CN109590996A - A kind of five degree of freedom Gripping platform - Google Patents
A kind of five degree of freedom Gripping platform Download PDFInfo
- Publication number
- CN109590996A CN109590996A CN201910026639.XA CN201910026639A CN109590996A CN 109590996 A CN109590996 A CN 109590996A CN 201910026639 A CN201910026639 A CN 201910026639A CN 109590996 A CN109590996 A CN 109590996A
- Authority
- CN
- China
- Prior art keywords
- head
- forearm
- headstock
- shoulder
- axis
- 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
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Classifications
-
- 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
-
- 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
Abstract
The present invention provides a kind of five degree of freedom Gripping platform, including magnetic absorbing seat, large arm, forearm, head and shoulder, head neck, headstock, large arm are connected to magnetic absorbing seat upper end by rotary shaft；The forearm is connected to large arm upper end by rotary shaft；The head neck is by head and shoulder axis connection in head and shoulder one end；The headstock is by swinging joint axis connection in head neck one end.Pass through three rotary joints, one swinging joint, the variation that one parallelogram mechanism is total to five degree of freedom is adjusted to realize that the clamping to construction equipment carrys out the objects such as process pipeline, so that work is smooth, the mechanism in the present invention has good flexibility and practicability.Fan-shaped swinging joint can compensate as magnetic absorbing seat bottom it is unstable caused by position error.Parallelogram mechanism can be adjusted Gripping platform headstock relative to magnetic absorbing seat height in the case where being changed without magnetic absorbing seat absorption platform, to adapt to a variety of working depths, improve working efficiency.Structure of the invention is light, cheap, easy to operate.
Description
Technical field
It is a kind of five degree of freedom, comprising the more of parallelogram mechanism the present invention relates to a kind of five degree of freedom Gripping platform
Function industrial machinery arm Gripping platform equipment.
Background technique
With the manufacturing growth in the world, Chinese manufacturing big country is gradually established status, at the same time Metal Cutting total amount,
It cuts complexity and technical requirements is continuously improved.It is answered extensively in the engineerings such as petroleum, chemical industry, boiler, pressure vessels and pipes
With various forms of adapter tubes, and takes over and be frequently necessary to be detected, detect a flaw, measure, sandblasting, assembly, carrying, cutting openings and each
The processing operation etc. of kind form.The support construction volume of equipment needed for operation is larger, price is high and many structures are mobile very not
It is convenient, and the poor needs for being difficult for adapting to industrial operation of portability.There are four types of basic knots by industrial serially connected robot architecture
Structure: cartesian coordinate robot, cylindrical robot, polar robot, climbing robot and typical multi-joint
Contact robot, these robots are all because the limitation of self structure is all difficult to adapt to the particular surroundings of pipeline.To be able to achieve pipe
This special manipulating object in road is badly in need of that a kind of industry of this special operation object of several work and pipeline can be completed in reality
Five degree of freedom Gripping platform equipment.
Summary of the invention
The object of the present invention is to provide a kind of five degree of freedom Gripping platform, is detected in pipeline, is detected a flaw, surveyed to realize
Fixation is supported to equipment when amount, sandblasting, assembly, carrying, cutting openings and various forms of processing operations, the present invention uses
Serially connected structure, there are five freedom degrees for tool, wherein three are rotary joint, one is swinging joint, and one is parallelogram
Structure has greater flexibility and practicability for the mechanism in this special processing object present invention of pipeline.
The object of the present invention is achieved like this: including magnetic absorbing seat, large arm, forearm, head and shoulder, head neck, end effector head
Seat, the large arm are connected to magnetic absorbing seat upper end by rotary joint one；The forearm is connected in large arm by rotary joint two
End；Head and shoulder setting is in forearm end, and by head and shoulder axis connection in head and shoulder one end, the end effector headstock passes through the head neck
Swinging joint axis connection in head neck one end, the coordinated movement of various economic factors of rotary joint one and rotary joint two realize equipment to be held relative to
The position of magnetic absorbing seat adjusts, the coordinated movement of various economic factors of rotary joint where head and shoulder axis and the swinging joint where swinging joint axis realize to
Pose adjustment of the chucking device relative to magnetic absorbing seat, forearm are a parallelogram mechanisms.
The invention also includes structure features some in this way:
1. rotary joint one includes the rotary joint axis one that one end is arranged on magnetic absorbing seat, the other end and large arm connect and rises
The rotary joint axis pinning one of locking effect, the mounting surface of the axis of rotary joint axis one perpendicular to magnetic absorbing seat.
2. the forearm includes forearm upper arm and forearm lower arm disposed in parallel, for connecting forearm upper arm and forearm lower arm
The triangle connecting plate of one end, the rectangular connecting plate for connecting forearm upper arm and the forearm lower arm other end, the two of forearm lower arm
One is symmetrically arranged between side and rectangular connecting plate has the adjusting pulling plate for adjusting effective length effect, adjusts and is provided with tune on pulling plate
Groove is saved, is provided with pulling plate locking nail in adjusting grooves.
3. rotary joint two includes rotary joint axis two and rotary joint axis pinning two, rotary joint with locking effect
One end of axis is connect with large arm, the other end is connect with rectangular connecting plate.
4. described neck is by head and shoulder axis connection in head and shoulder one end, the end effector headstock is connected by swinging joint axis
Be connected to a neck one end to refer to: head neck is square frame, and square frame end is provided with swinging joint axis, the setting of end effector headstock
In swinging joint, and arc orbit is provided on orientation stand, end effector headstock is arranged in arc orbit by pin shaft
And it can be swung in arc orbit.
Compared with prior art, the beneficial effects of the present invention are: in order to realize that the support to equipment is fixed, first in pedestal
Magnet is installed, is connected from magnetic absorbing seat by a rotary joint with large arm, is rotated between large arm and forearm also by one
Joint connection, the spatial position for adjusting remaining joint relative to magnetic absorbing seat is mainly acted in the two joints, when adjustment good position and appearance
After state, according to job requirements, end effector clamping different work tool carries out the specific operation to pipe end；Remaining several pass
Section can also be adjusted to realize the clamping to different pipeline operations equipment.It is set relative to its installation fixing position, i.e. magnetic absorbing seat,
Using three rotary joints, wherein first rotary joint is defined as the joint U, second rotary joint is defined as the joint V, and U is closed
Section is identical with the axis of rotation in both joints V, i.e., all perpendicular to magnetic absorbing seat bottom, the coordinated movement of various economic factors of the two may be implemented to be held
Equipment is adjusted relative to the position of magnetic absorbing seat；Third rotary joint is defined as the joint W, the axis of rotation in the joint W and the joint U, V
Axis of rotation be mutually perpendicular to, a following joint be swinging joint, be defined as the joint R, the hunting range position in the joint R
In the arc orbit for turning to reserve on neck, posture of the equipment to be held relative to magnetic absorbing seat is may be implemented in the movement of the two joint coordinations
Adjustment；It include a parallelogram mechanism on forearm, it can be flat to clamping in the case where being changed without magnetic absorbing seat absorption platform
Title seat is adjusted relative to magnetic absorbing seat height.End effector headstock is finally installed on the joint R, to connect required work
Make equipment.According to specific job requirements, end effector can clamp different power tools and realize to construction object
Operation.Specifically include: (1) terminal with compact integral structure is light is easy to carry about with one, and is suitable for most of construction environments；(2) cheap, easily
For medium-sized and small enterprises receiving；(3) a variety of working equipments can be clamped, flexibility is good.
Detailed description of the invention
Fig. 1 is overall mechanism schematic diagram of the invention；
Fig. 2 is parallelogram mechanism schematic diagram of the invention；
Fig. 3 is swinging joint schematic diagram of the invention；
Schematic diagram when Fig. 4 is present invention clamping construction equipment；
In figure: magnetic absorbing seat 1, rotary joint axis pinning 1, rotary joint axis 1, large arm 4, rotary joint axis pinning 25,
Rotary joint axis 26, head and shoulder axis 8, triangle connecting plate 9, forearm lower arm 10, adjusts pulling plate 11, pulling plate locking nail 12, side at head and shoulder 7
Shape connecting plate 13, forearm upper arm 14, end effector headstock 15, head neck 16, swinging joint axis 17.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In Fig. 1, magnetic absorbing seat 1 selects suitable position that installation is fixed according to the specific location situation of actual job；U
Joint is mounted on magnetic absorbing seat 1, and the joint U is made of rotary joint axis 1, rotary joint axis pinning 1 and large arm 4, and is rotated
Bottom adsorption plane of the rotary shaft of joint U perpendicular to magnetic absorbing seat 1；The joint V is mounted in large arm 4, the joint V by rotary joint axis 6,
Rotary joint axis pinning 25 is constituted, wherein the axis of rotation phase of the axis of rotation of rotary joint axis 26 and rotary joint axis 1
Together；The joint W is mounted on triangle connecting plate 9, and the joint W is made of head and shoulder axis 8 and head neck 16, and the axis of rotation of head and shoulder axis 8 with
Rotary joint axis 1, the axis of rotation of rotary joint axis 26 are perpendicular；The joint R is mounted on a neck 16, as shown in figure 3, R is closed
Section is made of swinging joint axis 17 and end effector headstock 15, and the hunting range in the joint R is located at the circular arc for turning to reserve on neck
Track, this makes in special job requirements, and end effector headstock 15 can be swung within the scope of a special angle.Forearm
Upper includes a parallelogram mechanism, as shown in Fig. 2, by triangle connecting plate 9, forearm lower arm 10, adjusting pulling plate 11, pulling plate lock
12, rectangular connecting plate 13, the composition of forearm upper arm 14 are marked closely, effective fastening length by adjusting pulling plate 11 changes, and passes through pulling plate lock
12 are marked closely to be fastened, to adjust the height change of forearm upper end, and then is realized to Gripping platform headstock relative to magnetic
Seat height degree is adjusted.It when work, can be connected on end effector headstock 15 according to operating equipment, according to using ring
Then border, position location and specific handling situations work, come movement needed for determining each joint as shown in figure 4, root
According to specific job requirements, end effector can clamp operation of the different power tool realizations to construction object.
The present invention provides a kind of five degree of freedom platform, and power can be accordingly arranged in each joint.
Namely the present invention is a kind of five degree of freedom Gripping platform equipment, including magnetic absorbing seat, large arm, forearm, head and shoulder, head neck,
Headstock.It is fixed it is characterized by: the magnetic absorbing seat can choose suitable platform；The large arm is connected to magnetic by rotary shaft
Seat upper end；The forearm is connected to large arm upper end by rotary shaft；The head neck is by head and shoulder axis connection in head and shoulder one end；It is described
Headstock is by swinging joint axis connection in head neck one end.Equipment phase to be held may be implemented in the coordinated movement of various economic factors of the first two rotary joint
Position adjustment for magnetic absorbing seat, behind the movement of two joint coordinations posture of the equipment to be held relative to magnetic absorbing seat may be implemented
Adjustment.Forearm structure includes that a parallelogram mechanism can be flat to clamping in the case where being changed without magnetic absorbing seat absorption platform
Title seat is adjusted relative to magnetic absorbing seat height.First rotary joint is mounted on magnetic absorbing seat, and rotary joint is by revolving
Turn joint shaft, rotary joint axis pinning and large arm to constitute, large arm is mounted on magnetic absorbing seat by rotary joint axis, and rotary joint
Rotary shaft perpendicular to magnetic absorbing seat mounting surface.Choosing can use rotary joint axis pinning behind suitable position and fixes this
Rotary joint.Second rotary joint is mounted in large arm, rotary joint by rotary joint axis, rotary joint axis pinning,
Rotary joint axis pinning, rectangular connecting plate adjust pulling plate, forearm composition, and forearm is by rectangular connecting plate and adjusts pulling plate and rotation pass
Nodal axisn is connected and is mounted in large arm, wherein the axis of rotation phase of the axis of rotation of rotary joint axis and first rotary joint axis
Together.Choosing can use rotary joint axis pinning behind suitable position and fixes the rotary joint.The third rotation is closed
Section is mounted on triangle connecting plate, and rotary joint is made of head and shoulder axis, head neck, and head neck is mounted on triangle by rotary joint axis
On connecting plate, and the axis of rotation of head and shoulder axis and the axis of rotation of first and second rotary joint axis are perpendicular.The swinging joint peace
On head neck, swinging joint is made of swinging joint axis and end effector headstock, and end effector headstock is closed by swinging
Nodal axisn is mounted on a neck, and the hunting range of swinging joint is located at the arc orbit for turning to reserve on neck.It is flat on the forearm
Row quadrangular mechanism can adjust the height change of forearm upper end, Jin Ershi by adjusting effective fastening length variation of pulling plate
Now Gripping platform headstock is adjusted relative to magnetic absorbing seat height.
To sum up, the invention discloses a kind of five degree of freedom Gripping platform equipment, including magnetic absorbing seat, large arm, forearm, head and shoulder,
Head neck, headstock.It is fixed it is characterized by: the magnetic absorbing seat can choose suitable platform；The large arm passes through rotation axis connection
In magnetic absorbing seat upper end；The forearm is connected to large arm upper end by rotary shaft；The head neck is by head and shoulder axis connection in head and shoulder one
End；The headstock is by swinging joint axis connection in head neck one end.By three rotary joints, a swinging joint, one flat
The variation that row quadrangular mechanism is total to five degree of freedom is adjusted to realize that the clamping to construction equipment carrys out the objects such as process pipeline, so that work
Make it is smooth, the present invention in mechanism have good flexibility and practicability.Fan-shaped swinging joint can compensate
As magnetic absorbing seat bottom it is unstable caused by position error.Parallelogram mechanism can be changed without magnetic absorbing seat absorption platform
In the case of Gripping platform headstock is adjusted relative to magnetic absorbing seat height, to adapt to a variety of working depths, improve working efficiency.
And has many advantages, such as portable construction, cheap, easy to operate.
Claims (7)
1. a kind of five degree of freedom Gripping platform, it is characterised in that: executed including magnetic absorbing seat, large arm, forearm, head and shoulder, head neck, end
Device headstock, the large arm are connected to magnetic absorbing seat upper end by rotary joint one；The forearm is connected to greatly by rotary joint two
Arm upper end；Head and shoulder setting is in forearm end, and the head neck is by head and shoulder axis connection in head and shoulder one end, the end effector headstock
By swinging joint axis connection in head neck one end, equipment phase to be held is realized in the coordinated movement of various economic factors of rotary joint one and rotary joint two
Position adjustment for magnetic absorbing seat, the coordinated movement of various economic factors of rotary joint where head and shoulder axis and the swinging joint where swinging joint axis are real
Existing pose adjustment of the equipment to be held relative to magnetic absorbing seat, forearm is a parallelogram mechanism.
2. a kind of five degree of freedom Gripping platform according to claim 1, it is characterised in that: rotary joint one is set including one end
It sets on magnetic absorbing seat, the rotary joint axis pinning one of the rotary joint axis one of the other end and large arm connection and locking effect, rotation
Turn mounting surface of the axis perpendicular to magnetic absorbing seat of joint shaft one.
3. a kind of five degree of freedom Gripping platform according to claim 1 or 2, it is characterised in that: the forearm includes parallel
The forearm upper arm and forearm lower arm of setting, the triangle connecting plate for connecting forearm upper arm and forearm lower arm one end, for connecting
The rectangular connecting plate for connecing forearm upper arm and the forearm lower arm other end is symmetrically arranged between the two sides and rectangular connecting plate of forearm lower arm
One has the adjusting pulling plate for adjusting effective length effect, adjusts and is provided with adjusting grooves on pulling plate, drawing is provided in adjusting grooves
Plate locking nail.
4. a kind of five degree of freedom Gripping platform according to claim 3, it is characterised in that: rotary joint two includes that rotation is closed
Nodal axisn two and and play the rotary joint axis pinning two of locking effect, one end of rotary joint axis is connect with large arm, the other end and side
The connection of shape connecting plate.
5. a kind of five degree of freedom Gripping platform according to claim 1 or 2, it is characterised in that: the head neck passes through head and shoulder
Axis connection is referred to by swinging joint axis connection in head neck one end in head and shoulder one end, the end effector headstock: the head neck side of being
Shape frame is provided with swinging joint axis in square frame end, and the setting of end effector headstock is set in swinging joint, and on orientation stand
It is equipped with arc orbit, end effector headstock is arranged in arc orbit and can be swung in arc orbit by pin shaft.
6. a kind of five degree of freedom Gripping platform according to claim 3, it is characterised in that: the head neck is connected by head and shoulder axis
It is connected to head and shoulder one end, the end effector headstock is referred to by swinging joint axis connection in head neck one end: head neck is square frame,
Square frame end is provided with swinging joint axis, the setting of end effector headstock is provided in swinging joint, and on orientation stand
Arc orbit, end effector headstock are arranged in arc orbit and can be swung in arc orbit by pin shaft.
7. a kind of five degree of freedom Gripping platform according to claim 4, it is characterised in that: the head neck is connected by head and shoulder axis
It is connected to head and shoulder one end, the end effector headstock is referred to by swinging joint axis connection in head neck one end: head neck is square frame,
Square frame end is provided with swinging joint axis, the setting of end effector headstock is provided in swinging joint, and on orientation stand
Arc orbit, end effector headstock are arranged in arc orbit and can be swung in arc orbit by pin shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910026639.XA CN109590996A (en) | 2019-01-11 | 2019-01-11 | A kind of five degree of freedom Gripping platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910026639.XA CN109590996A (en) | 2019-01-11 | 2019-01-11 | A kind of five degree of freedom Gripping platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109590996A true CN109590996A (en) | 2019-04-09 |
Family
ID=65966036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910026639.XA Pending CN109590996A (en) | 2019-01-11 | 2019-01-11 | A kind of five degree of freedom Gripping platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590996A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825274A (en) * | 1994-07-19 | 1996-01-30 | Komatsu Ltd | Tool holding device |
| JPH11123687A (en) * | 1997-10-22 | 1999-05-11 | Tsubakimoto Chain Co | Gripping device |
| DE20316090U1 (en) * | 2003-04-25 | 2004-01-15 | Fuchs, Reinhard | Support arm system used in handling/finishing comprises a rear arm pivotably arranged on a frame, and a front arm supporting on its front end a holder for a hand screwdriver |
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| CN204948802U (en) * | 2015-09-08 | 2016-01-13 | 衢州学院 | Machine people end effector is plucked to fruit |
| CN105459090A (en) * | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
| US20160207206A1 (en) * | 2015-01-21 | 2016-07-21 | Nippon Thompson Co., Ltd. | Multi-articulated manipulator |
| CN206373926U (en) * | 2016-12-30 | 2017-08-04 | 中国科学院沈阳自动化研究所 | The main hand pitching articulation structure of resistance-adjustable |
| CN107186739A (en) * | 2017-03-16 | 2017-09-22 | 杭州若比邻机器人科技有限公司 | Bilayer turn back driving two-stage revolution finger mechanism |
| CN108406743A (en) * | 2018-03-07 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of mounting seat for robot |
| KR20180123793A (en) * | 2017-05-10 | 2018-11-20 | 주식회사 엔티로봇 | Meal assistance device |
-
2019
- 2019-01-11 CN CN201910026639.XA patent/CN109590996A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825274A (en) * | 1994-07-19 | 1996-01-30 | Komatsu Ltd | Tool holding device |
| JPH11123687A (en) * | 1997-10-22 | 1999-05-11 | Tsubakimoto Chain Co | Gripping device |
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| DE20316090U1 (en) * | 2003-04-25 | 2004-01-15 | Fuchs, Reinhard | Support arm system used in handling/finishing comprises a rear arm pivotably arranged on a frame, and a front arm supporting on its front end a holder for a hand screwdriver |
| US20160207206A1 (en) * | 2015-01-21 | 2016-07-21 | Nippon Thompson Co., Ltd. | Multi-articulated manipulator |
| CN204948802U (en) * | 2015-09-08 | 2016-01-13 | 衢州学院 | Machine people end effector is plucked to fruit |
| CN105459090A (en) * | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
| CN206373926U (en) * | 2016-12-30 | 2017-08-04 | 中国科学院沈阳自动化研究所 | The main hand pitching articulation structure of resistance-adjustable |
| CN107186739A (en) * | 2017-03-16 | 2017-09-22 | 杭州若比邻机器人科技有限公司 | Bilayer turn back driving two-stage revolution finger mechanism |
| KR20180123793A (en) * | 2017-05-10 | 2018-11-20 | 주식회사 엔티로봇 | Meal assistance device |
| CN108406743A (en) * | 2018-03-07 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of mounting seat for robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190409 |
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| RJ01 | Rejection of invention patent application after publication |