CN106142053B - A kind of multiple degrees of freedom automatic control manipulator - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom automatic control manipulator, which includes a mounting plate, a U-shaped bracket, a horizontal indexing turntable, a telescopic cylinder, a locking mechanism, a support arm, a vertical turntable, an angle adjustment plate, a mechanical arm, a fixed plate, manipulator cylinder, manipulator and PLC controller, the present invention adopts PLC controller to control, improves the flexibility and rapidity of manipulator control, realizes the multi-angle rotation of manipulator through horizontal indexing turntable and vertical turntable , at the same time, the angle adjustment disc is set, which realizes the grasping of the manipulator at any angle. At the same time, the present invention sets the locking mechanism of the horizontal indexing turntable, which ensures the indexing requirements in special cases. In addition, the present invention The tension spring and positioning ball are used on the manipulator to grasp and position the workpiece, which improves the positioning accuracy of the workpiece. By setting the pressure sensor, it can effectively prevent damage to the article due to excessive grasping force.

Description

A multi-degree-of-freedom automatic control manipulator

technical field

The invention relates to a multi-degree-of-freedom automatic control manipulator, which belongs to the technical field of electromechanical control.

Background technique

With the rapid development of science and technology, the requirements for automation are getting higher and higher, the market competition is fierce, and labor costs are rising. In the past, manual handling and fixed conveyor belt-based traditional object handling methods not only occupy space but are not easy to change production lines. The structure, coupled with the need for manpower to supervise the operation, has increased the production cost, and the original production charging device is far from meeting the needs of the current high degree of automation. Based on this, how to reduce labor intensity, ensure the reliability and safety of production, reduce production costs, reduce environmental pollution, improve product quality and economic benefits are major issues that enterprises must face.

PLC is a new generation of industrial control devices formed by introducing microelectronics technology, computer technology, automatic control technology and communication technology on the basis of traditional sequence controllers. The purpose is to replace relays, execution logic, timing, counting, etc. Sequence control function to establish a flexible program control system. It uses a programmable memory to store instructions for performing logic operations, sequence control, timing, counting, and arithmetic operations in its interior, and controls various types of machines through digital and analog inputs and outputs. machinery or production process. Programmable logic controllers and their related equipment should be designed according to the principles of easy integration with industrial control systems and easy expansion of their functions.

PLC has the characteristics of strong versatility, convenient use, wide adaptability, high reliability, strong anti-interference ability, and simple programming. It can be expected that in the field of industrial control, the application of PLC control technology will surely form a world trend.

Therefore, how to design a multi-degree-of-freedom manipulator and use PLC control technology to flexibly control it plays an extremely important role in product handling and grasping.

Contents of the invention

Aiming at the existing technical problems, the present invention provides a multi-degree-of-freedom automatic control manipulator, the purpose of which is to improve the flexibility of manipulator operation and to solve the problems existing in the prior art.

In order to achieve the above object, the present invention provides the following technical solutions: a multi-degree-of-freedom automatic control manipulator, which includes a mounting plate, a U-shaped bracket, a horizontal indexing turntable, a telescopic cylinder, a locking mechanism, a support arm, a vertical turntable, Angle adjustment plate, mechanical arm, fixed plate, manipulator cylinder, manipulator and PLC controller, it is characterized in that, the described mounting plate is fixedly provided with U-shaped support, and described U-shaped support is fixedly provided with described horizontal indexing Turntable, the telescopic cylinder is fixedly arranged on the horizontal indexing turntable, the support arm is fixedly arranged on the piston rod of the telescopic cylinder, the vertical turntable is fixedly arranged on the support arm, The vertical turntable is provided with the angle adjustment disc, the angle adjustment disc is provided with a mechanical arm, and the end of the mechanical arm is fixedly provided with the fixed plate, and the fixed plate passes through the manipulator cylinder. The manipulator is connected, and the actions of the horizontal indexing turntable, telescopic cylinder, vertical turntable, angle adjustment disc, manipulator cylinder and manipulator are all controlled by the PLC controller.

Further, preferably, the manipulator includes a bottom plate, a grasping cylinder, a mechanical claw, a positioning spring, a positioning ball, a positioning pressing rod and a pressure sensor, wherein one end of the bottom plate is fixedly provided with one mechanical claw, and the The other end of the bottom plate is slidably provided with another mechanical claw, the fixed mechanical claw and the sliding mechanical claw are connected by the grasping cylinder, each of the mechanical claws is provided with a plurality of positioning Groove, the positioning pressing rod is slidably arranged in the positioning groove, the positioning spring is arranged between the bottom end of the positioning pressing rod and the bottom of the positioning groove, and the positioning The outer end of the pressing rod is fixedly provided with the positioning ball, the positioning ball is provided with the pressure sensor, and the pressure sensor and the grasping cylinder are all connected with the PLC so that the manipulator is controlled by the PLC. Control; the locking mechanism includes a locking cylinder, a locking fixing plate, a tension spring, a locking ball and a locking positioning block, wherein the locking fixing plate is fixedly arranged on the upper end surface of the U-shaped bracket, so that The piston rod of the locking cylinder is set through the locking fixing plate, the end of the piston rod of the locking cylinder is fixedly provided with the locking ball, and the locking ball is provided with the locking positioning Block, the tension spring is set between the locking ball and the locking fixing plate, the locking cylinder is fixed on the upper end surface of the U-shaped bracket, and the circumferential wall of the horizontal indexing turntable The upper array is provided with a plurality of locking ball grooves, the locking ball grooves are provided with locking positioning grooves, the locking balls are matched with the locking ball grooves, and the locking positioning blocks Set in cooperation with the locking positioning groove.

Further, preferably, the shape of the locking positioning groove is an isosceles trapezoidal structure.

Further, preferably, the front end of the mechanical claw is a tapered tip.

Further, as a preference, the horizontal indexing turntable, the vertical turntable and the angle adjustment turntable all adopt gear adjustment structures, and the gear adjustment structures are all driven by stepping motors, and the stepping motors are connected to the PLC controller.

Further, preferably, the PLC controller is arranged in the U-shaped frame of the U-shaped bracket.

Further, as a preference, the horizontal indexing turntable, telescopic cylinder, vertical turntable, angle adjustment disc, manipulator cylinder and manipulator can all act independently.

Compared with prior art, the beneficial effect of the present invention is:

The present invention uses a PLC controller to control, which improves the flexibility and rapidity of the manipulator control, realizes the rotation of the manipulator at multiple angles through the horizontal indexing turntable and the vertical turntable, and at the same time, sets the angle adjustment disc to realize The manipulator can grasp at any angle. At the same time, the present invention is equipped with a locking mechanism of the horizontal indexing turntable, which ensures the indexing requirements in special cases. In addition, the manipulator of the present invention adopts tension springs and positioning balls to control the workpiece. Grasp the positioning to improve the positioning accuracy of the workpiece. By setting the pressure sensor, it can effectively prevent the damage to the article caused by excessive grasping force.

Description of drawings

Fig. 1 is a structural representation of a multi-degree-of-freedom automatic control manipulator of the present invention;

Fig. 2 is the structural representation of the manipulator of a kind of multi-degree-of-freedom automatic control manipulator of the present invention;

Fig. 3 is a structural schematic diagram of a locking mechanism of a multi-degree-of-freedom automatic control manipulator of the present invention;

Among them, 1. Mounting plate, 2. U-shaped bracket, 3. Horizontal indexing turntable, 4. Telescopic cylinder, 5. Locking mechanism, 6. Support arm, 7. Vertical turntable, 8. Angle adjustment disc, 9 , manipulator arm, 10, fixed plate, 11, manipulator cylinder, 12, manipulator, 13, bottom plate, 14, grab cylinder, 15, mechanical claw, 16, positioning spring, 17, positioning ball, 18, positioning pressing rod, 19 , pressure sensor, 20, locking cylinder, 21, locking fixed plate, 22, extension spring, 23, locking ball, 24, locking positioning block, 25, locking ball groove, 26, locking positioning groove.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-3, the present invention provides a technical solution: a multi-degree-of-freedom automatic control manipulator, which includes a mounting plate 1, a U-shaped bracket 2, a horizontal indexing turntable 3, a telescopic cylinder 4, a locking mechanism 5, Support arm rod 6, vertical turntable 7, angle adjustment disc 8, mechanical arm 9, fixed plate 10, manipulator cylinder 11, manipulator 12 and PLC controller, it is characterized in that, described mounting plate 1 is fixedly provided with U-shaped The bracket 2, the horizontal indexing turntable 3 is fixedly arranged on the U-shaped bracket 2, the telescopic cylinder 4 is fixedly arranged on the horizontal indexing turntable 3, and the piston rod of the telescopic cylinder 4 is fixedly arranged There is the support arm 6, the vertical turntable 7 is fixedly arranged on the support arm 6, the angle adjustment disc 8 is arranged on the vertical turntable 7, and the angle adjustment disc 8 is provided with Mechanical arm 9, the end of described mechanical arm 9 is fixedly provided with described fixed plate 10, described mechanical arm 12 is connected with described mechanical arm cylinder 11 on described fixed plate 10, described horizontal indexing turntable, telescopic cylinder , the vertical turntable, the angle adjustment disc, the manipulator cylinder and the actions of the manipulator are all controlled by the PLC controller.

In this embodiment, the manipulator includes a base plate 13, a grasping cylinder 14, a mechanical claw 15, a positioning spring 16, a positioning ball 17, a positioning pressing rod 18 and a pressure sensor 19, wherein one end of the base plate 13 is fixedly arranged There is one said mechanical claw 15, the other end of said base plate 13 is slidably provided with another said mechanical claw, and the said grasping cylinder 14 is connected and set between the fixedly arranged mechanical claw and the slidably arranged mechanical claw, each A plurality of positioning grooves are arranged on each of the mechanical claws, and the positioning pressing rod 18 is slidably arranged in the positioning groove, and the bottom end of the positioning pressing rod 18 is in contact with the positioning groove. The positioning spring 16 is arranged between the bottoms of the bottom, the positioning ball 17 is fixedly arranged on the outer end of the positioning pressing rod, the pressure sensor 19 is arranged on the positioning ball, the pressure sensor, the grasping cylinder All are connected with the PLC, so that the manipulator is controlled by the PLC; the locking mechanism includes a locking cylinder 20, a locking fixing plate 21, an extension spring 22, a locking ball 23 and a locking positioning block 24 , wherein, the locking fixing plate 21 is fixedly arranged on the upper end surface of the U-shaped bracket 2, the piston rod of the locking cylinder 20 passes through the locking fixing plate, and the piston of the locking cylinder 20 The end of the rod is fixedly provided with the locking ball 23, the locking positioning block 24 is arranged on the locking ball 23, and the puller is arranged between the locking ball and the locking fixing plate. spring 22, the locking cylinder is fixedly arranged on the upper end surface of the U-shaped bracket, and a plurality of locking ball grooves 26 are arranged in an array on the circumferential wall of the horizontal indexing turntable, and the locking ball A locking positioning groove 25 is arranged on the groove, the locking ball is matched with the locking ball groove, and the locking positioning block is arranged in cooperation with the locking positioning groove.

In addition, the shape of the locking positioning groove is an isosceles trapezoidal structure. The front end of the mechanical claw is a tapered tip. The horizontal indexing turntable, the vertical turntable and the angle adjustment turntable all adopt a gear adjustment structure, and the gear adjustment structure is driven by a stepping motor, and the stepping motor is connected with the PLC controller. The PLC controller is arranged in the U-shaped frame of the U-shaped support, and the horizontal indexing turntable, telescopic cylinder, vertical turntable, angle adjustment disk, manipulator cylinder and manipulator can all act independently.

The present invention uses a PLC controller to control, which improves the flexibility and rapidity of the manipulator control, realizes the rotation of the manipulator at multiple angles through the horizontal indexing turntable and the vertical turntable, and at the same time, sets the angle adjustment disc to realize The manipulator can grasp at any angle. At the same time, the present invention is equipped with a locking mechanism of the horizontal indexing turntable, which ensures the indexing requirements in special cases. In addition, the manipulator of the present invention adopts tension springs and positioning balls to control the workpiece. Grasp the positioning to improve the positioning accuracy of the workpiece. By setting the pressure sensor, it can effectively prevent the damage to the article caused by excessive grasping force.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (6)

1. A multi-degree-of-freedom automatic control manipulator, which includes a mounting plate, a U-shaped support, a horizontal indexing turntable, a telescopic cylinder, a locking mechanism, a support arm bar, a vertical turntable, an angle adjustment plate, a mechanical arm, a fixed plate, The manipulator cylinder, the manipulator and the PLC controller are characterized in that: a U-shaped support is fixedly arranged on the described mounting plate, the horizontal indexing turntable is fixedly arranged on the U-shaped support, and one of the horizontal indexing plates The locking mechanism is arranged on the side, the telescopic cylinder is fixedly arranged on the horizontal indexing turntable, the support arm is fixedly arranged on the piston rod of the telescopic cylinder, and the support arm is fixedly arranged on the piston rod of the telescopic cylinder. There is the vertical turntable, the angle adjustment disk is arranged on the vertical turntable, the mechanical arm is arranged on the angle adjustment disk, the fixed plate is fixedly arranged on the end of the mechanical arm, and the fixed plate is fixed on the end of the mechanical arm. The manipulator is arranged on the board through the connection of the manipulator cylinder, and the actions of the horizontal indexing turntable, telescopic cylinder, vertical turntable, angle adjustment disc, manipulator cylinder and manipulator are all controlled by the PLC controller; The manipulator includes a base plate, a grasping cylinder, a mechanical claw, a positioning spring, a positioning ball, a positioning pressing rod and a pressure sensor, wherein one end of the base plate is fixedly provided with a mechanical claw, and the other end of the base plate is slidable. Another mechanical claw is provided, and the fixed mechanical claw and the sliding mechanical claw are connected by the grasping cylinder. Each of the mechanical claws is provided with a plurality of positioning grooves, and the positioning grooves The positioning pressing rod is slidably arranged in the groove, the positioning spring is arranged between the bottom end of the positioning pressing rod and the bottom of the positioning groove, and the outer end of the positioning pressing rod is fixed The positioning ball is provided with the pressure sensor on the positioning ball, and the pressure sensor and the grasping cylinder are all connected to the PLC so that the manipulator is controlled by the PLC; the locking mechanism It includes a locking cylinder, a locking fixing plate, a tension spring, a locking ball and a locking positioning block, wherein the locking fixing plate is fixedly arranged on the upper end surface of the U-shaped bracket, and the piston rod of the locking cylinder Set through the locking fixing plate, the end of the piston rod of the locking cylinder is fixedly provided with the locking ball, the locking ball is provided with the locking positioning block, and the locking ball The tension spring is arranged between the locking and fixing plate, the locking cylinder is fixed on the upper end surface of the U-shaped bracket, and a plurality of The locking ball groove, the locking ball groove is provided with a locking positioning groove, the locking ball cooperates with the locking ball groove, and the locking positioning block and the locking positioning groove Match the settings. 2. The multi-degree-of-freedom automatic control manipulator according to claim 1, characterized in that: the shape of the locking positioning groove is an isosceles trapezoidal structure. 3. A multi-degree-of-freedom automatic control manipulator according to claim 1, characterized in that: the front end of the mechanical claw is a tapered tip. 4. A multi-degree-of-freedom automatic control manipulator according to claim 1, characterized in that: the horizontal indexing turntable, the vertical turntable and the angle adjustment turntable all adopt gear adjustment structures, and the gear adjustment structures are all stepped Driven by a motor, the stepping motor is connected with the PLC controller. 5. The multi-degree-of-freedom automatic control manipulator according to claim 1, characterized in that: the PLC controller is arranged in the U-shaped frame of the U-shaped bracket. 6. A multi-degree-of-freedom automatic control manipulator according to claim 1, characterized in that: said horizontal indexing turntable, telescopic cylinder, vertical turntable, angle adjustment disc, manipulator cylinder and manipulator can all act independently.