CN108161911A - A kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design - Google Patents
A kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design Download PDFInfo
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- CN108161911A CN108161911A CN201611114349.3A CN201611114349A CN108161911A CN 108161911 A CN108161911 A CN 108161911A CN 201611114349 A CN201611114349 A CN 201611114349A CN 108161911 A CN108161911 A CN 108161911A
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- Prior art keywords
- manipulator
- design
- arm
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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
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
Patent of the present invention is related to a kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design, the Design of Mechanical Structure of collectivity Scheme Design, manipulator the invention mainly comprises manipulator and driving, Control System Design etc., the present invention realize the arm four-degree-of-freedom movement of manipulator：The lifting, stretch and turn round of arm, the clamping of arm, the present invention realize the revolution of manipulator using pneumatic cylinder is turned round, and the robot manipulator structure of design is simple, it is easy to operation, expected action is completed under the control of PLC, student can be given to achieve the purpose that teaching demonstration with intuitive impression.
Description
Technical field
Patent of the present invention is related to technical field of mechanical design more particularly to a kind of Pneumatic driving type four-degree-of-freedom teaching simulation
Manipulator design.
Background technology
Pneumatic manipulator is by operation machine（Basic machine）, controller, servo drive system and detection sensing device form, be
A kind of apery operation is automatically controlled, repeatable programming, can be set in the electromechanical integration automation of the various operations of three dimensions completion
It is standby.Flexible production particularly suitable for multi items, change batch.Robot is not that artificial labour is replaced in simple meaning,
But a kind of electro-mechanical device of personification of the speciality and machine speciality of people is combined, both someone was to the quick anti-of ambient condition
Should with the ability of analytical judgment, and have machine can long lasting for work, accuracy is high, ability of anti-adverse environment, from certain meaning
It is also the evolutionary process product of machine that it is said in justice, it is that industry and the important production of non-industrial circle and service are set respectively,
Be the indispensable automation equipment manipulators in advanced manufacturing technology field it is the partial act for imitating human hand, by given journey
The robot apparatus of automatic crawl, carrying or operation is realized in sequence, track and requirement.
Patent of invention content
Patent of the present invention is related to a kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design, and the invention mainly comprises machineries
The collectivity Scheme Design of hand, the Design of Mechanical Structure of manipulator and driving, Control System Design etc., the present invention realizes machinery
The arm four-degree-of-freedom movement of hand：The lifting, stretch and turn round of arm, the clamping of arm, the present invention using turn round pneumatic cylinder come
Realize the revolution of manipulator, the robot manipulator structure of design is simple, easy to operation, and expected action, energy are completed under the control of PLC
To student with intuitive impression, achieve the purpose that teaching demonstration.
Description of the drawings
Fig. 1：Manipulator compositional block diagram.
Fig. 2：Pneumatic driving type four-degree-of-freedom teaching simulation manipulator schematic diagram.
Fig. 3：Pneumatic driving type four-degree-of-freedom teaching simulation manipulator rendering effect figure.
Fig. 4：Double-acting cylinder internal structure chart.
Fig. 5：Double-acting cylinder simplification figure.
Fig. 6：The schematic diagram of manipulator pneumatic clamper.
Fig. 7：The rendering effect figure of manipulator pneumatic clamper.
Fig. 8：Robot movement schematic diagram.
Fig. 9：Manipulator stretches schematic diagram.
Figure 10：The rendering figure of manipulator telescopic arm.
Figure 11：The shaft side figure of arm lifting.
Figure 12：The rendering figure of arm lifting.
Figure 13：The schematic three dimensional views of revoliving arm design.
Figure 14：The rendering effect figure of revoliving arm design.
Figure 15：Pinion and-rack schematic diagram.
Figure 16：Pneumatic circuit figure.
Figure 17：PLC hardware architecture diagrams.
Figure 18：Manipulator control system flow chart.
Specific embodiment
In order to which the object, technical solution and advantage for making patent of the present invention are more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated patent of the present invention.It should be appreciated that specific embodiment described herein is only used to explain
Patent of the present invention, is not intended to limit the present invention patent.
Patent of the present invention is related to a kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design, the invention mainly comprises
The collectivity Scheme Design of manipulator, the Design of Mechanical Structure of manipulator and driving, Control System Design etc., the present invention realizes
The arm four-degree-of-freedom movement of manipulator：The lifting, stretch and turn round of arm, the clamping of arm, the present invention is using revolution air pressure
Cylinder realizes the revolution of manipulator, and the robot manipulator structure of design is simple, easy to operation, completed under the control of PLC expected from move
Make, student can be given to achieve the purpose that teaching demonstration with intuitive impression.
Further, manipulator of the invention is mainly filled by executing agency, drive system, control system and position detection
It puts etc. and to be formed.The mutual relationship of each system is as shown in block diagram 1.Under conditions of PLC program control, using air pressure transmission
Flowing mode, come realize the corresponding component of executing agency occur regulation requirement, have sequence, have movement locus, have certain speed and
The action of time.By the information of its control system instruction is sent out to executing agency simultaneously, when necessary can to the action of manipulator into
Row monitoring, when have action occur mistake when or the when of breaking down send out alarm signal.Position detecting device will be held at any time
The physical location of row mechanism feeds back to control system, and is compared with the position of setting, is then adjusted by control system
It is whole, so as to which executing agency be made to reach setting position with certain precision.
Further, the signal of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator is as shown in Fig. 2, Pneumatic driving type four selfs
It is as shown in Figure 3 by degree teaching simulation manipulator rendering effect.According to theory of mechanics, mechanism, which has, to be determined to give during movement
Self-movement parameter number, referred to as mechanism freedom, number often represent with F.This Pneumatic driving type teaching simulation machinery
Hand, there are four degree of freedom for tool：Arm stretches；The revolution of fuselage；The lifting of fuselage；The opening and closing of hand claw.
Further, double-acting cylinder internal structure as shown in figure 4, double-acting cylinder simplification figure as shown in figure 5, the design
Manipulator mainly be made of 3 big component and 3 pneumatic cylinders：（1）Hand using a pneumatic clamper, passes through the movement of mechanism
To realize the opening and closing of hand claw.（2）Arm realizes the flexible of arm using linear cylinder.（3）Fuselage, using a linear cylinder and
One rotary cylinder realizes the lifting of arm and revolution.
Further, manipulator pneumatic clamper signal as shown in fig. 6, manipulator pneumatic clamper rendering effect as shown in fig. 7, due to
The design uses standard pneumatic clamper, does not need to be designed, direct type selecting, selection criteria opened or closed type pneumatic clamper.
Further, in this airbrasive hand, cylinder driving, Pneumatic manipulator institute can be used in straight line and rotary module
The movement signal that can be performed is as shown in Figure 8.According to the motor function of manipulator, it is big that the design of manipulator arm can be divided into three
Part：The horizontal stretching motion of manipulator is realized in the design of telescopic arm；The design of arm is lifted, completes the vertical of manipulator
Elevating movement；The rotary motion of manipulator is completed in the design of revoliving arm.
Further, manipulator stretches signal as shown in figure 9, the rendering of manipulator telescopic arm is as shown in Figure 10, stretches
Arm performs the mechanism of horizontal stretching motion for manipulator, it is the portion for connecting arm end effector and vertical lifting arm
Part, its basic role are to complete end effector to extend and retract movement.Telescopic arm is when being moved, to prevent hand
Arm rotates along telescopic direction axis, increases bearing capacity and improve kinematic accuracy, it is necessary to equipped with guider.Telescopic arm
Guider need to determine according to conditions such as the installation form of telescopic arm, structure and loads, common to have single guide rod and double
Guide rod.For simplify design standard and, in the design, telescopic arm, should using new thin tape guide rod cylinder
Small, the light and handy resistance to lateral load ability of cylinder is strong, and resistance to torque capability is strong, and rotating accuracy is not high, the bearing class selection of guide rod
Sliding bearing or ball bearing, easy for installation, it is available that position is taken in two faces.
Further, the axis side of arm lifting is as shown in figure 11, and the rendering of arm lifting is as shown in figure 12, is to directly support
With the component of driving horizontal extension arm, the vertical lifting movement of manipulator is realized.Through searching data, discovery has had guide rod machine
The Standard Cylinder of structure, using this Standard Cylinder, you can meet design accuracy, simplified design structure, and can save and be designed to
This.Therefore the design of this manipulator lifting arm is using common single pole Linear scaling cylinder.
Further, the three-dimensional signal of revoliving arm design is as shown in figure 13, rendering effect such as Figure 14 institutes of revoliving arm design
Show, pinion and-rack signal is as shown in figure 15, and revoliving arm is located at the least significant end of robot manipulator structure, it carries the whole of manipulator
Weight, therefore have higher requirement for the bearing capacity of revoliving arm.Again since revoliving arm will drive the rotation of entire manipulator,
Its stationarity is kept when revolution, according to design requirement, manipulator will realize the rotary motion in the range of 180 degree.At this
Revoliving arm in design, which is directly selected, sets a table（Pinion and-rack）MSQ series, the rotary cylinder of this type use high precision ball
Bearing.
Further, the design of manipulator pneumatic circuit mainly selects suitable control valve, is adjusted by control box each
Pressure, flow and the direction of a cylinders compressing air are transported pneumatic actuator to be made to obtain necessary power, movement speed and change
Dynamic direction, and work by regulated procedure, the pneumatic circuit figure of design, as shown in figure 16.The Pneumatic manipulator of the design is completed
The cylinder of each movement only has fully extended and is fully retracted two states, selects double automatically controlled two position-5 way valves, passes through control
System imports and exports the size of air mass flow to control the size and movement velocity of cylinder actuator power.It is controlled in design using PLC
Manipulator realize it is various as defined in predetermined actions, both can be cost-effective with simplify control circuit, and labour production can be improved
Rate.PLC is substantially a kind of computer for being exclusively used in Industry Control, and hardware configuration is substantially identical with microcomputer, is such as schemed
Shown in 17.
Further, the sequence of movement of manipulator is as follows：The initial position of manipulator be retraction, decline, dextrorotation on earth
Portion, manipulator is into relaxation state.After start button is pressed, manipulator arm is begun to ramp up, and rises to top, is encountered limiting and is opened
It closes, vertical motion stops, and manipulator arm starts to stretch out, and reaches bottom and encounters limit switch, extending action stops, and manipulator is opened
Beginning rotates to bottom to the left, encounters limit switch, and spinning movement stops, and manipulator starts to perform pinching action, encounters limit switch,
Pinching action stops, and manipulator starts to perform to right rotation, and dextrorotation on earth, encounters limit switch, and dextrorotation action stops, manipulator
Start to retract, limit switch is encountered in retraction, and retract action stops, and manipulator performs lowering action, drops to bottom, encounters limiting and open
It closes, manipulator stops lowering action, and manipulator loosens, and returns to initial position at this time, a cycle action is completed, according to manipulator
Sequence of movement.Manipulator control system flow chart is as shown in figure 18.
The foregoing is merely the preferred embodiments of patent of the present invention, are not intended to limit the invention patent, all at this
All any modification, equivalent and improvement made within the spirit and principle of patent of invention etc., should be included in patent of the present invention
Protection domain within.
Claims (2)
1. patent of the present invention is related to a kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design, the invention mainly comprises machines
The collectivity Scheme Design of tool hand, the Design of Mechanical Structure of manipulator and driving, Control System Design etc., the present invention realizes machine
The arm four-degree-of-freedom movement of tool hand：The lifting, stretch and turn round of arm, the clamping of arm, the present invention is using revolution pneumatic cylinder
Realize the revolution of manipulator, the robot manipulator structure of design is simple, easy to operation, completed under the control of PLC it is expected act,
It can achieve the purpose that teaching demonstration to student with intuitive impression.
2. a kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design according to claim 1, which is characterized in that
The manipulator of the present invention is mainly made of executing agency, drive system, control system and position detecting device etc..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114349.3A CN108161911A (en) | 2016-12-07 | 2016-12-07 | A kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114349.3A CN108161911A (en) | 2016-12-07 | 2016-12-07 | A kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design |
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| Publication Number | Publication Date |
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| CN108161911A true CN108161911A (en) | 2018-06-15 |
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| CN201611114349.3A Pending CN108161911A (en) | 2016-12-07 | 2016-12-07 | A kind of Pneumatic driving type four-degree-of-freedom teaching simulation manipulator design |
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Citations (8)
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|---|---|---|---|---|
| US5063334A (en) * | 1989-07-24 | 1991-11-05 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN201042801Y (en) * | 2007-04-23 | 2008-04-02 | 亚龙科技集团有限公司 | Four-degree of freedom mechanical arm structure |
| CN203510222U (en) * | 2013-07-02 | 2014-04-02 | 安徽理工大学 | Novel four-freedom-degree pneumatic manipulator structure |
| CN203697032U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Multi-degree-of-freedom precision manipulator |
| CN203697000U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Four-freedom-degree servo manipulator |
| CN203853995U (en) * | 2014-04-23 | 2014-10-01 | 金陵科技学院 | Cylindrical coordinate type four-degree-of-freedom manipulator structure |
| CN204604331U (en) * | 2015-05-13 | 2015-09-02 | 许昌学院 | A kind of plant produced line material conveying robot hydraulic system |
| CN105666219A (en) * | 2014-11-16 | 2016-06-15 | 张桂春 | Pneumatic tool-replacing manipulator |
-
2016
- 2016-12-07 CN CN201611114349.3A patent/CN108161911A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5063334A (en) * | 1989-07-24 | 1991-11-05 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN201042801Y (en) * | 2007-04-23 | 2008-04-02 | 亚龙科技集团有限公司 | Four-degree of freedom mechanical arm structure |
| CN203510222U (en) * | 2013-07-02 | 2014-04-02 | 安徽理工大学 | Novel four-freedom-degree pneumatic manipulator structure |
| CN203697032U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Multi-degree-of-freedom precision manipulator |
| CN203697000U (en) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | Four-freedom-degree servo manipulator |
| CN203853995U (en) * | 2014-04-23 | 2014-10-01 | 金陵科技学院 | Cylindrical coordinate type four-degree-of-freedom manipulator structure |
| CN105666219A (en) * | 2014-11-16 | 2016-06-15 | 张桂春 | Pneumatic tool-replacing manipulator |
| CN204604331U (en) * | 2015-05-13 | 2015-09-02 | 许昌学院 | A kind of plant produced line material conveying robot hydraulic system |
Non-Patent Citations (1)
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| 陈明等: "气动机械手FLUIDSIM仿真设计及动作顺序控制", 《液压气动与密封》 * |
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Application publication date: 20180615 |