary drive mechanism 6), and first rotary drive mechanism 6 include the second servo motor 60, the first speed reducer 61,
Third synchronous belt and live spindle 62, second servo motor 60 positioning are set in the lifting fixed seat 55, and described the
The input shaft of one speed reducer 61 is sequentially connected by the output shaft of the third synchronous belt and second servo motor 60, described
The output shaft of first speed reducer 61 is located by connecting in an axis side of the live spindle 62, and the live spindle 62 is movably set in
In the lifting fixed seat 55, and another axis side of the live spindle 62 is also another with 1 length direction of the first arm body
End is located by connecting.
Preferably, the first arm body 1 and the second arm body 2 are hollow form；And the second arm body 2 is undertaken in described
On one end of one arm body, 1 length direction, and the structure that can be rotated relative to the first arm body 1 is：It is additionally provided with the second rotation drive
Motivation structure 7, second rotary drive mechanism 7 include third servo motor 70, the second speed reducer 71, the second belt pulley set and second
Synchronous belt 72, wherein the third servo motor 70 positioning is inserted in the live spindle 62, (live spindle 62 is
Hollow structure), and the output shaft also activity of the third servo motor 70 simultaneously is inserted in 1 other end of the first arm body；
The positioning of second speed reducer 71 is built in described first arm body, 1 one end, and the output shaft of the second speed reducer 71 also stretches out in
Outside the first arm body 1；Second belt pulley set is by a pair of second belt pulley set at this distinguishes fixing sleeve to the second belt pulley
On the output shaft of the third servo motor 70 and the input shaft of second speed reducer 71, and this to the second belt pulley also
It is sequentially connected by second synchronous belt 72；In addition, the other end of the second arm body 2 is located by connecting and subtracts in described second
On the output shaft of fast machine 71.
In the present embodiment, the grabbing assembly 3 is undertaken in the one end of the second arm body 2 far from the first arm body 1
On, and the structure that the grabbing assembly 3 can also be rotated relative to the second arm body 2 is：It is additionally provided with third rotary drive mechanism
8, which includes the 4th servo motor 80 and third speed reducer 81, the 4th servo motor 80 positioning
It is inserted in one end of the second arm body 2, the third speed reducer 81 is placed in outside the second arm body 2, and the third subtracts
The input shaft of fast machine 81 and the output shaft of the 4th servo motor 80 are located by connecting, and the output shaft of the third speed reducer 81 is fixed
Position is connected to the grabbing assembly 3.
Preferably, the grabbing assembly 3 includes arm support 30 and grippers 31, and the arm support 30 is by being in long strip-board shape
First linking arm and the second linking arm are connected and the T-type structure body that constitutes, and first linking arm connects backwards to described second
The one end for connecing arm is located by connecting on the output shaft of the third speed reducer 81；The grippers 31 are sucker, clamping jaw and electromagnetism
One kind in iron, and the grippers 31 are located by connecting on second linking arm.
In the present embodiment, be also provided with multiple adjusting lower margins 9 on the bottom surface of the electric cabinet 4, it is multiple adjustably
Foot 9 can drive the electric cabinet 4 to carry out running fix a little up and down.
Second embodiment：
It please refers to shown in attached drawing 9-15, is the second embodiment structure of articulated arm manipulator of the present invention.
In the present embodiment, the electric cabinet 4 is the hollow rectangular parallelepiped structure of horizontal placement；The lift drive mechanism 5
It is contained in the hollow rectangular parallelepiped structure, the lift drive mechanism 5 includes the first servo motor 50, the first ball screw group
Part, the first belt pulley set, the first synchronous belt 53, the first linear slide rail 54 and lifting fixed seat 55, wherein first servo
The positioning of motor 50 is built in the electric cabinet 4, and the first ball screw component is vertically built in described automatically controlled including one
The first screw rod 51 and one in case 4 is slidedly arranged on the first nut 52 on first screw rod 51, and first belt pulley set is by one
To the first belt pulley set at this is set to the output shaft of first servo motor 50 and described to the first belt pulley difference fixing sleeve
On one shaft end of the first screw rod 51, and this is also sequentially connected to the first belt pulley by first synchronous belt 53；Described
Also vertically positioning is built in the electric cabinet 4 one linear slide rail 54, and the lifting fixed seat 55 is undertaken in the First Line
Property sliding rail 54 on, and match and be slidably connected with first linear slide rail 54 composition, and simultaneously the lifting fixed seat 55 and also
It is located by connecting with first nut 52；In addition, the first arm body 1 is undertaken in the lifting fixed seat 55, and can also
The electric cabinet 4 relatively moves up and down positioning under the drive of the lifting fixed seat 55；And also in the hollow cuboid knot
The upper surface of structure offers an impenetrating mouth to connect with its inner cavity, the lifting fixed seat 55 can the relatively described impenetrating mouth stretch
Go out and bounces back.
In the present embodiment, the first arm body 1 can also be relative to the structure of the rotation of the electric cabinet 4：It is additionally provided with
One rotary drive mechanism 6, first rotary drive mechanism 6 include the second servo motor 60, the first speed reducer 61 and live spindle
62, second servo motor 60, which positions, to be set on the top of the lifting fixed seat 55, and the live spindle 62 is located at institute
The top of the second servo motor 60 is stated, the lower axle side of the live spindle 62 is watched by first speed reducer 61 and described second
The output shaft for taking motor 60 is located by connecting (the i.e. output of the input shaft and second servo motor 60 of first speed reducer 61
Axis is located by connecting), the upper axis side of the live spindle 62 and the other end of 1 length direction of the first arm body are located by connecting.Separately
Outside, it is additionally provided with an outer casing, the outer casing covers at outside second servo motor and the first speed reducer, and described simultaneously
Outer casing is also located by connecting in the lifting fixed seat 15.
Preferably, the first arm body 1 and the second arm body 2 are hollow form；And the second arm body 2 is undertaken in described
On one end of one arm body, 1 length direction, and the structure that can be rotated relative to the first arm body 1 is：It is additionally provided with the second rotation drive
Motivation structure 7, second rotary drive mechanism 7 include third servo motor 70, the second speed reducer 71, the second belt pulley set and second
Synchronous belt 72, wherein the third servo motor 70 positioning is inserted in the live spindle 62, (live spindle 62 is
Hollow structure), and the output shaft also activity of the third servo motor 70 simultaneously is inserted in 1 other end of the first arm body；
The positioning of second speed reducer 71 is built in described first arm body, 1 one end, and the output shaft of the second speed reducer 71 also stretches out in
Outside the first arm body 1；Second belt pulley set is by a pair of second belt pulley set at this distinguishes fixing sleeve to the second belt pulley
On the output shaft of the third servo motor 70 and the input shaft of second speed reducer 71, and this to the second belt pulley also
It is sequentially connected by second synchronous belt 72；
In addition, the other end of the second arm body 2 is located by connecting on the output shaft of second speed reducer 71.
In the present embodiment, the grabbing assembly 3 is undertaken in the one end of the second arm body 2 far from the first arm body 1
On, and the structure that the grabbing assembly 3 can also be rotated relative to the second arm body 2 is：It is additionally provided with third rotary drive mechanism
8, which includes the 4th servo motor 80 and third speed reducer 81, the 4th servo motor 80 positioning
It is inserted in one end of the second arm body 2, the third speed reducer 81 is placed in outside the second arm body 2, and the third subtracts
The input shaft of fast machine 81 and the output shaft of the 4th servo motor 80 are located by connecting, and the output shaft of the third speed reducer 81 is fixed
Position is connected to the grabbing assembly 3.
Preferably, the grabbing assembly 3 includes arm support 30 and grippers 31, and the arm support 30 is by being in long strip-board shape
First linking arm and the second linking arm are connected and the T-type structure body that constitutes, and first linking arm connects backwards to described second
The one end for connecing arm is located by connecting on the output shaft of the third speed reducer 81；The grippers 31 are sucker, clamping jaw and electromagnetism
One kind in iron, and the grippers 31 are located by connecting on second linking arm.
In the present embodiment, be also provided with multiple adjusting lower margins 9 on the bottom surface of the electric cabinet 4, it is multiple adjustably
Foot 9 can drive the electric cabinet 4 to carry out running fix a little up and down.
Claims (4)
1. a kind of articulated arm manipulator, including electric cabinet (4) and the mechanical arm assembly that is connected on the electric cabinet (4),
The mechanical arm assembly include the first arm body (1), the second arm body (2) and one for capture object grabbing assembly (3), it is described
First arm body (1) and the second arm body (2) are the strip structure body in lateral arrangement；The first arm body (1) passes through a lifting
Driving mechanism (5) can relatively described electric cabinet (4) vertical position be adjustably connected on the electric cabinet (4), while it is described
First arm body (1) can also be rotated relative to the electric cabinet (4)；It is long that the second arm body (2) is undertaken in the first arm body (1)
It spends on the one end in direction, and can be rotated relative to the first arm body (1)；The grabbing assembly (3) is undertaken in second arm
On the one end of body (2) far from the first arm body (1), and the grabbing assembly (3) can also relatively described second arm body (2) rotation
Turn；It is characterized in that：The lift drive mechanism (5) includes the first servo motor (50), the first ball screw component, the first skin
Belt wheel group, the first synchronous belt (53), the first linear slide rail (54) and lifting fixed seat (55), wherein the first servo horse
It is built in the electric cabinet (4) up to (50) positioning, the first ball screw component is vertically built in the electricity including one
The first screw rod (51) and one in control case (4) are slidedly arranged on the first nut (52) on first screw rod (51), first skin
Belt wheel group is by a pair of first belt pulley set at this is set to first servo motor (50) to the first belt pulley difference fixing sleeve
On one shaft end of output shaft and first screw rod (51), and this also passes through first synchronous belt (53) to the first belt pulley
It is sequentially connected；Also vertically positioning is built in the electric cabinet (4) first linear slide rail (54), the lifting fixed seat
(55) it is undertaken on first linear slide rail (54), and constitutes to match with first linear slide rail (54) and be slidably connected,
And the lifting fixed seat (55) is also located by connecting with first nut (52) simultaneously；
The first arm body (1) can also relative to the electric cabinet (4) rotate structure be：It is additionally provided with the first rotary drive mechanism
(6), which includes the second servo motor (60), the first speed reducer (61) and live spindle (62), institute
It states the second servo motor (60) positioning to be set on the lifting fixed seat (55), the input shaft of first speed reducer (61) connects
It is connected to the output shaft of second servo motor (60), the output shaft of first speed reducer (61) is located by connecting in the rotation
One axis side of main shaft (62), and another axis side of the live spindle (62) is also another with the first arm body (1) length direction
One end is located by connecting；
The first arm body (1) and the second arm body (2) are hollow form；And the second arm body (2) is undertaken in first arm
On one end of body (1) length direction, and the structure that can be rotated relative to the first arm body (1) is：It is additionally provided with the second rotation drive
Motivation structure (7), second rotary drive mechanism (7) include third servo motor (70), the second speed reducer (71), the second belt pulley
Group and the second synchronous belt (72), wherein the third servo motor (70) positioning is inserted in the live spindle (62), and
The output shaft also activity of the third servo motor (70) is inserted in the first arm body (1) other end simultaneously；Described second
Speed reducer (71) positioning is built in described first arm body (1) one end, and the output shaft of the second speed reducer (71) also stretches out in institute
State the first arm body (1) outside；Second belt pulley set is by a pair of second belt pulley set at this distinguishes fixing sleeve to the second belt pulley
On the output shaft of the third servo motor (70) and the input shaft of second speed reducer (71), and this is to the second belt
Wheel is also sequentially connected by second synchronous belt (72)；In addition, the other end of the second arm body (2) is located by connecting in institute
On the output shaft for stating the second speed reducer (71)；
The electric cabinet (4) is vertical placement, has one to erect shell (40), a case (41) and a case (42),
Case (41) positioning is set on the top of the setting shell (40), and the lift drive mechanism (5) is contained in
In the case (41)；A vertical U-shaped notch is also provided on the case (41), the case (42) is fixed
Position is inserted in the U-shaped notch, and the case (42) also covers at first rotary drive mechanism (6) outside simultaneously；Separately
Outside, first rotary drive mechanism (6) further includes having a third synchronous belt, and the input shaft of first speed reducer (61) passes through
The third synchronous belt and the output shaft of second servo motor (60) are sequentially connected；And live spindle (62) activity is set
It is placed on the lifting fixed seat (55)；
Alternatively, the electric cabinet (4) is the hollow rectangular parallelepiped structure of horizontal placement, the lift drive mechanism (5) is contained in this
In hollow rectangular parallelepiped structure, an impenetrating mouth to connect with its inner cavity also is offered in the upper surface of the hollow rectangular parallelepiped structure,
The lifting fixed seat (55) being capable of the relatively described impenetrating mouth stretching and retraction；In addition, the second servo motor (60) positioning
It is set on the top of the lifting fixed seat (55), the live spindle (62) is located at the upper of second servo motor (60)
Just, the output that the lower axle side of the live spindle (62) passes through first speed reducer (61) and second servo motor (60)
Axis is located by connecting, and the upper axis side of the live spindle (62) and the other end of the first arm body (1) length direction are located by connecting.
2. articulated arm manipulator according to claim 1, it is characterised in that：The grabbing assembly (3) is undertaken in described
On the one end of second arm body (2) far from the first arm body (1), and the grabbing assembly (3) can also relatively described second arm
Body (2) rotation structure be：It is additionally provided with third rotary drive mechanism (8), which includes the 4th servo
Motor (80) and third speed reducer (81), the 4th servo motor (80) positioning are inserted in one end of the second arm body (2)
In, the third speed reducer (81) is placed in the second arm body (2) outside, and the input shaft of the third speed reducer (81) with it is described
The output shaft of 4th servo motor (80) is located by connecting, and the output shaft of the third speed reducer (81) is located by connecting in the crawl
Component (3).
3. articulated arm manipulator according to claim 2, it is characterised in that：The grabbing assembly (3) includes arm support
(30) and grippers (31), the arm support (30) be by being connected in the first linking arm of long strip-board shape and the second linking arm and
The T-type structure body of composition, and first linking arm is located by connecting backwards to one end of second linking arm and subtracts in the third
On the output shaft of fast machine (81)；The grippers (31) are one kind in sucker, clamping jaw and electromagnet, and grippers (31)
It is located by connecting on second linking arm.
4. articulated arm manipulator according to claim 1, it is characterised in that：Also on the bottom surface of the electric cabinet (4)
Multiple adjusting lower margins (9) are provided with, multiple adjusting lower margin (9) can drive the electric cabinet (4) to be moved a little up and down
Positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587187.9A CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587187.9A CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| Publication Number | Publication Date |
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| CN106002984A CN106002984A (en) | 2016-10-12 |
| CN106002984B true CN106002984B (en) | 2018-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610587187.9A Active CN106002984B (en) | 2016-07-25 | 2016-07-25 | Articulated arm manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109173048A (en) * | 2018-08-21 | 2019-01-11 | 何增义 | A kind of nerve rehabilitation assistor |
| EP3978188A1 (en) * | 2020-10-02 | 2022-04-06 | GF Machining Solutions AG | Gripping device for automatic tool changer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012056033A (en) * | 2010-09-09 | 2012-03-22 | Sinfonia Technology Co Ltd | Robot arm device |
| CN103707296B (en) * | 2013-12-31 | 2015-11-11 | 哈尔滨工业大学 | A kind of four axis robot for capturing sheet metal component |
| KR101606259B1 (en) * | 2014-02-18 | 2016-03-24 | (주) 러스 | the horizontality transfer arm for transfer and the transfer robot theirwith |
| CN104308832A (en) * | 2014-10-23 | 2015-01-28 | 重庆华数机器人有限公司 | Four-axis swing-arm articulated robot |
| CN204195755U (en) * | 2014-11-04 | 2015-03-11 | 苏州市博仕德自动化有限公司 | A kind of Novel horizontal articulated type four axle robot |
| CN204772545U (en) * | 2015-07-08 | 2015-11-18 | 昆山威创精密机械有限公司 | Improvement structure of five manipulators of intelligence |
| CN205996967U (en) * | 2016-07-25 | 2017-03-08 | 昆山威创自动化科技有限公司 | Articulated arm mechanical hand |
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