CN204566131U - A kind of five shaft multifunctional machinery hands - Google Patents
A kind of five shaft multifunctional machinery hands Download PDFInfo
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Abstract
本实用新型公开了一种五轴多功能机械手，包括底座、X轴移动板、Y轴移动板、转动盘、上升架和上升移动架，上升移动架上连接有活动关节，活动关节上设有放置工件的法兰盘；本实用新型通过滚珠丝杆、直线导轨以及伺服减速电机的结合，可针对重型圆盘工件，进行X轴、Y轴和XY平面三轴方向的精准调姿定位，以及Z轴方向的直线运动和Z方向的摆动，从而实现机械手的五轴运动，并通过引导机构实现工件在空间内各方向的自由运动，载重能力强移动精度高，移动行程大，而且能解决机械手载重时的偏心问题，以适应不同大小圆盘工件抓取的需要，并具有良好扩展性，适用工件尺寸范围广。
The utility model discloses a five-axis multifunctional manipulator, which comprises a base, an X-axis moving plate, a Y-axis moving plate, a rotating disk, a rising frame and a rising moving frame. The flange on which the workpiece is placed; the utility model, through the combination of a ball screw, a linear guide rail and a servo gear motor, can perform precise posture adjustment and positioning in the three-axis directions of X-axis, Y-axis and XY plane for heavy-duty disc workpieces, and The linear movement in the Z-axis direction and the swing in the Z-direction realize the five-axis movement of the manipulator, and realize the free movement of the workpiece in all directions in the space through the guiding mechanism. The problem of eccentricity when loading is adapted to the needs of grasping disc workpieces of different sizes, and it has good scalability and is suitable for a wide range of workpiece sizes.
Description
技术领域 technical field
本实用新型涉及一种机械手，具体是一种针对重型圆盘工件的五轴多功能机械手。 The utility model relates to a manipulator, in particular to a five-axis multifunctional manipulator for heavy-duty disc workpieces.
背景技术 Background technique
机械手是现代科技发展起来的一项新型装置，其广泛应用于自动化生产线中，可提高显著提升生产效率，改善劳动条件，以及提高产品质量。 Manipulator is a new type of device developed by modern technology. It is widely used in automated production lines, which can significantly improve production efficiency, improve working conditions, and improve product quality.
机械手可完成搬物、装配、切割、喷染等多项任务，但在船舶壳体装配线应用较少，其原因在于船舶壳体的重量范围远远超过了机械手的使用范围：普通船舶壳体总重一般在30吨以上，个别可达70吨，装配部件重量可达5吨以上。 The manipulator can complete multiple tasks such as moving objects, assembling, cutting, spraying and dyeing, but it is rarely used in the ship hull assembly line. The reason is that the weight range of the ship hull far exceeds the scope of use of the manipulator: The weight is generally more than 30 tons, some can reach 70 tons, and the weight of assembled parts can reach more than 5 tons.
因此，现有船舶壳体的安装生产线，往往采用行吊进行部件组装，其存在安装精度低、工作效率低、劳动条件差等问题，研究一种适用于重型圆盘工件的机械手，对于提升加工效率、提高装配质量是极其有必要的。 Therefore, the existing installation production line of ship hulls often uses cranes for component assembly, which has problems such as low installation accuracy, low work efficiency, and poor working conditions. A manipulator suitable for heavy-duty disc workpieces is studied. It is extremely necessary to improve efficiency and improve assembly quality.
实用新型内容 Utility model content
针对现有技术的不足，本实用新型解决的技术问题是提供一种既能做X、Y、Z轴方向的直线运动，又能做XY平面内的旋转运动，还能做Z方向摆动的重型圆盘工件专用五轴多功能机械手。 Aiming at the deficiencies of the prior art, the technical problem solved by the utility model is to provide a heavy-duty machine that can not only perform linear motion in the directions of X, Y, and Z axes, but also perform rotary motion in the XY plane and swing in the Z direction. Five-axis multifunctional manipulator for disc workpieces.
本实用新型解决其技术问题所采用的技术方案是：一种五轴多功能机械手，包括底座、通过X轴滚珠丝杆安装在底座上的X轴移动板以及通过Y轴滚珠丝杆安装在X轴移动板上的Y轴移动板，所述的X轴滚珠丝杆和Y轴滚珠丝杆上分别连接有X轴伺服减速电机和Y轴伺服减速电机，底座和X轴移动板上均设有直线导轨，还包括内齿轮以及通过向心推力轴承固定在内齿轮上的圆形导轨，Y轴移动板上方设有与圆形导轨紧固连接的转动盘，转动盘上设有旋转伺服减速电机以及连接在旋转伺服减速电机输出轴上的小锥齿轮，小锥齿轮上啮合有大锥齿轮，大锥齿轮底部连接有与内齿轮啮合的直齿轮，所述的转动盘上设有上升架，上升架上设有上升移动架，上升移动架上连接有活动关节，活动关节上设有放置工件的法兰盘，上升架内设有Z轴滚珠丝杆，Z轴滚珠丝杆上安装与上升移动架连接的滑块，Z轴滚珠丝杆端部连接有Z轴伺服减速电机。 The technical solution adopted by the utility model to solve the technical problems is: a five-axis multifunctional manipulator, including a base, an X-axis moving plate installed on the base through an X-axis ball screw, and an X-axis moving plate installed on the X-axis through a Y-axis ball screw. The Y-axis moving plate on the axis moving plate, the X-axis ball screw and the Y-axis ball screw are respectively connected with the X-axis servo gear motor and the Y-axis servo gear motor, and the base and the X-axis moving plate are equipped with The linear guide rail also includes an internal gear and a circular guide rail fixed on the internal gear through a centripetal thrust bearing. A rotating disc firmly connected with the circular guide rail is arranged above the Y-axis moving plate, and a rotating servo reduction motor is installed on the rotating disc. And the small bevel gear connected to the output shaft of the rotary servo deceleration motor, the small bevel gear is meshed with a large bevel gear, the bottom of the large bevel gear is connected with a spur gear meshing with the internal gear, and the rotating disc is provided with a lifting frame, The rising frame is equipped with a rising mobile frame, which is connected with movable joints, and the movable joints are provided with a flange plate for placing workpieces. There is a Z-axis ball screw in the rising frame, and the Z-axis ball screw is installed and lifted. The slide block connected with the moving frame, the end of the Z-axis ball screw is connected with the Z-axis servo deceleration motor.
所述的一种五轴多功能机械手，其Y轴移动板中心开有孔，内齿轮位于所述的孔内，所述的圆形导轨套设于内齿轮外，内齿轮通过螺栓固结于转动盘上。 The five-axis multifunctional manipulator has a hole in the center of the Y-axis moving plate, the inner gear is located in the hole, the circular guide rail is sleeved outside the inner gear, and the inner gear is fixed to the inner gear by bolts. Turn the plate.
所述的一种五轴多功能机械手，其上升移动架上固定有转动伺服减速电机，转动伺服减速电机输出轴上连接有第一连杆，第一连杆上活动连接有第二连杆，第二连杆上活动连接有第三连杆，第三连杆端部与活动关节紧固连接，所述的法兰盘上装有与旋转伺服减速电机和转动伺服减速电机连接的角度传感器。 The five-axis multifunctional manipulator has a rotating servo geared motor fixed on its rising mobile frame, a first connecting rod is connected to the output shaft of the rotating servo geared motor, and a second connecting rod is movably connected to the first connecting rod. A third connecting rod is movably connected to the second connecting rod, and the end of the third connecting rod is fastened to the movable joint. The flange is equipped with an angle sensor connected with the rotation servo deceleration motor and the rotation servo deceleration motor.
所述的一种五轴多功能机械手，其上升架底部固定有连接板，连接板底部连接有夹持在圆形导轨内外两侧的V形滚轮。 In the five-axis multifunctional manipulator, a connection plate is fixed at the bottom of the lifting frame, and V-shaped rollers clamped on both sides of the circular guide rail are connected to the bottom of the connection plate.
所述的一种五轴多功能机械手，其法兰盘由固定板和设于固定板中心的平面螺旋转盘组成，固定板上设有沿平面螺旋转盘径向延伸的多个滑槽，滑槽内设有抓紧手指，抓紧手指设有与平面螺旋转盘啮合的齿条，活动关节上设有驱动平面螺旋转盘的抓紧伺服减速电机。 The five-axis multifunctional manipulator, the flange is composed of a fixed plate and a plane spiral turntable located in the center of the fixation plate, the fixed plate is provided with a plurality of chutes extending radially along the plane spiral turntable, the chute A grasping finger is arranged inside, and the grasping finger is provided with a rack meshed with the plane spiral turntable, and the movable joint is provided with a grasp servo deceleration motor driving the plane spiral turntable.
所述的一种五轴多功能机械手，其上升架侧壁设有T形槽，所述的滑块通过滚子轴承在T形槽内滑动。 In the five-axis multifunctional manipulator, a T-shaped slot is provided on the side wall of the lifting frame, and the slider slides in the T-shaped slot through a roller bearing.
所述的一种五轴多功能机械手，其上升移动架与上升架之间设有多个轴承。 In the five-axis multifunctional manipulator, a plurality of bearings are arranged between the rising mobile frame and the rising frame.
本实用新型的有益效果是：通过滚珠丝杆、直线导轨以及伺服减速电机的结合，可针对重型圆盘工件，进行X轴、Y轴和XY平面三轴方向的精准调姿定位，以及Z轴方向的直线运动和Z方向的摆动，从而实现机械手的五轴运动，并通过引导机构实现工件在空间内各方向的自由运动，载重能力强移动精度高，移动行程大，而且能解决机械手载重时的偏心问题，以适应不同大小圆盘工件抓取的需要。 The beneficial effect of the utility model is: through the combination of the ball screw, the linear guide rail and the servo deceleration motor, the precise posture adjustment and positioning of the X-axis, the Y-axis and the XY-plane three-axis direction can be carried out for the heavy-duty disc workpiece, and the Z-axis Linear motion in the Z direction and swing in the Z direction, so as to realize the five-axis motion of the manipulator, and realize the free movement of the workpiece in all directions in the space through the guiding mechanism. The problem of eccentricity to meet the needs of grabbing disc workpieces of different sizes.
附图说明 Description of drawings
图1是本实用新型正面视角的结构示意图； Fig. 1 is the structural representation of the utility model front view angle;
图2是本实用新型背面视角的结构示意图； Fig. 2 is a structural schematic diagram of the back view of the utility model;
图3是本实用新型俯视方向的结构示意图； Fig. 3 is a schematic structural view of the utility model in a top view direction;
图4是本实用新型底座部分的结构示意图； Fig. 4 is a structural schematic diagram of the base part of the utility model;
图5是本实用新型底座仰视方向的结构示意图； Fig. 5 is a structural schematic view of the base of the utility model looking up;
图6是本实用新型法兰盘部分的结构示意图； Fig. 6 is a structural schematic diagram of the flange part of the utility model;
图7是本实用新型四连杆结构部分的结构示意图； Fig. 7 is a structural schematic diagram of the four-link structure part of the utility model;
图8是本实用新型法兰盘的抓紧手指部分的结构示意图。 Fig. 8 is a structural schematic diagram of the grasping finger part of the flange of the present invention.
其中各附图标记为：1—底座，2—X轴移动板，3—Y轴移动板，4—转动盘， 5—上升架，6—内齿轮，7—向心推力轴承，8—大锥齿轮，9—小锥齿轮，10—Z轴滚珠丝杆，11—Z轴伺服减速电机，12—抓紧手指，13—工件，14—固定板，15—直齿轮，16—加强筋，17—直线导轨，18—滑块，19—销轴，20—X轴滚珠丝杆，21—X轴伺服减速电机，22—上升移动架，23—转动伺服减速电机，24—丝母，25—第一连杆，26—第二连杆，27—第三连杆，28—T形槽，29—滚子轴承，30—Y轴滚珠丝杆，31—Y轴伺服减速电机，32—抓紧伺服减速电机，33—连接板，34—V形滚轮，35—活动关节，40—圆形导轨，41—旋转伺服减速电机，84—平面螺旋转盘。 Wherein the reference signs are: 1—base, 2—X-axis moving plate, 3—Y-axis moving plate, 4—rotating plate, 5—rising frame, 6—internal gear, 7—centripetal thrust bearing, 8—big Bevel gear, 9—small bevel gear, 10—Z-axis ball screw, 11—Z-axis servo gear motor, 12—grip fingers, 13—workpiece, 14—fixed plate, 15—spur gear, 16—reinforcing rib, 17 —Linear guide rail, 18—slider, 19—pin shaft, 20—X-axis ball screw, 21—X-axis servo gear motor, 22—rising moving frame, 23—rotating servo gear motor, 24—screw nut, 25— The first connecting rod, 26—the second connecting rod, 27—the third connecting rod, 28—T-shaped slot, 29—roller bearing, 30—Y-axis ball screw, 31—Y-axis servo gear motor, 32—grasp Servo geared motor, 33—connecting plate, 34—V-shaped roller, 35—movable joint, 40—circular guide rail, 41—rotary servo geared motor, 84—plane spiral turntable.
具体实施方式 Detailed ways
下面结合附图对本实用新型作进一步详细说明。 Below in conjunction with accompanying drawing, the utility model is described in further detail.
参照图1、图2和图3所示，本实用新型公开了一种五轴多功能机械手，包括底座1、通过X轴滚珠丝杆20安装在底座1上的X轴移动板2以及通过Y轴滚珠丝杆30安装在X轴移动板2上的Y轴移动板3，如图5所示，X轴移动板2和Y轴移动板3底部分别设有与滚珠丝杆连接的丝母24，所述的X轴滚珠丝杆20和Y轴滚珠丝杆30上分别连接有X轴伺服减速电机21和Y轴伺服减速电机31，底座1和X轴移动板2上均设有直线导轨17，在X轴伺服减速电机21的带动下X轴滚珠丝杆20通过丝母24带动X轴移动板2沿直线导轨17向X轴方向发生移动，同理在Y轴伺服减速电机31的带动下Y轴滚珠丝杆30通过丝母24沿直线导轨17带动Y轴移动板3向Y轴方向发生移动，滚珠丝杆的使用使得本机械手载重能力强，移动行程大，移动精度高，结构强度可靠，如图4所示，Y轴移动板3中心开有孔，内齿轮6位于所述的孔内，所述的圆形导轨40套设于内齿轮6外，内齿轮6通过螺栓或者销轴固结于转动盘4上，Y轴移动板3上方设有与圆形导轨40紧固连接的转动盘4，转动盘4上设有旋转伺服减速电机41以及连接在旋转伺服减速电机4输出轴上的小锥齿轮9，小锥齿轮9上啮合有大锥齿轮8，大锥齿轮8底部连接有与内齿轮6啮合的直齿轮15，旋转伺服减速电机41转动时就能通过小锥齿轮9带动大锥齿轮8进而带动内齿轮6转动，再通过内齿轮6带动转动盘4沿圆形导轨40转动。 Referring to Fig. 1, Fig. 2 and Fig. 3, the utility model discloses a five-axis multifunctional manipulator, comprising a base 1, an X-axis moving plate 2 installed on the base 1 through an X-axis ball screw 20 and a Y The shaft ball screw 30 is installed on the Y-axis moving plate 3 on the X-axis moving plate 2, as shown in Figure 5, the bottoms of the X-axis moving plate 2 and the Y-axis moving plate 3 are respectively provided with nuts 24 connected with the ball screws , the X-axis ball screw 20 and the Y-axis ball screw 30 are respectively connected with the X-axis servo gear motor 21 and the Y-axis servo gear motor 31, and the base 1 and the X-axis moving plate 2 are provided with linear guide rails 17 Driven by the X-axis servo deceleration motor 21, the X-axis ball screw 20 drives the X-axis moving plate 2 to move along the linear guide rail 17 to the X-axis direction through the screw nut 24. Similarly, driven by the Y-axis servo deceleration motor 31 The Y-axis ball screw 30 drives the Y-axis moving plate 3 to move in the Y-axis direction through the screw nut 24 along the linear guide rail 17. The use of the ball screw makes the manipulator have strong load capacity, large moving stroke, high moving precision and reliable structural strength. , as shown in Figure 4, there is a hole in the center of the Y-axis moving plate 3, the inner gear 6 is located in the hole, the circular guide rail 40 is sleeved outside the inner gear 6, and the inner gear 6 is passed through a bolt or a pin Consolidated on the rotating disk 4, above the Y-axis moving plate 3, there is a rotating disk 4 tightly connected to the circular guide rail 40. The rotating disk 4 is provided with a rotary servo deceleration motor 41 and connected to the output shaft of the rotary servo deceleration motor 4. The small bevel gear 9 on the top, the small bevel gear 9 is meshed with a large bevel gear 8, the bottom of the large bevel gear 8 is connected with a spur gear 15 meshing with the internal gear 6, and the rotary servo reduction motor 41 can pass through the small bevel gear 9 when it rotates. Drive the large bevel gear 8 and then drive the internal gear 6 to rotate, and then drive the rotating disk 4 to rotate along the circular guide rail 40 through the internal gear 6 .
这样本实用新型的机械手可针对重型圆盘工件，进行X轴、Y轴和XY平面三轴方向的精准调姿定位，并通过引导机构实现工件在空间内各方向的自由运动。 In this way, the manipulator of the utility model can perform precise attitude adjustment and positioning in the X-axis, Y-axis and XY plane three-axis directions for the heavy-duty disc workpiece, and realize the free movement of the workpiece in all directions in the space through the guiding mechanism.
所述的转动盘4上设有上升架5，上升架5上安装有多个加强筋16，上升架5上设有上升移动架22，上升移动架22与上升架5之间设有多个滚子或其他类型的轴承，可将机械手载重的偏心力加到滚子轴承上以减小摩擦，上升移动架22上通过销轴19连接有活动关节35，活动关节35上设有用来放置工件13的法兰盘，上升架5内设有Z轴滚珠丝杆10，Z轴滚珠丝杆10上安装与上升移动架22连接的滑块18，其中，上升架5侧壁设有T形槽28，即截面为T字形的开槽，所述的滑块18通过滚子轴承29在T形槽28内滑动，能有效的减小摩擦、抵抗偏心力，增加机械手的使用寿命，Z轴滚珠丝杆10端部连接有Z轴伺服减速电机11，L型的Z轴伺服减速电机11安装在上升架5上，便于装配与维修，Z轴滚珠丝杆10在Z轴伺服减速电机11的带动下转动，通过滑块18带动上升移动架22上下移动，由于工件在Z轴方向的移动采用滚珠丝杆与伺服电机相接合，上升精度高，行程大，便于安装与维修。 The rotating disk 4 is provided with a rising frame 5, and a plurality of reinforcing ribs 16 are installed on the rising frame 5. The rising frame 5 is provided with a rising moving frame 22, and a plurality of lifting frames are arranged between the rising moving frame 22 and the rising frame 5. Roller or other types of bearings can add the eccentric force of the load of the manipulator to the roller bearings to reduce friction. The movable joint 35 is connected with the movable joint 35 through the pin shaft 19 on the rising mobile frame 22. 13 flanges, the rising frame 5 is provided with a Z-axis ball screw 10, and the Z-axis ball screw 10 is equipped with a slide block 18 connected to the rising mobile frame 22, wherein the side wall of the rising frame 5 is provided with a T-shaped groove 28, that is, a slot with a T-shaped cross section. The slider 18 slides in the T-shaped slot 28 through the roller bearing 29, which can effectively reduce friction, resist eccentric force, and increase the service life of the manipulator. The Z-axis ball The end of the screw rod 10 is connected with a Z-axis servo gear motor 11, and the L-shaped Z-axis servo gear motor 11 is installed on the lifting frame 5, which is convenient for assembly and maintenance. The Z-axis ball screw 10 is driven by the Z-axis servo gear motor 11. Rotate down, drive the moving frame 22 to move up and down through the slider 18, because the movement of the workpiece in the Z-axis direction adopts the ball screw to connect with the servo motor, the lifting precision is high, the stroke is large, and it is convenient for installation and maintenance.
如图7所示，所述的上升移动架22上固定有转动伺服减速电机23，转动伺服减速电机23输出轴上连接有第一连杆25，第一连杆25上活动连接有第二连杆26，第二连杆26上活动连接有第三连杆27，第三连杆27端部与活动关节35紧固连接，这样第一连杆25、第二连杆26、第三连杆27和活动关节35构成了四连杆结构并由转动伺服减速电机23驱动，该四连杆结构简单所需空间小，结构简单，调整角度大，转动伺服减速电机23后通过四连杆结构推动活动关节35上下转动时活动关节35带动法兰盘上下转动，从而带动工件13进行角度的调整，这样Z轴方向能保证较大的上下旋转角度，所述的法兰盘上装有与旋转伺服减速电机41和转动伺服减速电机23连接的角度传感器，工件13放在法兰盘上后角度传感器将信号传给旋转伺服减速电机41，旋转伺服减速电机41通过两个锥齿轮带动直齿轮15转动，直齿轮15在内齿轮6内绕其中心转动，内齿轮6再通过销轴或螺栓带动转动盘4转动，进而带动工件13转动，通过内齿轮6带动转动盘4转动可实现工件13的正负90°的转角，结构简单，转角范围大，所述的上升架5底部固定有连接板33，连接板33底部连接有夹持在圆形导轨40内外两侧的V形滚轮34，V形滚轮34四个一组固定在连接板33底部，总共有四组均匀分别在圆形导轨40上，转动盘4压在V形滚轮34上，V形滚轮34与圆形导轨40相配合，既可减小旋转时的摩擦又可以抵抗机械手在抓取工件后的偏心力，结构简单，这样当转动盘4沿圆形导轨40转动时上升架5随同连接板33通过V形滚轮34绕圆形导轨40滑动，由于承重组件采用圆形导轨40与向心推力轴承7相接合的结构，圆形导轨40既可以支撑转动盘4，与向心推力轴承7配合时也可承担机械手载重时的偏心力，向心推力轴承7还能承载机械手抓取工件后的径向受力，旋转动力组件采用内齿轮6与伺服电机相接合的结构，旋转角度大，电机扭矩小，解决了机械手载重时的偏心问题，有较小的旋转摩擦力，向心推力轴承7与V形滚轮34共同作用能很好的解决机械手Z方向上的偏心力，增加机械手的精度和使用寿命。 As shown in Figure 7, a rotating servo deceleration motor 23 is fixed on the described rising mobile frame 22, and a first connecting rod 25 is connected to the output shaft of the rotating servo decelerating motor 23, and a second connecting rod 25 is movably connected to the first connecting rod 25. Rod 26, the second connecting rod 26 is movably connected with the third connecting rod 27, and the end of the third connecting rod 27 is tightly connected with the movable joint 35, so that the first connecting rod 25, the second connecting rod 26, the third connecting rod 27 and the movable joint 35 constitute a four-link structure and are driven by a rotating servo geared motor 23. The four-linked structure is simple, requires little space, is simple in structure, and has a large adjustment angle. When the movable joint 35 rotates up and down, the movable joint 35 drives the flange to rotate up and down, thereby driving the workpiece 13 to adjust the angle, so that the Z-axis direction can ensure a larger up and down rotation angle. Motor 41 is connected to the angle sensor of rotation servo reduction motor 23, and the angle sensor transmits signal to rotation servo reduction motor 41 after workpiece 13 is placed on the flange, and rotation servo reduction motor 41 drives spur gear 15 to rotate through two bevel gears, The spur gear 15 rotates around its center in the internal gear 6, and the internal gear 6 drives the rotating disk 4 to rotate through the pin shaft or the bolt, and then drives the workpiece 13 to rotate. The positive and negative of the workpiece 13 can be realized by driving the rotating disk 4 to rotate through the internal gear 6. The 90° corner has a simple structure and a large corner range. The bottom of the lifting frame 5 is fixed with a connecting plate 33, and the bottom of the connecting plate 33 is connected with a V-shaped roller 34 clamped on the inner and outer sides of the circular guide rail 40. The V-shaped roller 34 groups of four are fixed on the connecting plate 33 bottoms, and there are four groups evenly on the circular guide rail 40 respectively, and the rotating disk 4 is pressed on the V-shaped roller 34, and the V-shaped roller 34 matches the circular guide rail 40. Reducing the friction during rotation can resist the eccentric force of the manipulator after grabbing the workpiece, and the structure is simple, so that when the rotating disk 4 rotates along the circular guide rail 40, the lifting frame 5 and the connecting plate 33 go around the circular guide rail through the V-shaped roller 34 40 sliding, because the load-bearing component adopts the structure in which the circular guide rail 40 and the centripetal thrust bearing 7 are joined, the circular guide rail 40 can support the rotating disk 4, and can also bear the eccentric force when the manipulator is loaded when it cooperates with the centripetal thrust bearing 7 , the centripetal thrust bearing 7 can also carry the radial force after the manipulator grabs the workpiece. The rotating power component adopts the structure of the inner gear 6 and the servo motor, which has a large rotation angle and a small motor torque, which solves the eccentricity of the manipulator when it is loaded. The problem is that there is less rotational friction, and the joint action of the radial thrust bearing 7 and the V-shaped roller 34 can well solve the eccentric force in the Z direction of the manipulator and increase the precision and service life of the manipulator.
这样本实用新型的机械手还可针对重型圆盘工件，进行Z轴方向的直线运动以及Z方向的摆动，从而实现机械手的五轴运动。 In this way, the manipulator of the utility model can also perform linear motion in the Z-axis direction and swing in the Z-direction for heavy-duty disc workpieces, thereby realizing five-axis motion of the manipulator.
如图6和图8所示，所述的法兰盘由固定板14和设于固定板14中心的平面螺旋转盘84组成，固定板14上设有沿平面螺旋转盘84径向往外延伸的多个滑槽，滑槽内设有抓紧手指12，抓紧手指12端部设有与平面螺旋转盘84啮合的齿条，活动关节35上设有驱动平面螺旋转盘84的抓紧伺服减速电机32，抓紧伺服减速电机32带动平面螺旋转盘84转动，平面螺旋转盘84带动抓紧手指12向中间靠拢，从而抓紧固定工件13，平面螺旋转盘84能同步带动三个机械手指来夹紧工件13，精度高结构简单，由于法兰盘采用平面螺旋转盘84与齿条相结合的结构，占用空间小，结构简单，便于更换。 As shown in Fig. 6 and Fig. 8, described flange is made up of fixed plate 14 and the plane spiral turntable 84 that is located at the center of fixation plate 14, and fixation plate 14 is provided with along the plane spiral turntable 84 radial outward extensions. A chute, the chute is provided with grasping finger 12, grasping the finger 12 ends is provided with the tooth rack that is engaged with plane spiral turntable 84, and movable joint 35 is provided with the grasp servo deceleration motor 32 that drives plane spiral turntable 84, grasps the servo The reduction motor 32 drives the plane spiral turntable 84 to rotate, and the plane spiral turntable 84 drives the grasping fingers 12 to move closer to the middle, thereby grasping and fixing the workpiece 13. The plane spiral turntable 84 can synchronously drive three mechanical fingers to clamp the workpiece 13, with high precision and simple structure. Because the flange plate adopts the structure of combining the plane spiral rotary plate 84 and the rack, it takes up little space, has a simple structure and is easy to replace.
上述实施例仅例示性说明本实用新型的原理及其功效，以及部分运用的实施例，对于本领域的普通技术人员来说，在不脱离本实用新型创造构思的前提下，还可以做出若干变形和改进，这些都属于本实用新型的保护范围。 The above-mentioned embodiments only illustrate the principles and effects of the present utility model, as well as the partially used embodiments. For those of ordinary skill in the art, without departing from the inventive concept of the present utility model, some Deformation and improvement, these all belong to the protection domain of the present utility model.
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| CN104589334A (en) | 2015-05-06 |
| CN104589334B (en) | 2016-06-08 |
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