CN204640221U - A kind of two-freedom manipulator of integrated form and control system thereof - Google Patents
A kind of two-freedom manipulator of integrated form and control system thereof Download PDFInfo
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- CN204640221U CN204640221U CN201520171677.1U CN201520171677U CN204640221U CN 204640221 U CN204640221 U CN 204640221U CN 201520171677 U CN201520171677 U CN 201520171677U CN 204640221 U CN204640221 U CN 204640221U
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Abstract
The utility model discloses a kind of two-freedom manipulator and control system thereof of integrated form, this manipulator comprises: be positioned at the ball screw in Z-direction and the rotary ball spline of urceolus that simultaneously can carry out rectilinear motion and rotary motion; Be located at the upper hollow motor on ball screw; Be located at the lower hollow motor on ball spline; Connect the screw mandrel splined connection of ball screw and ball spline; Fixed head, upper hollow motor and lower hollow motor are fixed on fixed head.The utility model utilizes two hollow motor, makes ball screw, ball spline is not directly connected with motor shaft by Timing Belt, decrease cumulative errors, improve response speed and the transmission accuracy of manipulator; Two motors and ball screw, ball spline, on an axle, achieve the decoupling zero of rectilinear motion and rotary motion, and structure is simple, organization volume is reduced further, cuts down finished cost simultaneously.
Description
Technical field
The utility model relates to Industrial Robot Technology field, particularly relates to a kind of two-freedom manipulator and control system thereof of integrated form.
Background technology
Along with the sustainable development of China's economy and advancing by leaps and bounds of science and technology, industrial robot is widely used in fields such as electronics industry, auto industry, medical treatment.A kind of integrated two-freedom manipulator is the important part of of industrial robot, it is as directly performing position, automatic insertion, scolding tin, some glue is applied to by a large amount of, the packaging art field such as paster, itself structure, weight, appearance and size and precision have direct impact to the service behaviour of whole robot and technical performance.Current straight-line and rotating motion mechanism generally utilizes the adaptor such as Timing Belt, chain to realize the Movement transmit of driving link and driven member, and driving link and driving link, driving link and driven member are distributed on different axis, its efficiency is low, low precision, complex structure, and manufacturing cost is high.
Therefore, for above-mentioned technical problem, be necessary two-freedom manipulator and control system thereof that a kind of integrated form is provided.
Utility model content
In view of this, the purpose of this utility model is the two-freedom manipulator and the control system thereof that provide a kind of integrated form, it is a kind of straight-line and rotating motion mechanism, can optimize structure, improving SNR, to raise the efficiency and precision, can reduce manufacturing cost simultaneously.
To achieve these goals, the technical scheme that provides of the utility model embodiment is as follows:
A two-freedom manipulator for integrated form, described two-freedom manipulator comprises:
Be positioned at the ball screw in Z-direction and ball spline, described ball spline is the rotary ball spline of urceolus that simultaneously can carry out rectilinear motion and rotary motion;
Be located at the upper hollow motor on described ball screw;
Be located at the lower hollow motor on described ball spline;
Connect the screw mandrel splined connection of described ball screw and ball spline;
Fixed head, described upper hollow motor and lower hollow motor are fixed on fixed head;
When described upper hollow motor rotates, ball screw drives ball spline to move in the Z-axis direction; When described lower hollow motor rotates, ball spline is dynamic perpendicular to the transhipment of Z axis plane internal rotation.
As further improvement of the utility model, described fixed head is provided with upper limit position switch and lower position switch, described screw mandrel splined connection is provided with the spacing catch of Z axis between upper limit position switch and lower position switch, screw mandrel splined connection is undertaken spacing by the spacing catch of Z axis and upper limit position switch and lower position switch.
As further improvement of the utility model, be provided with the rotary stopper switch for realizing lower hollow motor origin calibration below described lower hollow motor, described rotary stopper switch is fixedly installed on described fixed head.
As further improvement of the utility model, above described upper hollow motor, be provided with the vertically arranged upper motor support plate with fixed head, below described lower hollow motor, be provided with the vertically arranged lower motor support plate with fixed head.
As further improvement of the utility model, described upper hollow motor and flange nut connector fixedly mount, and described flange nut connector is provided with screw mandrel flange nut by tight fixed bolt.
As further improvement of the utility model, the axis of described lower hollow motor is fixedly connected with spline urceolus connector, described spline urceolus connector is fixedly connected with spline urceolus, spline urceolus is fixed on spline urceolus bracing frame, and described ball spline is fixedly installed on the axis of spline urceolus.
As further improvement of the utility model, described screw mandrel splined connection comprises the upper angular contact bearing and lower angular contact bearing that are mounted opposite, described screw mandrel splined connection comprises tops bar and gets out of a predicament or an embarrassing situation, upper bearing (metal) cover plate and lower bearing cover plate is also fixed with above and below screw mandrel splined connection, described upper angular contact bearing is being topped bar and between upper bearing (metal) cover plate, and lower angular contact bearing is being got out of a predicament or an embarrassing situation and between lower bearing cover plate.
As further improvement of the utility model, described ball screw and upper angular contact bearing interference fit, the shaft shoulder of ball screw presses closer the upper surface of going up contact bearing, and the axle head of ball screw is locked by upper locking nut, realizes ball screw axial location; Described ball spline and lower angular contact bearing interference fit, the shaft shoulder of ball spline presses closer the lower surface descending angular contact bearing, and the axle head of ball spline is locked by lower locking nut, realize ball spline axially location.
Correspondingly, a kind of control system of two-freedom manipulator of integrated form, described control system comprises: computer, the motion control card be connected with computer and the driver be connected with motion control card, described driver is for driving upper hollow motor and lower hollow motor, described computer sends instruction to motion control card, motion control card by the position Real-time Feedback of upper hollow motor and lower hollow motor to computer, control the position of ball spline high-low limit, and carry out the origin calibration of lower hollow motor.
As further improvement of the utility model, described motion control card adopts the mode of pulse to drive servo, number of pulses determines the rotation number of turns of upper hollow motor and/or lower hollow motor, and pulse frequency determines the velocity of rotation of upper hollow motor and/or lower hollow motor.
The beneficial effects of the utility model are:
Utilize two hollow motor, make ball screw, ball spline is not directly connected with motor shaft by Timing Belt, decrease cumulative errors, improve response speed and the transmission accuracy of manipulator;
Two motors and ball screw, ball spline, on an axle, achieve the decoupling zero of rectilinear motion and rotary motion, and structure is simple, organization volume is reduced further, cuts down finished cost simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the side-looking structural representation of the two-freedom manipulator of integrated form in the utility model one specific embodiment;
Fig. 2 is the sectional structure schematic diagram of the two-freedom manipulator of integrated form in the utility model one specific embodiment;
Fig. 3 is the control system module diagram of the two-freedom manipulator of integrated form in the utility model one specific embodiment.
Detailed description of the invention
Technical scheme in the utility model is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the utility model protection.
The utility model discloses a kind of two-freedom manipulator of integrated form, comprising:
Be positioned at the ball screw in Z-direction and ball spline, wherein ball spline is the rotary ball spline of urceolus that simultaneously can carry out rectilinear motion and rotary motion;
Be located at the upper hollow motor on ball screw;
Be located at the lower hollow motor on ball spline;
Connect the screw mandrel splined connection of ball screw and ball spline;
Fixed head, upper hollow motor and lower hollow motor are fixed on fixed head;
When upper hollow motor rotates, ball screw drives ball spline to move in the Z-axis direction; When lower hollow motor rotates, ball spline is dynamic perpendicular to the transhipment of Z axis plane internal rotation.
The invention also discloses a kind of control system of two-freedom manipulator of integrated form, comprise: computer, the motion control card be connected with computer and the driver be connected with motion control card, driver is for driving upper hollow motor and lower hollow motor, computer sends instruction to motion control card, motion control card by the position Real-time Feedback of upper hollow motor and lower hollow motor to computer, control the position of ball spline high-low limit, and carry out the origin calibration of lower hollow motor.
Join Fig. 1, Figure 2 shows that the structural representation of the two-freedom manipulator of integrated form in the utility model one specific embodiment.
In the present embodiment, screw mandrel flange nut 1 is fixedly connected with upper hollow motor 5 by flange nut connector 2, upper hollow motor 5 is fixed on fixed head 3 by upper motor support plate 4, upper limit position switch 6, lower position switch 16 and rotary stopper switch 18 are separately fixed on fixed head 3, wherein the spacing catch 12 of Z axis added rotating mechanism by the straight line that upper limit position switch 6 and lower position switch 16 limit Z axis Z-direction on helical pitch, rotary stopper switch 18 realizes the demarcation of lower hollow motor point initial point.
Upper limit position switch 6 in the present embodiment, lower position switch 16 and rotary stopper switch 18 are all set to optoelectronic switch, also can be the switch of other types certainly in other embodiments.
Upper angular contact bearing 9, lower angular contact bearing 14 are placed in screw mandrel splined connection 10 respectively, and its installation direction direction is relative.Upper angular contact bearing 9 is topped bar in screw mandrel splined connection 10 respectively and to be located with upper bearing (metal) cover plate 8, and lower angular contact bearing 15 is got out of a predicament or an embarrassing situation in screw mandrel splined connection 10 respectively and to be located with lower bearing cover plate 15.
In the present embodiment, ball screw 7 and upper angular contact bearing 9 interference fit, its shaft shoulder presses closer the upper surface of going up angular contact bearing 9, and axle head upper locking nut 11 is locked, and realizes ball screw 7 axial location.Ball spline 19 and lower angular contact bearing 14 interference fit, its shaft shoulder presses closer the lower surface descending angular contact bearing 14, and the axle head lower locking nut 13 of ball spline 19 is locked, and realizes ball spline 19 axial location.
Spline urceolus 21 is connected with fixed head 3 by spline urceolus bracing frame 22, and spline urceolus 21 is fixedly connected with lower hollow motor 25 by spline urceolus connector 23.Lower hollow motor 25 is fixed on fixed head 3 by lower motor support frame 17.
When upper hollow electric machine rotation 5 rotates, the flange nut connector 2 be fixed in hollow motor shaft follows motor shaft to rotate, and because flange nut connector 2 is fixedly connected with by tight fixed bolt with flange nut, thus drives flange nut 1 synchronous rotary; Flange nut 1 rotarily drives ball screw 7 and moves in the Z-axis direction, because ball screw 7 drives screw mandrel splined connection 10 to move in the Z-axis direction in the Z-axis direction, thus drives ball spline 19 to be synchronized with the movement, realizes ball spline Z-direction is moved.
Instantly time hollow motor 25 rotates, the spline urceolus connector 22 be fixed in lower hollow motor shaft follows motor shaft to rotate, spline urceolus connector 23 rotarily drives spline urceolus 21 and rotates, spline urceolus 21 rotarily drives ball spline 19 synchronous rotary, thus realizes ball spline 19 perpendicular to the rotary motion in Z axis plane.
Be connected with pneumatic gripper 20 below ball spline 19 in the present embodiment, pneumatic gripper 20 is the terminal executive component of manipulator, and Ke Yiwei: gripper, for automatic capturing, plug-in unit; Suction nozzle, for paster, wafer cutting; Bonding machine, for scolding tin etc.
Further, in the utility model, the lead angle λ < equivalent friction angle Φ v of ball screw, to prevent self-locking, ensures well gearing.
Ginseng Figure 3 shows that the control system of the two-freedom manipulator of integrated form in the utility model one embodiment, and it comprises computer 26, motion control card 27 and driver 28.
Motion control card 27 is installed on computer 26 by pci bus interface, mutual transmission of information between them.Connect motion control card 27 and the holding wire between driver 28 connection control card and servo.
Control System Software in computer 26 sends instruction to motion control card 27, preferably, in the present embodiment, motion control card 27 adopts the mode of pulse to drive servo, number of pulses determines the rotation number of turns of motor (upper hollow motor and/or lower hollow motor), and pulse frequency determines the velocity of rotation of motor (upper hollow motor and/or lower hollow motor).Motion control card 27 can by the position Real-time Feedback of servomotor to the Control System Software in computer 28 simultaneously.
The position signalling of screw mandrel splined connection is fed back to motion control card 27 by upper limit position switch and lower position switch, signal feedback to the Control System Software in computer 26, is sent instruction by control software design to motion control card and controls spline high-low limit position by motion control card 27.
The position signalling of the lower hollow motor 25 collected is fed back to motion control card 27 by rotary stopper switch 18, motion control card 27 feeds back to the Control System Software in computer 26, sends instruction realize lower hollow motor origin calibration by control software design to motion control card 27.
The utility model can be applied in various automation equipment, is applicable to straight-line displacement campaign and rotates, fixed head having installation screwed hole, in conjunction with X, Y mobile platform, can realize four free degree motions.
As can be seen from the above technical solutions, the utility model has following beneficial effect:
Utilize two hollow motor, make ball screw, ball spline is not directly connected with motor shaft by Timing Belt, decrease cumulative errors, improve response speed and the transmission accuracy of manipulator;
Two motors and ball screw, ball spline, on an axle, achieve the decoupling zero of rectilinear motion and rotary motion, and structure is simple, organization volume is reduced further, cuts down finished cost simultaneously.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (10)
1. a two-freedom manipulator for integrated form, is characterized in that, described two-freedom manipulator comprises:
Be positioned at the ball screw in Z-direction and ball spline, described ball spline is the rotary ball spline of urceolus that simultaneously can carry out rectilinear motion and rotary motion;
Be located at the upper hollow motor on described ball screw;
Be located at the lower hollow motor on described ball spline;
Connect the screw mandrel splined connection of described ball screw and ball spline;
Fixed head, described upper hollow motor and lower hollow motor are fixed on fixed head;
When described upper hollow motor rotates, ball screw drives ball spline to move in the Z-axis direction; When described lower hollow motor rotates, ball spline is dynamic perpendicular to the transhipment of Z axis plane internal rotation.
2. the two-freedom manipulator of integrated form according to claim 1, it is characterized in that, described fixed head is provided with upper limit position switch and lower position switch, described screw mandrel splined connection is provided with the spacing catch of Z axis between upper limit position switch and lower position switch, screw mandrel splined connection is undertaken spacing by the spacing catch of Z axis and upper limit position switch and lower position switch.
3. the two-freedom manipulator of integrated form according to claim 1, is characterized in that, be provided with the rotary stopper switch for realizing lower hollow motor origin calibration below described lower hollow motor, described rotary stopper switch is fixedly installed on described fixed head.
4. the two-freedom manipulator of integrated form according to claim 1, it is characterized in that, be provided with the vertically arranged upper motor support plate with fixed head above described upper hollow motor, below described lower hollow motor, be provided with the vertically arranged lower motor support plate with fixed head.
5. the two-freedom manipulator of integrated form according to claim 1, is characterized in that, described upper hollow motor and flange nut connector fixedly mount, and described flange nut connector is provided with screw mandrel flange nut by tight fixed bolt.
6. the two-freedom manipulator of integrated form according to claim 1, it is characterized in that, the axis of described lower hollow motor is fixedly connected with spline urceolus connector, described spline urceolus connector is fixedly connected with spline urceolus, spline urceolus is fixed on spline urceolus bracing frame, and described ball spline is fixedly installed on the axis of spline urceolus.
7. the two-freedom manipulator of integrated form according to claim 1, it is characterized in that, described screw mandrel splined connection comprises the upper angular contact bearing and lower angular contact bearing that are mounted opposite, described screw mandrel splined connection comprises tops bar and gets out of a predicament or an embarrassing situation, upper bearing (metal) cover plate and lower bearing cover plate is also fixed with above and below screw mandrel splined connection, described upper angular contact bearing is being topped bar and between upper bearing (metal) cover plate, and lower angular contact bearing is being got out of a predicament or an embarrassing situation and between lower bearing cover plate.
8. the two-freedom manipulator of integrated form according to claim 7, it is characterized in that, described ball screw and upper angular contact bearing interference fit, the shaft shoulder of ball screw presses closer the upper surface of going up contact bearing, the axle head of ball screw is locked by upper locking nut, realizes ball screw axial location; Described ball spline and lower angular contact bearing interference fit, the shaft shoulder of ball spline presses closer the lower surface descending angular contact bearing, and the axle head of ball spline is locked by lower locking nut, realize ball spline axially location.
9. the control system of the two-freedom manipulator of the integrated form according to any one of claim 1 ~ 8, it is characterized in that, described control system comprises: computer, the motion control card be connected with computer, and the driver to be connected with motion control card, described driver is for driving upper hollow motor and lower hollow motor, described computer sends instruction to motion control card, motion control card by the position Real-time Feedback of upper hollow motor and lower hollow motor to computer, control the position of ball spline high-low limit, and carry out the origin calibration of lower hollow motor.
10. control system according to claim 9, it is characterized in that, described motion control card adopts the mode of pulse to drive servo, and number of pulses determines the rotation number of turns of upper hollow motor and/or lower hollow motor, and pulse frequency determines the velocity of rotation of upper hollow motor and/or lower hollow motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520171677.1U CN204640221U (en) | 2015-03-25 | 2015-03-25 | A kind of two-freedom manipulator of integrated form and control system thereof |
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| CN201520171677.1U CN204640221U (en) | 2015-03-25 | 2015-03-25 | A kind of two-freedom manipulator of integrated form and control system thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723333A (en) * | 2015-03-25 | 2015-06-24 | 苏州大学 | Integrated type two-degree-freedom mechanical arm and control system thereof |
| CN107009387A (en) * | 2017-06-21 | 2017-08-04 | 太仓望虞机械科技有限公司 | A kind of high mechanical arm of rotational positioning stability |
| CN107263532A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of mechanical arm for rotating braking safe auxiliary |
-
2015
- 2015-03-25 CN CN201520171677.1U patent/CN204640221U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723333A (en) * | 2015-03-25 | 2015-06-24 | 苏州大学 | Integrated type two-degree-freedom mechanical arm and control system thereof |
| CN107009387A (en) * | 2017-06-21 | 2017-08-04 | 太仓望虞机械科技有限公司 | A kind of high mechanical arm of rotational positioning stability |
| CN107263532A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of mechanical arm for rotating braking safe auxiliary |
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