CN109927022A - A kind of multi-joint mechanical arm and its adjusting method of precision positioning - Google Patents
A kind of multi-joint mechanical arm and its adjusting method of precision positioning Download PDFInfo
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- CN109927022A CN109927022A CN201910278841.1A CN201910278841A CN109927022A CN 109927022 A CN109927022 A CN 109927022A CN 201910278841 A CN201910278841 A CN 201910278841A CN 109927022 A CN109927022 A CN 109927022A
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Abstract
The present invention discloses the multi-joint mechanical arm and its adjusting method of a kind of precision positioning, including body frame, body frame bottom side is fixed with first motor controller by rivet, first motor is fixedly installed at the top of first motor controller, horizontal positioned support plate is fixedly installed at the top of first motor, and first motor output shaft end position fixing sleeve is equipped with screw rod.The present invention passes through the horizontal direction double-axle rotation of the first linking arm and the second linking arm, more accurate carry out level angle adjustment, the lifting that first motor meets simultaneously to mechanical arm height simultaneously can more be efficiently completed mechanical arm location tasks without manually adjusting.Guarantee that infrared probe can be not in detection dead angle with constant testing to target piece, the mechanical arm in position fixing process, so that the detection position fixing process of mechanical arm is avoided the case where can't detect target piece occur.
Description
Technical field
The present invention relates to mechanical arm field of locating technology, and in particular to a kind of multi-joint mechanical arm and its tune of precision positioning
Section method.
Background technique
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively
With.Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Thus machine
The modeler model of tool arm, for different tasks, needs to plan the movement rail in joint of mechanical arm space there is also uncertainty
Mark constitutes end pose to cascade.
Mostly have the defects that positioning is not accurate enough using mechanical arm in the factory, not only results in go out on production line in this way
Existing various misloadings, neglected loading problem, will not only bring economic well-being of workers and staff, and probably because in this way to enterprise in this way
The finished product produced of mechanical arm after being used dangerous hidden danger.
Summary of the invention
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of multi-joint mechanical arms of precision positioning
And its adjusting method, by the horizontal direction double-axle rotation of the first linking arm and the second linking arm, more accurate progress is horizontal
Angle adjustment, while first motor meets the lifting to mechanical arm height simultaneously, it, can be more efficient complete without manually adjusting
At mechanical arm location tasks.Guarantee that infrared probe can will not be gone out in position fixing process with constant testing to target piece, the mechanical arm
Dead angle is now detected, so that the detection position fixing process of mechanical arm is avoided the case where can't detect target piece occur.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of multi-joint mechanical arm and its adjusting method of precision positioning, including body frame, the body frame bottom side pass through
Rivet is fixed with first motor controller, and first motor, first electricity are fixedly installed at the top of the first motor controller
Horizontal positioned support plate is fixedly installed at the top of machine, and first motor output shaft end position fixing sleeve is equipped with screw rod,
The screw rod outer peripheral surface screw thread matching is provided with internal screw thread block, and internal screw thread block one end is fixedly installed strip, the strip
It is bolted to connection rod set far from internal screw thread block one end, the rod set is slideably positioned in the periphery of longitudinally disposed slide bar
Face, and the rod set is fixedly connected with vertical panel far from strip one end, the vertical panel side is fixedly connected with the first U-shaped support；
The first U-shaped support both sides of the face are provided through the first pin, and first pin bottom is rotatablely connected
There are the two sides of U-shaped frame, the second longitudinally disposed motor of output shaft, second motor bottom are fixedly installed in the U-shaped frame
It is fixedly installed the second electric machine controller, and second motor output shaft end fixing sleeve is equipped with second gear, described second
Outer peripheral gear face, which is meshed, is connected with first gear, and described U-shaped frame one end two sides pass through pin and are fixedly connected with the first connection
Arm, first linking arm are fixedly installed with third motor far from U-shaped frame one end, and the is fixedly installed at the top of the third motor
Three electric machine controllers, and the third motor bottom output shaft end fixing sleeve is equipped with third gear, the third outer peripheral gear
Face engagement is connected with the 4th gear, and the 4th gear axis position, which is fixed to run through, first rotating shaft, at the top of the first rotating shaft
It is rotatablely connected the first linking arm by gasket, and the first rotating shaft is rotatably connected to the second U-shaped support close to bottom position, it is described
Second U-shaped support one end is fixedly connected with the second linking arm by rivet, and second linking arm is fixed far from second U-shaped support one end
It is provided with the 4th motor, the 4th motor side is electrically connected with the 4th electric machine controller, and defeated at the top of the 4th motor
Shaft end fixing sleeve is equipped with the 5th gear, and the 5th outer peripheral gear face engagement is connected with the 6th gear, the 6th gear
Shaft core position is provided through the second shaft, and second shaft is equipped with stud close to middle position outer peripheral surface fixing sleeve, described
Second linking arm, one side bottom is fixedly installed fixed plate, and one side end face of fixed plate is longitudinally linearly provided with several metals
Silk, second shaft bottom are fixedly installed with distance measuring sensor, and the distance measuring sensor side is fixedly installed infrared probe.
Further, the slide bar bottom is fixedly welded in upper end face of support plate, and is fixedly connected with master at the top of the slide bar
Frame inner cavity upper wall.
Further, the first gear shaft core position, which runs through, one of them described first pin.
Further, the second gear, third gear and the 5th gear axis position pass through bar and are connected with circular casing,
One end of the fixed conical mount of the circular casing circumferential surface of 5th gear top, the conical mount are fixedly connected far from circular casing one end
First linking arm.
Further, the distance measuring sensor input terminal electrically connects with infrared probe and the 4th motor respectively with output end
It connects.
Further, the first motor side is electrically connected with signal receiver, the signal receiver fixed setting
Above body frame inner cavity top.
Further, the screw tip is fixedly installed the block in hexa-prism, and the block is at the top of body frame.
Further, the first motor, the second motor, third motor and the 4th motor side are electrically connected with signal
Receiver, the signal receiver are electrically connected with distance measuring sensor.
Further, several wires are in clearance fit with the screw thread on stud surface.
Further, a kind of adjusting method of the multi-joint mechanical arm of precision positioning, method includes the following steps:
Step 1: the infrared probe of the second shaft bottom is detected in mobile article, transmits a signal to ranging sensing
In device, distance measuring sensor analyzes target range, and, apart from distance signal transmission to signal receiver, will believe after analysis
Number receiver passes through first motor controller, the second electric machine controller, third electric machine controller and the 4th electric machine controller respectively
Open first motor, the second motor, third motor and the 4th motor；
Step 2: first motor output shaft drives screw rod rotation, and the internal screw thread block of screw surface drives rod set by strip
It is slided up and down on slide bar surface, and then vertical panel is driven to be gone up and down, while the second motor output shaft drives second gear rotation,
Second gear engagement drives first gear rotation, and then drives the relative position of U-shaped frame and the first U-shaped support to turn by the first pin
Dynamic, third motor output shaft drives the rotation of third gear, and the engagement of third gear drives the rotation of the 4th gear, and then drives first turn
Axis rotation, first rotating shaft are entrusted dynamic second linking arm by conical mount and the second U-shaped and are rotated；
Step 3: the rotation of the 4th motor output shaft drives the rotation of the 5th gear, and the engagement of the 5th gear drives the 6th gear to turn
Dynamic, the 6th gear drives the rotation of the second shaft, and the second shaft drives stud rotation, and the wire of fixed plate surface is to limiting
Effect guarantees that revolving speed is uniform, and then infrared probe rotation is driven to guarantee that infrared probe can be with constant testing to target in position fixing process
Object.
Beneficial effects of the present invention:
(1) multi-joint mechanical arm of a kind of precision positioning of the invention is detected by the infrared probe of the second shaft bottom
It in mobile article, transmits a signal in distance measuring sensor, distance measuring sensor analyzes target range, and will analysis
Afterwards apart from distance signal transmission to signal receiver, signal receiver passes through first motor controller, the second motor control respectively
Device, third electric machine controller and the 4th electric machine controller processed open first motor, the second motor, third motor and the 4th motor,
First motor output shaft drives screw rod rotation, and the internal screw thread block of screw surface drives rod set to glide on slide bar surface by strip
It is dynamic, and then drive vertical panel to be gone up and down, while the second motor output shaft drives second gear rotation, second gear engagement drives
First gear rotation, and then drive the relative position of U-shaped frame and the first U-shaped support to rotate by the first pin, the output of third motor
Axis drives the rotation of third gear, and the engagement of third gear drives the rotation of the 4th gear, and then drives first rotating shaft rotation, first rotating shaft
Entrust the rotation of dynamic second linking arm by conical mount and the second U-shaped so that the mechanical arm meet can by the first linking arm and
The horizontal direction double-axle rotation of second linking arm, more accurate carry out level angle adjustment, while first motor meet simultaneously
Lifting to mechanical arm height can more be efficiently completed mechanical arm location tasks without manually adjusting.
(2) rotation of the 5th gear is driven by the rotation of the 4th motor output shaft, the engagement of the 5th gear drives the 6th gear to turn
Dynamic, the 6th gear drives the rotation of the second shaft, and the second shaft drives stud rotation, and the wire of fixed plate surface is to limiting
Effect guarantees that revolving speed is uniform, and then infrared probe rotation is driven to guarantee that infrared probe can be with constant testing to target in position fixing process
Object, which is not in detection dead angle, so that the detection position fixing process of mechanical arm is avoided to occur can't detect object
The case where part.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is a kind of structural schematic diagram of the multi-joint mechanical arm of precision positioning of the present invention；
Fig. 2 is body frame internal structure cross-sectional view of the invention；
Fig. 3 is the schematic enlarged-scale view in Fig. 1 of the invention at A；
Fig. 4 is the schematic enlarged-scale view in Fig. 1 of the invention at B；
Fig. 5 is the schematic enlarged-scale view in Fig. 1 of the invention at C；
Fig. 6 is the second shaft and fixed plate attachment structure schematic diagram of the invention.
In figure: 1, body frame；2, first motor controller；3, first motor；4, screw rod；5, internal screw thread block；51, strip；6,
Block；7, rod set；71, slide bar；72, vertical panel；8, support plate；9, signal receiver；10, the first U-shaped support；11, first gear；
12, second gear；13, the second motor；14, U-shaped frame；15, the first pin；16, the second electric machine controller；17, the first linking arm；
18, third motor；19, third gear；20, the 4th gear；21, first rotating shaft；22, the second U-shaped support；23, conical mount；24,
Two linking arms；25, third electric machine controller；26, the 5th gear；27, the 6th gear；28, stud；29, fixed plate；30, metal
Silk；31, the second shaft；32, distance measuring sensor；33, infrared probe；34, the 4th motor；35, circular casing.
Specific embodiment
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 description, 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, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
It please refers to shown in Fig. 1-6, the present invention is a kind of multi-joint mechanical arm of precision positioning, including body frame 1,1 bottom of body frame
Portion side is fixed with first motor controller 2 by rivet, and first motor 3 is fixedly installed at the top of first motor controller 2, the
Horizontal positioned support plate 8 is fixedly installed at the top of one motor 3, and 3 output shaft end position fixing sleeve of first motor is equipped with spiral shell
Bar 4, the matching of 4 outer peripheral surface screw thread of screw rod are provided with internal screw thread block 5, and 5 one end of internal screw thread block is fixedly installed strip 51, and strip 51 is remote
It is bolted to connection rod set 7 from 5 one end of internal screw thread block, rod set 7 is slideably positioned in the periphery of longitudinally disposed slide bar 71
Face, and rod set 7 is fixedly connected with vertical panel 72 far from 51 one end of strip, 72 side of vertical panel is fixedly connected with the first U-shaped support 10；
First U-shaped support, 10 both sides of the face are provided through the first pin 15, and 15 bottom of the first pin is rotatably connected to U
The two sides of shape frame 14 are fixedly installed with the second longitudinally disposed motor 13 of output shaft in U-shaped frame 14, and 13 bottom of the second motor is fixed
It is provided with the second electric machine controller 16, and 13 output shaft end fixing sleeve of the second motor is equipped with second gear 12, second gear 12
Outer peripheral surface, which is meshed, is connected with first gear 11, and 14 one end two sides of U-shaped frame pass through pin and are fixedly connected with the first linking arm 17,
First linking arm 17 is fixedly installed with third motor 18 far from 14 one end of U-shaped frame, is fixedly installed with third at the top of third motor 18
Electric machine controller 25, and 18 bottom output shaft end fixing sleeve of third motor is equipped with third gear 19,19 outer peripheral surface of third gear
Engagement is connected with the 4th gear 20, and 20 shaft core position of the 4th gear is fixed through there is first rotating shaft 21, leads at the top of first rotating shaft 21
It crosses gasket and is rotatablely connected the first linking arm 17, and first rotating shaft 21 is rotatably connected to the second U-shaped support 22 close to bottom position, second
22 one end of U-shaped support is fixedly connected with the second linking arm 24 by rivet, and the second linking arm 24 is fixed far from 22 one end of the second U-shaped support
It is provided with the 4th motor 34,34 side of the 4th motor is electrically connected with the 4th electric machine controller, and exports at the top of the 4th motor 34
Shaft end portion fixing sleeve is equipped with the 5th gear 26, and the engagement of 26 outer peripheral surface of the 5th gear is connected with the 6th gear 27,27 axis of the 6th gear
Heart position is provided through the second shaft 31, and the second shaft 31 is equipped with stud 28 close to middle position outer peripheral surface fixing sleeve, and second
24 1 side bottom of linking arm is fixedly installed fixed plate 29, and 29 1 side end face of fixed plate is longitudinally linearly provided with several wires
30,31 bottom of the second shaft is fixedly installed with distance measuring sensor 32, and 32 side of distance measuring sensor is fixedly installed infrared probe 33.
71 bottom of slide bar is fixedly welded in 8 upper surface of support plate, and 1 inner cavity upper wall of body frame is fixedly connected at the top of slide bar 71.
11 shaft core position of first gear, which runs through, one of them first pin 15.Second gear 12, third gear 19 and the 5th gear 26
Shaft core position passes through bar and is connected with circular casing 35, and 35 circumferential surface of circular casing at 26 top of the 5th gear fixes the one of conical mount 23
End, conical mount 23 are fixedly connected with the first linking arm 17 far from 35 one end of circular casing.32 input terminal of distance measuring sensor and output end point
It is not electrically connected with infrared probe 33 and the 4th motor 34.3 side of first motor is electrically connected with signal receiver 9, and signal connects
Device 9 is received to be fixedly installed on above 1 inner cavity top of body frame.The block 6 in hexa-prism is fixedly installed at the top of screw rod 4, block 6 passes through
Wear 1 top of body frame.First motor 3, the second motor 13, third motor 18 and 34 side of the 4th motor are electrically connected with signal and connect
Device 9 is received, signal receiver 9 is electrically connected with distance measuring sensor 32.Screw thread of several wires 30 with 28 surface of stud be in
Clearance fit.Wherein first motor controller 2, the second electric machine controller 16, third electric machine controller 25 and the 4th motor control
The concrete model of device is Keyemce KV-M serial motors controller, and the concrete model of signal receiver 9 is the reception of NW336 signal
Device, the concrete model of distance measuring sensor 32 are Keyemce IL series distance measuring sensor.A kind of multi-joint mechanical arm of precision positioning
Adjusting method, method includes the following steps:
Step 1: the infrared probe 33 of 31 bottom of the second shaft is detected in mobile article, transmits a signal to ranging
In sensor 32, distance measuring sensor 32 analyzes target range, and by after analysis apart from distance signal transmission to signal
Receiver 9, signal receiver 9 pass through first motor controller 2, the second electric machine controller 16, third electric machine controller 25 respectively
First motor 3, the second motor 13, third motor 18 and the 4th motor 34 are opened with the 4th electric machine controller；
Step 2: 3 output shaft of first motor drives screw rod 4 to rotate, and the internal screw thread block 5 on 4 surface of screw rod passes through 51 band of strip
Lever set 7 slides up and down on 71 surface of slide bar, and then vertical panel 72 is driven to be gone up and down, while 13 output shaft of the second motor drives
Second gear 12 rotates, and the engagement of second gear 12 drives first gear 11 to rotate, and then drives U-shaped frame 14 by the first pin 15
It is rotated with the relative position of the first U-shaped support 10,18 output shaft of third motor drives third gear 19 to rotate, and third gear 19 engages
It drives the 4th gear 20 to rotate, and then first rotating shaft 21 is driven to rotate, first rotating shaft 21 passes through conical mount 23 and the second U-shaped support 22
The second linking arm 24 is driven to rotate；
Step 3: the rotation of 34 output shaft of the 4th motor drives the rotation of the 5th gear 26, and the engagement of the 5th gear 26 drives the 6th
Gear 27 rotates, and the 6th gear 27 drives the rotation of the second shaft 31, and the second shaft 31 drives stud 28 to rotate, 29 surface of fixed plate
30 pairs of progress position-limiting actions of wire guarantee that revolving speeds are uniform, and then it is infrared in position fixing process to drive the rotation of infrared probe 33 to guarantee
Probe can be with constant testing to target piece.
It please refers to shown in Fig. 1-6, a kind of working principle of the multi-joint mechanical arm of precision positioning of the present embodiment is as follows:
The infrared probe 33 of second shaft, 31 bottom is detected in mobile article, transmits a signal to distance measuring sensor 32
Interior, distance measuring sensor 32 analyzes target range, and by after analysis apart from distance signal transmission to signal receiver 9,
Signal receiver 9 passes through first motor controller 2, the second electric machine controller 16, third electric machine controller 25 and the 4th electricity respectively
Machine controller opens first motor 3, the second motor 13, third motor 18 and the 4th motor 34；
3 output shaft of first motor drives screw rod 4 to rotate, and the internal screw thread block 5 on 4 surface of screw rod drives rod set 7 by strip 51
It is slided up and down on 71 surface of slide bar, and then vertical panel 72 is driven to be gone up and down, while 13 output shaft of the second motor drives the second tooth
12 rotation of wheel, the engagement of second gear 12 drives first gear 11 to rotate, and then drives U-shaped frame 14 and first by the first pin 15
The relative position of U-shaped support 10 rotates, and 18 output shaft of third motor drives third gear 19 to rotate, and the engagement of third gear 19 drives the
Four gears 20 rotation, and then first rotating shaft 21 is driven to rotate, first rotating shaft 21 drive the by conical mount 23 and the second U-shaped support 22
The rotation of two linking arms 24；
The rotation of 4th motor, 34 output shaft drives the rotation of the 5th gear 26, and the engagement of the 5th gear 26 drives 27 turns of the 6th gear
Dynamic, the 6th gear 27 drives the rotation of the second shaft 31, and then drives infrared probe 33 that mobile article is followed to carry out rotation.
Above content is only to structure of the invention example and explanation, affiliated those skilled in the art couple
Described specific embodiment does various modifications or additions or is substituted in a similar manner, without departing from invention
Structure or beyond the scope defined by this claim, is within the scope of protection of the invention.
Claims (10)
1. a kind of multi-joint mechanical arm of precision positioning, which is characterized in that including body frame (1), body frame (1) bottom side is logical
It crosses rivet to be fixed with first motor controller (2), is fixedly installed first motor (3) at the top of the first motor controller (2),
It is fixedly installed horizontal positioned support plate (8) at the top of the first motor (3), and the first motor (3) output shaft end
Position fixing sleeve is equipped with screw rod (4), and screw rod (4) the outer peripheral surface screw thread matching is provided with internal screw thread block (5), the internal screw thread block
(5) one end is fixedly installed strip (51), and the strip (51) has been bolted to connection bar far from internal screw thread block (5) one end
It covers (7), the rod set (7) is slideably positioned in the outer peripheral surface of longitudinally disposed slide bar (71), and the rod set (7) is far from strip
(51) one end is fixedly connected vertical panel (72), and vertical panel (72) side is fixedly connected with the first U-shaped support (10)；
First U-shaped support (10) both sides of the face are provided through the first pin (15), and the first pin (15) bottom is equal
The two sides of U-shaped frame (14) are rotatably connected to, are fixedly installed with the second longitudinally disposed motor of output shaft in the U-shaped frame (14)
(13), the second motor (13) bottom is fixedly installed the second electric machine controller (16), and second motor (13) exports
Shaft end portion fixing sleeve is equipped with second gear (12), and second gear (12) outer peripheral surface, which is meshed, is connected with first gear (11),
U-shaped frame (14) one end two sides pass through pin and are fixedly connected with the first linking arm (17), and first linking arm (17) is remote
It is fixedly installed with third motor (18) from U-shaped frame (14) one end, is fixedly installed with third motor at the top of the third motor (18)
Controller (25), and the third motor (18) bottom output shaft end fixing sleeve is equipped with third gear (19), the third tooth
Wheel (19) outer peripheral surface engagement is connected with the 4th gear (20), and the 4th gear (20) shaft core position, which is fixed to run through, first rotating shaft
(21), the first linking arm (17) are rotatablely connected by gasket at the top of the first rotating shaft (21), and the first rotating shaft (21) is leaned on
Nearly bottom position is rotatably connected to the second U-shaped support (22), and described second U-shaped support (22) one end is fixedly connected with second by rivet
Linking arm (24), second linking arm (24) is fixedly installed the 4th motor (34) far from second U-shaped support (22) one end, described
4th motor (34) side is electrically connected with the 4th electric machine controller, and output shaft end is fixed at the top of the 4th motor (34)
It is arranged with the 5th gear (26), the 5th gear (26) the outer peripheral surface engagement is connected with the 6th gear (27), the 6th gear
(27) shaft core position is provided through the second shaft (31), and second shaft (31) is arranged close to the fixation of middle position outer peripheral surface
Have stud (28), (24) one side bottom of the second linking arm is fixedly installed fixed plate (29), fixed plate (29) side
End face is longitudinally linearly provided with several wires (30), and the second shaft (31) bottom is fixedly installed with distance measuring sensor
(32), distance measuring sensor (32) side is fixedly installed infrared probe (33).
2. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that slide bar (71) bottom
Portion is fixedly welded in support plate (8) upper surface, and is fixedly connected with body frame (1) inner cavity upper wall at the top of the slide bar (71).
3. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that the first gear
(11) shaft core position, which runs through, one of them described first pin (15).
4. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that the second gear
(12), third gear (19) and the 5th gear (26) shaft core position pass through bar and are connected with circular casing (35), the 5th gear
(26) one end of circular casing (35) circumferential surface fixed conical mount (23) at the top of, the conical mount (23) is far from circular casing (35) one end
It is fixedly connected with the first linking arm (17).
5. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that the distance measuring sensor
(32) input terminal and output end are electrically connected with infrared probe (33) and the 4th motor (34) respectively.
6. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that the first motor
(3) side is electrically connected with signal receiver (9), and the signal receiver (9) is fixedly installed on body frame (1) inner cavity top
Side.
7. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that screw rod (4) top
Portion is fixedly installed the block (6) in hexa-prism, and the block (6) is at the top of body frame (1).
8. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that the first motor
(3), the second motor (13), third motor (18) and the 4th motor (34) side are electrically connected with signal receiver (9), described
Signal receiver (9) is electrically connected with distance measuring sensor (32).
9. a kind of multi-joint mechanical arm of precision positioning according to claim 1, which is characterized in that several wires
(30) with the screw thread on stud (28) surface in clearance fit.
10. a kind of adjusting method of the multi-joint mechanical arm of precision positioning, which is characterized in that method includes the following steps:
Step 1: the infrared probe (33) of the second shaft (31) bottom detects infrared marking articles, transmits a signal to ranging
In sensor (32), distance measuring sensor (32) analyzes target range, and by after analysis apart from distance signal transmission extremely
Signal receiver (9), signal receiver (9) pass through first motor controller (2), the second electric machine controller (16), third respectively
Electric machine controller (25) and the 4th electric machine controller open first motor (3), the second motor (13), third motor (18) and the 4th
Motor (34)；
Step 2: first motor (3) output shaft drives screw rod (4) rotation, and the internal screw thread block (5) on screw rod (4) surface passes through strip
(51) it drives rod set (7) to slide up and down on slide bar (71) surface, and then drives vertical panel (72) to be gone up and down, while the second motor
(13) output shaft drives second gear (12) rotation, and second gear (12) engagement drives first gear (11) rotation, and then passes through
First pin (15) drives U-shaped frame (14) and the relative position of the first U-shaped support (10) to rotate, and third motor (18) output shaft drives
Third gear (19) rotation, third gear (19) engagement drives the rotation of the 4th gear (20), and then first rotating shaft (21) is driven to turn
Dynamic, first rotating shaft (21) drives the second linking arm (24) rotation by conical mount (23) and the second U-shaped support (22)；
Step 3: the rotation of the 4th motor (34) output shaft drives the rotation of the 5th gear (26), and the engagement of the 5th gear (26) drives the
Six gears (27) rotation, the 6th gear (27) drive the second shaft (31) rotation, and the second shaft (31) drives stud (28) rotation,
The wire (30) on fixed plate (29) surface guarantees that revolving speed is uniform to position-limiting action is carried out, and then drives infrared probe (33) rotation
Guarantee that infrared probe can be with constant testing to target piece in position fixing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910278841.1A CN109927022B (en) | 2019-04-09 | 2019-04-09 | Precision positioning multi-joint mechanical arm and adjusting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278841.1A CN109927022B (en) | 2019-04-09 | 2019-04-09 | Precision positioning multi-joint mechanical arm and adjusting method thereof |
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| Publication Number | Publication Date |
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| CN109927022A true CN109927022A (en) | 2019-06-25 |
| CN109927022B CN109927022B (en) | 2021-05-28 |
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| CN201910278841.1A Active CN109927022B (en) | 2019-04-09 | 2019-04-09 | Precision positioning multi-joint mechanical arm and adjusting method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193233A (en) * | 2021-11-19 | 2022-03-18 | 中国船舶重工集团公司第七0七研究所 | Device for installing and debugging optical probe on machining center and using method |
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| CN114193233A (en) * | 2021-11-19 | 2022-03-18 | 中国船舶重工集团公司第七0七研究所 | Device for installing and debugging optical probe on machining center and using method |
| CN114193233B (en) * | 2021-11-19 | 2023-12-12 | 中国船舶重工集团公司第七0七研究所 | Device for installing and debugging optical probe on machining center and use method |
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| CN109927022B (en) | 2021-05-28 |
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