CN202212965U

CN202212965U - Manipulator device with five freedom degrees

Info

Publication number: CN202212965U
Application number: CN201120331195XU
Authority: CN
Inventors: 杨井华; 何扬清; 章世秀; 徐凯
Original assignee: Nanjing Agricultural University
Current assignee: Nanjing Agricultural University
Priority date: 2011-09-06
Filing date: 2011-09-06
Publication date: 2012-05-09
Anticipated expiration: 2021-09-06

Abstract

A manipulator device with five freedom degrees consists of a pinion 1, a No.I stepping motor 2, an engine base 3, a No.II stepping motor 4, a No.III stepping motor 5, a No.IV stepping motor 6, a No.V stepping motor 7, a main body 8, a gear wheel 9, a large arm 10, a small arm 11, a hand part 12 and a wrist 13, and is characterized in that the relative movement between a main body and the engine base is realized by the connection of the gears. The relative movement of the large arm, the small arm, the hand part and the wrist is realized by the stepping motors; the main body and the large arm in in clearance fit, and the clearance between the main body and the large arm is 0.012mm; and the large arm and the small arm, the small arm and the hand part, and the hand part and the wrist are in clearance fit with each other, and the clearance is 0.014mm. When the manipulator device works, the first movement, namely the rotation of the main body relative to the engine base, is realized by the No.II stepping motor; the second movement, namely the movement of the large arm relative to the main body, is realized by the No.II stepping motor; the third movement, namely the movement of the small arm relative to the large arm, is realized by the No.III stepping motor; the fourth movement, namely the movement of the hand part relative to the small arm, is realized by the No.IV stepping motor; and the fifth movement, namely the movement of the wrist relative to the hand part, is realized by the No.V stepping motor. The manipulator device has a simple structure, is convenient to assemble and disassemble, and is safe and reliable in operation.

Description

A kind of five from spending robot device

Technical field

The utility model relates to a kind of five from spending robot device, and especially with a kind of device of accomplishing terminal five frees degree motion, more specifically a kind of five from spending robot device.Belong to field of mechanical technique.

Background technology

Along with the intelligent degree of plant equipment is increasingly high, the automated arm in the mechanized equipment is also more and more.Because the various tasks born of plant equipment are also more and more, the maximum robots that are that wherein adopt.Traditional end effector of robot is only realized simple operations such as clamping; And do not possess more complicated function, so, have to increase in some occasion and use mechanical arm to reach the execution purpose; Improved the complexity of cost and equipment so undoubtedly; So, design a kind of five and be very important from spending robot device, simultaneously; This equipment except traditional holding function is arranged, also needs simple translation and spinfunction is accomplished more complicated action, to be applied to industrial machinery and agricultural machinery.

The utility model content

For addressing the above problem, the purpose of the utility model is just in order to solve the deficiency of above-mentioned prior art, provide a kind of simple in structure, assembling is convenient, convenient disassembly five from spending robot device.

For addressing the above problem, the utility model is realized through following technical scheme:

A kind of five from spending robot device; Be made up of pinion 1, I stepper motor 2, support 3, II stepper motor 4, III stepper motor 5, IV stepper motor 6, V stepper motor 7, main body 8, gear wheel 9, big arm 10, forearm 11, hand 12, wrist 13, it is characterized in that: main body connects through gear with the relative motion of support and realizes.The relative motion of described big arm, forearm, hand, wrist realizes through stepper motor respectively, and cooperating between described main body and big arm is matched in clearance, and its gap is 0.012mm; Cooperating between described big arm and forearm, forearm and hand, hand and wrist is matched in clearance, and its gap is 0.014mm.In when work, first motion is that the rotation of the relative support of main body drives big pinion drive through the I stepper motor and realizes; The motion that second motion is the relative main body of big arm realizes through the II stepper motor; The 3rd motion is forearm with respect to the motion of big arm is to realize through the III stepper motor; The 4th motion is that the motion of the relative forearm of hand is to realize through the IV stepper motor; The motion that the 5th motion is the relative hand of wrist is to realize through the V stepper motor.

The beneficial effect of the utility model is: manipulator also has the free degree of five directions except the clamping operation.Five motions are separate, have simplified the complexity of driver part through stepper motor.Its five motions all are relatively independent controlled, and expansion is good.This robot device is simple in structure, the assembling is convenient, convenient disassembly, handling safety are reliable.

Description of drawings

Fig. 1 is that the utility model a kind of five is from spending the robot device structural representation.

The specific embodiment

As shown in Figure 1; A kind of five from spending robot device; Be made up of pinion 1, I stepper motor 2, support 3, II stepper motor 4, III stepper motor 5, IV stepper motor 6, V stepper motor 7, main body 8, gear wheel 9, big arm 10, forearm 11, hand 12, wrist 13, it is characterized in that: main body connects through gear with the relative motion of support and realizes.The relative motion of described big arm, forearm, hand, wrist realizes through stepper motor respectively, and cooperating between described main body and big arm is matched in clearance, and its gap is 0.012mm; Cooperating between described big arm and forearm, forearm and hand, hand and wrist is matched in clearance, and its gap is 0.014mm.In when work, first motion is that the rotation of the relative support of main body drives big pinion drive through the I stepper motor and realizes; The motion that second motion is the relative main body of big arm realizes through the II stepper motor; The 3rd motion is forearm with respect to the motion of big arm is to realize through the III stepper motor; The 4th motion is that the motion of the relative forearm of hand is to realize through the IV stepper motor; The motion that the 5th motion is the relative hand of wrist is to realize through the V stepper motor.

More than one disclose the utility model with preferable enforcement, and so it is not in order to restriction the utility model, allly take to be equal to replacement or technical scheme that equivalent transformation obtained, all drop in the protection domain of the utility model.

Claims

1. spend robot device certainly for one kind five, form by pinion, I stepper motor, support, II stepper motor, III stepper motor, IV stepper motor, V stepper motor, main body, gear wheel, big arm, forearm, hand, wrist; It is characterized in that: main body connects through gear with the relative motion of support and realizes.

2. according to claim 1 a kind of five from spending robot device, it is characterized in that: the relative motion of big arm, forearm, hand, wrist realizes through stepper motor respectively.

3. according to claim 1 a kind of five from spending robot device, it is characterized in that: main body is a matched in clearance with cooperating between arm greatly, and its gap is 0.012mm.

4. according to claim 1 a kind of five from spending robot device, it is characterized in that: cooperating between big arm and forearm, forearm and hand, hand and wrist is matched in clearance, and its gap is 0.014mm.