CN203390933U - Mechanical hand stacker crane driven by double-gear reducer - Google Patents
Mechanical hand stacker crane driven by double-gear reducer Download PDFInfo
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- CN203390933U CN203390933U CN201320493013.8U CN201320493013U CN203390933U CN 203390933 U CN203390933 U CN 203390933U CN 201320493013 U CN201320493013 U CN 201320493013U CN 203390933 U CN203390933 U CN 203390933U
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- driving mechanism
- slew gear
- driving
- postbrachium
- mechanical hand
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Abstract
The utility model discloses a mechanical hand stacker crane driven by a double-gear reducer and relates to mechanical hand stacker cranes. The mechanical hand stacker crane consists of a grip (10), a rotating mechanism (20), a front arm (30), a rear arm upper beam (40), a rear arm lower beam (50), a moving mechanism (60) and a driving swing mechanism (70), wherein the driving swing mechanism (70) consists of a first driving mechanism (71), a second driving mechanism (72) and a swing mechanism (73); the first driving mechanism (71) and the second driving mechanism (72) are respectively connected with the swing mechanism (73). According to the mechanical hand stacker crane, high-precision position control is realized by using a common gear reducer. The driving device is simple in structure and low in construction cost. The mechanical hand stacker crane is used for application occasions with high load and high position control precision requirement.
Description
Technical field
The utility model relates to a kind of manipulator stacking machine, relates in particular to a kind of manipulator stacking machine being driven by Double-gear reductor.The utility model relates to modern advanced manufacturing industry field, scattered articles can be pooled to to stamp dish upper with it, also can break and comes stamping the article that collect on dish.With it, can replace manually carrying out piling and de-stacking, be a kind of transhipment machinery of intelligence.
Background technology
Along with the fast development of modern science and technology, Robotics has been widely used in the every field of human society.The industrial robot being born in manufacturing industry is after engine, computer and the comprehensive extension mankind's muscle power occurring and the tool of production of new generation of intelligence, and manipulator stacking machine is exactly a kind of of these type of numerous robots.
The function of stacking machine, piles up sacked goods or case dress article to stamp on dish exactly and transports.This just requires stacking machine except can outputting power realizing carrying, and also accurate controlled motion position, accomplishes to treat accurately picking up of yard article, and realization is accurately piled up stamping on dish.This just require system control accuracy want high in, drive and accuracy of mechanical system also must corresponding raising.Generally adopt at present both at home and abroad harmonic drive and planet-gear speed reducer and other mechanisms all the low back clearance reductor of more complicated as the driving mechanism of manipulator stacking machine.But harmonic wave speed reducing machine process structure is complicated, and manufacturing cost is high, substantially take at present import as main.Planet-gear speed reducer transmitted power is limited, is main at present mainly with small-power.Also more or less there is similar problem in other reductors.
Gear reduction unit is the driving mechanism that machinery industry is most widely used, its technology maturation, and simple in structure, transmission efficiency is high, reliable operation, cost is relatively cheap.But because engagement between gear exists gap, when drive unit passes through this speed reducer drive, positioning precision is poor, cannot directly use in machine-hand driving system.
General robot palletizer is all 4 axle servo-control systems, and wherein most important is the slew gear ，Ci mechanism of support, and power demand is maximum, and required precision is the highest.The current domestic production of reductor of support does not all reach a standard, and all by import, price is high, and delivery cycle is long.Be unfavorable for the development of domestic robot.
Because the integrated artistic level of domestic machining is relatively backward, the reductor of production cannot reach the required precision of robot.
Summary of the invention
The purpose of this utility model is just to overcome the shortcoming and defect that prior art exists, and a kind of manipulator stacking machine being driven by Double-gear reductor is provided.
The purpose of this utility model technical scheme is:
By adopting the chirokinesthetic method of the common driving device of Double-gear reductor, utilize the differential principle of double-drive device, use modern control technology, closed-loop control is carried out respectively in the position of two cover drive motors, just can effectively eliminate the gap of driving mechanism, reach the object that improves system accuracy.
Use double driving mechanism, adopt bi-motor, when rate request is not too high, can use the logical Asynchronous Frequency-variable motor of two Daeporis and frequency converter; During high speed, use two servomotors and servo-driver.This two classes motor, is connected with gear reduction unit, forms drive system.The panoramic table of this drive unit driving device hand.This manipulator stacking machine is 4 axle servo-control systems, and wherein most important is the slew gear ，Ci mechanism of support, and power demand is maximum, and required precision is the highest.
For gear and most of other reductors, owing to manufacturing and assembly precision, when driving wheel rotates and reverse, can there is the existence in certain ，Gai gap, gap with contacting of follower, can directly affect system accuracy.Use double driving mechanism, the principle of utilizing exactly two driving wheels to control respectively, when static, two-wheeled move toward one another, clamps driven pulley, eliminates static clearance.Now record the P-pulse of two driving wheels, the P-pulse of these two drive units, the same location point of indication mechanism, meanwhile, records the pulse difference of these two drive units.Wherein, a set of drive unit is positive rotary driving device, and another set of is reversion drive unit.During forward, positive rotary driving device is exerted oneself, and reversion drive unit is according to P-pulse, and the pulse difference of record while keeping static with positive rotary driving device all the time, with positive rotary driving device motion.Equally, when reversion, reversion drive unit is exerted oneself, and positive rotary driving device is according to P-pulse, and the pulse difference of record while keeping static with reversion drive unit all the time, with the motion of reversion drive unit.Like this, no matter static, still rotate and reverse, can eliminate the gap of gear, reach accurate Position Control.
Specifically, this manipulator stacking machine is comprised of handgrip, rotating mechanism, forearm, postbrachium upper beam, postbrachium underbeam, travel mechanism and driving slew gear;
The front end of handgrip, rotating mechanism and forearm is connected successively, and the rear end of forearm is connected with the front end of postbrachium underbeam with postbrachium upper beam respectively, and the rear end of postbrachium upper beam and postbrachium underbeam is connected with travel mechanism respectively; Travel mechanism is connected with driving slew gear;
Described driving slew gear is comprised of the 1st driving mechanism, the 2nd driving mechanism and slew gear;
The 1st driving mechanism is connected with slew gear respectively with the 2nd driving mechanism;
The 1st driving mechanism comprises the 1st driving mechanism encoder, the 1st driving mechanism brake, the 1st driving mechanism motor, the 1st driving mechanism reductor and the 1st driving mechanism driven wheel connecting successively;
The 2nd driving mechanism comprises the 2nd driving mechanism encoder, the 2nd driving mechanism brake, the 2nd driving mechanism motor, the 2nd driving mechanism reductor and the 2nd driving mechanism driven wheel connecting successively;
Slew gear comprises slew gear driven pulley, slew gear main shaft, slew gear main shaft bearing and the slew gear platform connecting successively.
The utlity model has following advantages and good effect:
1. use common gear reduction unit to realize high precision position control;
2. this driving device structure is simple, cheap;
3. larger for load, and position control accuracy requires Gao application scenario.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the block diagram that drives slew gear;
Fig. 3 is the structural representation that drives slew gear;
Fig. 4 is the A-A cutaway view of Fig. 3;
Fig. 5 is the partial enlarged drawing (the 1st, 2 driving mechanism driven wheels mesh sight figure with slew gear driven pulley respectively) of Fig. 4.
In figure:
10-handgrip;
20-rotating mechanism;
30-forearm;
40-postbrachium upper beam;
50-postbrachium underbeam;
60— travel mechanism;
70-driving slew gear,
The 71-the 1 driving mechanism, the 72-the 2 driving mechanism,
The 71.1-the 1 driving mechanism encoder, the 72.1-the 2 driving mechanism encoder,
The 71.2-the 1 driving mechanism brake, the 72.2-the 2 driving mechanism brake,
The 71.3-the 1 driving mechanism motor, the 72.3-the 2 driving mechanism motor,
The 71.4-the 1 driving mechanism reductor, the 72.4-the 2 driving mechanism reductor,
The 71.5-the 1 driving mechanism driven wheel, the 72.5-the 2 driving mechanism driven wheel,
73-slew gear,
73.1-slew gear driven pulley, 73.2-slew gear main shaft,
73.3-slew gear platform, 73.4-slew gear main shaft bearing.
The specific embodiment
One, structure
1, overall
As Fig. 1, the utility model is by handgrip 10, rotating mechanism 20, forearm 30, postbrachium upper beam 40, postbrachium underbeam 50, travel mechanism 60 and drive slew gear 70 to form;
Its position and annexation are:
Working mechanism:
When control system drives slew gear 70, can make slew gear 70 carry out 330 degree rotations, be positioned at the travel mechanism 60 of slew gear 70 tops by driving postbrachium upper beam 40 and postbrachium underbeam 50 to drive forearm 20 to do the two dimensional motion of upper and lower and front and back, the rotating mechanism 20 that is positioned at forearm 20 front ends drives handgrip 10 rotations; Like this, handgrip 10 just can be realized and comprise before and after slew gear 70 rotation, forearm are 20 Shang Xia and four-dimensional movement that rotating mechanism 20 rotates, and picks up after yard article, just completes piling task.
2, functional part
1) handgrip 10
2) rotating mechanism 20
3) forearm 30
4) postbrachium upper beam 40 and postbrachium underbeam 50
Postbrachium upper beam 40 and postbrachium underbeam 50 drives the motion of upper underbeam to pass to forearm 30 for the ，Jiang travel mechanism 60 that is connected of current mechanism ，Yu travel mechanism 60, realizes manipulator arm 2 maintenance and operations upper and lower and front and back and moves.
5) travel mechanism 60
6) drive slew gear 70
Drive slew gear 70 to be formed by the 1st driving mechanism the 71, the 2nd driving mechanism 72 and slew gear 73;
The 1st driving mechanism 71 is connected with slew gear 73 respectively with the 2nd driving mechanism 72;
The 1st driving mechanism 71 comprises the 1st driving mechanism encoder the 71.1, the 1st driving mechanism brake the 71.2, the 1st driving mechanism motor the 71.3, the 1st driving mechanism reductor 71.4 and the 1st driving mechanism driven wheel 71.5 connecting successively;
The 2nd driving mechanism 72 comprises the 2nd driving mechanism encoder the 72.1, the 2nd driving mechanism brake the 72.2, the 2nd driving mechanism motor the 72.3, the 2nd driving mechanism reductor 72.4 and the 2nd driving mechanism driven wheel 72.5 connecting successively;
The 1st driving mechanism 71 is identical with the structure of the 2nd driving mechanism 72.
Each following functional part is universal component.
The * the 1 driving mechanism encoder 71.1
Adopt high-resolution rotary encoder, by differentiating 0.5 arc after reductor, divide, guarantee system accuracy.If employing servomotor, can directly use servomotor to carry encoder.Encoder is indicated the driving coordinate of the 1st driving mechanism 71 thus.
The * the 1 driving mechanism brake 71.2
This brake is the safety guard of the 1st driving mechanism 71, is the 1st driving mechanism motor 71.3 corresponding devices, and no matter type selecting variable-frequency motor or servomotor, all must select with the brake of mentioning.
When slew gear platform 73.3 needs the long period static, for saving electric power and preventing that the motor feels hot, this brake action, then the 1st driving mechanism motor 71.3 just can power-off, and revolving dial 73.3 will be locked by this brake, can not rotate voluntarily.When system accident power-off, this brake power-off action is locked, and anti-locking system is out of control.
The * the 1 driving mechanism motor 71.3:
This motor is driving and the location power resources of slew gear platform 73.3.Generally adopt servomotor, when positioning accuracy request is lower, also can adopt variable-frequency motor, in order to reduce costs.
The * the 1 driving mechanism reductor 71.4:
This reductor is connected with the 1st driving mechanism motor 71.3, in order to improve the output torque of the first driving mechanism 71, reaches the effect that drives slew gear platform 73.3.Principle due to elimination driving mechanism of the present utility model gap, the inter-lobe clearance of this reductor, can not produce obviously impact to the positioning precision of slew gear platform 73.3, so the type selecting of this reductor, simple and the most ripe gear engaging speed reducer can be selected; This reductor reliable operation, with low cost.
The * the 1 driving mechanism driven wheel 71.5:
By the power of the first driving mechanism 71 outputs, by this driven wheel and 73.1 engagements of slew gear driven pulley, pass to slew gear platform 73.3; When this driven wheel forward drive and reverse drive, play the part of respectively and drive and two roles of resistance; Just because of this has realized gapless driving between gear.
* slew gear driven pulley 73.1
Slew gear driven pulley 73.1 and the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 mesh simultaneously, are subject to driving engagement and the resistance engagement of two driving mechanisms simultaneously.Like this, slew gear driven pulley 73.1 and two driving mechanisms will be realized tight mesh.
* slew gear main shaft 73.2
This slew gear main shaft 73.2 is closely connected with slew gear driven pulley 73.1, and both sides can not relatively rotate.Because this running clearance, can not be overcome by double driving mechanism, must, by interference fit, eliminate this both gap.The rotation of driving mechanism is passed to slew gear platform 73.3 accurately.
* slew gear main shaft bearing 73.4
Slew gear main shaft bearing 73.4 is supporting slew gear main shaft 73.2 and slew gear platform 73.3, and whole robot movement part and the weight of being picked up object are all carried on this bearing, and its suffered axial force is larger, needs employing axial thrust bearing.
* slew gear platform 73.3
Slew gear platform 73.3 is closely connected with travel mechanism 60 with slew gear main shaft 73.2, and the rotating drive power of the 1st driving mechanism 71 and the 2nd driving mechanism 72 is passed to travel mechanism 60.
Working mechanism:
Control system drives control to the 1st driving mechanism 71 and the 2nd driving mechanism 72 respectively, it is acted on slew gear 73 simultaneously, and the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 act on (as Fig. 2,3,4,5) on slew gear driven pulley 73.1 simultaneously;
When static, the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 move toward one another, slew gear driven pulley 73.1 is clamped, wherein the 1st driving mechanism driven wheel 71.5 is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 turns clockwise, their contact point is just in time contrary, so just eliminated the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 and with the static clearance of slew gear driven pulley 73.1.
Now record the P-pulse of the 1st driving mechanism encoder 71.1 and the 2nd driving mechanism encoder 72.1, the P-pulse of these two driving mechanism encoders, the same location point of indication mechanism; Meanwhile, record the pulse difference of these two driving mechanism encoders; When slew gear main shaft 73.2 turns clockwise, the 1st driving mechanism driven wheel 71.5 is exerted oneself and is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 is according to P-pulse, while keeping static with the 1st driving mechanism driven wheel 71.5 all the time, the pulse difference of record, is rotated counterclockwise with slew gear main shaft 73.2; Equally, when slew gear main shaft 73.2 is rotated counterclockwise, the 2nd driving mechanism driven wheel 72.5 is exerted oneself and is turned clockwise, and the 1st driving mechanism driven wheel 72.5 is according to P-pulse, while remaining static, the pulse difference of record, turns clockwise with slew gear main shaft 73.2; Like this, no matter be at static or forward or reverse, can eliminate the 1st driving mechanism driven wheel 71.5 and the 2nd driving mechanism driven wheel 72.5 and with the gear backlash of slew gear driven pulley 73.1, reach accurate Position Control.
Claims (1)
1. the manipulator stacking machine being driven by Double-gear reductor, is comprised of handgrip (10), rotating mechanism (20), forearm (30), postbrachium upper beam (40), postbrachium underbeam (50), travel mechanism (60) and driving slew gear (70);
Handgrip (10), rotating mechanism (20) and the front end of forearm (30) are connected successively, the rear end of forearm (30) is connected with the front end of postbrachium underbeam (50) with postbrachium upper beam (40) respectively, and the rear end of postbrachium upper beam (40) and postbrachium underbeam (50) is connected with travel mechanism (60) respectively; Travel mechanism (60) is connected with driving slew gear (70);
It is characterized in that:
Described driving slew gear (70) is comprised of the 1st driving mechanism (71), the 2nd driving mechanism (72) and slew gear (73);
The 1st driving mechanism (71) is connected with slew gear (73) respectively with the 2nd driving mechanism (72);
The 1st driving mechanism (71) comprises the 1st driving mechanism encoder (71.1), the 1st driving mechanism brake (71.2), the 1st driving mechanism motor (71.3), the 1st driving mechanism reductor (71.4) and the 1st driving mechanism driven wheel (71.5) connecting successively;
The 2nd driving mechanism (72) comprises the 2nd driving mechanism encoder (72.1), the 2nd driving mechanism brake (72.2), the 2nd driving mechanism motor (72.3), the 2nd driving mechanism reductor (72.4) and the 2nd driving mechanism driven wheel (72.5) connecting successively;
Slew gear (73) comprises slew gear driven pulley (73.1), slew gear main shaft (73.2), slew gear main shaft bearing (73.4) and the slew gear platform (73.3) connecting successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320493013.8U CN203390933U (en) | 2013-08-13 | 2013-08-13 | Mechanical hand stacker crane driven by double-gear reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320493013.8U CN203390933U (en) | 2013-08-13 | 2013-08-13 | Mechanical hand stacker crane driven by double-gear reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203390933U true CN203390933U (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320493013.8U Expired - Fee Related CN203390933U (en) | 2013-08-13 | 2013-08-13 | Mechanical hand stacker crane driven by double-gear reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203390933U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419196A (en) * | 2013-08-13 | 2013-12-04 | 武汉科恒工控工程有限责任公司 | Manipulator stacker driven by double-gear speed reducer |
| CN103922147A (en) * | 2014-03-13 | 2014-07-16 | 成都荣德机电设备有限公司 | Rotating device of stacker crane |
| CN108466257A (en) * | 2018-06-19 | 2018-08-31 | 东莞市东启智能设备有限公司 | A kind of manipulator |
-
2013
- 2013-08-13 CN CN201320493013.8U patent/CN203390933U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419196A (en) * | 2013-08-13 | 2013-12-04 | 武汉科恒工控工程有限责任公司 | Manipulator stacker driven by double-gear speed reducer |
| CN103922147A (en) * | 2014-03-13 | 2014-07-16 | 成都荣德机电设备有限公司 | Rotating device of stacker crane |
| CN108466257A (en) * | 2018-06-19 | 2018-08-31 | 东莞市东启智能设备有限公司 | A kind of manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20180813 |
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| CF01 | Termination of patent right due to non-payment of annual fee |