CN203765606U - Cartesian coordinate system-type four degree-of-freedom mechanical hand - Google Patents

Cartesian coordinate system-type four degree-of-freedom mechanical hand Download PDF

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Publication number
CN203765606U
CN203765606U CN201420101591.7U CN201420101591U CN203765606U CN 203765606 U CN203765606 U CN 203765606U CN 201420101591 U CN201420101591 U CN 201420101591U CN 203765606 U CN203765606 U CN 203765606U
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China
Prior art keywords
linear arms
fixed
linear
leading screw
arms
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Expired - Fee Related
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CN201420101591.7U
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Chinese (zh)
Inventor
余胜东
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Wenzhou Vocational and Technical College
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Wenzhou Vocational and Technical College
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Abstract

The utility model relates to an industrial automatic device, in particular to an automatic mechanical hand. A cartesian coordinate system-type four degree-of-freedom mechanical hand comprises three linear arms, a torsion arm, a base and a paw, wherein each linear arm comprises a base plate, a screw rod, a long guide rail, a square sliding block, a nut, a third servomotor and a coupler; the linear arms comprise a first linear arm, a second linear arm and a third linear arm; a fixing plate of the first linear arm is fixedly connected onto the base; the base is fixed onto the ground; the paw is fixedly connected with the output end of the torsion arm. The mechanical hand realizes conveying and transporting of materials, is suitable for the machine manufacturing process, small in friction resistance, stable in operating, high in accuracy and long in service life, can pick up workpieces, and effectively controls the overall size and acquires the maximal operating space through the compact structural arrangement.

Description

Cartesian coordinate formula four-degree-of-freedom 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 manipulator is often driven by motor, complex structure is expensive.
The life-span of existing manipulator is not long.
Utility model content
The purpose of this utility model is to provide a kind of cartesian coordinate system formula four-degree-of-freedom 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 cartesian coordinate system formula four-degree-of-freedom manipulator can picking up work piece, and complete the lifting of workpiece, flexible and spinfunction.
A cartesian coordinate system formula four-degree-of-freedom manipulator, comprises linear arms, reverse arm, pedestal and paw;
Described linear arms comprises base plate, leading screw, long guideway, square slider, nut, the 3rd 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 the 3rd 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 is parallel with described long guideway;
The quantity of described linear arms is 3, comprises the first linear arms, the second linear arms, the 3rd linear arms; The fixed head of described the first linear arms is fixed on described pedestal, and described pedestal is fixed on ground;
Described the second linear arms is perpendicular to described the first linear arms, and the base plate of described the second linear arms is fixed on the fixed head of described the first linear arms; The fixed head of described the second linear arms is fixedly connected with the fixed head of described the 3rd linear arms; Described the 3rd linear arms is perpendicular to described the first linear arms, and described the 3rd linear arms is perpendicular to described the second linear arms;
Described reverse arm comprises the 4th servomotor and torsion decelerator, and the output shaft of described the 4th servomotor is connected to described torsion decelerator; Described paw is fixed on the output of described reverse arm;
Described reverse arm is fixed on the end of described the 3rd linear arms, and described paw is fixed on the output of described reverse arm; The axis of rotation of described reverse arm is perpendicular to described the 3rd linear arms, and the axis of rotation of described reverse arm is parallel to described the second linear arms, and the axis of rotation of described reverse arm is perpendicular to described the first linear arms.
Compare with conventional art, the beneficial effect of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator is as follows:
Described pedestal is fixed on ground or miscellaneous equipment, realizes the installation of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator is fixed.
The utility model cartesian coordinate system formula four-degree-of-freedom manipulator is arranged by compact structure, effectively controls appearance and size, and obtains maximum running space.Compare with the robot of traditional linear coordinate, the volume of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator is little.
Traditional robot decelerator joint is expensive, compare with traditional articulated type industrial robot, the described linear arms of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator adopts ball-screw to add the version of guide rail, can obviously increase economic efficiency.
The arm of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator comprises linear arms and reverse arm.Described linear arms has linear extendible function,, under the drive of described servomotor, can drive described linear arms stretch out or retract; Described reverse arm is connected on the end of described the 3rd linear arms, and described reverse arm possesses torsion function,, under the drive of described the 4th servomotor, can drive described paw to do clockwise or counterclockwise rotation.The arm of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator possesses the motion control of 4 frees degree.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator;
Fig. 2 is the structural representation of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator;
Fig. 3 is the structural representation of the linear arm of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator.
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 cartesian coordinate system formula four-degree-of-freedom manipulator, and Fig. 3 is the structural representation of the linear arm of the utility model cartesian coordinate system formula four-degree-of-freedom manipulator.
Cartesian coordinate system formula four-degree-of-freedom manipulator, comprises linear arms, reverse arm 1004, pedestal 336 and paw 120;
Described linear arms 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 211 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 is parallel with described long guideway 219;
The quantity of described linear arms is 3, comprises the first linear arms 1001, the second linear arms 1002, the 3rd linear arms 1003; The fixed head 223 of described the first linear arms 1001 is fixed on described pedestal 336, and described pedestal 336 is fixed on ground;
Described the second linear arms 1002 is perpendicular to described the first linear arms 1001, and the base plate 212 of described the second linear arms 1002 is fixed on the fixed head 212 of described the first linear arms 1001; The fixed head 212 of described the second linear arms 1002 is fixedly connected with the fixed head 212 of described the 3rd linear arms 1003; Described the 3rd linear arms 1003 is perpendicular to described the first linear arms 1001, and described the 3rd linear arms 1003 is perpendicular to described the second linear arms 1002;
Described reverse arm 1004 comprises the 4th servomotor 304 and torsion decelerator 301, and the output shaft of described the 4th servomotor 304 is connected to described torsion decelerator 301; Described paw 120 is fixed on the output of described reverse arm 1004;
Described reverse arm 1004 is fixed on the end of described the 3rd linear arms 1003, and described paw 120 is fixed on the output of described reverse arm 1004; The axis of rotation of described reverse arm 1004 is perpendicular to described the 3rd linear arms 1003, and the axis of rotation of described reverse arm 1004 is parallel to described the second linear arms 1002, and the axis of rotation of described reverse arm 1004 is perpendicular to described the first linear arms 1001.
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 cartesian coordinate system formula four-degree-of-freedom manipulator, is characterized in that composed as follows: comprise linear arms, reverse arm, pedestal and paw;
Described linear arms comprises base plate, leading screw, long guideway, square slider, nut, the 3rd 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 the 3rd 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 is parallel with described long guideway;
The quantity of described linear arms is 3, comprises the first linear arms, the second linear arms, the 3rd linear arms; The fixed head of described the first linear arms is fixed on described pedestal, and described pedestal is fixed on ground;
Described the second linear arms is perpendicular to described the first linear arms, and the base plate of described the second linear arms is fixed on the fixed head of described the first linear arms; The fixed head of described the second linear arms is fixedly connected with the fixed head of described the 3rd linear arms; Described the 3rd linear arms is perpendicular to described the first linear arms, and described the 3rd linear arms is perpendicular to described the second linear arms;
Described reverse arm comprises the 4th servomotor and torsion decelerator, and the output shaft of described the 4th servomotor is connected to described torsion decelerator; Described paw is fixed on the output of described reverse arm;
Described reverse arm is fixed on the end of described the 3rd linear arms, and described paw is fixed on the output of described reverse arm; The axis of rotation of described reverse arm is perpendicular to described the 3rd linear arms, and the axis of rotation of described reverse arm is parallel to described the second linear arms, and the axis of rotation of described reverse arm is perpendicular to described the first linear arms.
CN201420101591.7U 2014-02-26 2014-02-26 Cartesian coordinate system-type four degree-of-freedom mechanical hand Expired - Fee Related CN203765606U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105269561A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Horizontal four-joint manipulator
CN109455105A (en) * 2018-10-29 2019-03-12 享奕自动化科技(上海)有限公司 Grab gun-type automatic charging system and its control method
WO2019027396A3 (en) * 2017-06-09 2019-04-11 Unimak Makina Sanayii Ve Ticaret A.S. Casting machine product handling vehicle and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105269561A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Horizontal four-joint manipulator
WO2019027396A3 (en) * 2017-06-09 2019-04-11 Unimak Makina Sanayii Ve Ticaret A.S. Casting machine product handling vehicle and method
CN109455105A (en) * 2018-10-29 2019-03-12 享奕自动化科技(上海)有限公司 Grab gun-type automatic charging system and its control method
CN109455105B (en) * 2018-10-29 2021-01-15 享奕自动化科技(上海)有限公司 Gun-grabbing type automatic charging system and control method thereof

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140813

Termination date: 20150226

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