CN107671847A - A kind of Three Degree Of Freedom pneumatic mechanical manipulator - Google Patents
A kind of Three Degree Of Freedom pneumatic mechanical manipulator Download PDFInfo
- Publication number
- CN107671847A CN107671847A CN201711173344.2A CN201711173344A CN107671847A CN 107671847 A CN107671847 A CN 107671847A CN 201711173344 A CN201711173344 A CN 201711173344A CN 107671847 A CN107671847 A CN 107671847A
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- CN
- China
- Prior art keywords
- joint
- bone
- drive cylinder
- elbow
- shoulder
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- 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.)
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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
Abstract
The disclosure, which provides a kind of Three Degree Of Freedom pneumatic mechanical manipulator, includes silent flatform, shoulder joint, elbow joint and wrist joint, the silent flatform is connected with the shoulder joint, the shoulder joint is connected with the elbow joint, the elbow joint is connected with the wrist joint, the shoulder joint includes shoulder joint drive cylinder, the elbow joint includes elbow joint drive cylinder, the wrist joint includes wrist joint drive cylinder, the shoulder joint drive cylinder is connected with the silent flatform, the elbow joint drive cylinder is connected with the shoulder joint, and the wrist joint drive cylinder is connected with the elbow joint.
Description
Technical field
This disclosure relates to mechanical engineering field, more particularly to a kind of Three Degree Of Freedom pneumatic mechanical manipulator.
Background technology
Mechanical arm is a kind of new device to grow up during mechanization, automated production, is widely transported
For in automatic production line, the development and production of mechanical arm also to turn into one developed rapidly in high-tech area newly
Emerging technology.Mechanical arm common at present by motor and linear electric motors combination drive, has output accuracy height, stable movement etc. more
Advantage, but this mechanical arm is more heavy, and occupancy volume is big, and cost is high.
By contrast, pneumatic mechanical manipulator versatility is stronger, and is swift in motion, and is quick on the draw, and drag losses and leakage are smaller,
Cost is cheap, and has certain bearing capacity, has been widely used in various automatic production lines, is current mechanical arm field
Study hotspot.
The content of the invention
The disclosure proposes a kind of Three Degree Of Freedom pneumatic mechanical manipulator, including silent flatform, shoulder joint, elbow joint and wrist joint, institute
State silent flatform with the shoulder joint to be connected, the shoulder joint is connected with the elbow joint, the elbow joint and the wrist joint phase
Even；
The shoulder joint includes shoulder joint drive cylinder, and the elbow joint includes elbow joint drive cylinder, the wrist joint
Including wrist joint drive cylinder, the shoulder joint drive cylinder is connected with the silent flatform, the elbow joint drive cylinder and institute
Shoulder joint connection is stated, the wrist joint drive cylinder is connected with the elbow joint.
Wherein, the silent flatform is the frame of the Three Degree Of Freedom pneumatic mechanical manipulator, described for fixing the mechanical arm
Silent flatform can be arranged in different working environments according to work requirements by bolt.
Further, the shoulder joint also includes the left bone of shoulder joint, the right bone of shoulder joint, the first hold-down support, second
Hold-down support, the 3rd hold-down support and the 4th hold-down support, the bottom of the shoulder joint drive cylinder are fixed by described first
Bearing and second hold-down support are connected with the silent flatform, and the top of the shoulder joint drive cylinder and the shoulder joint are left
Bone is connected with the right bone of the shoulder joint, and the left bone of shoulder joint and the right bone of the shoulder joint are fixed by the described 3rd
Bearing and the 4th hold-down support are connected with the silent flatform.
Wherein, first hold-down support, second hold-down support, the 3rd hold-down support and the described 4th fix
Bearing is fixedly mounted on the silent flatform, and the bottom of the shoulder joint drive cylinder and the left and right bone of the shoulder joint lead to
Cross bolt and sleeve to be connected with silent flatform formation revolute pair, the top of the shoulder joint drive cylinder passes through bolt and sleeve
Bone left and right with the shoulder joint forms revolute pair and is connected；The shoulder joint can be considered a quadric chain, the shoulder joint
Driving link of the drive cylinder as the shoulder joint, the left and right bone of the shoulder joint can be driven to make relative to the silent flatform
The motion swung up and down.
Further, the elbow joint also includes the left bone of elbow joint and the right bone of elbow joint, the elbow joint driving gas
The bottom of cylinder bone left with the shoulder joint and the right bone of the shoulder joint are connected, the top of the elbow joint drive cylinder and institute
The left bone of elbow joint is stated to connect with the right bone of the elbow joint, the left bone of elbow joint and the right bone of the elbow joint with it is described
The left bone of shoulder joint is connected with the right bone of the shoulder joint.
Wherein, the bottom of the elbow joint drive cylinder is formed by bolt and sleeve with the left and right bone of the shoulder joint
Revolute pair connects；The top of the elbow joint drive cylinder is formed with the left and right bone of the elbow joint by bolt and sleeve and turned
Dynamic secondary connection；The left and right bone of shoulder joint forms revolute pair with the left and right bone of the elbow joint by bolt and sleeve and connected
Connect；Driving link of the elbow joint drive cylinder as the elbow joint, the left and right bone of the elbow joint can be driven to make relative
In the motion that the silent flatform is swung up and down.
Further, the wrist joint also includes the left bone of wrist joint and the right bone of wrist joint, the wrist joint driving gas
The bottom of cylinder bone left with the elbow joint and the right bone of the elbow joint are connected, the top of the wrist joint drive cylinder and institute
The left bone of wrist joint is stated to connect with the right bone of the wrist joint, the left bone of wrist joint and the right bone of the wrist joint with it is described
The left bone of elbow joint connects with the right bone of the elbow joint.
Wherein, the bottom of the wrist joint drive cylinder is formed by bolt and sleeve with the left and right bone of the elbow joint
Revolute pair connects；The top of the wrist joint drive cylinder is formed with the left and right bone of the wrist joint by bolt and sleeve and turned
Dynamic secondary connection；The left and right bone of elbow joint forms revolute pair with the left and right bone of the wrist joint by bolt and sleeve and connected
Connect；The wrist joint drive cylinder can drive the left and right bone of the wrist joint to make relative as the carpal driving link
In the motion of the silent flatform swing.
Further, the mechanical arm also includes moving platform, and the moving platform is connected with the wrist joint, the moving platform
Different executing agencies can be carried.
Wherein, the moving platform is bolted on the wrist joint, and the locus of the moving platform can be with
The motion in each joint and change；The moving platform according to task is required to carry or is replaced by different executing agencies.
Further, the Three Degree Of Freedom pneumatic mechanical manipulator collectively constitutes multi-motion state with the moving platform.
Wherein, the state of the shoulder joint drive cylinder, the elbow joint drive cylinder and the wrist joint drive cylinder
The shoulder joint, the elbow joint and the carpal motion state are together decided on, and further determines the moving platform
Locus.
The beneficial effect of the disclosure：
1) there is the pneumatic mechanical manipulator of three degree of freedom, not only with the energy-conserving and environment-protective of conventional pneumatic mechanical arm, cost it is cheap,
The features such as light easy to operate, versatile, also there is the advantages such as be quick on the draw, be swift in motion, working space is big, reliability is high；
2) moving platform can carry or be replaced by different executing agencies or functional module according to work requirements, complete variation
Task, applied to a variety of automatic production lines.
Brief description of the drawings
Accompanying drawing shows the illustrative embodiments of the disclosure, and it is bright be used to explain the principle of the disclosure together,
Which includes these accompanying drawings to provide further understanding of the disclosure, and accompanying drawing includes in this manual and forms this
Part for specification.
Fig. 1 is the general structure schematic diagram of the Three Degree Of Freedom pneumatic mechanical manipulator of disclosure embodiment；
Fig. 2 is the structural representation of the shoulder joint of the Three Degree Of Freedom pneumatic mechanical manipulator of disclosure embodiment；
Fig. 3 is the structural representation of the elbow joint of the Three Degree Of Freedom pneumatic mechanical manipulator of disclosure embodiment；
Fig. 4 is the carpal structural representation of the Three Degree Of Freedom pneumatic mechanical manipulator of disclosure embodiment；
Fig. 5 is that the Three Degree Of Freedom pneumatic mechanical manipulator of disclosure embodiment and all motion states of moving platform are illustrated
Figure.
Embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that in order to just
The part related to the disclosure is illustrate only in description, accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.1-5 and describe the disclosure in detail in conjunction with the embodiments below with reference to the accompanying drawings.
Three Degree Of Freedom pneumatic mechanical manipulator includes silent flatform A, shoulder joint C, elbow joint D and wrist joint E, silent flatform A and shoulder joint
Section C is connected, and shoulder joint C is connected with elbow joint D, and elbow joint D is connected with wrist joint E；
Shoulder joint C includes shoulder joint drive cylinder C-1, elbow joint D to be included including elbow joint drive cylinder D-1, wrist joint E
Wrist joint drive cylinder E-1, shoulder joint drive cylinder C-1 are connected with silent flatform A, and elbow joint drive cylinder D-1 and shoulder joint C connects
Connect, wrist joint drive cylinder E-1 is connected with elbow joint D.
Shoulder joint C also includes the left bone C-2 of shoulder joint, the right bone C-3 of shoulder joint, the first hold-down support C-4, the second fixation
Bearing C-5, the 3rd hold-down support C-6 and the 4th hold-down support C-7, shoulder joint drive cylinder C-1 bottom are fixed by first
Bearing C-4 and the second hold-down support C-5 are connected with silent flatform A, shoulder joint drive cylinder C-1 top and the left bone C- of shoulder joint
2 connect with the right bone C-3 of shoulder joint, the left bone C-2 of shoulder joint and the right bone C-3 of shoulder joint by the 3rd hold-down support C-6 and
4th hold-down support C-7 is connected with silent flatform A.
Elbow joint D also includes the left bone D-2 of the elbow joint and right bone D-3 of elbow joint, elbow joint drive cylinder D-1 bottom
Bone C-2 left with shoulder joint and the right bone C-3 of shoulder joint are connected, elbow joint drive cylinder D-1 top and the left bone of elbow joint
D-2 connects with the right bone D-3 of elbow joint, the left bone D-2 of elbow joint and the right bone D-3 of elbow joint and the left bone C-2 of shoulder joint and
The right bone C-3 of shoulder joint is connected.
Wrist joint E also includes the left bone E-2 of the wrist joint and right bone E-3 of wrist joint, wrist joint drive cylinder E-1 bottom
The right bone D-3 of bone D-2 and elbow joint left with elbow joint are connected, wrist joint drive cylinder E-1 top and the left bone of wrist joint
E-2 connects with the right bone E-3 of wrist joint, the left bone E-2 of wrist joint and the right bone E-3 of wrist joint and the left bone D-2 of elbow joint and
The right bone D-3 connections of elbow joint.
Three Degree Of Freedom pneumatic mechanical manipulator also includes moving platform B, and moving platform B is connected with wrist joint E, and moving platform B can be carried
Different executing agencies.
Three Degree Of Freedom pneumatic mechanical manipulator collectively constitutes multi-motion state with moving platform B.
In more detail, as shown in Fig. 2 shoulder joint drive cylinder C-1 bottom passes through the first hold-down support C-4, second
Hold-down support C-5 forms revolute pair with silent flatform A and is connected, and shoulder joint drive cylinder C-1 top passes through bolt and sleeve and shoulder
The left bone C-2 in joint bone C-3s right with shoulder joint forms revolute pair and connected；The left bone C-2 of the shoulder joint and right bone C-3 of shoulder joint
Connected by forming revolute pair between the 3rd hold-down support C-6 and the 4th hold-down support C-7 and silent flatform A；Driven in shoulder joint
Under cylinder C-1 drive, shoulder joint C can be swung up and down relative to silent flatform A.
As shown in figure 3, elbow joint drive cylinder D-1 bottom by bolt and sleeve and the left and right bone C-2 of shoulder joint,
C-3 forms revolute pair connection；Elbow joint drive cylinder D-1 top by bolt and sleeve and the left and right bone D-2 of elbow joint,
D-3 forms revolute pair connection；Elbow joint left and right bone D-2, D-3 pass through bolt and sleeve and shoulder joint left and right bone C-2, C-
3 form revolute pair connection；Under elbow joint drive cylinder D-1 drive, elbow joint D can be swung up and down relative to silent flatform A.
As shown in figure 4, wrist joint drive cylinder E-1 bottom by bolt and sleeve and the left and right bone D-2 of elbow joint,
D-3 forms revolute pair connection；Wrist joint drive cylinder E-1 top by bolt and sleeve and the left and right bone E-2 of wrist joint,
E-3 forms revolute pair connection；Wrist joint left and right bone E-2, E-3 pass through bolt and sleeve and elbow joint left and right bone D-2, D-
3 form revolute pair connection；Under wrist joint drive cylinder D-1 drive, wrist joint E can make swing relative to silent flatform A.
As shown in figure 5, moving platform B locus is together decided on by shoulder joint C, elbow joint D and wrist joint E, these three
The motion in joint is respectively by shoulder joint drive cylinder C-1, elbow joint drive cylinder D-1 and wrist joint drive cylinder E-1 come real
Existing, each cylinder has most short and most long two kinds of motion states, therefore the motion state of mechanical arm and moving platform B compositions has eight kinds,
As shown in Fig. 5 (a) (b) (c) (d) (e) (f) (g) (h), it is expressed as：Fig. 5 (a), three joint drive cylinders do not move
When state；State when Fig. 5 (b), only wrist joint drive cylinder E-1 are moved；Fig. 5 (c), only elbow joint drive cylinder D-1 are transported
State when dynamic；State Fig. 5 (d), elbow joint drive cylinder D-1 and wrist joint drive cylinder E-1 are moved simultaneously when；Fig. 5
(e) state when, only shoulder joint drive cylinder C-1 is moved；Fig. 5 (f), shoulder joint drive cylinder C-1 and wrist joint drive cylinder
State E-1 is moved simultaneously when；Shape Fig. 5 (g), shoulder joint drive cylinder C-1 and elbow joint drive cylinder D-1 are moved simultaneously when
State；Shape Fig. 5 (h) shoulder joint drive cylinders C-1, elbow joint drive cylinder D-1 and wrist joint drive cylinder E-1 are moved simultaneously when
State.The different conditions of three joint drive cylinders determine the pose of whole mechanical arm and moving platform B locus, assign
The mechanical arm stronger flexibility.
It will be understood by those of skill in the art that above-mentioned embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- is that the scope of the present disclosure is defined.For those skilled in the art, may be used also on the basis of disclosed above
To make other changes or modification, and these changes or modification are still in the scope of the present disclosure.
Claims (6)
1. a kind of Three Degree Of Freedom pneumatic mechanical manipulator, including silent flatform (A), shoulder joint (C), elbow joint (D) and wrist joint (E), institute
State silent flatform (A) with the shoulder joint (C) to be connected, the shoulder joint (C) is connected with the elbow joint (D), the elbow joint (D)
It is connected with the wrist joint (E)；
The shoulder joint (C) includes shoulder joint drive cylinder (C-1), and the elbow joint (D) includes elbow joint drive cylinder (D-
1), the wrist joint (E) includes wrist joint drive cylinder (E-1), the shoulder joint drive cylinder (C-1) and the silent flatform
(A) connect, the elbow joint drive cylinder (D-1) is connected with the shoulder joint (C), the wrist joint drive cylinder (E-1) and
Elbow joint (D) connection.
2. Three Degree Of Freedom pneumatic mechanical manipulator according to claim 1, it is characterised in that the shoulder joint (C) also includes shoulder
The left bone in joint (C-2), the right bone of shoulder joint (C-3), the first hold-down support (C-4), the second hold-down support (C-5), the 3rd consolidate
Determine bearing (C-6) and the 4th hold-down support (C-7), the bottom of the shoulder joint drive cylinder (C-1) is fixed by described first
Bearing (C-4) and second hold-down support (C-5) are connected with the silent flatform (A), the shoulder joint drive cylinder (C-1)
Top is connected with the left bone of the shoulder joint (C-2) and the right bone of the shoulder joint (C-3), the left bone of shoulder joint (C-2)
With the right bone of the shoulder joint (C-3) by the 3rd hold-down support (C-6) and the 4th hold-down support (C-7) with it is described
Silent flatform (A) is connected.
3. Three Degree Of Freedom pneumatic mechanical manipulator according to claim 1 or 2, it is characterised in that the elbow joint (D) also includes
The left bone of elbow joint (D-2) and the right bone of elbow joint (D-3), bottom and the shoulder joint of the elbow joint drive cylinder (D-1)
Save left bone (C-2) and the right bone of the shoulder joint (C-3) connection, the top of the elbow joint drive cylinder (D-1) with it is described
The left bone of elbow joint (D-2) and the right bone of the elbow joint (D-3) connection, the left bone of elbow joint (D-2) and the elbow close
Right bone (D-3) is saved with the left bone of the shoulder joint (C-2) and the right bone of the shoulder joint (C-3) to be connected.
4. according to the Three Degree Of Freedom pneumatic mechanical manipulator described in claim any one of 1-3, it is characterised in that the wrist joint (E)
Also include the left bone of wrist joint (E-2) and the right bone of wrist joint (E-3), the bottom of the wrist joint drive cylinder (E-1) and institute
State the left bone of elbow joint (D-2) and the right bone of the elbow joint (D-3) connection, the top of the wrist joint drive cylinder (E-1)
It is connected with the left bone of the wrist joint (E-2) and the right bone of the wrist joint (E-3), the left bone of wrist joint (E-2) and institute
The right bone of wrist joint (E-3) is stated to be connected with the left bone of the elbow joint (D-2) and the right bone of the elbow joint (D-3).
5. according to the Three Degree Of Freedom pneumatic mechanical manipulator described in claim any one of 1-4, it is characterised in that the mechanical arm also wraps
Moving platform (B) is included, the moving platform (B) is connected with the wrist joint (E), and the moving platform (B) can carry different execution
Mechanism.
6. according to the Three Degree Of Freedom pneumatic mechanical manipulator described in claim any one of 1-5, it is characterised in that the Three Degree Of Freedom gas
Dynamic mechanical arm collectively constitutes multi-motion state with the moving platform (B).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173344.2A CN107671847A (en) | 2017-11-22 | 2017-11-22 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173344.2A CN107671847A (en) | 2017-11-22 | 2017-11-22 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN107671847A true CN107671847A (en) | 2018-02-09 |
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ID=61149231
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711173344.2A Pending CN107671847A (en) | 2017-11-22 | 2017-11-22 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
| CN111687848A (en) * | 2019-03-12 | 2020-09-22 | 中国人民武装警察部队后勤学院 | Oil tank cleaning robot |
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| CN101579282A (en) * | 2009-06-12 | 2009-11-18 | 东华大学 | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device |
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| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
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