CN203853996U - Cylindrical coordinate type four-degree-of-freedom limit protecting manipulator structure - Google Patents

Cylindrical coordinate type four-degree-of-freedom limit protecting manipulator structure Download PDF

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Publication number
CN203853996U
CN203853996U CN201420200201.1U CN201420200201U CN203853996U CN 203853996 U CN203853996 U CN 203853996U CN 201420200201 U CN201420200201 U CN 201420200201U CN 203853996 U CN203853996 U CN 203853996U
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CN
China
Prior art keywords
paw
transverse axis
manipulator
degree
vertical pivot
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Expired - Fee Related
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CN201420200201.1U
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Chinese (zh)
Inventor
应明峰
刘利娟
刘旭明
杜鹃
王林娜
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Jinling Institute of Technology
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Jinling Institute of Technology
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Priority to CN201420200201.1U priority Critical patent/CN203853996U/en
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Abstract

The utility model discloses a cylindrical coordinate type four-degree-of-freedom limit protecting manipulator structure, which comprises a base, a rotary positioning device, an axial-radial mobile positioning device and a gripper rotary pick-up device, wherein the horizontal axis and vertical axis of the axial-radial mobile positioning device form an arm of the manipulator; the cornering of the base, and expansion radius and lifting height of the arm are realized in a cylindrical coordinate space displacement way, the angle of revolution of a gripper can also be realized at a wrist of the manipulator, thus the four-degree-of-freedom displacement of the manipulator can be realized in a space, thus a task to be implemented can be completed very conveniently, and a sensor is arranged on each degree-of-freedom mechanism for limiting the movement scope of the manipulator and for limit protecting. The manipulator has a simple structure, driving is realized by a stepper motor, a direct current motor, a solenoid valve and a pneumatic device, control over each degree of freedom of the manipulator is realized by virtue of the sensors, and control over the position of the manipulator can be easily and accurately realized.

Description

Circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure
Technical field
The utility model relates to detection technique, Electrical Control Technology field, specifically relates to a kind of circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure.
Background technology
Manipulator is some holding function that can imitate staff and arm, 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 production, can under hostile environment, operate with protection personal safety; Therefore, in industrial production, be widely applied.At present, manipulator of the prior art is generally Cartesian coordinate type structure, realizes the space of manipulator move and operate by the rectilinear motion of vertical pivot, transverse axis and longitudinal axis three degree of freedom.Lack a kind of simple in structure, performance good, reliability is high, and can each free degree actuating range of limit mechanical hand and carry out the circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure of position limitation protection.
Summary of the invention
In order to solve the problems of the technologies described above; the utility model proposes a kind of circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure; the accurate actuating range of each free degree of limit mechanical hand and carry out position limitation protection, and simple in structure, performance good, agile and all-purpose, reliability is high.
The technical solution of the utility model is achieved in that
A circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure, comprises base, rotary positioning apparatus, axle radially moving positioning device and paw rotating pick-up device; Rotary positioning apparatus comprises to be located at the chassis that can circumferentially rotate relative to base on base and to be fixedly arranged on the chassis direct current generator that drives base circumferentially to rotate and locate on base; Axle radially moving positioning device comprise the vertical pivot that is fixed on chassis, slide be located at slide on vertical pivot, be located at vertical pivot dorsad the driving slide of one end of base along vertical pivot, move and the vertical pivot stepper motor of locating, slide and be located at the transverse axis on slide and be located at the transverse axis stepper motor that the driving slide of transverse axis one end moves and locates along transverse axis; Paw rotating pick-up device comprises that the paw, the driving paw that are fixedly arranged on the transverse axis other end circumferentially rotate and the paw direct current generator of location and the pneumatic means that drives paw clamping and unclamp; Near the two ends of vertical pivot, vertical pivot is provided with the first microswitch and the second microswitch.
As further improvement of the utility model, near the two ends of transverse axis, transverse axis is provided with the 3rd microswitch and the 4th microswitch.
As further improvement of the utility model, base middle part is circumferentially interval with for limiting the first approach switch and second approach switch of the circumferential slewing area in chassis.
As further improvement of the utility model, be provided with a fixed block that is L-type, fixed block comprises horizontal fixed part and vertical fixed part, horizontal fixed part is fixedly arranged on transverse axis one end of transverse axis stepper motor dorsad, vertical paw direct current generator is fixedly arranged on vertical fixed part, on vertical fixed part, is circumferentially interval with for limiting the 3rd approach switch and the 4th approach switch of the circumferential slewing area of paw.
As further improvement of the utility model, top, chassis is provided with a rotation code-disc, rotation code-disc comprises that a roundel and is located at the photoelectric sensor of roundel periphery, edge's equi-spaced apart near roundel is provided with several apertures, the roundel below driven gear that is connected, below, the chassis driving gear that is connected, driven gear meshes with driving gear, power output shaft and the driving gear of chassis direct current generator are affixed, and photoelectric sensor is electrically connected to peripheral control unit.
As further improvement of the utility model, vertical pivot stepper motor is moved and locates along vertical pivot by the first ball screw Component driver slide of being located in vertical pivot, and transverse axis stepper motor is moved and locates along transverse axis by the second ball screw Component driver slide of being located in transverse axis.
As further improvement of the utility model, be separately provided with one and clamp and the magnetic valve unclamping for controlling paw, during magnetic valve energising, paw opens; During magnetic valve dead electricity, paw clamps.
The beneficial effects of the utility model are: the utility model provides a kind of circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure; by chassis direct current generator drive that base circumferentially rotates, vertical pivot stepper motor drives the relative vertical pivot of slide to move axially with location, transverse axis stepper motor to drive the relative transverse axis of slide to move radially and locate; can realize manipulator Three Degree Of Freedom in circular cylindrical coordinate moves automatically; by paw direct current generator, drive paw to rotate in a circumferential direction; pneumatic means drives paw clamp and unclamp, and can realize manipulator and automatically move in another free degree.And can the actuating range of limit mechanical hand slide on vertical pivot by first, second microswitch, thereby reach, manipulator is carried out to position limitation protection object.The utility model said structure is simple, good, agile and all-purpose by direct current generator and stepper motor driveability, reliability is high; by microswitch (position sensor), can realize the actuating range of restriction to manipulator, thereby reach the object of manipulator being carried out to position limitation protection.Preferably, by being provided with the 3rd microswitch and the 4th microswitch near the two ends of transverse axis, can the actuating range of limit mechanical hand slide on transverse axis, thereby reach, manipulator is carried out to position limitation protection object.Preferably, by being circumferentially interval with for limiting the first approach switch and second approach switch of the circumferential slewing area in described chassis at base middle part, the actuating range can limit mechanical at hand coiling, carries out position limitation protection object thereby reach to manipulator.Preferably; be provided with fixed block; by being circumferentially interval with at fixed block for limiting the 3rd approach switch and the 4th approach switch of the circumferential slewing area of described paw, actuating range that can limit mechanical hand paw, carries out position limitation protection object thereby reach to manipulator.Preferably, by photoelectric sensor, gather the signal of aperture on roundel, and feed back to peripheral control unit, can realize the corner positioning function of rotation code-disc to manipulator chassis.Preferably, by transverse axis and vertical pivot, formed the arm of manipulator, by transverse axis, vertical pivot stepping motor, drive corresponding ball-screw assembly respectively, complete the change of the telescoping-radius of arm and the adjustable height of arm.Preferably, the clamping of paw with unclamp by a unicoil two-position solenoid control, when electromagnetic valve coil is switched on, paw opens; When coil losing electricity, paw clamps.Like this, in the time of can preventing from having a power failure suddenly, clamping object drops.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 rotates code-disc schematic diagram in the utility model.
By reference to the accompanying drawings, make the following instructions:
1---base 11---first approach switch
12---second approach switch 2---rotary positioning apparatus
21---chassis 22---chassis direct current generator
3---axle is moving positioning device 31 radially---vertical pivot
311---first microswitch 312---second microswitch
32---slide 33---vertical pivot stepper motor
34---transverse axis 341---the 3rd microswitch
342---the 4th microswitch 35---transverse axis stepper motor
4---paw rotating pick-up device 41---paw
42---paw direct current generator 5---fixed block
The vertical fixed part of 51---horizontal fixed parts 52---
521---the 3rd approach switch 522---the 4th approach switch
61---roundel 62---photoelectric sensor
63---aperture
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As depicted in figs. 1 and 2, a kind of circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure, comprises base 1, rotary positioning apparatus 2, axle radially moving positioning device 3 and paw rotating pick-up device 4; Described rotary positioning apparatus comprises to be located at the chassis 21 that can circumferentially rotate relative to described base on described base and to be fixedly arranged on the chassis direct current generator 22 that drives described base circumferentially to rotate and locate on described base; Axle radially moving positioning device comprise the vertical pivot 31 that is fixed on described chassis, slide be located at slide 32 on described vertical pivot, be located at described vertical pivot dorsad the described slide of driving of one end of described base along described vertical pivot, move and the vertical pivot stepper motor 33 of locating, slide and be located at the transverse axis 34 on described slide and be located at the transverse axis stepper motor 35 that the described slide of driving of described transverse axis one end moves and locates along described transverse axis; Paw rotating pick-up device comprise be fixedly arranged on the described transverse axis other end paw 41, drive described paw circumferentially to rotate and the paw direct current generator 42 of location and the pneumatic means that drives described paw to clamp and unclamp; Near the two ends of described vertical pivot, described vertical pivot is provided with the first microswitch 311 and the second microswitch 312.Like this, by chassis direct current generator drive that base circumferentially rotates, vertical pivot stepper motor drives the relative vertical pivot of slide to move axially with location, transverse axis stepper motor to drive the relative transverse axis of slide to move radially and locate, can realize manipulator Three Degree Of Freedom in circular cylindrical coordinate moves automatically, by paw direct current generator, drive paw to rotate in a circumferential direction, pneumatic means drives paw clamp and unclamp, and can realize manipulator and automatically move in another free degree.And can the actuating range of limit mechanical hand slide on vertical pivot by first, second microswitch, thereby reach, manipulator is carried out to position limitation protection object.Said structure is simple, good, agile and all-purpose by direct current generator and stepper motor driveability, reliability is high; by microswitch (position sensor), can realize the actuating range of restriction to manipulator, thereby reach the object of manipulator being carried out to position limitation protection.
Preferably, near the two ends of described transverse axis, described transverse axis is provided with the 3rd microswitch 341 and the 4th microswitch 342.Like this, can the actuating range of limit mechanical hand slide on transverse axis by the 3rd, the 4th microswitch, thereby reach, manipulator is carried out to position limitation protection object.
Preferably, described base middle part is circumferentially interval with for limiting the first approach switch 11 and second approach switch 12 of the circumferential slewing area in described chassis.Like this, the actuating range can limit mechanical at hand coiling by first, second approach switch, carries out position limitation protection object thereby reach to manipulator.
Preferably, be provided with a fixed block 5 that is L-type, described fixed block comprises horizontal fixed part 51 and vertical fixed part 52, described horizontal fixed part is fixedly arranged on described transverse axis one end of described transverse axis stepper motor dorsad, described vertical paw direct current generator is fixedly arranged on described vertical fixed part, is circumferentially interval with for limiting the 3rd approach switch 521 and the 4th approach switch 522 of the circumferential slewing area of described paw on described vertical fixed part.Like this, actuating range that can limit mechanical hand paw by the 3rd, the 4th approach switch, carries out position limitation protection object thereby reach to manipulator.
Preferably, referring to Fig. 2, top, described chassis is provided with a rotation code-disc, described rotation code-disc comprises that a roundel 61 and is located at the photoelectric sensor 62 of described roundel periphery, edge's equi-spaced apart near described roundel is provided with several apertures 63, a driven gear is connected below described roundel, a driving gear is connected below described chassis, described driven gear and the engagement of described driving gear, power output shaft and the described driving gear of described chassis direct current generator are affixed, and described photoelectric sensor is electrically connected to peripheral control unit.Like this, by photoelectric sensor, gather the signal of aperture on roundel, and feed back to peripheral control unit, can realize the corner positioning function of rotation code-disc to manipulator chassis.
Preferably, described vertical pivot stepper motor moves and locates along described vertical pivot by being located at slide described in the first ball screw Component driver in described vertical pivot, and described transverse axis stepper motor moves and locates along described transverse axis by being located at slide described in the second ball screw Component driver in described transverse axis.Like this, by transverse axis and vertical pivot, formed the arm of manipulator, by transverse axis, vertical pivot stepping motor, drive corresponding ball-screw assembly respectively, complete the change of the telescoping-radius of arm and the adjustable height of arm.
Preferably, be separately provided with one and clamp and the magnetic valve unclamping for controlling described paw, during described magnetic valve energising, described paw opens; During described magnetic valve dead electricity, described paw clamps.During concrete enforcement, the clamping of paw with unclamp by a unicoil two-position solenoid control, when electromagnetic valve coil is switched on, paw opens; When coil losing electricity, paw clamps.Like this, in the time of can preventing from having a power failure suddenly, clamping object drops.
The operation principle of the utility model circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure is as follows:
First, manipulator antecedence reposition, no matter where manipulator is originally, all will first get back to initial position, for manipulator starts action, prepares.Manipulator initial position state is: mechanical arm is in limit on the right-right-hand limit state (the 3rd microswitch) and limes superiors state (the first microswitch), in return state, (chassis forward is spacing on chassis, the first approach switch), (forward is spacing in return state for wrist, the 3rd approach switch), and paw clamp.During work, manipulator arm projects forwardly to desired location, and wrist is inverted to and requires picking position, paw opens, and mechanical arm (transverse axis) drops to article place, and paw clamps article, mechanical arm (transverse axis) rises article is picked up, and mechanical arm is regained (in order to avoid in service, bumping against with other equipment), and chassis is inverted to corresponding shipment position, after mechanical arm protracts and puts in place, wrist forward puts in place, and after arm decline puts in place, paw opens article are put down, mechanical arm rises and puts in place, and paw clamps.So far, a work period finishes, and completes the two places carrying of article.
To sum up, by transverse axis and vertical pivot, formed the arm of the utility model manipulator, by stepper motor, drive ball-screw assembly respectively, complete the telescoping-radius of arm and the adjustable height of arm and change.The clamping of paw with unclamp by the two-position solenoid control of a unicoil, when electromagnetic valve coil is switched on, paw opens; When coil losing electricity, paw clamps, and clamps object when preventing from having a power failure suddenly to drop.By the wrist of paw direct current generator combination the utility model manipulator, this paw direct current generator drives paw, can do forward and reverse circumferential rotation, has rotational angle can be set as ± rotation of 270 °.Whole manipulator, under the drive on chassis, is driven by chassis direct current generator, and concrete rotational angle can be set as ± circuit oscillation of 270 °.On each free degree displacement mechanism, be provided with sensor (microswitch or approach switch); be used for limit mechanical hand actuating range and carry out position limitation protection; wherein, arm is flexible makes position limitation protection with lifting with microswitch, and wrist is rotated and chassis swing is done position probing with approach switch.Therefore, the utility model manipulator is controlled the corner on chassis, the telescoping-radius of arm and adjustable height thereof by circular cylindrical coordinate space displacement mode, at the wrist of manipulator, can also control the angle of revolution of paw, manipulator can be realized the displacement of four-degree-of-freedom in space like this, completes easily the task of required execution.And the utility model passes through controller Driving Stepping Motor, direct current generator, magnetic valve and pneumatic means, and by sensor, each free degree of manipulator is controlled, and can realize easily and accurately the Position Control to manipulator.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of the utility model claims.

Claims (7)

1. a circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure, is characterized in that: comprise base (1), rotary positioning apparatus (2), axle radially moving positioning device (3) and paw rotating pick-up device (4); Described rotary positioning apparatus comprises to be located at the chassis (21) that can circumferentially rotate relative to described base on described base and to be fixedly arranged on the chassis direct current generator (22) that drives described base circumferentially to rotate and locate on described base; Axle radially moving positioning device comprise the vertical pivot (31) that is fixed on described chassis, slide be located at slide (32) on described vertical pivot, be located at described vertical pivot dorsad the described slide of driving of one end of described base along described vertical pivot, move and the vertical pivot stepper motor (33) of locating, slide and be located at the transverse axis (34) on described slide and be located at the transverse axis stepper motor (35) that the described slide of driving of described transverse axis one end moves and locates along described transverse axis; Paw rotating pick-up device comprises the pneumatic means that is fixedly arranged on the paw (41) of the described transverse axis other end, the paw direct current generator (42) that drives the circumferential rotation of described paw and location and the described paw clamping of driving and unclamps; Near the two ends of described vertical pivot, described vertical pivot is provided with the first microswitch (311) and the second microswitch (312).
2. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 1, is characterized in that: near the two ends of described transverse axis, described transverse axis is provided with the 3rd microswitch (341) and the 4th microswitch (342).
3. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 2, is characterized in that: described base middle part is circumferentially interval with for limiting the first approach switch (11) and second approach switch (12) of the circumferential slewing area in described chassis.
4. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 3; it is characterized in that: be provided with a fixed block (5) that is L-type; described fixed block comprises horizontal fixed part (51) and vertical fixed part (52); described horizontal fixed part is fixedly arranged on described transverse axis one end of described transverse axis stepper motor dorsad; described vertical paw direct current generator is fixedly arranged on described vertical fixed part, is circumferentially interval with for limiting the 3rd approach switch (521) and the 4th approach switch (522) of the circumferential slewing area of described paw on described vertical fixed part.
5. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 1, it is characterized in that: top, described chassis is provided with a rotation code-disc, described rotation code-disc comprises that a roundel (61) and is located at the photoelectric sensor (62) of described roundel periphery, edge's equi-spaced apart near described roundel is provided with several apertures (63), a driven gear is connected below described roundel, a driving gear is connected below described chassis, described driven gear and the engagement of described driving gear, power output shaft and the described driving gear of described chassis direct current generator are affixed, described photoelectric sensor is electrically connected to peripheral control unit.
6. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 1; it is characterized in that: described vertical pivot stepper motor moves and locates along described vertical pivot by being located at slide described in the first ball screw Component driver in described vertical pivot, described transverse axis stepper motor moves and locates along described transverse axis by being located at slide described in the second ball screw Component driver in described transverse axis.
7. circular cylindrical coordinate formula four-degree-of-freedom position limitation protection robot manipulator structure according to claim 1, is characterized in that: be separately provided with one and clamp and the magnetic valve unclamping for controlling described paw, during described magnetic valve energising, described paw opens; During described magnetic valve dead electricity, described paw clamps.
CN201420200201.1U 2014-04-23 2014-04-23 Cylindrical coordinate type four-degree-of-freedom limit protecting manipulator structure Expired - Fee Related CN203853996U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104555421A (en) * 2014-12-31 2015-04-29 南京信息职业技术学院 Five-degree of freedom stacking manipulator
CN104875178A (en) * 2015-06-12 2015-09-02 洛阳理工学院 Mechanical arm for carrying dangerous goods
CN107032097A (en) * 2017-04-13 2017-08-11 安徽江淮汽车集团股份有限公司 Overturn frock assembly
CN107932490A (en) * 2017-12-30 2018-04-20 贾军霞 A kind of intelligent robot
CN108032290A (en) * 2018-01-11 2018-05-15 广东科达洁能股份有限公司 A kind of girder device with double servo synchronization movements
CN108453783A (en) * 2018-03-22 2018-08-28 宁波金凯机床股份有限公司 A kind of self-adjustable assembly manipulator

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104555421A (en) * 2014-12-31 2015-04-29 南京信息职业技术学院 Five-degree of freedom stacking manipulator
CN104875178A (en) * 2015-06-12 2015-09-02 洛阳理工学院 Mechanical arm for carrying dangerous goods
CN107032097A (en) * 2017-04-13 2017-08-11 安徽江淮汽车集团股份有限公司 Overturn frock assembly
CN107932490A (en) * 2017-12-30 2018-04-20 贾军霞 A kind of intelligent robot
CN107932490B (en) * 2017-12-30 2018-11-27 泰州市龙泽环境科技有限公司 A kind of intelligent robot
CN108032290A (en) * 2018-01-11 2018-05-15 广东科达洁能股份有限公司 A kind of girder device with double servo synchronization movements
WO2019136997A1 (en) * 2018-01-11 2019-07-18 广东科达洁能股份有限公司 Gantry device supporting simultaneous operation of two servo motors
CN108453783A (en) * 2018-03-22 2018-08-28 宁波金凯机床股份有限公司 A kind of self-adjustable assembly manipulator

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