CN108356842A - Integral type linkage manipulator - Google Patents
Integral type linkage manipulator Download PDFInfo
- Publication number
- CN108356842A CN108356842A CN201810347551.3A CN201810347551A CN108356842A CN 108356842 A CN108356842 A CN 108356842A CN 201810347551 A CN201810347551 A CN 201810347551A CN 108356842 A CN108356842 A CN 108356842A
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- China
- Prior art keywords
- arm
- installation axle
- equilateral triangle
- triangular base
- group
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Integral type linkage manipulator, including：Triangular base, it is manufactured using one-step die casting casting technique, triangular base shape in equilateral triangle, there is a cylindrical structure between the edge mid-points adjacent with the vertex of each vertex of the equilateral triangle, three respective axis of cylindrical structure are parallel to corresponding equilateral triangle edge, three respective midpoints in edge of the equilateral triangle are pivotally mounted external robot assemblies respectively, and reinforcing rib is provided between the respective midpoint in three edges of the equilateral triangle and adjacent cylindrical structure；The inside of each cylindrical structure offers mounting structure chamber, has the cavity that crosses being connected to two-by-two for three mounting structure chambers inside the triangular base；Three groups of drive components, every group of drive component include a servo motor and one speed reducer；Three groups of robot assemblies, every group of robot assemblies include master arm, slave arm, the first installation axle and the second installation axle；Platform is moved in connection；Power cord and signal wire.
Description
Technical field
The present invention relates to mechanical arm field of accessories more particularly to a kind of integral type linkage manipulators.
Background technology
Currently, high speed parallel robot is mainly used in food and medicine sorting and packaging, the fields 3C at present；In aforementioned field
In, mechanical arm is frequently necessary to take on the important operation role in workshop, and for current mechanical arm there are three deficiency, one is that mechanism connects
The poor sealing connect, servo motor, retarder, electrical connection terminal are first-class to become easily infected by external dust；The other is intensity is not
Enough height, after experience more frequently operates, some connecting components are susceptible to be loosened mechanical arm；It is finally since arm stent is spent
Greatly, the density of the metal/non-metal material used in addition is also higher, so inertia is larger, influences the dynamic for driving execution unit
Response.
Invention content
In order to solve the above-mentioned technical problem, a kind of integral type linkage manipulator is disclosed in the present invention, the present invention is carrying
For a kind of mounting stability and leakproofness improving mechanical arm, reduces mechanical inertia and reduce the structure improvement side of movement interference
Formula.The technical scheme is that be implemented：
Integral type linkage manipulator, including：
Triangular base is manufactured using one-step die casting casting technique, triangular base shape in equilateral triangle,
There are a cylindrical structure, three cylinder knots between the edge mid-points adjacent with the vertex of each vertex of the equilateral triangle
The respective axis of structure is parallel to corresponding equilateral triangle edge, three respective midpoints in edge of the equilateral triangle
Be pivotally mounted external master arm respectively, the equilateral triangle respective midpoint in three edges and adjacent cylindrical structure it
Between be provided with reinforcing rib；The inside of each cylindrical structure offers mounting structure chamber, has inside the triangular base and supplies three
The cavity that crosses that a mounting structure chamber is connected to two-by-two；
Three groups of drive components, every group of drive component are flush-mounted in corresponding mounting structure intracavitary, and every group of drive component includes one
Servo motor and one speed reducer；
Three groups of robot assemblies, every group of robot assemblies include master arm, slave arm, the first installation axle and the second installation
Axis, described master arm one end are the pivot end for being articulated in equilateral triangle corresponding edge midpoint, and the pivot end is located at
The side of the cylindrical chamber, the master arm other end are free end, and every group of driving arm component includes two slave arms, described
First installation axle is connected to the free end of master arm, and one end of two slave arms is hingedly connected to first installation axle both ends；
Platform is moved in connection, and the peripheral region which moves platform is equipped with first pivoting portion, second pivoting portion, third articulated section, described
Three articulated sections have second installation axle to wear to connect wherein, the other end of two slave arm pivots of every group of driving arm component
It is hingedly connected to corresponding second installation axle both ends；
Power cord and signal wire, the power cord are used to provide electric energy to servo motor, and the signal wire is for controlling institute
The information such as rotating speed and the location status of servo motor are stated, which is electrically connected the electronic control module of servo motor and outside.
Preferably, between the first installation axle and slave arm hingedly be universal ball joint, the both ends of first installation axle
It is equipped with the first cunning ball, the slave arm is equipped with the first ball bowl for sliding ball cooperation with first close to one end of the first installation axle；The
Between two installation axles and slave arm is hingedly universal ball joint, and the both ends of second installation axle are equipped with the second cunning ball, institute
It states slave arm and is equipped with the second ball bowl for sliding ball cooperation with second close to one end of the second installation axle.
Preferably, the middle part of the triangular base has offers through-hole, the cavity that crosses in the middle part of round platform described in round platform
Inside offers several wiring holes for being through to triangular base upper wall surface outer end.
Preferably, the flexible sealing element of installation in the wiring hole, the sealing element is for clogging the power cord, letter
Gap number between line and wiring hole hole wall.
Preferably, the both sides of the master arm open up fluted, and multiple hollow holes are offered between the slot bottom of two grooves.
Preferably, the master arm has the bending section of downward bending close to the side of free end.
Preferably, it is equipped between power output shaft possessed by the master arm in every group of driving arm component and the retarder
Circumference array Mulit-point Connection structure.
Compared to the prior art, the beneficial effects of the present invention are：
1, the triangular base of the integral type linkage manipulator, using the casting of gravity die-casting process one-step die casting
At the casting technique makes hollow casting mould using high-temperature alloy mould steel, and casting process is using formula aluminium alloy
Material is melt into molten metal by high-temperature heating, and by pouring metal melt into the hollow mould of pre-production, it is to be solidified at
After type, stripping operation is carried out, the advantages of this casting method is：The repeated multiple times use of mold die energy of metal mold, often pours into a mould one
Minor metal liquid just obtains a casting, and service life is long, and production efficiency is high.
2, for the purpose of design to water proof and dust proof and compared with high structural strength, triangular base using integral cast at
Type, three motors that three servo motors, three retarders are distributed on pedestal by design angle are embedded mounted on mounting structure
Intracavitary.In this way, being not only steadily fixed therein the motor of three groups of master arms and retarder, but also play three servo electricity of protection
Machine and its retarder, the effect for avoiding dust jamming equipment from working normally.
3, since manipulator is with the attribute for high speed, high dynamic response, servo motor and speed reducer integrally can to equipment
It loads with periodic thump, so mounting structure chamber and connecting flange faces need higher-strength, at the same time also needs to
The lightweight of pedestal and the reliability of casting technique are taken into account, so this mounting structure chamber is in summary many factors,
The construction for learning reinforcing rib is reinforced using lightweight thin-wall construction cavity, and the impact of pedestal is loaded to cope with swing arm.
3, equilateral triangle structure can make three groups of master arms, slave arm combination that can reasonably adjust the connection of lower section
Dynamic platform is fully avoided interference with the mobility for having all directions to overturn；
4, three connection jaws are mounted with that degree of protection reaches the heavy-duty connector of IP67, before three connectors correspond to respectively
Power, control feedback signal and the three tunnel outlet of pneumatic control for the base interior that is laid in, form robot base inside subject
All with external control mechanisms interact docking.Also, three wiring holes are equipped with elastic sealing element, can play and further fill out
Fill in gap, avoid in dust into effect.
5, master arm is process using 7075 aviation-grade aluminium alloys, is adopted between master arm and the power output end of retarder
With disc type Multi-point fastening connection structure, the rigidity of connection is so then ensured.Simultaneously in order to both take into account the high rigidity, high-strength of robot
High speed in degree and the course of work, entire active arm section use structural strengthening, non-structural part hollow processing；
6, it is equipped with sliding ball at the both ends at the both ends of the first installation axle and the second installation axle, is set at corresponding two slave arm
The ball bowl with sliding ball cooperation is set, so the advantages of design is not only to have can guarantee the concentricity of double bulbs, but also can take into account and be moved through
The stress equalization of bulb, avoids movement interference in journey；
7, the design advantage of the master arm is：The characteristics of due to parallel manipulator is high speed, high dynamic response, high-precision
Degree, therefore manipulator needs to carry out calculating matching to the inertia of swing arm during the motion, to drop as far as possible in the reasonable scope
The mechanical inertia of low swing arm, it is ensured that the high dynamic response during repeating motion, but the weight of inertia and swing arm is directly proportional, weight
Amount again and the direct inertia of mechanical strength, therefore should consider Mechanical Structure Strength, and needs are as much as possible in the design of master arm
Reduce mechanical inertia.Mechanical structure analysis and motion state emulation testing, the driving arm component are carried out to it through inventor
Arm configuration add the scheme of arm center portion point hollow processing, entire swing arm to use 7075 high-strength aluminum alloys using arm frame reinforcement structure
It is processed and formed at one time, swing arm and speed reducer coupling part are connected using multi-point disc type, so that power is evenly distributed in entire disc type and are connected
In junction, the outer diameter of disc type joint face directly extends the outer diameter reinforced as master arm, power can be made equal along master arm in this way
Even effective output uses part hollow processing between swing arm outer diameter, in this way, then not only ensured the structural strength of entire swing arm, but also
Mechanical inertia is effectively reduced, ensures the high dynamic response in motion process.
8, the slave arm reaches 5.49Gpa using carbon fiber bar, tensile strength made of T800 high-strength carbon fibers, it is ensured that
Minimum swing arm deformation quantity is generated during the motion, so that it is guaranteed that robot is in the resetting essence for being finally reached ± 0.05mm
Degree.
Above-mentioned master arm and slave arm and slave arm with couple the connection bulb and ball bowl between dynamic platform, using direct
Mechanical to agree with structure, ball bowl reaches 65% to the package area of sliding ball bulb, not only ensure that connection safety, but also taken into account most
Big motion range, while bulb and ball bowl are all made of titanium alloy and specially treated technique are added to process, Rockwell hardness reaches 98.07HRC,
The central composite design heat sending-out hole of ball bowl, the heat in motion process can shed in time, it is ensured that bulb service life 5000
Ten thousand times or more.
9, the coupling part of entire integral type linkage manipulator is Purely mechanical connection, no any grease and other pollutions
Object will not generate direct or secondary indirect pollution to the product for sorting contact, and entire integral type linkage manipulator can carry out
Water or non-corrosive thimerosal directly rinse, and do not interfere with overall performance.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the vertical view of manipulator of the present invention；
Fig. 2 is the front view of manipulator of the present invention；
Fig. 3 is structural schematic diagram of the present invention by taking the first master arm as an example；
Fig. 4 is view of the present invention by taking the first master arm and the first installation axle pivotal fit as an example；
Fig. 5 is the present invention to couple the view of dynamic platform and the second installation axle pivotal fit；
Fig. 6 is the cooperation schematic diagram of the first master arm of the present invention, the first slave arm；
Fig. 7 is the stereogram of triangular base of the present invention；
Fig. 8 is the schematic diagram after triangular base of the present invention is cutd open from lower half portion.
Wherein, 1, triangular base；10, cross cavity；11, through-hole；20, the first master arm；200, free end；201, curved
Pars convoluta；202, groove；203, hollow hole；21, the first slave arm；22, first servo motor；23, the first retarder；24, first
Chamber；25, the first outlet hole；30, the second master arm；31, the second slave arm；32, the second servo motor；33, the second retarder；
34, second chamber；35, the second outlet hole；40, third master arm；41, the first slave arm；42, third servo motor；43, third
Retarder；44, third chamber；45, third outlet hole；5, couple and move platform；50, the first installation axle；51, first ball is slided；52, second
Installation axle；53, second ball is slided；6, circumference array Mulit-point Connection structure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 1~8, a kind of integral type linkage manipulator, including：
Triangular base 1 is manufactured using one-step die casting casting technique, 1 shape in equilateral triangle of triangular base
Shape has a cylindrical structure, three circles between the edge mid-points adjacent with the vertex of each vertex of the equilateral triangle
The respective axis of rod structure is parallel to corresponding edge, and the respective midpoint in three edges of the equilateral triangle distinguishes pivot
It connects and external master arm, i.e. the first master arm 20, the second master arm 30, third master arm 40, the equilateral triangle is installed
It is provided with reinforcing rib between the respective midpoint in three edges and adjacent cylindrical structure；The inside of each cylindrical structure offers peace
Assembling structure chamber, i.e. the first mounting structure chamber 24, the second mounting structure chamber 34, third mounting structure chamber 44；The triangular base 1
Inside has the cavity 10 that crosses being connected to two-by-two for three mounting structure chambers；
Three groups of drive components, every group of drive component are flush-mounted in corresponding mounting structure intracavitary, and every group of drive component includes one
Servo motor and one speed reducer；That is first servo motor 22, the second servo motor 32, third servo motor 42 and first
Retarder, the second retarder, third retarder；
Three groups of driving arm components, every group of driving arm component include master arm, slave arm, the installation of the first installation axle 50 and second
Axis 52, the i.e. present invention include the first master arm 20, the second master arm 30, third master arm 40；Described master arm one end is pivot joint
In the pivot end of equilateral triangle corresponding edge midpoint, the pivot end is located at the side of the cylindrical chamber, described
The master arm other end is free end, and every group of driving arm component includes two slave arms, and first installation axle is connected to master arm
Free end, one end of two slave arms is hingedly connected to 50 both ends of the first installation axle；
Platform 5 is moved in connection, also couples the peripheral region for moving platform 5 equipped with first pivoting portion, second pivoting portion, third articulated section, institute
It states three articulated sections and wears and be connected to the second installation axle 52, the other end difference of two slave arm pivots of every group of driving arm component
It is articulated with corresponding second installation axle, 52 both ends.
Power cord and signal wire, the power cord are used to provide electric energy to servo motor, and the signal wire is for controlling institute
The rotating speed and on-position of servo motor are stated, which is electrically connected the electronic control module of servo motor and outside.
As shown in Fig. 1,2,4,5, as a preferred solution, between the first installation axle 50 and slave arm is hingedly ten thousand
To ball-joint, the both ends of first installation axle 50 are equipped with the first cunning ball, the slave arm close to the first installation axle 50 one
End is equipped with the first ball bowl for sliding ball cooperation with first；Between second installation axle and slave arm is hingedly universal ball joint, described
The both ends of second installation axle 52 are equipped with the second cunning ball, and the slave arm is equipped with close to one end of the second installation axle 52 and is slided with second
Second ball bowl of ball cooperation.
As a preferred solution, the middle part of the triangular base has offers through-hole in the middle part of round platform described in round platform
11.Several wiring holes for being through to triangular base upper wall surface outer end, i.e. the first wiring are offered inside the cavity 10 that crosses
Hole 25, the second wiring hole 35, third wiring hole 45.
As a preferred solution, the flexible sealing element of installation in the wiring hole, the sealing element is for clogging
Gap between the power cord, signal wire and wiring hole hole wall.
As a preferred solution, the both sides of the master arm open up fluted 202, are opened up between the slot bottom of two grooves
There are multiple hollow holes 203.
As a preferred solution, the master arm has the bending section 201 of downward bending close to the side of free end.
As a preferred solution, the master arm in every group of driving arm component and power possessed by the retarder are defeated
Circumference array Mulit-point Connection structure 6 is equipped between shaft.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
1. integral type linkage manipulator, which is characterized in that including：
Triangular base is manufactured using one-step die casting casting technique, triangular base shape in equilateral triangle, described
Have a cylindrical structure, three cylindrical structures each between the edge mid-points adjacent with the vertex of each vertex of equilateral triangle
From axis be parallel to corresponding equilateral triangle edge, the respective midpoint difference in three edges of the equilateral triangle
It is pivotally mounted external master arm, is set between the respective midpoint in three edges of the equilateral triangle and adjacent cylindrical structure
It is equipped with reinforcing rib；The inside of each cylindrical structure offers mounting structure chamber, has inside the triangular base for three peaces
What assembling structure chamber was connected to two-by-two cross cavity；
Three groups of drive components, every group of drive component are flush-mounted in corresponding mounting structure intracavitary, and every group of drive component includes a servo
Motor and one speed reducer；
Three groups of robot assemblies, every group of robot assemblies include master arm, slave arm, the first installation axle and the second installation axle, institute
It is the pivot end for being articulated in equilateral triangle corresponding edge midpoint to state master arm one end, and the pivot end is located at the circle
The side of column chamber, the master arm other end are free end, and every group of driving arm component includes two slave arms, first peace
Dress axis is connected to the free end of master arm, and one end of two slave arms is hingedly connected to first installation axle both ends；
Connection move platform, the connection move platform peripheral region be equipped with first pivoting portion, second pivoting portion, third articulated section, described three
Articulated section has second installation axle to wear to connect wherein, the other end difference of two slave arm pivots of every group of driving arm component
It is articulated with corresponding second installation axle both ends；
Power cord and signal wire, the power cord be used for servo motor provide electric energy, the signal wire for transmit rotating speed and
The control information of stop place, the signal wire are electrically connected the electronic control module of servo motor and outside.
2. integral type linkage manipulator as described in claim 1, it is characterised in that：Hinge between first installation axle and slave arm
It is connected in universal ball joint, the both ends of first installation axle are equipped with the first cunning ball, and the slave arm is close to the first installation axle
One end is equipped with the first ball bowl for sliding ball cooperation with first；Between second installation axle and slave arm is hingedly universal ball joint, institute
The both ends for stating the second installation axle are equipped with the second cunning ball, and the slave arm is equipped with close to one end of the second installation axle and slides ball with second
Second ball bowl of cooperation.
3. integral type linkage manipulator as described in claim 1, it is characterised in that：The middle part of the triangular base has round platform
Through-hole is offered in the middle part of the round platform, the cavity inside that crosses, which offers, is through to the several of triangular base upper wall surface outer end
Wiring hole.
4. integral type linkage manipulator as claimed in claim 3, it is characterised in that：Installation is flexible close in the wiring hole
Sealing, the sealing element are used to clog the gap between the power cord, signal wire and wiring hole hole wall.
5. new mechanical arm boom structure as described in claim 1, it is characterised in that：The both sides of the master arm offer recessed
Slot offers multiple hollow holes between the slot bottom of two grooves.
6. new mechanical arm boom structure as described in claim 1, it is characterised in that：The master arm close to free end one
Side has the bending section of downward bending.
7. new mechanical arm boom structure as described in claim 1, it is characterised in that：Master arm in every group of driving arm component
Circumference array Mulit-point Connection structure is equipped between power output shaft possessed by the retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810347551.3A CN108356842A (en) | 2018-04-18 | 2018-04-18 | Integral type linkage manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810347551.3A CN108356842A (en) | 2018-04-18 | 2018-04-18 | Integral type linkage manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356842A true CN108356842A (en) | 2018-08-03 |
Family
ID=63008469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810347551.3A Pending CN108356842A (en) | 2018-04-18 | 2018-04-18 | Integral type linkage manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356842A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1129829A1 (en) * | 2000-03-01 | 2001-09-05 | SIG Pack Systems AG | Robot for handling products in a three-dimensional space |
| CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
| CN204123394U (en) * | 2014-08-22 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Parallel manipulator |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN208342861U (en) * | 2018-04-18 | 2019-01-08 | 佛山市玖州智能装备技术有限公司 | Integral type linkage manipulator |
-
2018
- 2018-04-18 CN CN201810347551.3A patent/CN108356842A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1129829A1 (en) * | 2000-03-01 | 2001-09-05 | SIG Pack Systems AG | Robot for handling products in a three-dimensional space |
| CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
| CN204123394U (en) * | 2014-08-22 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Parallel manipulator |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN208342861U (en) * | 2018-04-18 | 2019-01-08 | 佛山市玖州智能装备技术有限公司 | Integral type linkage manipulator |
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