CN204108989U - Linkage type mechanical arm - Google Patents

Linkage type mechanical arm Download PDF

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Publication number
CN204108989U
CN204108989U CN 201420289482 CN201420289482U CN204108989U CN 204108989 U CN204108989 U CN 204108989U CN 201420289482 CN201420289482 CN 201420289482 CN 201420289482 U CN201420289482 U CN 201420289482U CN 204108989 U CN204108989 U CN 204108989U
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CN
Grant status
Grant
Patent type
Prior art keywords
mechanical
arm
tongs
motor
body
Prior art date
Application number
CN 201420289482
Other languages
Chinese (zh)
Inventor
王杰
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杭州汉克电源有限公司
Priority date (The priority date 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 date listed.)
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Abstract

The utility model discloses a linkage type mechanical arm which comprises a mechanical arm body, tongs and a stepping motor. The tongs are arranged on the mechanical arm body in a linkage mode, and the movement of the mechanical arm body in the vertical direction is controlled through the stepping motor. The linkage type mechanical arm is characterized in that a servo motor is further arranged at the connecting position of the mechanical arm body and the tongs, and a horizontal position sensing controller is arranged on the servo motor. According to the linkage type mechanical arm, the movement in the vertical direction of the mechanical arm body and the tongs in the grabbing process is controlled through the stepping motor, and the servo motor is arranged at the connecting position of the tongs and the mechanical arm body besides. The servo motor is provided with the horizontal position sensing controller which can sense whether the tongs are in a horizontal state or not at any time, so that the positions of the tongs are adjusted, and the tongs are always kept in a horizontal state in the working process.

Description

一种联动式机械臂 One kind of manipulator linkage of formula

技术领域 FIELD

[0001] 本实用新型涉及机电一体化领域,具体涉及到一种联动式机械臂。 [0001] The present invention relates to the field of mechatronics, particularly relates to a linkage arm robots.

背景技术 Background technique

[0002] 在现今的生活中,科技日新月益的进展之下,机械人手臂与有人类的手臂最大区别就在于灵活度与耐力度。 [0002] In today's life, under the rapidly growing science and technology progress, the robot arm has a human arm with the biggest difference lies in the flexibility and strength resistance. 也就是机械手的最大优势可以重复的做同一动作在机械正常情况下永远也不会觉得累! That is the biggest advantage of the robot can do the same repetitive mechanical action in normal circumstances they will never feel tired! 机械手臂的应用也将会越来越广泛,机械手是近几十年发展起来的一种高科技自动生产设备,作业的准确性和环境中完成作业的能力。 Robot applications also will be more extensive, robot developed in recent decades is a high-tech automated production equipment, the accuracy and the ability to work environment, job done. 然而在工业生产过程中,机械手在抓取过程中并不能始终保持在水平状态,因此导致在抓取的时候重心容易偏离。 However, in industrial processes, robot crawling process is not always held in a horizontal state, thus resulting in easier time grasping the center of gravity deviation.

实用新型内容 SUMMARY

[0003] 针对上述问题,本实用新型旨在提供一种机械手在抓取过程中手臂末端始终都处于水平状态的连杆式机械臂。 [0003] For the above-described problems, the present invention aims to provide a manipulator arm during the crawl always end in a horizontal state of the link arm robots.

[0004] 为实现该技术目的,本实用新型的方案是:一种联动式机械臂,包括机械臂,抓手以及步进电机,所述抓手通过链接装置在所述机械臂上,所述机械臂通过所述步进电机控制竖直方向的运动,在所述抓手与所述机械臂的连接处还装置有伺服电机,所述伺服电机装置有水平位置感应控制器。 [0004] In order to achieve this technical object, the embodiment of the present invention is: A linkage arm robots, comprising a manipulator, a stepping motor and the gripper, the gripper means via a link on the robot arm, the controlling the robot arm by the stepping motor in the vertical direction of movement, in connection with the grip means of said robot arm further has a servo motor, said servo motor control means has a horizontal position sensing.

[0005] 本实用新型除了通过步进电机来控制机械臂以及抓手在抓取过程中的竖直方向的运动外,还在抓手与机械臂的连接处装置了伺服电机,该伺服电机装置有水平位置感应控制器,可以随时感应抓手是否处于水平状态,从而来调整抓手的位置,使得抓手在工作过程中始终保持在水平状态。 [0005] In addition the present invention to control the robot arm and the vertical movement of the gripper in the crawling process by a stepping motor, but also the robot arm is connected with the gripper means of the servo motor, the servo motor means sensing controller horizontal position, the gripper can be induced at any time is in a horizontal state, thereby to adjust the position of the starting point, so that during operation the gripper remains in a horizontal state.

附图说明 BRIEF DESCRIPTION

[0006] 图1为本实用新型的结构示意图。 [0006] Figure 1 is a schematic view of the structure of the new utility.

[0007] 图中,1、步进电机,2、机械臂,3、抓手,4、伺服电机。 [0007] FIG, 1, the stepping motor 2, the robot arm 3, grip 4, the servo motor.

具体实施方式 detailed description

[0008] 下面结合附图和具体实施例对本实用新型做进一步详细说明。 [0008] The following detailed description of the present invention further made in conjunction with the drawings and specific embodiments.

[0009] 如图1所示,本实用新型最近实施例的一种联动式机械臂,包括机械臂2,抓手3以及步进电机I,所述抓手3通过链接装置在所述机械臂2上,所述机械臂2通过所述步进电机I控制竖直方向的运动,在所述抓手3与所述机械臂2的连接处还装置有伺服电机4,所述伺服电机4装置有水平位置感应控制器,因此可以控制所述抓手3在抓取过程中始终保持水平状态。 [0009] As shown in FIG. 1, the present invention is one kind of linkage arm robots latest embodiment, comprises a robot arm 2, the gripper 3 and a stepping motor I, the gripper 3 of the robot arm by a linking means 2, the robot arm 2 through an I controlling vertical movement of the stepping motor, the grip 3 and the robot arm 2 is further connected to the servomotor means 4, said servo motor means 4 horizontal position sensing controller, to control the gripper 3 can be always maintained in a horizontal state crawling process.

[0010] 本实用新型除了通过步进电机来控制机械臂以及抓手在抓取过程中的竖直方向的运动外,还在抓手与机械臂的连接处装置了伺服电机,该伺服电机装置有水平位置感应控制器,可以随时感应抓手是否处于水平状态,从而来调整抓手的位置,使得抓手在工作过程中始终保持在水平状态。 [0010] In addition the present invention to control the robot arm and a gripper moving vertically during the crawl by the stepping motor, also connected to the robot arm and gripper means of the servo motor, the servo motor means sensing controller horizontal position, the gripper can be induced at any time is in a horizontal state, thereby to adjust the position of the starting point, so that during operation the gripper remains in a horizontal state.

[0011] 以上所述,仅为本实用新型的较佳实施例,并不用以限制本实用新型,凡是依据本实用新型的技术实质对以上实施例所作的任何细微修改、等同替换和改进,均应包含在本实用新型技术方案的保护范围之内。 [0011] The above are only preferred embodiments of the present invention embodiments are not intended to limit the present disclosure, all minor modifications according to any of the technical spirit of the present invention made of the above embodiment of the embodiment, equivalent replacements, improvements, both It is included within the scope of the present technical solution of the invention.

Claims (1)

  1. 1.一种联动式机械臂,包括机械臂,抓手以及步进电机,所述抓手通过链接装置在所述机械臂上,所述机械臂通过所述步进电机控制竖直方向的运动,其特征在于:在所述抓手与所述机械臂的连接处还装置有伺服电机,所述伺服电机装置有水平位置感应控制器。 A linkage arm robots, comprising a manipulator, a stepping motor and the gripper, the gripper means via a link on the robot arm, the robot arm controlled by the vertical movement of said stepping motor characterized in that: in connection with the grip means of said robot arm further has a servo motor, said servo motor control means has a horizontal position sensing.
CN 201420289482 2014-05-29 2014-05-29 Linkage type mechanical arm CN204108989U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201420289482 CN204108989U (en) 2014-05-29 2014-05-29 Linkage type mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201420289482 CN204108989U (en) 2014-05-29 2014-05-29 Linkage type mechanical arm

Publications (1)

Publication Number Publication Date
CN204108989U true CN204108989U (en) 2015-01-21

Family

ID=52326344

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201420289482 CN204108989U (en) 2014-05-29 2014-05-29 Linkage type mechanical arm

Country Status (1)

Country Link
CN (1) CN204108989U (en)

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