CN108742158A - A kind of Multi-freedom-degreemanipulator manipulator - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator Download PDFInfo
- Publication number
- CN108742158A CN108742158A CN201810932395.7A CN201810932395A CN108742158A CN 108742158 A CN108742158 A CN 108742158A CN 201810932395 A CN201810932395 A CN 201810932395A CN 108742158 A CN108742158 A CN 108742158A
- Authority
- CN
- China
- Prior art keywords
- fixed
- freedom
- degreemanipulator manipulator
- ball
- stepper motor
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
-
- 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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to field of mechanical technique, and in particular to a kind of Multi-freedom-degreemanipulator manipulator, the Multi-freedom-degreemanipulator manipulator include：One universal wheel pedestal；One vertical motion component, the vertical motion component includes a rack shell, a ball-screw component and a stepper motor, the rack shell is fixed on the universal wheel pedestal, the ball-screw component and stepper motor are fixed on the rack shell, and the stepper motor provides the power that take-up housing vertical direction moves in the ball-screw component；One rotation clamp assemblies, the rotation clamp assemblies include a rotary cylinder and a clamping device, the rotary cylinder is fixed on the take-up housing, and the output end of the rotary cylinder connects the clamping device, and the clamping device is used for the prudent object of contraction clip.
Description
Technical field
The invention belongs to field of mechanical technique, and in particular to a kind of Multi-freedom-degreemanipulator manipulator.
Background technology
Manipulator is the earliest generation form of industrial robot, it can replace the mankind to complete various production activities,
Also it can make production more mechanization and automation, moreover it is possible to operate provide safeguard for human security in particular circumstances, therefore it is wide
General is applied to the fields such as manufacturing industry, Metallurgy Industry and nuclear energy, and with the rapid development of China's economy, it is as in a kind of industrial production
Highly important tool also becomes more and more important to the continuous renewal of its technology.
One very important branch of robot is exactly manipulator, its characteristic be can by PLC or microcontroller come
All kinds of expected tasks are completed in control, and the mankind are provided simultaneously on component and performance and machinery is respective grows, it is especially embodied
The characteristics of adaptability of people.Manipulator is mainly made of hand structure and motion two parts in structure, hand structure
For grabbing thing, shape, quality, material and its job requirements based on this thing and have various structural form, transport
The mode of the self-movements such as stretch, rotate, rising and falling of motivation structure, is called the degree of freedom of manipulator, to use several degree of freedom,
It needs to draft in advance when the design for completing manipulator.It may be said that manipulator is the product of mankind's scientific and technological progress, it, which can be represented, works as
The advanced instruments of labour of generation society, the level of a national social development can also be embodied by the development level of manipulator.Just
Because of these reasons, the development of manipulator is increasingly paid attention to by every country.
With the acceleration of urbanization process, all kinds of problem of environmental pollutions aggravate, and the health care consciousness of people's lives level is held
Continuous to improve, the health requirements of drinking water are more willing to select " appliance water " at object, most people are paid close attention to, people in appliance water
Live in it is most common be water dispenser, the use of water dispenser can improve people's lives quality, among these, household water drinking
Machine also plays a more and more important role in daily life, and people mainly have the considerations of the following aspects：First,
The serious pollution of water resource at present, people particularly pay close attention to the health of drinking water, and second, market is equal to purchaser, desire to purchase, purchase
It buys power to be added together, the huge population base in China also provides a large amount of consumer, third, quality of life for water dispenser market
Raising allow people to change the attitude and purpose of drinking-water, so currently, water dispenser has been huge numbers of families generally selects
Household electrical appliance, this electric appliance can realize that the cooling to bottled water heats up, and high degree facilitates daily life.
Then, bottled water is substituted for for people's routine matter, and the water that changes of this water dispenser needs manpower to raise to replace completely
It changes, this just causes great inconvenience to people, for not big enough the old man of strength, Ms, child.Even have
Enough strength, installs and is also required to allow bung hole to be directed at water dispenser mouth, and installation process also easily causes spilling for mineral water, bucket
If mouth is not aligned with inflow column, inflow column can be caused to leak, to directly result in the damage of water dispenser, therefore existing barreled
There are prodigious problems demands to solve for water manpower alternative.
Invention content
In order to effectively solve the above problems, the present invention provides a kind of Multi-freedom-degreemanipulator manipulator.
The specific technical solution of the present invention is as follows：A kind of Multi-freedom-degreemanipulator manipulator, the Multi-freedom-degreemanipulator manipulator include：
One universal wheel pedestal；
One vertical motion component, the vertical motion component include a rack shell, a ball-screw component and
One stepper motor, the rack shell are fixed on the universal wheel pedestal, and the ball-screw component and stepper motor are solid
It is scheduled on the rack shell, the take-up housing vertical direction in the ball-screw component that the stepper motor provides moves dynamic
Power；
One rotation clamp assemblies, the rotation clamp assemblies include a rotary cylinder and a clamping device, described
Rotary cylinder is fixed on the take-up housing, and the output end of the rotary cylinder connects the clamping device, the clamping dress
It sets and is used for the prudent object of contraction clip.
Further, the ball-screw component includes a leading screw, a take-up housing；
The rack shell one side is recessed a track groove, is fixedly installed respectively at the both ends of the track groove
One upper fixed seat and a lower fixed seat, and the upper and lower fixed seat is vertically fixed in the track groove slot on bottom side,
And correspond setting；
Fixed seat fixes the stepper motor in contrast to the one side of lower fixed seat, and described leading screw one end is fixed on
On the output end of stepper motor, the other end is fixed on lower fixed seat；
The take-up housing is arranged on the leading screw.
Further, a limit strut, the both ends difference of the limit strut is respectively set in the both sides of the leading screw
It is fixed on the upper and lower fixed seat.
Further, there are one central axial through holes for take-up housing tool, and are symmetricly set on described central axial pass through
Perforate the axially position holes of both sides, be provided in the central axial through hole steel ball and for steel ball by bend pipe；
The axially position hole passes through for the fiber strut, and the central axial through hole is for coordinating the leading screw
It uses.
Further, the clamping device includes a Gripping platform, two supporting rods, two drive links and a work
Fill in power rail；
The both ends of the Gripping platform are respectively articulated with one end of two supporting rods, and the other end of the supporting rod is opposite
Holding finger portion is respectively set on the side answered；It corresponds in two supporting rods and is cut with scissors respectively in the middle position of side
One end of two drive links is connect, the other end of two drive links is hinged on one end of the piston power bar, institute
The other end for stating piston power bar is connected to single-acting cylinder in the Gripping platform；
The output end of the single-acting cylinder is placed in the middle position that the Gripping platform is hinged two supporting rods.
Further, the T-shaped structure of Gripping platform global sections, and one end difference of two bare terminal ends
It is hinged on both ends on the same line in the Gripping platform " T " word structure.
Further, the holding finger portion is in integrally " V " type mechanism.
Further, there are one strip bottom fixed plates for setting in the track groove, and the strip bottom fixed plate is certainly
It pastes and is fixed in the track groove under, and fixed seat and lower fixed seat are fixed on the strip bottom and consolidate
On fixed board.
Further, the universal wheel pedestal includes a base disk, at least three base support legs, and the base support leg is equal
Even to be arranged in the peripheral side of the base disk, specially described base support leg one end is connected on the base disk, the pedestal
The other end downside of supporting leg is provided with the idler wheel of usable rotational direction.
Beneficial effects of the present invention are：
A kind of Multi-freedom-degreemanipulator manipulator provided by the present invention can realize that carrying out positioning to bottled water steps up, stablizes and carry
It rises, 180 ° of overturning, slow lowering means, a series of actions such as release mechanism hand, while device provided by the present invention each zero
Coordination between (portion) part, has no and interferes；
Device provided by the present invention can be convenient and strength-saving, raises replacement bottled water without manpower, it is only necessary to by bottled water
It is positioned over ground, you can the water conservancy project of changing that water dispenser is completed by auxiliary device is made.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is another overall structure diagram of the present invention；
Fig. 3 is the structural schematic diagram of universal wheel pedestal of the present invention；
Fig. 4 is the structural schematic diagram of vertical motion component of the present invention；
Fig. 5 is the structural schematic diagram of present invention slider seat；
Fig. 6 is the internal view of present invention slider seat；
Fig. 7 is the vertical view of clamping device of the present invention；
Fig. 8 is the stereoscopic schematic diagram of clamping device of the present invention；
Fig. 9 is the circuit controling drawing of single-acting cylinder of the present invention；
Figure 10 is the circuit controling drawing of rotary cylinder of the present invention.
Specific implementation mode
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, does not limit
The application range of the present invention, for those of ordinary skill in the art for, without creative efforts, can be with
Apply the present invention to other according to these attached drawings similar to scene；
As shown in the specification and claims, unless context clearly prompt exceptional situation " one ", "one",
The words such as "an" and/or "the" not refer in particular to odd number, can also include plural number.In general, term " include " or " contain "
Only prompt include the steps that clearly identified and element, and these steps and element do not constitute one it is exclusive enumerate, method
Or equipment may also include other step or element.Term "based" is " being based at least partially on ".A term " implementation
Example " expression " at least one embodiment "；Term " another embodiment " expression " at least one other embodiment ".
As shown in Figure 1, be a kind of overall structure diagram of Multi-freedom-degreemanipulator manipulator provided by the invention, it is described mostly free
It includes that a vertical motion component 2, one of universal wheel pedestal 1, one rotates clamp assemblies 3 to spend manipulator；
As shown in Figure 2,3, the universal wheel pedestal 1 includes a base disk 11, at least three base support legs 12, the bottom
Seat supporting leg 12 is uniformly arranged on the peripheral side of the base disk 11, and specially described 12 one end of base support leg is connected to the pedestal
On disk 11, the other end downside of the base support leg 12 is provided with the idler wheel 13 of usable rotational direction, passes through at least three institute
Base support leg 12 is stated to be supported the base disk 11；
The base disk 11 can be prototype disk-like structure or other shapes structure, and be not specifically limited；
In other one embodiment, 12 quantity of the base support leg is three, and three base support legs 12 are uniform
It is distributed between each other at hexagonal angle；
In other one embodiment, 12 quantity of the base support leg is four, and four base support legs 12 are realized
Setting is corresponded two-by-two, and the angle between preferably any one adjacent legs is 90 °.
In other one embodiment, the base support leg 12 is hinged on the peripheral side of the base disk 11, and provides one
A restriction locking structure realizes that the base support leg 12 is collapsible or opens up for carrying out positioning locking to the base support leg 12
It opens, is use state in 12 unfolded state of base support leg, be storage configuration in 12 contraction state of base support leg,
Also it can be regarded as non-working condition；
As shown in figure 4, the vertical motion component 2 includes 21, ball-screw components 22 and one of a rack shell
A stepper motor 23；
The rack shell 21 uses aluminum alloy casing, and 21 one side of the rack shell is recessed a track groove
210,21 one end of the rack shell is fixed on vertically on the base disk 11, and the track groove 210 is in the rack shell 21
It is formed from top to bottom；
And upper fixed seat 211 and lower fixed seat 212 are fixed respectively in the upper and lower ends of the track groove 210, it is described solid
Reservation 211 and the lower fixed seat 212 are vertically fixed in 210 slot of the track groove on bottom side；
It is fixed between fixed seat 211 and lower fixed seat 212 that there are two limit strut 213, two limits
Strut 213 can be understood as being laid in the track groove 210 along 210 direction of the track groove；
In other embodiments, a strip bottom fixed plate 214 is also provided, the strip bottom fixed plate 214 is from upper
It pastes and is fixed in the track groove 210 under, and fixed seat 211 and lower fixed seat 212 are fixed on the item
In shape bottom fixed plate 214；
The ball-screw component 22 includes a leading screw 221 and a take-up housing 222, in fixed seat 211
Setting is recessed a fixed cavity 2120, institute there are one through-hole 2110 is run through at 212 center of the lower fixed seat at the heart
It states 221 one end of leading screw to be fixed in the fixed cavity 2120, and the leading screw 221 for being fixed on the fixed cavity 2120 should
End can be rotated in the fixed cavity 2120, be fixed in the fixed cavity 2120 using deep groove ball bearing, described
The other end of leading screw 221 runs through through-hole 2110 described in extending, and in fixed seat 211 in contrast to the lower fixed seat
The stepper motor 23 is fixed on 212 direction, the stepper motor 23 connects the leading screw 221 and runs through through-hole through described
2110 end, the stepper motor 23 provide the power for driving the leading screw 221 to rotate；
The upper end that specifically can be understood as the leading screw 221 is connect with the stepper motor 23, the lower end of the leading screw 221
The fixed and described leading screw 221 is arranged between two limit struts 213；
As shown in figure 5, the take-up housing 222 is arranged on the leading screw 221, and the tool of the take-up housing 222 is there are one in
Mandrel is to through hole 2221, and is symmetricly set on the axially position hole 2222 of 2221 both sides of central axial through hole, in institute
State setting steel ball in central axial through hole 2221 and for steel ball by bend pipe；
Specifically it can be understood as：The take-up housing 222 uses return duct nut, specially uses steel ball according to bent-tube boiler
Endless form is arranged；
As shown in fig. 6, in order to realize that the particular technique effect of the present invention, the return duct nut include a basal body of nut
4, multiple steel balls 40 are internally provided in the basal body of nut 4, and 40 ball of steel is internally provided with corresponding cooperation steel ball and passes through
Bend pipe 41, and for the pressing plate 42 of fixed bending tube 41, and labyrinth type sealing ring 43 is set at the both ends of the basal body of nut 4,
For being sealed to the basal body of nut 4.
The leading screw 221 extends through the central axial through hole 2221, and two limit struts 213 extend through
The axially position hole 2222, the stepper motor 23 is by after top drives the leading screw 221 to rotate, driving the sliding block
Seat 222 is moved in a vertical direction, and the limit strut 213 and 2222 collective effect of the axially position hole are to take-up housing
222 carry out axial precise positioning, can flexibly slide up and down；
As shown in Figure 7,8, the rotation clamp assemblies 3 include 31, clamping devices of a rotary cylinder, described
Rotary cylinder 31 is fixed on the take-up housing 222, is specially fixed on the take-up housing 222 in contrast to 210 bottom surface of track groove
Side on, in contrast to tool on the one side of the take-up housing 222 there are one round end, the clamping fills the rotary cylinder 31
It sets and is fixedly connected on the round end；
The clamping device includes that a drive link 34 of supporting rod 33, two of Gripping platform 32, two and a piston are dynamic
Power bar 35；
The T-shaped structure of 32 global sections of the Gripping platform, and one end of described two supporting rods 33 is respectively articulated with
Both ends in the Gripping platform 32 " T " word structure on the same line；The other end of described two supporting rods 33 is opposite
" V " type holding finger portion 330 is respectively set in side；
And two transmissions are respectively articulated in the middle position of 33 mutual corresponding side of described two supporting rods
The other end of one end of bar 34, the drive link 34 is hinged on jointly on one end of the piston power bar 35, in other implementations
In example, a movable block 350 can be fixed on the end of the piston power bar 35, and the both ends of the movable block 350 respectively with
Two drive links 34 are hinged；
It is internally provided with a single-acting cylinder in the Gripping platform 32, the output end of the single-acting cylinder, which is fixed, to be connected
Connect the other end of the piston power bar 35, and the telescopic direction of the single-acting cylinder and " T " font structure is same
The plane at the both ends on straight line is mutually perpendicular to；
The rotary cylinder 31 of the rotation clamp assemblies 3 drives the Gripping platform 32 to rotate the rotation, it can be achieved that 180 °,
The single-acting cylinder by driving the piston power bar 35 to carry out expanding-contracting action after, drive supporting rod 33 step up or pine
Relaxation acts, and then realizes the clamping to bucket；
The operation principle of the present invention is that：Bottled water is positioned on flat ground, control stepper motor 23 carries out positive and negative rotation,
Drive the rotation of leading screw 221 clockwise or counterclockwise so that take-up housing 222 and the rotating clamp being fixed on above take-up housing 222
It holds component 3 and does movement on vertical direction, adjust rotation clamp assemblies 3 to suitable height, push entire mechanical device, allow rotation
Turn clamp assemblies 3 and be in bucket by-level position, start single-acting cylinder so that piston power bar 35 is retracted, supporting rod 33
Bucket is stepped up, slight deformation is caused to barrelled water bucket so that promotes bucket later and is unlikely to slide, completion steps up to act
Afterwards, starting stepper motor 23, control stepper motor 23 rotates forward, and take-up housing 222 and coupled clamping device slowly rise,
After reaching suitable position, 23 stop motion of stepper motor is controlled, then starts the rotary cylinder 31 with clamping device, rotary cylinder
31 drive clamping device to complete to rotate 180 ° of action, it can be understood as bucket is overturn 180 °；It is artificial to push after the completion of overturning
Entire mechanical device is moved to water dispenser water inlet, it is desirable that bucket water outlet is directed at water dispenser water inlet, could allow placement process
In smoothly complete, the action for placing bucket is still and is realized by the control to stepper motor 23, and stepper motor 23 drives silk
Thick stick 221 rotates so that the clamping device being connected with nut seat slowly declines, with the decline of clamping device, water dispenser water guide column
The plastic closure of bottled water can be poked, until bucket water outlet completes the water inlet into water dispenser, presses stop button, this
When installation is complete, next control single-acting cylinder complete release clamping device piston power bar 35 action, allow clamping fill
It sets and is completely disengaged with bucket and water dispenser, finally control stepping reversion so that take-up housing 222 and connected clamping device are slow
Decline, after dropping to suitable position, press stop button, entire mechanical device is playbacked, restores original operating state, it is convenient
It uses next time.
In order to realize that above-mentioned operation acts, stepper motor 23 of the invention, rotary cylinder 31 and single-acting cylinder are logical
It crosses connecting line and is connected to a control panel, the control panel can be fixed on the shell of mechanical device, can also pass through nothing
Line connects an external mobile terminal, is controlled by mobile terminal, and the present invention is in corresponding stepper motor 23, revolution
Cylinder 31 and single-acting cylinder are reserved with jack-plug socket or terminals.
Single-acting cylinder provided by the present invention uses control circuit and rotary cylinder provided by the present invention such as Fig. 9
Use the control circuit such as Figure 10.
The control panel is not shown in the accompanying drawings, and the control panel may be used can realize control signal in the prior art
The signal wire of output or other can realize control, be not specifically limited herein.
Simultaneously in order to realize effective implementation of above-mentioned apparatus and above-mentioned action, and following principle is provided, in the present inventor
It is obtained by test of many times, actual use and operation, the stepper motor of the specific present invention uses the stepping electricity of BS57HB56-03 moneys
Machine realizes more stable promotion its object is to match to share return duct nut；
Specially leading screw uses d=16mm, helical pitch ρ h=10mm, leading screw l=1200mm；
The calculating method of helical pitch：
Wherein：
β：Lead angle (degree)
d0：Ball central diameter (mm)
ρh：The helical pitch (mm) of feed screw
Force analysis when being moved according to ball-screw, and right angle setting is when applying thrust accordingly, generated torsion
Square is：
T：Driving torque (Nmm)
Fa：The thrust (N) of generation
ρh：The helical pitch (mm) of feed screw
η：The forward efficiency of feed screw；
Therefore in conjunction in the ball-screw of our selection, the effective diameter of leading screw is d=16mm, helical pitch ρ h=10mm；Rolling
The weight (gross weight of bottled water and clamping device) that weight is 250N is transported in action-oriented μ=0.003, η=0.96, required
Torque is as follows：
Leading screw allows axial load to calculate：
Buckling load can be acquired with following formula, be paid attention in calculating formula, must be multiplied by with safety coefficient 0.5 to ensure safety.
p1：Buckling load (N)
l：Clipping room is away from (mm)
d：Lead screw shaft diameter of thread (mm)
η 1 is η 2 and the relevant coefficient of installation method
Fixed-free η 1=0.25；η 2=1.3
Fixation-support η 1=2；η 2=10
Fixed-fixed η 1=4；η 2=20；
Simultaneously in the application, fixed using leading screw lower end, the free mounting means in upper end, so,
Permissible revolution calculates：
When ball-screw rotating speed improves, can and the intrinsic frequency of lead screw shaft become closer to, when reaching to a certain degree after
Resonance is just will produce, and causes mechanism work not normal, while present inventor is obtained by largely testing and implementing：
Wherein：
N1:Permissible revolution (min under cal speed-1)
l:Clipping room is away from (mm)
d1:Lead screw shaft diameter of thread (mm)
λ 1, λ 2 be and the relevant coefficient of installation method：
Fixed-free λ 1=1.875；λ 2=3.4
Support-support λ 1=3.142；λ 2=9.7
Fixation-support λ 1=3.927；λ 2=15.1
Fixed-fixed λ 1=4.73；λ 2=21.9
Leading screw lower end is fixed in conclusion the present invention specifically uses, the free mounting means in upper end.
Claims (9)
1. a kind of Multi-freedom-degreemanipulator manipulator, which is characterized in that the Multi-freedom-degreemanipulator manipulator includes：
One universal wheel pedestal；
One vertical motion component, the vertical motion component include a rack shell, a ball-screw component and one
Stepper motor, the rack shell are fixed on the universal wheel pedestal, and the ball-screw component and stepper motor are fixed on
On the rack shell, the stepper motor provides the power that take-up housing vertical direction moves in the ball-screw component；
One rotation clamp assemblies, the rotation clamp assemblies include a rotary cylinder and a clamping device, the revolution
Cylinder is fixed on the take-up housing, and the output end of the rotary cylinder connects the clamping device, and the clamping device is used
In the prudent object of contraction clip.
2. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, which is characterized in that the ball-screw component includes one
A leading screw, a take-up housing；
The rack shell one side is recessed a track groove, be fixedly installed respectively at the both ends of the track groove there are one
Upper fixed seat and a lower fixed seat, and the upper and lower fixed seat is vertically fixed in the track groove slot on bottom side, and phase
Mutually it is correspondingly arranged；
Fixed seat fixes the stepper motor in contrast to the one side of lower fixed seat, and described leading screw one end is fixed on stepping
On the output end of motor, the other end is fixed on lower fixed seat；
The take-up housing is arranged on the leading screw.
3. a kind of Multi-freedom-degreemanipulator manipulator according to claim 2, which is characterized in that set respectively in the both sides of the leading screw
A limit strut is set, the both ends of the limit strut are separately fixed at the upper and lower fixed seat.
4. a kind of Multi-freedom-degreemanipulator manipulator according to claim 3, which is characterized in that there are one centers for the take-up housing tool
Hole is axially penetrated through, and is symmetricly set on the axially position hole of the central axial through hole both sides, the central axial through hole
Inside be provided with steel ball and for steel ball by bend pipe；
The axially position hole passes through for the fiber strut, and the central axial through hole is for coordinating the leading screw to make
With.
5. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, which is characterized in that the clamping device includes a folder
Maintain an equal level platform, two supporting rods, two drive links and a piston power bar；
The both ends of the Gripping platform are respectively articulated with one end of two supporting rods, and the other end of the supporting rod is corresponding
Holding finger portion is respectively set on side；It is corresponded in two supporting rods and is respectively articulated with two in the middle position of side
The other end of one end of a drive link, two drive links is hinged on one end of the piston power bar, the work
The other end of plug power rail is connected to the single-acting cylinder in the Gripping platform；
The output end of the single-acting cylinder is placed in the middle position that the Gripping platform is hinged two supporting rods.
6. a kind of Multi-freedom-degreemanipulator manipulator according to claim 5, which is characterized in that the Gripping platform global sections are in
" T " font structure, and one end of two bare terminal ends is respectively hinged in the Gripping platform " T " word structure and is in always
Both ends on line.
7. a kind of Multi-freedom-degreemanipulator manipulator according to claim 5, which is characterized in that the holding finger portion is in integrally
" V " type mechanism.
8. a kind of Multi-freedom-degreemanipulator manipulator according to claim 2, which is characterized in that be provided with one in the track groove
A strip bottom fixed plate, the strip bottom fixed plate pastes from top to bottom to be fixed in the track groove, and described solid
Reservation and lower fixed seat are fixed in the strip bottom fixed plate.
9. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, which is characterized in that the universal wheel pedestal includes one
Base disk, at least three base support legs, the base support leg are uniformly arranged on the peripheral side of the base disk, the specially described bottom
Seat supporting leg one end is connected on the base disk, and the other end downside of the base support leg is provided with the rolling of usable rotational direction
Wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810932395.7A CN108742158A (en) | 2018-08-16 | 2018-08-16 | A kind of Multi-freedom-degreemanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810932395.7A CN108742158A (en) | 2018-08-16 | 2018-08-16 | A kind of Multi-freedom-degreemanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108742158A true CN108742158A (en) | 2018-11-06 |
Family
ID=63966182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810932395.7A Pending CN108742158A (en) | 2018-08-16 | 2018-08-16 | A kind of Multi-freedom-degreemanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108742158A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649979A (en) * | 2019-02-15 | 2019-04-19 | 王金霞 | A kind of water dispenser barreled water transport loading machine |
| CN110206004A (en) * | 2019-05-11 | 2019-09-06 | 江苏中达勘察设计有限公司 | A kind of static penetrometer and its test method |
| CN111345695A (en) * | 2020-03-13 | 2020-06-30 | 佛山市顺德区美的饮水机制造有限公司 | Liquid pumping mechanism for liquid supply device and water drinking equipment |
| CN112129838A (en) * | 2020-10-29 | 2020-12-25 | 杭州道森科技有限公司 | Dual-track defect positioning device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010052054A (en) * | 2008-08-26 | 2010-03-11 | Nidec Sankyo Corp | Industrial robot |
| CN204239649U (en) * | 2014-02-20 | 2015-04-01 | 日本精工株式会社 | Ball screw |
| CN204569309U (en) * | 2015-03-20 | 2015-08-19 | 安琪 | Barrelled water drinker water-supply apparatus |
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN107840145A (en) * | 2017-11-30 | 2018-03-27 | 苏州弘瀚自动化科技有限公司 | A kind of automatic turning device |
| CN209966137U (en) * | 2018-08-16 | 2020-01-21 | 杭州道森科技有限公司 | Multi-degree-of-freedom manipulator |
-
2018
- 2018-08-16 CN CN201810932395.7A patent/CN108742158A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010052054A (en) * | 2008-08-26 | 2010-03-11 | Nidec Sankyo Corp | Industrial robot |
| CN204239649U (en) * | 2014-02-20 | 2015-04-01 | 日本精工株式会社 | Ball screw |
| CN204569309U (en) * | 2015-03-20 | 2015-08-19 | 安琪 | Barrelled water drinker water-supply apparatus |
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN107840145A (en) * | 2017-11-30 | 2018-03-27 | 苏州弘瀚自动化科技有限公司 | A kind of automatic turning device |
| CN209966137U (en) * | 2018-08-16 | 2020-01-21 | 杭州道森科技有限公司 | Multi-degree-of-freedom manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649979A (en) * | 2019-02-15 | 2019-04-19 | 王金霞 | A kind of water dispenser barreled water transport loading machine |
| CN110206004A (en) * | 2019-05-11 | 2019-09-06 | 江苏中达勘察设计有限公司 | A kind of static penetrometer and its test method |
| CN111345695A (en) * | 2020-03-13 | 2020-06-30 | 佛山市顺德区美的饮水机制造有限公司 | Liquid pumping mechanism for liquid supply device and water drinking equipment |
| CN112129838A (en) * | 2020-10-29 | 2020-12-25 | 杭州道森科技有限公司 | Dual-track defect positioning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108742158A (en) | A kind of Multi-freedom-degreemanipulator manipulator | |
| CN206632971U (en) | A kind of power construction self-powered platform | |
| CN208342840U (en) | A kind of rotation clamping manipulator of industrial robot | |
| CN206527550U (en) | A kind of mechanical automation drilling equipment | |
| CN107672570A (en) | A kind of energy-saving new-energy automobile with quick-replaceable function | |
| CN207527253U (en) | A kind of Intelligent Data Collection System Terminal stent | |
| CN209566117U (en) | A kind of manipulator for intelligence manufacture | |
| CN207807786U (en) | Automatic transplanter device people of the electric energy meter with table support fixture | |
| CN206865027U (en) | A kind of cable laying pull unit | |
| CN108110296A (en) | A kind of multistation fuel cell stacked group installing is standby | |
| CN211148719U (en) | Printed circuit board test fixture | |
| CN205949714U (en) | Multi -station continuous mold materials handling robot | |
| CN209239464U (en) | A kind of industrial robot mounting work station | |
| CN210763047U (en) | Manipulator end actuating mechanism with high-precision synchronous grabbing function | |
| CN208781707U (en) | A kind of unframed transformer winding clamp | |
| CN207999619U (en) | A kind of digital intelligent power equipment adjustment type supporting rack | |
| CN208318668U (en) | A kind of desk rotated automatically | |
| CN104368943A (en) | Universal adjustable tubular bus welding bracket | |
| CN207844413U (en) | A kind of chemical material handling device | |
| CN109108945A (en) | A kind of mechanical arm of multi-faceted angular adjustment | |
| CN205953009U (en) | Transport mechanism and multi -station continuous mold materials handling robot thereof | |
| CN210678685U (en) | Book arrangement robot structure part | |
| CN208613309U (en) | A kind of stem cell conveying containers wiping arrangement easy to use | |
| CN210010984U (en) | Mechanical arm for manufacturing process of lead-acid storage battery | |
| CN210383417U (en) | Comparison device for product design |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |