CN106272360A - Multiple degrees of freedom assembling and disassembling manipulator - Google Patents
Multiple degrees of freedom assembling and disassembling manipulator Download PDFInfo
- Publication number
- CN106272360A CN106272360A CN201610869397.7A CN201610869397A CN106272360A CN 106272360 A CN106272360 A CN 106272360A CN 201610869397 A CN201610869397 A CN 201610869397A CN 106272360 A CN106272360 A CN 106272360A
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- China
- Prior art keywords
- turntable
- horizontal
- driving means
- telescopic arm
- mechanical hand
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism, mechanical hand telescoping mechanism and horizontal rotary mechanism, horizontal linear travel mechanism includes horizontal slide rail, chassis and the first driving means, and chassis is installed on horizontal slide rail；Horizontal rotary mechanism includes central shaft, turntable and the second driving means, and the lower end of central shaft is installed on chassis, its upper end is connect with turntable axle by horizontal teeth wheel disc, and turntable and the second driving means connect；Mechanical hand telescoping mechanism is installed on the top of turntable and is provided with a vertical lifting mechanism between turntable and mechanical hand telescoping mechanism.The present invention achieves the left and right of gripper, the upper and lower and rotation of horizontal 360-degree by horizontal linear travel mechanism, horizontal rotary mechanism and the vertical lifting mechanism arranged, goods can be carried out the crawl of many degree automatically, simple in construction, flexible operation, be applicable to the small-sized places such as warehouse, goods stock and stockyard that activity space is less, save trouble and labor, is conducive to promoting.
Description
Technical field
The present invention relates to a kind of mechanical hand, be specifically related to a kind of multiple degrees of freedom assembling and disassembling manipulator.
Background technology
Along with the development of science and technology, enterprise production process applies to various automated machine.The appearance of Intelligentized mechanical is not only
Can effectively reduce the recruitment cost of enterprise, production efficiency can also be improved, obtain the favor of a lot of large enterprise.In the market
Intelligentized mechanical equipment arrives greatly full-automatic production equipment, and little to one mechanical hand, no matter from function, model and volume size etc.
All have a lot.The such as loading and unloading at existing port and pier, train logistics, bulk storage plant and other items typically can use fork truck
Carry out.But for the ground such as goods stock, small depot, owing to mobilizable space is smaller, other are the most large-scale for fork truck etc.
Handling machinery is the most inapplicable；Additionally, in the warehouse of some middle-size and small-size transport enterprise and the express company of rising in recent years, vehicle
The places such as upper, stockyard are all dependent on manpower complete handling and short-range carrying work of goods, cause workman's work
Work work is powerful, work efficiency slow, also increases the incidence rate of security incident.
For above-mentioned situation, the intelligence carrying work to goods can be realized by using mechanical hand.Existing mechanical hand
Structure is more complicated, and the degree of freedom of mechanical hand is relatively limited, it is impossible to enough capture optional position and the article in orientation.Such as Granted publication
Number disclose a kind of novel automatic Manipulator Transportation device for the Chinese utility model patent of 205471602U, its base upper
End is provided with straight-line motion mechanism, and the upper end of straight-line motion mechanism is provided with servomotor, and the upper end of servomotor is provided with PLC
Control module；On the sidewall of straight-line motion mechanism, slide block is installed, the outer wall of the structure of linear motion matched with slide block is pacified
Equipped with sensor；It is horizontally installed with crossbeam on slide block, crossbeam is installed with first connecting rod, the end activity peace of first connecting rod
Equipped with second connecting rod, the end of second connecting rod is provided with rocking arm, and the lower end of rocking arm is provided with grip bracket, and grip bracket is sleeved on
The outside of slide block, the end of slide block is provided with adsorption magnet；The lower end of crossbeam is also equipped with converter.The mechanical hand of this kind of structure
Although intelligence degree is high, but can only carry out upper and lower, front and back position conversion, degree of freedom is relatively limited, it is impossible to meet removing of goods
Fortune, the requirement of handling.
Summary of the invention
For above-mentioned deficiency, it is an object of the invention to provide a kind of energy arbitrary orientation grasp handling goods, structure letter
Single, intelligence degree much higher degree of freedom assembling and disassembling manipulator, it can preferably solve the movable skies such as warehouse, vehicle, stockyard
Between less place to goods carrying with handling inconvenience problem.
For solving the problems referred to above, the present invention is achieved through the following technical solutions:
Multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and mechanical hand telescoping mechanism, also includes that level is revolved
Rotation mechanism, described horizontal linear travel mechanism includes horizontal slide rail, chassis and for the first driving means driving chassis to move,
Described chassis is installed on horizontal slide rail；Described horizontal rotary mechanism includes central shaft, turntable and the second driving means, described in
The lower end of mandrel is installed on chassis, its upper end is connect with turntable axle by horizontal teeth wheel disc, described turntable and the second driving means
Connect and around central axis under the effect of the second driving means；Described mechanical hand telescoping mechanism be installed on turntable top,
And between turntable and mechanical hand telescoping mechanism, it is provided with a vertical lifting mechanism.
In such scheme, described mechanical hand telescoping mechanism include telescopic arm fixed mount, telescopic arm, gripper, expansion link and
The 3rd driving means being connected with expansion link, one end of telescopic arm is installed in the chute of telescopic arm fixed mount, its other end with
Gripper connects, and one end of expansion link is connected with telescopic arm fixed mount, its other end is fixed in the front end of telescopic arm, on gripper
Connect and have the controller for controlling gripper opening and closing.
In such scheme, further, described vertical lifting mechanism can include being vertically directed rail, elevating lever and and elevating lever
The four-drive device connected, the lower end of elevating lever is installed on turntable, its apical support in the bottom of telescopic arm fixed mount, perpendicular
One end of straight guided way is installed on turntable, its other end is through the housing of telescopic arm fixed mount.
In such scheme, the 3rd driving means and four-drive device are motor or hydraulic cylinder, i.e. expansion link and lifting
The expanding-contracting action of bar is realized by the driving of motor or hydraulic cylinder.
In such scheme, in order to prevent chassis from skidding off horizontal slide rail when horizontal linear moves, can be the two of horizontal slide rail
End is equipped with limited block.
In such scheme, described second driving means can be motor, it is possible to drive turntable rotation in the horizontal direction
Turn 0-360 degree.
The invention have the benefit that
The horizontal linear that the present invention realizes whole mechanical hand by the horizontal linear travel mechanism arranged moves, by level
Rotating mechanism realizes the omnibearing movement of level of gripper, is realized the shifting of the upper-lower position of gripper by vertical lifting mechanism
Dynamic, and the flexible grasping movement of gripper self is realized by mechanical hand telescoping mechanism.The mechanical hand of this structure has upper and lower, left
The right side and the rotational freedom of horizontal 360-degree, it is possible to goods is carried out the crawl of any level orientation angles, simple in construction, behaviour
Make flexible, intelligence degree height, it is adaptable in the small-sized places such as warehouse, goods stock and stockyard that activity space is less, save
Thing is laborsaving, is conducive to promoting.
Accompanying drawing explanation
Fig. 1 is the structural representation of this multiple degrees of freedom assembling and disassembling manipulator.
Fig. 2 is described flexible grasping mechanism structural representation in a contracted state.
Fig. 3 is described flexible grasping mechanism structural representation under elongation state.
Figure number is numbered: 1, horizontal slide rail；2, chassis；3, central shaft；4, turntable；5, elevating lever；6, it is vertically directed rail；7、
Expansion link；8, telescopic arm fixed mount；9, telescopic arm；10, gripper；11, limited block.
Detailed description of the invention
As it is shown in figure 1, multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and mechanical hand telescoping mechanism, also
Including horizontal rotary mechanism.Horizontal linear travel mechanism include horizontal slide rail 1, chassis 2 and for drive chassis 2 to move first
Driving means, described chassis 2 is installed on horizontal slide rail 1.It is equipped with limited block 11 at the two ends of horizontal slide rail 1.The present embodiment
In, the first driving means can be miniature motor or motor, naturally it is also possible to without arranging driving means, artificial promotion put down
Platform is mobile on horizontal slide rail also may be used.
Described horizontal rotary mechanism includes central shaft 3, turntable 4 and the second driving means, and the lower end of described central shaft 3 is fixedly mounted with
On chassis 2, its upper end connect with turntable 4 axle by horizontal teeth wheel disc, described turntable 4 is connected with the second driving means and
Rotate around central shaft 3 under the effect of two driving means.In the present embodiment, described second driving means is motor, this stepping
Motor can drive turntable 4 rotation 0-360 degree in the horizontal direction by its internal controller.Specifically can be at motor
Connecting a deceleration device on output shaft, deceleration device is connected with horizontal teeth wheel disc again.
Described mechanical hand telescoping mechanism is installed on the top of turntable 4 and is provided with between turntable 4 and mechanical hand telescoping mechanism
One vertical lifting mechanism.Described mechanical hand telescoping mechanism includes telescopic arm fixed mount 8, telescopic arm 9, gripper 10, expansion link 7 and
The 3rd driving means being connected with expansion link 7, one end of telescopic arm 9 is installed in the chute of telescopic arm fixed mount 8, its other end
Being connected with gripper 10, one end of expansion link 7 is connected with telescopic arm fixed mount 8, its other end is fixed in the front end of telescopic arm 9.
Connect on gripper 10 and have the controller for controlling gripper 10 opening and closing.As in figure 2 it is shown, for flexible grasping mechanism contraction-like
Structural representation under state；As it is shown on figure 3, be flexible grasping mechanism structural representation under elongation state.
Described vertical lifting mechanism includes being vertically directed rail 6, elevating lever 5 and the four-drive device being connected with elevating lever 5,
The lower end of elevating lever 5 is installed on turntable 4, its apical support is in the bottom of telescopic arm fixed mount 8；It is vertically directed one end of rail 6
Be installed on turntable 4, its other end is through the housing of telescopic arm fixed mount 8.
In the present embodiment, the 3rd driving means and four-drive device are motor or hydraulic cylinder.
The present invention operationally, 1) first according to the actual putting position of goods, open the first driving means, chassis 2 exists
Move horizontally on horizontal slide rail 1；Control the second driving means again, make turntable 4 turn to proper angle around around central shaft 3；Then
Start four-drive device, make elevating lever 5 that telescopic arm fixed mount 8 is promoted to the height at goods place；Then control the 3rd to drive
Dynamic device work, makes expansion link 7 do stretching motion, thus drives telescopic arm 9 to do expanding-contracting action, make gripper 10 move to goods position
Put；Finally, by controller, goods is captured；2) in step 1) complete the crawl to goods after, by corresponding by controlling
Driving means, goods is carried/is put to specify position, i.e. complete the short-haul operation to goods or loading and unloading.
These are only explanation embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in this
Within bright protection domain.
Claims (6)
1. multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and mechanical hand telescoping mechanism, it is characterised in that: also wrap
Including horizontal rotary mechanism, described horizontal linear travel mechanism includes horizontal slide rail (1), chassis (2) and is used for driving chassis (2) to move
The first dynamic driving means, described chassis (2) are installed on horizontal slide rail (1)；Described horizontal rotary mechanism includes central shaft
(3), turntable (4) and the second driving means, the lower end of described central shaft (3) is installed in that chassis (2) is upper, horizontal teeth is passed through in its upper end
Wheel disc connects with turntable (4) axle, described turntable (4) be connected with the second driving means and under the effect of the second driving means around in
Mandrel (3) rotates；Described mechanical hand telescoping mechanism is installed on the top of turntable (4) and at turntable (4) and mechanical hand telescoping mechanism
Between be provided with a vertical lifting mechanism.
Multiple degrees of freedom assembling and disassembling manipulator the most according to claim 1, it is characterised in that: described mechanical hand telescoping mechanism includes
Telescopic arm fixed mount (8), telescopic arm (9), gripper (10), expansion link (7) and the 3rd driving dress being connected with expansion link (7)
Putting, one end of telescopic arm (9) is installed in the chute of telescopic arm fixed mount (8), its other end is connected with gripper (10), flexible
One end of bar (7) is connected with telescopic arm fixed mount (8), its other end is fixed in the front end of telescopic arm (9), and gripper connects on (10)
It is connected to the controller for controlling gripper (10) opening and closing.
Multiple degrees of freedom assembling and disassembling manipulator the most according to claim 2, it is characterised in that: described vertical lifting mechanism includes erecting
Straight guided way (6), elevating lever (5) and the four-drive device being connected with elevating lever (5), the lower end of elevating lever (5) is installed in and turns
Platform (4) is upper, its apical support in the bottom of telescopic arm fixed mount (8), be vertically directed one end of rail (6) be installed in turntable (4) upper,
Its other end is through the housing of telescopic arm fixed mount (8).
4. according to the multiple degrees of freedom assembling and disassembling manipulator described in Claims 2 or 3, it is characterised in that: the 3rd driving means and the 4th
Driving means is motor or hydraulic cylinder.
Multiple degrees of freedom assembling and disassembling manipulator the most according to claim 1, it is characterised in that: equal at the two ends of horizontal slide rail (1)
It is provided with limited block (11).
Multiple degrees of freedom assembling and disassembling manipulator the most according to claim 1, it is characterised in that: described second driving means is stepping
Motor, it is possible to drive turntable (4) rotation 0-360 degree in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610869397.7A CN106272360A (en) | 2016-09-28 | 2016-09-28 | Multiple degrees of freedom assembling and disassembling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610869397.7A CN106272360A (en) | 2016-09-28 | 2016-09-28 | Multiple degrees of freedom assembling and disassembling manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272360A true CN106272360A (en) | 2017-01-04 |
Family
ID=57715986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610869397.7A Pending CN106272360A (en) | 2016-09-28 | 2016-09-28 | Multiple degrees of freedom assembling and disassembling manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865143A (en) * | 2017-02-28 | 2017-06-20 | 天津联创智信科技有限公司 | A kind of film silk braid cylinder chopping production line |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN109968315A (en) * | 2019-04-02 | 2019-07-05 | 张学莉 | A kind of water dispenser barreled water transport replacement robot |
| CN112056925A (en) * | 2020-08-05 | 2020-12-11 | 谢雪慧 | Intelligent egg frying machine |
| CN112499492A (en) * | 2020-12-21 | 2021-03-16 | 中铁宝桥（南京）有限公司 | Portable hydraulic rocker arm type glue joint insulating clamp plate mounting tool |
| CN112544448A (en) * | 2020-12-02 | 2021-03-26 | 安徽科技学院 | Automatic milking equipment |
| CN114952808A (en) * | 2022-08-02 | 2022-08-30 | 哈尔滨工业大学 | Double-arm six-degree-of-freedom heavy-load mounting manipulator |
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| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
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| CN204487547U (en) * | 2014-11-19 | 2015-07-22 | 杭州锐冠精工机械有限公司 | A kind of multi-arm manipulator |
| CN204487571U (en) * | 2015-01-10 | 2015-07-22 | 彭道兴 | Mechanical arm for injection molding machine |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
| CN206105838U (en) * | 2016-09-28 | 2017-04-19 | 钦州学院 | Multi freedom loading -unloading machine hand |
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| FR78265E (en) * | 1960-02-16 | 1962-06-29 | Commissariat Energie Atomique | Remote-controlled device for intervention on hazardous materials |
| CN2323929Y (en) * | 1998-04-04 | 1999-06-16 | 梁晓煜 | Long-distance pushing, pulling, catching and putting extensible manipulator |
| CN1663750A (en) * | 2004-03-04 | 2005-09-07 | 株式会社莱茵瓦库斯 | Transport apparatus |
| CN2868586Y (en) * | 2005-12-07 | 2007-02-14 | 天津市天锻压力机有限公司 | Multi-free-degree multifunctional manipulator for production line |
| CN101284379A (en) * | 2007-04-10 | 2008-10-15 | 厄罗瓦公司 | Handling manipulator assembly |
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| CN202412277U (en) * | 2012-02-01 | 2012-09-05 | 昆山华恒焊接股份有限公司 | Conveying robot system |
| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
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| CN204487571U (en) * | 2015-01-10 | 2015-07-22 | 彭道兴 | Mechanical arm for injection molding machine |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
| CN206105838U (en) * | 2016-09-28 | 2017-04-19 | 钦州学院 | Multi freedom loading -unloading machine hand |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865143A (en) * | 2017-02-28 | 2017-06-20 | 天津联创智信科技有限公司 | A kind of film silk braid cylinder chopping production line |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN107243898B (en) * | 2017-06-09 | 2024-01-30 | 陕西科技大学 | Connecting rod type intelligent robot |
| CN109968315A (en) * | 2019-04-02 | 2019-07-05 | 张学莉 | A kind of water dispenser barreled water transport replacement robot |
| CN109968315B (en) * | 2019-04-02 | 2022-11-11 | 亿智越智能科技(武汉)有限公司 | Robot for transporting and replacing barreled water of water dispenser |
| CN112056925A (en) * | 2020-08-05 | 2020-12-11 | 谢雪慧 | Intelligent egg frying machine |
| CN112056925B (en) * | 2020-08-05 | 2022-08-12 | 谢雪慧 | Intelligent egg frying machine |
| CN112544448A (en) * | 2020-12-02 | 2021-03-26 | 安徽科技学院 | Automatic milking equipment |
| CN112499492A (en) * | 2020-12-21 | 2021-03-16 | 中铁宝桥（南京）有限公司 | Portable hydraulic rocker arm type glue joint insulating clamp plate mounting tool |
| CN114952808A (en) * | 2022-08-02 | 2022-08-30 | 哈尔滨工业大学 | Double-arm six-degree-of-freedom heavy-load mounting manipulator |
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