CN205272018U - Modularization six -degree -of -freedom manipulator - Google Patents
Modularization six -degree -of -freedom manipulator Download PDFInfo
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- CN205272018U CN205272018U CN201520898733.1U CN201520898733U CN205272018U CN 205272018 U CN205272018 U CN 205272018U CN 201520898733 U CN201520898733 U CN 201520898733U CN 205272018 U CN205272018 U CN 205272018U
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Abstract
The utility model discloses a modularization six -degree -of -freedom manipulator, including an electrical power generating system who is used for providing entire system movement energy, a control system who connects and control the entire system motion, six joint module that mutually support, the independent shifter in each joint to and an end snatchs the mechanism, the end picks the mechanism and includes a pneumatic grasping system, the manipulator structure still adopts two the adjacent joint module of connecting rod structural connection that extend to the outside, has increased rigidity, intensity and precision that the joint is connected to can overcome inertial moment, make the synchronism of each joint motions better, adopt the harmonic speed reducer ware to slow down, the precision is high, and the motion is stable, the utility model provides a modularization six -degree -of -freedom manipulator is through the relevant sample data of each discrete point of teach box record manual control manipulator in -process to in being applied to later automatic control, so can adjust the position and the angle of mechanical hands movement, the position dead angle of eliminating mechanical hands movement nimble, reliably.
Description
Technical field
The utility model relates to a kind of mechanism, in particular a kind of Modularized 6 freedom degree mechanical manipulator.
Background technology
Along with the development of modern science and technology, the level of automation of industry is more and more higher. And industrial robot can improve the level of automation of production process and the adaptive faculty of production unit, thus improve the quality of products and product competitive capacity commercially. Existing about 800,000 industrial robots in the whole world just run at automotive industry, dynamo-electric industry and other industrial sectors, for the material production of the mankind is made contributions and started one's career. Wherein, with welding robot and assembling artificial two the topmost Application Areass of machine. Compared with industrial robot, the quantity of other robot is still very limited, but its importance can not be ignored, and development prospect is also very good.
The object of industrial robot position control is exactly the motion that each joint of Yao Shi robot realizes planning in advance, and final guarantee industrial robot terminal (hand pawl) is run along predetermined track. The feature of this kind of motion control is the pose track of stepless control industrial robot paw (or instrument). General requirement speed is controlled, track is smooth and stable movement. The technical indicator of TRAJECTORY CONTROL is path accuracy and stationarity. The control of industrial robot is a multi input multi output Controlling System one by one.
We using each joint as an independent system. Thus, one being had to the industrial robot in m joint, we can resolve into m independent single input single output control system one by one it. This kind of independent joint control method is approximate, because it have ignored the motion structure feature of industrial robot, i.e. and mutual coupling and the fact with form and position between each joint. If for the robot controlling of more high performance requirements, then must consider more effective dynamicmodel, more senior control method and more perfect computer architecture.
Wherein, mechanical manipulator is the automated production equipment of a kind of new development. Various expection operation task can be realized by programming. It is generally required to the action of simulation staff, it is used for replacing manually, it is to increase the level of automation of production, it is to increase labour productivity, reduces production cost. Especially replace manually completing the work under various extreme condition, such as the work under extreme temperature and pressure condition, in the contaminate environment such as radioactivity or toxicity. Especially for simple repetitive work, it is compared to manpower, there is great advantage.
Because a rigid body has six-freedom degree in space, the locus degree of freedom in three directions and the rotary freedom around three coordinate axis, so present mechanical manipulator technology, because needing the object capturing and being transmitted in space different positions and orientation, just require to reach space any point, completing the action of any posture, namely arm end can reach any pose relative to its base, has also just needed the motion of six-freedom degree. And this is all generally completed by the joint of six independent drive, each joint is realized by axle that is mobile or that rotate.
Generally special mechanical manipulator mostly is 2 ~ 4 degree of freedom, and general purpose manipulator then needs 3 ~ 6 degree of freedom to realize (not comprising the degree of freedom of machinery finger).
The industrial robot of supply on market, closes joint number and mostly is 3 ~ 7. The most typical industrial robot has six joints, there is six-freedom degree, with folder hand (being commonly referred to hand or end executive device).
Existing six degree of freedom mechanical manipulators mostly are standard machinery hand, single task or better simply operation can only be completed, and although tandem six degree of freedom mechanism can realize automatic transporting, assembling, the operations such as welding, but, owing to the self structure of this kind of device limits, the joint interface of its series connection is more single, and lack the carrying unit of restraint of liberty degree, therefore its mechanism's rigidity is poor, the carrying task of heavy objects cannot be undertaken, and the decelerating through motor of its power section normally adopts gear reducer to slow down, make its control accuracy lower, thus cause its motion precision poor, comprise positioning precision poor poor with repeatable accuracy. existing six degree of freedom mechanical manipulators motion track under control can not adjust, still there is the deviation of position, motorium, in addition this kind of apparatus structure complexity, increase the progressive error of control, cause to the motion of some position comparatively difficult, motion precise decreasing, brings very big inconvenience to industrial application.
Therefore, prior art has yet to be improved and developed.
Practical novel content
In view of above-mentioned the deficiencies in the prior art, the purpose of this utility model is that providing a kind of can adjust the position of motion and the robot device of angle flexibly, reliably.
The technical solution of the utility model is as follows:
A kind of Modularized 6 freedom degree mechanical manipulator, comprise one for providing the power-supply system, of whole system motion energy to connect and control the throw-over gear of the Controlling System of whole structure motion, six joint modules cooperatively interacted, each joint independence, and an end capture mechanism, described end capture mechanism comprises the Pneumatic clamping system for driving described end capture mechanism, wherein, described robot manipulator structure also adopts the bar linkage structure extended laterally to connect adjacent two described joint modules, for increasing intensity, rigidity and precision that joint connects.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described throw-over gear comprises the power system being arranged on each joint, described power system comprises a motor and connects a flexible structure harmonic speed reducer, and after described flexible structure harmonic speed reducer slows down, under Controlling System control, the mechanism that motion connects is to specified location.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described flexible structure harmonic speed reducer comprises the wave producer being positioned at described speed reduction unit central authorities, being positioned at a steel wheel of described speed reduction unit periphery and be positioned at a flexbile gear of described steel wheel inner side, described flexbile gear is used for being realized and the open top container ship of described steel wheel by distortion.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described throw-over gear also comprises at least one position transducer, and described position transducer is arranged on the body of each joint, for detecting the position in described joint in real time.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described Controlling System also comprises a servosystem and a teaching box, and described servosystem forms by based on the motion controller of DSP, servo-driver, servosystem and photoelectric coding device; Described teaching box obtains the data in manipulator servo systems by control level computer, and is applied in control level computer control software, thus realizes the teaching to mechanical manipulator and control.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described end capture mechanism adopts chuck mode clamp structure, comprises a driving rotary cylinder and connects and drive at least one Tridactyle pneumatic chuck, and the rubber plate pointed by described Tridactyle pneumatic chuck is contacted and captures object.
Described Modularized 6 freedom degree mechanical manipulator, wherein, described linkage assembly, is made up of titanium alloy material; The throw-over gear of described joint comprises stepper-motor or servomotor.
Modularized 6 freedom degree mechanical manipulator provided by the utility model, each joint module is connected owing to have employed symmetrical linkage assembly, add rigidity, intensity and precision that joint connects, and the moment of inertia that joint motion cause can be overcome so that the synchronism of each joint motion is better; And the motor providing each joint motion power adopts corresponding harmonic speed reducer to slow down, its output accuracy is higher, and this makes each joint motion more stable; And Modularized 6 freedom degree mechanical manipulator provided by the utility model, only sample and control the pose of the discrete point left-hand seat pawl of described mechanical manipulator, by the associated sample data of each discrete point in teaching box record artificial manipulator robot process, and it is applied in later automatic control, therefore can flexibly, reliably adjust position and the angle of robot movement, eliminate the dead angle, position of robot movement.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the utility model Modularized 6 freedom degree mechanical manipulator.
Fig. 2 A, 2B are the schematic diagram of flexible structure harmonic speed reducer in the utility model Modularized 6 freedom degree mechanical manipulator.
Fig. 3 A, 3B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator first joint.
Fig. 4 A, 4B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator the 2nd joint.
Fig. 5 A, 5B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator the 3rd joint.
Fig. 6 A, 6B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator the 4th joint.
Fig. 7 A, 7B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator the 5th joint.
Fig. 8 A, 8B are the structural representations in the utility model Modularized 6 freedom degree mechanical manipulator the 6th joint.
Fig. 9 is the end capture mechanism structural representation of the utility model Modularized 6 freedom degree mechanical manipulator.
Embodiment
The utility model provides a kind of Modularized 6 freedom degree mechanical manipulator, for making the purpose of this utility model, technical scheme and effect clearly, clearly, is further described by the utility model referring to the accompanying drawing embodiment that develops simultaneously. It is to be understood that specific embodiment described herein is only in order to explain the utility model, and it is not used in restriction the utility model.
An embodiment of Modularized 6 freedom degree mechanical manipulator described in the utility model, as shown in Figure 1, comprise the first joint 11 connected successively, 2nd joint 22, 3rd joint 33, 4th joint 44, 5th joint 55, 6th joint 66, end capture mechanism 77, and the structure such as embedded control system, described end capture mechanism comprises the Pneumatic clamping system for driving described end capture mechanism, described embedded control system comprises a servosystem and a teaching box, described servosystem is by based on DSP(digital signal processing) motion controller, servo-driver, servosystem and photoelectric coding device composition, described teaching box obtains the data in manipulator servo systems by control level computer, and is applied in control level computer control software, thus realizes the teaching to mechanical manipulator and control.
In the present embodiment, the power system of joint throw-over gear all adopts a motor to provide power on each joint, and after being slowed down by a flexible structure harmonic speed reducer, drive and realize the rotary motion of the workpiece (being generally next joint, the workpiece that the 6th joint connects is then end capture mechanism) that described joint connects. Described motor is stepper-motor or AC servo motor, exports motion accurately to provide. The flexible structure harmonic speed reducer that it adopts, as shown in Fig. 2 A, 2B, comprise the wave producer 801 being placed in its inside, it is placed in a firm wheel 802 of its periphery and is positioned at the flexbile gear 803 inside described steel wheel 802, described flexbile gear 803 is by distortion, it is achieved take turns the open top container ship of 802 with described steel. In robot manipulator structure, described power system adopts flexible structure harmonic speed reducer to slow down laggard row cutting, for an innovation of the present utility model, its advantage comprises: transmission speed ratio is big, supporting capacity height, volume are little and weight is light, stable drive, without noise and there is transmission efficiency height and the high feature of motion precision; Described motor is by the workpiece that is connected described in described flexible structure harmonic speed reducer deceleration rear drive, and on each joint, all it is provided with at least one position transducer, for gathering position, described joint and input to described Controlling System, which achieves the accurate location in each joint under Controlling System control, improve position precision and the efficiency of joint motion, prevent the error of each joint motion from accumulating. After position, each joint data input control system that described position transducer gathers, as feedback information, combine recorded data in described teaching box, after associated control software processes, export corresponding joint to, and control each corresponding joint and move within the scope of the motion of self; After each joint motion superposition, it is possible to make the motion combination of the end capture mechanism 77 shown in Fig. 1 in each joint obtains the required motion track produced or process, the position required for arriving with correct attitude.
The position transducer that the present embodiment adopts, use the photo-sensor being bonded on the body of each joint, achieve the real-time detection to the mechanism position carrying out mechanical movement, the real-time detection of position, especially each joint, and correlation acquisition data are delivered to Controlling System, after Control System Software comprehensive treating process, moving in setting range for controlling each mechanism.
Built-in such as Fig. 2 A by adopting, flexible structure harmonic speed reducer shown in 2B, with the position transducer on each joint, an embodiment of the present utility model can realize the location, locus of described mechanical manipulator well, and guarantee its motion precision, described joint module is connected respectively at the multiple linkage assembly of employing, and after comprising modulesization six degree of freedom mechanical manipulator, described embodiment can realize closing the absolute separation that internode transmits medium, the problem causing joint motion mass force in Movement transmit process can be avoided, and the problem of the processing and manufacturing difficulties such as the mechanical manipulator conversion that causes due to position precision problem can be solved, this will reduce the manufacturing cost of equipment greatly.
Power-supply system in the present embodiment is for providing energy, drive the motor in each joint, and after harmonic speed reducer in each joint slows down, drive the transmission in each joint, comprise the rotation of the first joint 11 within the scope of �� 90o, the revolution of the 2nd joint 22 within the scope of �� 45o, the revolution of 3rd joint 33 within the scope of �� 45o, the rotary motion within the scope of �� 180o of the rotation of 4th joint 44 within the scope of �� 90o, the revolution of the 5th joint 55 within the scope of �� 45o, and the 6th joint 66.
Front 5 joints in the present embodiment all adopt linkage assembly to be connected, and which increase the intensity between the connection of joint, rigidity and precision. The linkage assembly of described connection corresponding joint module, adopts the lightweight material of high rigidity to make, and described material comprises alloy material, especially adopts titanium alloy material to make, to ensure high strength and the lightweight of described linkage assembly. Power system and electric system in Controlling System then have employed servomotor or driving system of stepping motor, decrease the accumulation of error in motion control, improve running precision, six joint modules in the present embodiment and corresponding connecting rod connection mechanism, through optimizing, alleviate weight, thus improve the mass force of described mechanism, make described mechanism flexible, steadily. Motor described in the utility model all refers to stepper-motor or AC servo motor.
The detailed construction in each joint of the mechanical manipulator of Modularized 6 freedom degree described in the present embodiment is described below respectively:
In the present embodiment, the overall structure schematic diagram in the first joint is as shown in Figure 3A, Fig. 3 B is the midship section structure exemplary plot in the first joint in the present embodiment, one sensor 105 is installed on described first joint 11 body 101, described joint body 101 is then fixed on base 108 by screw, one harmonic speed reducer 103 is fixed by screws on a motor 102, described motor 102 is then fixed on described joint body 101 by coupling screw, one is fixed on described joint body 101 for connecting the output connecting rod 106 in the 2nd joint 22 by bearing, and be linked with described motor 102, one interface circuit plate 107 is fixedly connected with described joint body 101, for connecting and implement the communication of each joint. described first joint 11 adopts stepper-motor or driven by servomotor, XB1 type harmonic speed reducer slows down and transmission, direct-connected vertical displacement structure, i.e. the 2nd joint 22, making its end export connecting rod 106 and the 2nd joint 22 that is attached thereto produces rotary motion, angle can reach �� 90 ��.
In an embodiment of the present utility model, the 2nd joint 22 overall structure is as shown in Figure 4 A, the diagrammatic cross-section in described 2nd joint 22 is as shown in Figure 4 B, it is motor support base 204 in the present embodiment that described connection first joint exports the joint interface of connecting rod 106, it is fixed by screws on the body 201 in the 2nd joint 22, described motor support base 204 and the 2nd joint body 201 are connected with the output connecting rod 106 in the first joint, one harmonic speed reducer 203 is connected with a motor 202 by screw, described motor 202 is fixed by screws on described motor support base 204, one sensor 205 is fixed on described motor support base 204, for detecting the movement position of described motor support base 204, also it is the movement position in described 2nd joint 22, one output connecting rod 206 is linked by transmission shaft and motor support base 204, and support described transmission shaft by motor support base 204, and described transmission shaft is connected by a shaft coupling with described motor 202, described output connecting rod 206 drives the 3rd joint 33 being attached thereto to rotate under the driving of described motor 202. described 2nd joint 22 adopts a stepper-motor or servomotor 202 to drive, XB1 type harmonic speed reducer 203 slows down and transmission, direct-connected horizontal positioned structure the 3rd joint 33 so that its end output connecting rod 206 and the 3rd joint 33 being attached thereto produce turning motion.
In an embodiment of the present utility model, the 3rd joint 33 overall structure is as shown in Figure 5A, the diagrammatic cross-section in described 3rd joint 33 is as shown in Figure 5 B, one harmonic speed reducer 303 is connected with a motor 302, described motor 302 is fixedly connected with a motor support base 301 by screw, and described motor support base 301 is fixedly connected with a joint interface 304 by screw, export connecting rod 306 and pass through bearing, it is connected with described motor 302, one sensor 305 is connected with described motor support base 301, measures and is limited the motion scope of described output interface 306 by described Controlling System. Described 3rd joint 33 adopts stepper-motor or driven by servomotor, after synchronous band slows down also transmission, connect harmonic speed reducer to export, direct-connected i.e. the 4th joint 44 of a horizontal positioned structure, making its end export connecting rod 306 and the 4th joint 44 that is attached thereto produces turning motion, angle can reach �� 45o.
In an embodiment of the present utility model, the 4th joint 44 overall structure is as shown in Figure 6A, the diagrammatic cross-section in described 4th joint 44 is as shown in Figure 6B, the joint interface 404 in the 4th joint 44 is linked with the output connecting rod 306 in described 3rd joint, one motor support base 401 is connected with described joint interface 404 by screw, one harmonic speed reducer 403 is connect by screw and a motor 402, described motor 402 and the described fixing connection of motor support base 401, one output connecting rod 406 is connected with described motor 402, one sensor 405 is fixedly connected with described motor support base 401, described sensor 405 is detected and is limited the motion scope in described 4th joint 44 by Controlling System. described 4th joint 44 adopts stepper-motor or driven by servomotor, through worm gear worm drive to exporting connecting rod 406 so that end output connecting rod 406 and the 5th joint 55 being attached thereto produce rotary motion, and angle can reach �� 90 ��.
In an embodiment of the present utility model, the 5th joint 55 overall structure is as shown in Figure 7 A, the diagrammatic cross-section in described 5th joint 55 is as shown in Figure 7 B, described 5th joint 55 is connected to the corresponding output connecting rod 406 in the 4th joint by a joint interface 504, motor support base 501 and described joint interface 504 are by the fixing connection of pin, one harmonic speed reducer 503 is connected with a motor 502 by screw, and described motor 502 is fixedly connected by screw with described motor support base 501, one sensor 505 is pasted on described motor support base 501, for detect and by Controlling System limit described 5th joint 55 move scope. described joint 55 adopts a stepper-motor or driven by servomotor, after slowing down by described harmonic speed reducer 503, through synchronous V belt translation, a driving toothed gear 507 is driven to rotate, described driving toothed gear 507 connects and drives follower gear 508 to rotate, and follower gear 508 drives the horizontal positioned structure being positioned over 506 positions through synchronous band, the 6th joint 66 being namely attached thereto produces turning motion, and angle can reach �� 45 ��.
In an embodiment of the present utility model, the 6th joint 66 overall structure is as shown in Figure 8 A, this joint does not adopt linkage assembly driver output yet, and adopts two cone gears to rotate and export, to drive described end capture mechanism 77, benefit is compact construction, takies space little. The diagrammatic cross-section in described 6th joint 66 is as shown in Figure 8 B, 6th joint 66 exports the fixing connection of connecting rod 506 by joint interface 604 and the 5th joint, and described joint interface 604 is by pin and the fixing connection of motor support base 601, one motor 602 is by screw and the fixing connection of described motor support base 601, one harmonic speed reducer 603 is linked by screw and described servomotor 602, and a sensor 605 is pasted on described motor support base 601, for detect and by Controlling System limit the 6th joint 66 move scope. Described 6th joint 66 adopts a motor 602 to drive, and after harmonic speed reducer 603 gearing-down, drives cone gear 607 to rotate, and cone gear 607 drives and rotates from dynamic bevel gear 608, changes sense of rotation 90oAfter, driving one is fixedly connected with an end capture mechanism 77 with the upper surface from dynamic bevel gear 608 so that described end capture mechanism 77 produces rotary motion, and angle can reach �� 180 ��.
End capture mechanism 77 in the present embodiment, have employed chuck mode clamp structure, as shown in Figure 9, claw connects block 701 and connects two Tridactyle pneumatic chucks 704 and a driving rotary cylinder 703, described driving rotary cylinder 703 is provided with two gas inlet and outlets 705 of the Pneumatic clamping system for supplying power to its inside, i.e. inlet mouth and venting port, described crawl structure is by corresponding Pneumatic clamping system, the pneumatic-finger opening and closing on Tridactyle pneumatic chuck 704 adopting pneumatic control corresponding, to capture or to discharge object; Described end capture mechanism connects, by a driving rotary cylinder, the upper surface from dynamic bevel gear 608 that block 702 is connected to the 6th joint, such that it is able to reach any desired pose by described six joint synkinesiss to carry; And described driving rotary cylinder can make described Tridactyle pneumatic chuck 704 rotate to proper angle to increase the suitability that described pneumatic hand grabs system; Described two Tridactyle pneumatic chucks 704 are made up of described pneumatic-finger and the rubber plate that is affixed on finger respectively, when grabbing workpiece, described rubber plate adds workpiece contact surface, it is achieved that good location, so that it is guaranteed that motion precision; The manipulator of the present embodiment, by adopting described chuck mode clamp structure, adds grasp force, it is to increase crawl precision, increases subject range and running precision, such that it is able to the complicated motion of implementation space, it is to increase industrial applications level.
The control method of a kind of Modularized 6 freedom degree robot manipulator structure described in the utility model, only controls the pose of mechanical manipulator discrete point left-hand seat pawl, as early as possible and non-overshoot realize the motion of consecutive point, and motion track is not done to control.
In an embodiment, the control method of described Modularized 6 freedom degree mechanical manipulator, by adopting Industrial PC (PC)+DSP(digital signal processing) structure of motion control card realizes. Wherein, the Controlling System of described Modularized 6 freedom degree mechanical manipulator, comprises a servosystem and a teaching box.
Described servosystem forms by based on the motion controller of DSP, servo-driver, servosystem and photoelectric coding device, for receiving the various motion control commands sent after calculation of correlation by a servo level computer, controls described robot movement; And described control command comes from the information being stored in teaching box of a control level computer export. Described function is all realized by existing programming technique, is not described further at this.
Described teaching box obtains the data of manual maneuvering process on described computer by control level computer, comprises pulse and corner information, is recorded in teaching box, and is applied in the control software design of control level computer, thus realizes the teaching to mechanical manipulator and control.
The described Modularized 6 freedom degree mechanical manipulator of the present embodiment is when starting a certain work, control method comprises study and repetition process, first by the function software of manual operation control level computer, handle described servosystem to produce and the speed information that exports the control posture information in each joint of described mechanical manipulator and each servomotor, comprise pulse and corner information, to control described robot movement; Described software, simultaneously by relevant control information, comprises power closed-loop information and position closed loop information, comprises the displacement of the arm end grasping mechanism detected by sensor, after control level computer disposal, is stored in described teaching box; In mechanical manipulator autokinetic movement afterwards, described teaching box exports the displacement information in the control information stored automatically, is converted to Input Forces through displacement/force transformation link, after synthesizing with the set(ting)value of power as power control to quantitatively and export; Described teaching box also passes through the information such as speed corresponding to each joint of servo level computer export and pose, exports the control terminal of servosystem to, and to control the pose in each joint, simulation repeats the pattern learnt, and completes the action expected.
The experimental result of the present embodiment demonstrates the high speed adopting the computation structure of described PC+DSP can make full use of DSP operation, meets the real-time requirement of robot controlling, it is achieved higher motion control performance.
Should be understood that; application of the present utility model is not limited to above-mentioned citing; for those of ordinary skills, it is possible to improved according to the above description or convert, and all these improve and conversion all should belong to the protection domain of the utility model claims.
Claims (7)
1. a Modularized 6 freedom degree mechanical manipulator, comprise one for providing the power-supply system, of whole system motion energy to connect and control the throw-over gear of the Controlling System of whole structure motion, six joint modules cooperatively interacted, each joint independence, and an end capture mechanism, described end capture mechanism comprises the Pneumatic clamping system for driving described end capture mechanism, it is characterized in that, described robot manipulator structure also adopts the linkage assembly extended laterally to connect adjacent two described joint modules, for increasing intensity, rigidity and precision that joint connects.
2. Modularized 6 freedom degree mechanical manipulator according to claim 1, it is characterized in that, described throw-over gear comprises the power system being arranged on each joint, described power system comprises a motor and connects a flexible structure harmonic speed reducer, and after described flexible structure harmonic speed reducer slows down, under Controlling System control, the mechanism that motion connects is to specified location.
3. Modularized 6 freedom degree mechanical manipulator according to claim 2, it is characterized in that, described flexible structure harmonic speed reducer comprises the wave producer being positioned at described speed reduction unit central authorities, being positioned at a steel wheel of described speed reduction unit periphery and be positioned at a flexbile gear of described steel wheel inner side, described flexbile gear is used for being realized and the open top container ship of described steel wheel by distortion.
4. Modularized 6 freedom degree mechanical manipulator according to claim 1, it is characterised in that, described throw-over gear also comprises at least one position transducer, and described position transducer is arranged on the body of each joint, for detecting the position in described joint in real time.
5. Modularized 6 freedom degree mechanical manipulator according to claim 1, it is characterized in that, described Controlling System also comprises a servosystem and a teaching box, and described servosystem forms by based on the motion controller of DSP, servo-driver, servosystem and photoelectric coding device; Described teaching box obtains the data in manipulator servo systems by control level computer, and is applied in control level computer control software, thus realizes the teaching to mechanical manipulator and control.
6. Modularized 6 freedom degree mechanical manipulator according to claim 1, it is characterized in that, described end capture mechanism adopts chuck mode clamp structure, comprise a driving rotary cylinder to connect and drive at least one Tridactyle pneumatic chuck, and contacted by the rubber plate on described Tridactyle pneumatic chuck finger and capture object.
7. Modularized 6 freedom degree mechanical manipulator according to claim 1, it is characterised in that, described linkage assembly, is made up of titanium alloy material; The throw-over gear in described joint comprises stepper-motor or servomotor.
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| CN201520898733.1U CN205272018U (en) | 2015-11-12 | 2015-11-12 | Modularization six -degree -of -freedom manipulator |
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| CN201520898733.1U CN205272018U (en) | 2015-11-12 | 2015-11-12 | Modularization six -degree -of -freedom manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN106393089A (en) * | 2016-10-18 | 2017-02-15 | 广东伯朗特智能装备股份有限公司 | Control method and device for six-shaft light-load industrial robot |
| CN107367993A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Data acquisition unit system for teaching six-degree-of-freedom mechanical arm |
| CN108238545A (en) * | 2018-01-24 | 2018-07-03 | 河北卓达建材研究院有限公司 | Assembling type steel structure builds steel column catching robot |
| CN111085807A (en) * | 2020-01-09 | 2020-05-01 | 河北工业大学 | Automatic welding production line for wax molds |
| WO2021017175A1 (en) * | 2019-07-29 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Apparatus and control system for real-time positioning of robotic arm of industrial robot |
| CN116512286A (en) * | 2023-04-23 | 2023-08-01 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
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2015
- 2015-11-12 CN CN201520898733.1U patent/CN205272018U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105328697B (en) * | 2015-11-12 | 2018-04-06 | 深圳职业技术学院 | A kind of Modularized 6 freedom degree manipulator and its control method |
| CN106393089A (en) * | 2016-10-18 | 2017-02-15 | 广东伯朗特智能装备股份有限公司 | Control method and device for six-shaft light-load industrial robot |
| CN107367993A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Data acquisition unit system for teaching six-degree-of-freedom mechanical arm |
| CN108238545A (en) * | 2018-01-24 | 2018-07-03 | 河北卓达建材研究院有限公司 | Assembling type steel structure builds steel column catching robot |
| WO2021017175A1 (en) * | 2019-07-29 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Apparatus and control system for real-time positioning of robotic arm of industrial robot |
| CN111085807A (en) * | 2020-01-09 | 2020-05-01 | 河北工业大学 | Automatic welding production line for wax molds |
| CN116512286A (en) * | 2023-04-23 | 2023-08-01 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
| CN116512286B (en) * | 2023-04-23 | 2023-11-14 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
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