CN204366953U - A kind of four-degree-of-freedom manipulator - Google Patents
A kind of four-degree-of-freedom manipulator Download PDFInfo
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- CN204366953U CN204366953U CN201420813782.6U CN201420813782U CN204366953U CN 204366953 U CN204366953 U CN 204366953U CN 201420813782 U CN201420813782 U CN 201420813782U CN 204366953 U CN204366953 U CN 204366953U
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- mechanical arm
- horizontal moving
- degree
- sensor
- moving mechanical
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Abstract
The utility model provides a kind of four-degree-of-freedom manipulator, comprise support, pedestal upper end is provided with a base, installation manipulator on base, base is provided with spacing protecting mechanism, revolving power mechanism, revolving power mechanism is arranged on the bottom of base, spacing protecting mechanism comprises two guide grooves, guide groove is provided with sensor, locating part, manipulator comprises horizontal moving mechanical arm, vertical mover mechanical arm, paw, horizontal moving mechanical arm is arranged on revolving power mechanism, vertical mover mechanical arm is arranged on horizontal moving mechanical arm front end, paw is connected to vertical mover mechanical arm lower end, horizontal moving mechanical arm, vertical mover mechanical arm, paw is equipped with level sensor.Design of the present utility model seems that structure is simple, the setting of horizontal moving mechanical arm, vertical mover mechanical arm, achieves manipulator and moves at the four-degree-of-freedom of level, vertical direction, sensor and the setting to level sensor, make the action of manipulator more accurate, react sensitiveer.
Description
Technical field
The utility model belongs to mechanical teaching aid field, is specifically related to a kind of experiment device for teaching of mechanical correlated curriculum.
Background technology
Under the development of Science and Technology Day crescent benefit, manipulator with have the maximum difference of the hand of the mankind to be just accuracy and resistance to dynamics.Namely the sharpest edges of manipulator recursively do same action and can not feel tired under normal circumstances forever at machinery.While industrial technology development, the application of manipulator also will be more and more extensive, and manipulator is a kind of high-tech automatic producing device grown up nearly decades, the ability fulfiled assignment in the accuracy of operation and environment.
For adapting to the needs of industrial technology development, present middle duty, professorship and relevant technical training school, all offer machining production, electromechanical integration course, but, in theoretical study process, lack corresponding equipment and carry out practical operation, also relevant manipulator is had on the market, but because its function is perfect not, complex structure is not easily installed and is keeped in repair, and safeguard measure is good not, a lot of universities and colleges are made to abandon introduction to equipment, the ruuning situation of student to whole production line is caused to be in vast and hazy stage, therefore some structures are badly in need of simple, safeguard measure is good, and it is simple to operate, the production line environment of the teaching equipment rediscover that accuracy is high.
Utility model content
The shortcoming of prior art in view of the above, the utility model provides that a kind of structure is simple, the accurate four-degree-of-freedom manipulator of action, solves robot manipulator structure complexity, sluggish, adjusts dumb, the problems such as operation precision is low.
For achieving the above object and other relevant objects, the utility model provides a kind of four-degree-of-freedom manipulator, comprise support, pedestal upper end is provided with a base, base is installed a manipulator, base is provided with spacing protecting mechanism, revolving power mechanism, revolving power mechanism is arranged on the bottom of base, spacing protecting mechanism comprises two guide grooves, guide groove is provided with sensor, locating part, manipulator comprises horizontal moving mechanical arm, vertical mover mechanical arm, paw, horizontal moving mechanical arm rear end is arranged on revolving power mechanism, vertical mover mechanical arm is vertically mounted on horizontal moving mechanical arm front end, paw is connected to vertical mover mechanical arm lower end, horizontal moving mechanical arm, vertical mover mechanical arm, paw is equipped with level sensor.Such design seems that structure is simple, the setting of horizontal moving mechanical arm, vertical mover mechanical arm, achieves manipulator and moves at the four-degree-of-freedom of level, vertical direction, sensor and the setting to level sensor, make the action of manipulator more accurate, react sensitiveer.
During running, revolving power mechanism rotates, horizontal moving mechanical arm is driven to rotate by shaft coupling, horizontal moving mechanical arm move to left or the metal sensor on the right time, revolving power mechanism stops operating, horizontal moving mechanical arm stretches out under cylinder impetus, arrive assigned address, after the sensor sensing that puts in place be contained on horizontal moving mechanical arm arrives, vertical mover mechanical arm moves down under cylinder pushes, arrive assigned address, after the sensor sensing that puts in place be contained in vertical mover mechanical arm arrives, paw opens beginning holding action.After the sensor sensing that puts in place on paw completes to holding action, paw closes, after putting in place, vertical mover mechanical arm rises, after putting in place, horizontal moving mechanical arm is retracted, after putting in place, revolving power mechanism rotates in the other direction, after putting in place, vertical mover mechanical arm declines, and after putting in place, paw unclamps, thus execution cycle action.
As preferably, the guide groove of four-degree-of-freedom manipulator is set to circular arc guide groove, circular arc guide groove is beneficial to the adjustment anglec of rotation, the angular range that horizontal moving mechanical arm can slide along described guide groove is 10 ~ 360 °, when slidably angle is 60 °, locating part and sensor are fixedly installed on and face 30 ° of places, left and right centered by manipulator, horizontal moving mechanical arm can do 60 ° of motions in the horizontal direction around shaft coupling, when slidably angle is 360 °, horizontal moving mechanical arm can circle in the horizontal direction around shaft coupling.
As preferably, the sensor of four-degree-of-freedom manipulator, locating part insert in described two guide grooves respectively, and can slide along described guide groove.Be convenient to the deflection angle according to the position adjustment horizontal moving mechanical arm capturing thing.
As preferably, the horizontal moving mechanical arm rear end of four-degree-of-freedom manipulator is arranged on revolving power mechanism by shaft coupling, makes revolving power mechanism that horizontal moving mechanical arm can be driven to rotate in the horizontal direction.
As preferably, a tablet is installed in the below of the horizontal moving mechanical arm of four-degree-of-freedom manipulator.For corresponding with the sensor of spacing protecting mechanism, realize movement accurately.
As preferably, below the tablet of four-degree-of-freedom manipulator, install a guide rod, guide rod extends in the guide groove of position limitation protection structure.Guide rod can play the effect of revolving power mechanism location, limiting buffer, also can play the effect that support level moves arm.
As preferably, the revolving power mechanism of four-degree-of-freedom manipulator selects the one in motor, pneumatic cylinder, hydraulic cylinder.
As preferably, the sensor of four-degree-of-freedom manipulator is the one in metal sensor, photoelectric sensor, magneto-dependent sensor.
As preferably, the locating part of four-degree-of-freedom manipulator selects screw, screw material selection plastics or metal.Working of plastics is more conducive to the buffering in moving process, and metal makes spacing protecting mechanism more stable.
As mentioned above; the beneficial effects of the utility model are: project organization is simple; convenient installation; the setting of horizontal moving mechanical arm, vertical mover mechanical arm; achieve manipulator to move at the four-degree-of-freedom of level, vertical direction; sensor and the setting to level sensor; make the action of manipulator more accurate; react sensitiveer; circular arc guide groove is beneficial to the adjustment anglec of rotation; guide rod extends in the guide groove of position limitation protection structure, can play the effect of revolving power mechanism location, limiting buffer, also can play the effect that support level moves arm.Overall position limitation protection measure is good, and reaction speed is fast, and flexibly, operation precision is high in adjustment.
Accompanying drawing explanation
Fig. 1 is shown as the overall structure schematic diagram of the four-degree-of-freedom manipulator of the utility model embodiment.
Fig. 2 is shown as the four-degree-of-freedom manipulator rear structure schematic diagram of the utility model embodiment.
Piece mark explanation
1. support,
2. base,
3. spacing protecting mechanism,
4. revolving power mechanism,
5. guide groove,
6. locating part,
7. sensor,
8. horizontal moving mechanical arm,
9. vertical mover mechanical arm,
10. paw,
11. shaft couplings,
12. tablets,
13. guide rods.
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model is described, those skilled in the art the content disclosed by this description can understand other advantages of the present utility model and effect easily.The utility model can also be implemented or be applied by detailed description of the invention different in addition, and the every details in this description also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present utility model.
As Fig. 1, show the overall structure schematic diagram of the present embodiment, four-degree-of-freedom manipulator comprises support 1, pedestal upper end is provided with a base 2, base 2 is provided with manipulator, base 2 is also provided with spacing protecting mechanism 3, spacing protecting mechanism 3 comprises two guide grooves 5, guide groove 5 is set to circular arc guide groove 5, circular arc guide groove 5 is beneficial to the adjustment anglec of rotation, the angular range that horizontal moving mechanical arm 8 can slide along described guide groove 5 is 60 °, locating part and sensor are fixedly installed on and face 30 ° of places, left and right centered by manipulator, horizontal moving mechanical arm can do 60 ° of motions in the horizontal direction around shaft coupling.Guide groove 5 is provided with sensor 7, locating part 6, sensor 7, locating part 6 insert in described two guide grooves 5 respectively, and can slide along described guide groove 5.Be convenient to the deflection angle according to the position adjustment horizontal moving mechanical arm 8 capturing thing.Manipulator comprises horizontal moving mechanical arm 8, vertical mover mechanical arm 9, paw 10, horizontal moving mechanical arm 8 rear end is arranged on revolving power mechanism 4, vertical mover mechanical arm 9 is vertically mounted on horizontal moving mechanical arm 8 front end, paw 10 is connected to vertical mover mechanical arm 9 lower end, and horizontal moving mechanical arm 8, vertical mover mechanical arm 9, paw 10 are equipped with level sensor.
In addition, a tablet 12 is installed in the below of horizontal moving mechanical arm 8, for corresponding with the sensor 7 of spacing protecting mechanism 3, realizes movement accurately.The below of tablet 12, install a guide rod 13, guide rod 13 extends in the guide groove 5 of position limitation protection structure 3.Guide rod 13 coordinates with locating part 6 can play that revolving power mechanism 4 is located, the effect of limiting buffer, also can play the effect that support level moves arm 8.
In addition, locating part 6 selects screw, screw material selection metal, and metal makes spacing protecting mechanism 3 more stable.Revolving power mechanism 4 selects motor, and sensor 7 is metal sensor.
As Fig. 2, show the rear structure schematic diagram of the present embodiment, revolving power mechanism 3 is arranged on the bottom of described base 2, and horizontal moving mechanical arm 8 rear end is arranged on revolving power mechanism 4 by shaft coupling 11.
The operation principle of the present embodiment is: revolving power mechanism 4 rotates through shaft coupling 11 and drives horizontal moving mechanical arm 8 to rotate, horizontal moving mechanical arm 8 move to left or the metal sensor 7 on the right time, revolving power mechanism 4 stops operating, horizontal moving mechanical arm 8 stretches out under cylinder impetus, arrive assigned address, after the sensor sensing that puts in place be contained on horizontal moving mechanical arm 8 arrives, vertical mover mechanical arm 9 moves down under cylinder pushes, arrive assigned address, after the sensor sensing that puts in place be contained in vertical mover mechanical arm 9 arrives, paw 10 opens, start holding action.After the sensor sensing that puts in place on paw 10 completes to holding action, paw 10 closes, after putting in place, vertical mover tool 9 rises, after putting in place, horizontal moving mechanical arm 8 is retracted, after putting in place, revolving power mechanism 4 rotates in the other direction, after putting in place, vertical mover mechanical arm 9 declines, and after putting in place, paw 10 unclamps, thus execution cycle action.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all without prejudice under spirit of the present utility model and category, can modify above-described embodiment or changes.Therefore, such as have in art and usually know that the knowledgeable modifies or changes not departing from all equivalences completed under the spirit and technological thought that the utility model discloses, must be contained by claim of the present utility model.
Claims (9)
1. a four-degree-of-freedom manipulator, comprise support, described pedestal upper end is provided with a base, installation manipulator on described base, it is characterized in that, described base is provided with spacing protecting mechanism, revolving power mechanism, described revolving power mechanism is arranged on the bottom of described base, described spacing protecting mechanism comprises two guide grooves, described guide groove is provided with sensor, locating part, described manipulator comprises horizontal moving mechanical arm, vertical mover mechanical arm, paw, described horizontal moving mechanical arm rear end is arranged on described revolving power mechanism, described vertical mover mechanical arm is vertically mounted on described horizontal moving mechanical arm front end, described paw is connected to described vertical mover mechanical arm lower end, described horizontal moving mechanical arm, vertical mover mechanical arm, paw is equipped with level sensor.
2. four-degree-of-freedom manipulator according to claim 1, is characterized in that, described guide groove is set to circular arc guide groove, and the angular range that described horizontal moving mechanical arm can slide along described guide groove is 10 ~ 360 °.
3. four-degree-of-freedom manipulator according to claim 1, is characterized in that, described sensor, locating part insert in described two guide grooves respectively, and can slide along described guide groove.
4. four-degree-of-freedom manipulator according to claim 1, is characterized in that, described horizontal moving mechanical arm rear end is arranged on described revolving power mechanism by shaft coupling.
5. four-degree-of-freedom manipulator according to claim 1, is characterized in that, a tablet is installed in the below of described horizontal moving mechanical arm.
6. four-degree-of-freedom manipulator according to claim 5, is characterized in that, below described tablet, install a guide rod, guide rod extends in the guide groove of position limitation protection structure.
7. four-degree-of-freedom manipulator according to claim 1, is characterized in that, described revolving power mechanism selects the one in motor, pneumatic cylinder, hydraulic cylinder.
8. the four-degree-of-freedom manipulator according to claim arbitrary in claim 1 ~ 7, is characterized in that, described sensor, to the unified one selected in metal sensor, photoelectric sensor, magneto-dependent sensor of level sensor.
9. four-degree-of-freedom manipulator according to claim 1, is characterized in that, described locating part selects screw, screw material selection plastics or metal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420813782.6U CN204366953U (en) | 2014-12-19 | 2014-12-19 | A kind of four-degree-of-freedom manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420813782.6U CN204366953U (en) | 2014-12-19 | 2014-12-19 | A kind of four-degree-of-freedom manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN204366953U true CN204366953U (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420813782.6U Expired - Fee Related CN204366953U (en) | 2014-12-19 | 2014-12-19 | A kind of four-degree-of-freedom manipulator |
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| Country | Link |
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| CN (1) | CN204366953U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972013A (en) * | 2015-07-14 | 2015-10-14 | 深圳市精创科技有限公司 | Fast part taking mechanical arm in multi-station progressive die |
| CN105171764A (en) * | 2015-09-25 | 2015-12-23 | 安徽三众智能装备有限公司 | Grasping device for automobile engine cylinder covers |
| CN105690741A (en) * | 2016-04-06 | 2016-06-22 | 安徽万朗磁塑集团有限公司 | Flexible rubber sleeve clamping and frequency limiting device |
| CN107437365A (en) * | 2017-09-25 | 2017-12-05 | 山东莱茵科技设备有限公司 | Electromechanical integration comprehensive practical traning equipment |
| CN108639978A (en) * | 2018-05-23 | 2018-10-12 | 徐州重型机械有限公司 | A kind of leg disc and the crane for installing the leg disc |
| CN109622412A (en) * | 2018-12-25 | 2019-04-16 | 嵊州市荣飞纺织机械有限公司 | A kind of sorting equipment of Hardware fitting |
| CN110962066A (en) * | 2019-12-19 | 2020-04-07 | 成都工业学院 | Automatic overturning robot for assembling electrical appliance |
| CN112894888A (en) * | 2021-05-07 | 2021-06-04 | 中科长光精拓智能装备(苏州)有限公司 | Manipulator protection device |
-
2014
- 2014-12-19 CN CN201420813782.6U patent/CN204366953U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972013A (en) * | 2015-07-14 | 2015-10-14 | 深圳市精创科技有限公司 | Fast part taking mechanical arm in multi-station progressive die |
| CN105171764A (en) * | 2015-09-25 | 2015-12-23 | 安徽三众智能装备有限公司 | Grasping device for automobile engine cylinder covers |
| CN105690741A (en) * | 2016-04-06 | 2016-06-22 | 安徽万朗磁塑集团有限公司 | Flexible rubber sleeve clamping and frequency limiting device |
| CN107437365A (en) * | 2017-09-25 | 2017-12-05 | 山东莱茵科技设备有限公司 | Electromechanical integration comprehensive practical traning equipment |
| CN108639978A (en) * | 2018-05-23 | 2018-10-12 | 徐州重型机械有限公司 | A kind of leg disc and the crane for installing the leg disc |
| CN108639978B (en) * | 2018-05-23 | 2019-12-20 | 徐州重型机械有限公司 | Supporting leg disc and crane provided with same |
| CN109622412A (en) * | 2018-12-25 | 2019-04-16 | 嵊州市荣飞纺织机械有限公司 | A kind of sorting equipment of Hardware fitting |
| CN110962066A (en) * | 2019-12-19 | 2020-04-07 | 成都工业学院 | Automatic overturning robot for assembling electrical appliance |
| CN112894888A (en) * | 2021-05-07 | 2021-06-04 | 中科长光精拓智能装备(苏州)有限公司 | Manipulator protection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: CHONGQING SHUDE TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: CHONGQING SHUDE EDUCATION INSTITUTE Effective date: 20150805 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150805 Address after: Feng Qi Zhen Caijiaying road 400707 Chongqing city Beibei District No. 8 Patentee after: Chongqing Shude Technology Co.,Ltd. Address before: 400030, 5 Yang Sha Road, Shapingba District, Chongqing, China Patentee before: Establish one's virtue institute of education in Chongqing |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 Termination date: 20201219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |