CN203712722U - Three-freedom-degree mechanical hand - Google Patents

Three-freedom-degree mechanical hand Download PDF

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Publication number
CN203712722U
CN203712722U CN201420101594.0U CN201420101594U CN203712722U CN 203712722 U CN203712722 U CN 203712722U CN 201420101594 U CN201420101594 U CN 201420101594U CN 203712722 U CN203712722 U CN 203712722U
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CN
China
Prior art keywords
arm
fixed
leading screw
base
plate
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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.)
Expired - Fee Related
Application number
CN201420101594.0U
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Chinese (zh)
Inventor
余胜东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wenzhou Vocational and Technical College
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Wenzhou Vocational and Technical College
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Publication date
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Priority to CN201420101594.0U priority Critical patent/CN203712722U/en
Application granted granted Critical
Publication of CN203712722U publication Critical patent/CN203712722U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to an industrial automation device, in particular to an automatic mechanical hand. The three-freedom-degree mechanical hand is characterized by being composed of linear arms, a rotation arm, a base and a paw. The number of the linear arms is two, the linear arms comprise a first arm and a second arm, the first arm is fixedly connected with a fixed plate of the second arm and is perpendicular to the second arm, the rotation arm comprises a third servo motor and a precision reducer, the tail end of the second arm is fixedly connected with a transition plate, and the rotation arm is fixedly connected to the transition plate. The three-freedom-degree mechanical hand is suitable for the machinery manufacturing process, achieves carrying and transportation of materials, is small in frictional resistance, runs stably, is high in precision and long in service life and can be used for picking workpieces and finish lifting, extension and rotation.

Description

Three freedom degree manipulator
Technical field
The utility model relates to industrial automation equipment, more particularly, relates to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function that can imitate staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.It can replace people's heavy work to realize mechanization and the automation of producing, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly comprised of hand, motion and control system three parts.Hand is for grasping the parts of workpiece (or instrument), has various structures form, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the job requirements that are grasped object.Motion, makes hand complete the action that various rotations (swing), movement or compound motion are realized regulation, changes the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is by the control to the motor of each free degree of manipulator, completes specific action.
Yet existing mechanical finger is often driven by motor, complex structure is expensive.
The life-span of existing mechanical finger is not long.
Utility model content
The purpose of this utility model is to provide a kind of three freedom degree manipulator, the utility model is applicable in machine-building process, realize the carrying transmission of material, and frictional resistance is little, operate steadily, precision is high, the life-span is long, use the utility model three freedom degree manipulator can picking up work piece, and complete the lifting of workpiece, flexible and spinfunction.
A three freedom degree manipulator, comprises linear arm, revolution arm, base and paw;
Described linear arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
The quantity of described linear arm is 2, comprises the first arm, the second arm, and the fixed head of described the first arm and described the second arm is mutually permanently connected, and described the first arm is mutually vertical with the second arm;
The base plate of described the first arm is fixed on described base, and described the first arm is mutually vertical with described base, and described the second arm and described base are parallel to each other;
Described revolution arm comprises the 3rd servomotor and precision speed reduction device, and the output shaft of described the 3rd servomotor is connected to described precision speed reduction device, connects described paw on the output shaft of described precision speed reduction device;
The end of described the second arm is fixed with excessive plate, and described revolution arm is fixed on described excessive plate.
Described base is fixed on equipment, realizes the installation of the utility model three freedom degree manipulator is fixed.Described in driven by servomotor, leading screw rotates, described leading screw and then drive described nut to do traveling priority with respect to described leading screw, thus the orthoscopic that realizes described linear arm is stretched out or retracts.
The base plate of described the first arm is fixed on described base, and the first arm is realized the elevating movement of manipulator.Described the second arm and described base are parallel to each other, and described the second arm is realized the stretching motion of manipulator.
Described revolution the second arm, under the driving of described the 3rd servomotor, is realized precise rotation.The angle of the output of described the 3rd servomotor, after described precision speed reduction device, is obtained more accurate angle; Meanwhile, the output torque of described precision speed reduction device is also larger.Described the 3rd arm rigidity is high, and angle is accurate, and moment of torsion is large.
The paw of manipulator is fixed on the end of described revolution arm, and under the teamwork of described the first arm, described the second arm, the folding of the paw of cooperative mechanical hand, realizes the function that captures material.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model three freedom degree manipulator;
Fig. 2 is the structural representation of the utility model three freedom degree manipulator;
Fig. 3 is the structural representation of arm.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail, but does not form any restriction of the present utility model, in accompanying drawing, similarly element numbers represents similar element.As mentioned above, the utility model provides a kind of guide tracked manipulator, for realizing crawl and the transfer of material.
Fig. 1, Fig. 2 are the structural representations of the utility model three freedom degree manipulator.Fig. 3 is the structural representation of arm.
A three freedom degree manipulator, comprises linear arm, revolution arm, base 311 and paw 120;
Described linear arm comprises base plate 210, leading screw 211, long guideway 219, square slider 220, nut 213, servomotor 218, shaft coupling 217; One end of described leading screw 2 youngsters is connected with leading screw holder 216, one end is connected with leading screw supporting seat 215 in addition, and described leading screw holder 216 and described leading screw supporting seat 215 are fixedly connected on described base plate 210; The projecting shaft of described servomotor 218 and described leading screw 211 achieve a fixed connection by described shaft coupling 217; In the other one side of described base plate 210, be fixedly connected with described long guideway 219, on described long guideway 219, be flexibly connected square slider 220, described square slider 220 belows are fixed with fixed head 221; On described leading screw 211, be flexibly connected described nut 213, the outside of described nut 213 is fixed with nut connecting plate 212, and the both sides of described nut connecting plate 212 are fixed with riser 214, and described riser 214 is fixed on described fixed head 221; Described leading screw 21 and described long guideway 219 are parallel to each other;
The quantity of described linear arm is 2, comprises the first arm 100l, the second arm 1002, and the fixed head 223 of described the first arm 1001 and described the second arm 1002 is mutually permanently connected, and described the first arm 1001 is mutually vertical with the second arm 1002;
The base plate 212 of described the first arm 1001 is fixed on described base 311, and described the first arm 100l is mutually vertical with described base 311, and described the second arm 1002 and described base 311 are parallel to each other;
Described revolution arm 1003 comprises the 3rd servomotor 304 and precision speed reduction device 301, the output shaft of described the 3rd servomotor 304 is connected to described precision speed reduction device 301, the output shaft fixed connection of described precision speed reduction device 301, in rotor plate 302, is fixed with described paw 120 on described rotor plate 302.
The end of described the second arm 1002 is fixed with excessive plate 300, and described revolution arm 1003 is fixed on described excessive plate 300.
Finally, it should be pointed out that above embodiment is only the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, can also have many distortion.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all should think and belong to protection domain of the present utility model.

Claims (1)

1. a three freedom degree manipulator, is characterized in that composed as follows: comprise linear arm, revolution arm, base and paw;
Described linear arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
The quantity of described linear arm is 2, comprises the first arm, the second arm, and the fixed head of described the first arm and described the second arm is mutually permanently connected, and described the first arm is mutually vertical with the second arm;
The base plate of described the first arm is fixed on described base, and described the first arm is mutually vertical with described base, and described the second arm and described base are parallel to each other;
Described revolution arm comprises the 3rd servomotor and precision speed reduction device, and the output shaft of described the 3rd servomotor is connected to described precision speed reduction device, connects described paw on the output shaft of described precision speed reduction device;
The end of described the second arm is fixed with excessive plate, and described revolution arm is fixed on described excessive plate.
CN201420101594.0U 2014-02-26 2014-02-26 Three-freedom-degree mechanical hand Expired - Fee Related CN203712722U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420101594.0U CN203712722U (en) 2014-02-26 2014-02-26 Three-freedom-degree mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420101594.0U CN203712722U (en) 2014-02-26 2014-02-26 Three-freedom-degree mechanical hand

Publications (1)

Publication Number Publication Date
CN203712722U true CN203712722U (en) 2014-07-16

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Family Applications (1)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104180968A (en) * 2014-08-12 2014-12-03 中船重工特种设备有限责任公司 Testing device for three-degree-of-freedom movements under high water pressure environment
CN104308017A (en) * 2014-10-11 2015-01-28 济南奥图自动化工程有限公司 Novel robot multistation application system
CN105383911A (en) * 2015-12-11 2016-03-09 苏州源硕精密模具有限公司 Lifting conveying device
CN106142088A (en) * 2016-08-15 2016-11-23 江苏新光数控技术有限公司 A kind of mechanical arm the most flexibly
DE102018107002A1 (en) * 2018-03-23 2019-09-26 Theegarten-Pactec Gmbh & Co. Kg Balcony-type packaging machine with a linearly guided robotic arm
CN113059385A (en) * 2021-03-30 2021-07-02 浙江轩通机械有限公司 Manipulator for numerical control machine tool

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104180968A (en) * 2014-08-12 2014-12-03 中船重工特种设备有限责任公司 Testing device for three-degree-of-freedom movements under high water pressure environment
CN104308017A (en) * 2014-10-11 2015-01-28 济南奥图自动化工程有限公司 Novel robot multistation application system
CN105383911A (en) * 2015-12-11 2016-03-09 苏州源硕精密模具有限公司 Lifting conveying device
CN106142088A (en) * 2016-08-15 2016-11-23 江苏新光数控技术有限公司 A kind of mechanical arm the most flexibly
DE102018107002A1 (en) * 2018-03-23 2019-09-26 Theegarten-Pactec Gmbh & Co. Kg Balcony-type packaging machine with a linearly guided robotic arm
CN113059385A (en) * 2021-03-30 2021-07-02 浙江轩通机械有限公司 Manipulator for numerical control machine tool

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C14 Grant of patent or utility model
GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140716

Termination date: 20150226