CN202097737U - High-precision three degree-of-freedom mechanical arm - Google Patents
High-precision three degree-of-freedom mechanical arm Download PDFInfo
- Publication number
- CN202097737U CN202097737U CN2011201730874U CN201120173087U CN202097737U CN 202097737 U CN202097737 U CN 202097737U CN 2011201730874 U CN2011201730874 U CN 2011201730874U CN 201120173087 U CN201120173087 U CN 201120173087U CN 202097737 U CN202097737 U CN 202097737U
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- rotating shaft
- yaw axis
- axis
- pitch
- support
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Abstract
A high-precision three degree-of-freedom mechanical arm comprises a base, a yaw axis, two yaw axis servomotors, two pitch axes, two pitch axis servomotors, a rotating shaft support, a rotating shaft and a rotating shaft servomotor, wherein the axial line of the yaw axis is vertically arranged on the base, two opposite supporting columns are arranged at the upper part of the base, the two yaw axis servomotors are simultaneously connected with and used for driving the yaw axis, the two pitch axes are horizontally and coaxially arranged on the two supporting columns of the yaw axis respectively, the two pitch axis servomotors are respectively connected with and used for driving the two pitch axes, the rotating shaft support comprises a shaft sleeve and two support arms, the two support arms are symmetrically fixed on two sides of the shaft sleeve, the two pitch axes are symmetrically and respectively fixed on the two support arms, the axes of the two pitch axes are perpendicular to the axes of the shaft sleeve, the rotating shaft is arranged in the shaft sleeve of the rotating shaft support, and the rotating shaft servomotor is connected with and used for driving the rotating shaft. The high-precision three degree-of-freedom mechanical arm has the advantages of high repeated positioning accuracy, high load-carrying capacity, fast laying speed and the like, and can be used on automatic composite material laying equipment.
Description
Technical field
The utility model relates to a kind of manipulator member, relates in particular to a kind of high accuracy three-freedom mechanical arm that is used for composite material laying equipment control lay head.
Background technology
The member that composite produces has received the favor of aerospace industry owing to have series of advantages such as light weight, anticorrosion, antifatigue damage performance is good, machining is few.As the technology of fiber placement for composite materials of one of general manufacturing technology of composite, not only to enhancing productivity, reduce cost, and also all most important to the quality that guarantees the large-scale composite material member.At present; In the domestic composite element manufacture process, technology of fiber placement for composite materials is main with manual lay, vacuum hotpressing jug forming also, and the not only quality stability of manual lay is poor, reliability is low; And stock utilization is low, the manufacturing cycle is long, can not guarantee the required precision of complex component.In order to improve the manually-operated of material fiber lay, domestic at the early-stage to producing with the development of large-scale composite material automatic placement equipment, large-scale shop silk machine having relatively high expectations to precision and reliability.The existing mechanical arm ubiquity that is used for automatic fiber placement machine or automated tape-laying machine carries the shortcoming light, that precision is low, causes the precision of composite material laying lower.
The utility model content
The utility model technical problem to be solved is to overcome the shortcoming that mechanical arm carries gently in the current composite material laying equipment, precision is lower; A kind of high accuracy three-freedom mechanical arm is provided; It is through two driven by servomotor; Reach one side and reduce driving error, improve the effect of driving torque on the other hand.
The technical scheme that its technical problem of the utility model solution is taked is following:
A kind of high accuracy three-freedom mechanical arm; It comprises pedestal, yaw axis, two yaw axis servomotors, two pitch axis, two pitch axis servomotors, rotating shaft support, rotating shaft and rotating shaft servomotor; Be located on the said pedestal to said yaw axis axis normal; This yaw axis top is provided with two relative support columns, and said two yaw axis servomotors connect simultaneously and drive said yaw axis, and said two pitch axis levels are located at respectively on two support columns of said yaw axis coaxially; Said two pitch axis servomotors connect respectively and drive this two pitch axis; Said rotating shaft support comprises an axle sleeve and two support arms, and this two support arm is fixed on the both sides of said axle sleeve symmetrically, said two pitch axis be separately fixed on this two support arm symmetrically and the axis of its axis and this axle sleeve perpendicular; Said rotating shaft is arranged in the axle sleeve of said rotating shaft support, and said rotating shaft servomotor connects and drives this rotating shaft.
The said yaw axis bottom of the said high accuracy three-freedom mechanical arm of the utility model is equipped with the yaw axis driven gear; Said two yaw axis servomotors connect a yaw axis reductor separately; This yaw axis reductor is fixed on the said pedestal and its end connects a yaw axis driving gear separately, and this two yaw axis driving gear is meshed with said yaw axis driven gear simultaneously; Said two pitch axis servomotors connect a dihedral reductor separately, and this two dihedrals reductor is individually fixed on two support columns of said yaw axis and connects a pitch axis separately; Said rotating shaft servomotor connects a rotating shaft reductor; Top and end that this rotating shaft reductor is fixed in said rotating shaft support connect a rotating shaft driving gear; Be provided with the rotating shaft driven gear, this rotating shaft driven gear is meshed with the moving master gear of said rotating shaft said rotating shaft end and rotating shaft coaxle.
Compare with the existing mechanical arm that is used for automatic fiber placement machine or automated tape-laying machine, the utility model has all adopted the structure of two driven by servomotor on the rotatablely moving of yaw axis and pitch axis, therefore; Reduced gear-driven hysterisis error on the one hand greatly; Repetitive positioning accuracy reached ± 0.02 ° within, thereby improved the relative accuracy of composite material laying, increased input power on the other hand; Improved the bearing capacity of mechanical arm; The speed reducing ratio of reductor reduces greatly in addition, has increased the movement velocity of mechanical arm, thereby has improved lay speed.
Description of drawings
Fig. 1 is the structural perspective of the utility model.
Fig. 2 is the structure cutaway view of the utility model.
Fig. 3 arranges sketch map for the yaw axis servomotor.
Fig. 4 is yaw axis Drive Structure figure.
Among the figure,
1 pedestal, 2 yaw axis, 3 rotating shaft supports, 4 flanges, 5 rotating shaft servomotors; 6 rotating shaft reductors, 7 rotating shaft driving gears, 8 rotating shafts, 9 dihedral reductors; 10 pitch axis servomotors, 11 yaw axis servomotors, 12 yaw axis reductors, 13 pitch axis; 14 yaw axis driven gears, 15 yaw axis driving gears, 16 reductor supports, 17 rotating shaft driven gears.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further to specify.
At first see also the structural perspective of Fig. 1 the utility model, diagram high accuracy three-freedom mechanical arm is used for composite material laying equipment, carries out composite material laying with control lay head.Said high accuracy three-freedom mechanical arm comprises pedestal 1, yaw axis 2, two yaw axis servomotors 11, two pitch axis 13, two pitch axis servomotors 10, rotating shaft support 3, rotating shaft 8 and rotating shaft servomotor 5.
Said pedestal 1 is positioned at the lower side, and said yaw axis 2 is located on this pedestal 1, and its axis is vertical with horizontal plane.Said yaw axis 2 bottoms are the cylinder of hollow, and top is provided with two relative support columns, sees also Fig. 4, and the bottom of this yaw axis 2 is equipped with yaw axis driven gear 14, and this yaw axis driven gear 14 is coaxial with yaw axis 2.See also Fig. 3 again; Said two yaw axis servomotors 11 are fastened on (see figure 1) on the input of a yaw axis reductor 12 separately through screw, this yaw axis reductor 12 is fixed in said pedestal 1, and the output end of this two yaw axis reductor 12 adopts no key mode to connect a yaw axis driving gear 15 (see figure 4)s separately; This two yaw axis driving gear 15 is meshed with said yaw axis driven gear 14 simultaneously; The output shaft of yaw axis reductor 12 is connected with yaw axis driving gear 15, promptly adopts two yaw axis driving gears 15 to drive a yaw axis driven gear 14, thereby two yaw axis servomotors 12 are connected with said yaw axis 2 simultaneously; And driving said yaw axis 2 rotates around vertical axis; Promptly realize two driven by servomotor of yaw axis 2, thereby reduced the gear drive hysterisis error greatly, improved rotating accuracy; Simultaneously bigger driving torque be can obtain, heavy load, high accuracy realized.The stroke of this yaw axis 2 is ± 90 °.
See also Fig. 2, said rotating shaft support 3 comprises an axle sleeve and two support arms, and this two support arm is fixed on the both sides of said axle sleeve symmetrically; Said two pitch axis 13 are separately fixed on this two support arm through screw symmetrically; And flatly be located at respectively on two support columns on said yaw axis 2 tops; This two pitch axis 13 is positioned on the same axis, and the axis of their axis and this axle sleeve is perpendicular.Said two pitch axis servomotors 10 connect a dihedral reductor 9 separately; This two dihedrals reductor 9 is individually fixed on two support columns of said yaw axis 2; And the output shaft of this two dihedrals reductor 9 connects a pitch axis 13 through the swelling cover separately; Thereby said two pitch axis servomotors 10 connect respectively and this two pitch axis 13 of driven in synchronism around horizontal rotational shaft, the revolution stroke of this pitch axis 13 is ± 30 °.
Said rotating shaft 8 is arranged in the axle sleeve of said rotating shaft support 3, and these rotating shaft 8 front ends are equipped with flange 4, and its other end end is provided with rotating shaft driven gear 17, this rotating shaft driven gear 17 and rotating shaft 8 coaxial line (see figure 1)s.Said rotating shaft servomotor 5 connects a rotating shaft reductor 6; This rotating shaft reductor 6 is fixed on the reductor support 16 on said rotating shaft support 3 tops; And its end connects a rotating shaft driving gear 7, and said rotating shaft driven gear 17 is meshed with the moving master gear 7 of said rotating shaft.Thereby said rotating shaft servomotor 5 is connected with this rotating shaft 8, and drives this rotating shaft 8 rotations, and the stroke of this rotating shaft 8 is ± 360 °.
When the said high accuracy three-freedom mechanical arm of the utility model is worked; The drive path of each free degree motion is: one, two yaw axis servomotors 12 drive yaw axis reductor 12; This yaw axis reductor 12 drives yaw axis driving gear 15; Above transmission is provided with identical two covers, and latter two yaw axis driving gear 15 drives same yaw axis driven gear 14, thereby makes yaw axis 2 revolutions; Two, two yaw axis servomotors 12 drive a dihedral reductor 9 separately, thereby drive pitch axis 13 revolutions; Three, rotating shaft servomotor 5 driven in rotation axle reductors 6 are again through gear drive driven rotary axle 8.Each servomotor of digital control system control that moves through of three axles realizes because servomotor adopts dead electricity to protect automatically, having brake function, therefore when accident power-off, can guarantee a shop silk invariant position.
The utlity model has repetitive positioning accuracy height, big, the fireballing advantage of bearing capacity, can significantly improve the lay speed and the lay precision of composite, have good economic benefit.
Claims (4)
1. high accuracy three-freedom mechanical arm; It is characterized in that; Said mechanical arm comprises pedestal, yaw axis, two yaw axis servomotors, two pitch axis, two pitch axis servomotors, rotating shaft support, rotating shaft and rotating shaft servomotor, is located on the said pedestal to said yaw axis axis normal, and this yaw axis top is provided with two relative support columns; Said two yaw axis servomotors connect simultaneously and drive said yaw axis; Said two pitch axis levels are located at respectively on two support columns of said yaw axis coaxially, and said two pitch axis servomotors connect respectively and drive this two pitch axis, and said rotating shaft support comprises an axle sleeve and two support arms; This two support arm is fixed on the both sides of said axle sleeve symmetrically; Said two pitch axis be separately fixed on this two support arm symmetrically and the axis of its axis and this axle sleeve perpendicular, said rotating shaft is arranged in the axle sleeve of said rotating shaft support, said rotating shaft servomotor connects and drives this rotating shaft.
2. high accuracy three-freedom mechanical arm according to claim 1; It is characterized in that; Said yaw axis bottom is equipped with the yaw axis driven gear; Said two yaw axis servomotors connect a yaw axis reductor separately, and this yaw axis reductor is fixed on the said pedestal and its end connects a yaw axis driving gear separately, and this two yaw axis driving gear is meshed with said yaw axis driven gear simultaneously.
3. high accuracy three-freedom mechanical arm according to claim 1; It is characterized in that; Said two pitch axis servomotors connect a dihedral reductor separately, and this two dihedrals reductor is individually fixed on two support columns of said yaw axis and connects a pitch axis separately.
4. high accuracy three-freedom mechanical arm according to claim 1; It is characterized in that; Said rotating shaft servomotor connects a rotating shaft reductor; Top and end that this rotating shaft reductor is fixed in said rotating shaft support connect a rotating shaft driving gear, are provided with the rotating shaft driven gear said rotating shaft end and rotating shaft coaxle, and this rotating shaft driven gear is meshed with the moving master gear of said rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201730874U CN202097737U (en) | 2011-05-26 | 2011-05-26 | High-precision three degree-of-freedom mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201730874U CN202097737U (en) | 2011-05-26 | 2011-05-26 | High-precision three degree-of-freedom mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202097737U true CN202097737U (en) | 2012-01-04 |
Family
ID=45383770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201730874U Expired - Fee Related CN202097737U (en) | 2011-05-26 | 2011-05-26 | High-precision three degree-of-freedom mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202097737U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003015A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot |
| CN106003144A (en) * | 2016-07-26 | 2016-10-12 | 美的集团股份有限公司 | Robot |
-
2011
- 2011-05-26 CN CN2011201730874U patent/CN202097737U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003015A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot |
| CN106003015B (en) * | 2016-07-18 | 2018-11-27 | 美的集团股份有限公司 | robot |
| CN106003144A (en) * | 2016-07-26 | 2016-10-12 | 美的集团股份有限公司 | Robot |
| CN106003144B (en) * | 2016-07-26 | 2018-11-27 | 美的集团股份有限公司 | robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120104 Termination date: 20120526 |