CN205614702U - High -precision locate mode manipulator - Google Patents

High -precision locate mode manipulator Download PDF

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Publication number
CN205614702U
CN205614702U CN201620401974.5U CN201620401974U CN205614702U CN 205614702 U CN205614702 U CN 205614702U CN 201620401974 U CN201620401974 U CN 201620401974U CN 205614702 U CN205614702 U CN 205614702U
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China
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arm
link
rod
assembly
speed reducing
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CN201620401974.5U
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Chinese (zh)
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邓社平
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CHONGQING SHEPING TECHNOLOGY Co Ltd
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CHONGQING SHEPING TECHNOLOGY Co Ltd
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Abstract

The utility model discloses a high -precision locate mode manipulator, including rotary base and arm assembly, the arm assembly includes underarm assembly, upper arm assembly and gripper installation assembly, the upper arm assembly includes upper arm body and last arm drive means, and upper arm body includes along it from upper arm body anterior segment and the upper arm body back end of height to sliding connection, be equipped with in the upper arm body back end and be used for driving the gliding two effect pneumatic cylinders of upper arm body anterior segment, the utility model discloses a high -precision locate mode manipulator, the whole weight of the arm body is light, the volume is less, and the rotation flexibility of the arm body improves with rotation adaptability each other greatly, and make and the maintenance cost obtains the reduction.

Description

High-precision positioning type mechanical arm
Technical field
This utility model relates to a kind of automated machine parts, particularly relates to a kind of high-precision positioning type mechanical arm.
Background technology
Mechanical arm manufactures critical equipment main in equipment as important, is used widely in equipment group in heavy duty machine tools, large-scale production line.Mechanical arm mainly includes pedestal, arm body assembly and mechanical wrist, and arm body assembly generally comprises the mechanical arm body that two joints or more piece are connected by similar people's elbow joint structure.
In prior art, for improving positioning precision and the load-carrying ability of mechanical arm, how more transmission and the parts that are connected are set between mechanical arm body, cause driving-chain longer, mechanical arm body bears a heavy burden higher, so that the rotation motility of each mechanical arm body is relatively low, the rotation adaptability between arm body and arm body, between arm body and mechanical wrist is relatively low, and need to provide higher driving force and more power source could meet job requirement, add manufacturing cost and maintenance cost.
Accordingly, it would be desirable to improve existing machinery arm, reducing overall weight and the volume of mechanical arm body, that improves mechanical arm body rotates motility and rotation adaptability to each other, and reduces manufacture and maintenance cost.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of high-precision positioning type mechanical arm, and the overall weight of mechanical arm body is relatively light, small volume, and the rotation motility of mechanical arm body and rotation adaptability to each other are greatly improved, and manufacture and maintenance cost is reduced.
High-precision positioning type mechanical arm of the present utility model, including revolution pedestal and arm assembly, arm assembly includes lower arm assembly, upper arm assembly and gripper installation assembly;Described lower arm assembly includes underarm body and arm body mounting seat, and arm body mounting seat is fixedly installed on revolution pedestal, and described underarm body is rotationally connected with described arm body mounting seat by single-degree-of-freedom in the way of perpendicular rotation;Described upper arm assembly includes upper arm body and upper arm drive mechanism, described upper arm drive mechanism includes the most hinged lower link, intermediate connecting rod I and upper connecting rod, described lower link rotates along perpendicular by driving motor I to drive, in the middle part of described upper connecting rod hinged be arranged at described underarm body upper end formed lever construction, described upper arm body is fixedly installed on described upper connecting rod and can rotate along perpendicular with described upper connecting rod, and upper arm body includes along himself long to the upper arm body leading portion being slidably connected and upper arm body back segment;Described upper arm body leading portion is set in upper arm body back segment, the double acting hydraulic cylinder for driving upper arm body leading portion to slide it is provided with in upper arm body back segment, the cylinder barrel of double acting hydraulic cylinder is fixed on upper arm body back segment, and the piston rod of double acting hydraulic cylinder passes through hinge in the inwall of upper arm body leading portion;Described gripper installation assembly includes link and gripper mounting disc, and described gripper mounting disc is can be installed on link in the way of own axis, and described link is can be connected to described upper arm body front end in the way of perpendicular rotation;Described link is provided with the mounting blocks for installing gripper mounting disc, and two leading screws that described mounting seat is arranged by planche cross staggered form are connected to link;The two ends of two leading screws are slidably connected to link by slide block along the direction single-degree-of-freedom being perpendicular to corresponding leading screw axis respectively.
Further, described gripper installation assembly also includes link drive mechanism, front rod, intermediate connecting rod II and the back link that described link drive mechanism is the most hinged, and described back link lower end is articulated with arm body mounting seat, and described front rod front end is articulated with link.
Further, the radius of clean-up of arm assembly is 1350mm-3150mm.
Further, described intermediate connecting rod II is inverted triangle structure, and the front end of intermediate connecting rod II is articulated with front rod, and the rear end of intermediate connecting rod II is articulated with back link, and the lower end of intermediate connecting rod II is articulated with the upper end of underarm body.
Further, described intermediate connecting rod II and described upper connecting rod by same jointed shaft realize with underarm body upper end hinged.
Further, described arm body mounting seat is U-shaped structure, its end side wall arranges described driving motor I, motor I is driven to drive underarm body to rotate by a speed reducing gear pair I, underarm body is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven rotation by described driving motor I;Described arm body mounting seat other end sidewall sets centrally-mounted driving II, motor II is driven to drive lower link to rotate by a speed reducing gear pair II, lower link is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven rotation by described driving motor II.
Further, described revolution pedestal includes driving motor III, driving box and rotary disk, described driving box includes casing and the speed reducing gear pair III being arranged in casing, described rotary disk is arranged at the driving box driven gear shaft being connected to speed reducing gear pair III fixed above, and the driving tooth of speed reducing gear pair III drives rotation by driving motor II.
The beneficial effects of the utility model are: high-precision positioning type mechanical arm of the present utility model, upper arm body forms lever construction by upper connecting rod with underarm body, lower link is driven to drive upper link rotatable by motor, thus drive upper arm body to rotate with underarm body pin joint around upper connecting rod, not only there is at a relatively high kinematic dexterity, preferably rotate adaptability, and lever construction can just make upper arm body have higher bearing capacity in the case of less driving force, reach labour-saving purpose, telescopic upper arm body is used to substantially increase radius of action, there is bigger area coverage, link and the multiple-aspect control of gripper mounting disc is realized in conjunction with upper arm drive mechanism, improve positioning precision, strong adaptability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the sectional view of link in this utility model.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model, Fig. 2 is the sectional view of link in this utility model, as shown in the figure: the high-precision positioning type mechanical arm of the present embodiment, including revolution pedestal and arm assembly, arm assembly includes lower arm assembly, upper arm assembly and gripper installation assembly;Described lower arm assembly includes underarm body 1 and arm body mounting seat 2, and arm body mounting seat 2 is fixedly installed on revolution pedestal, and described underarm body 1 is rotationally connected with described arm body mounting seat 2 by single-degree-of-freedom in the way of perpendicular rotation;Described upper arm assembly includes upper arm body and upper arm drive mechanism, described upper arm drive mechanism includes the most hinged lower link 4, intermediate connecting rod I 5 and upper connecting rod 6, described lower link 4 rotates along perpendicular by driving motor I 17 to drive, the hinged described underarm body 1 upper end formation lever construction that is arranged in the middle part of described upper connecting rod 6, underarm body 1, upper connecting rod 6, intermediate connecting rod I 5 and lower link 4 connection form lanar four rod mechanism;Described upper arm body is fixedly installed on described upper connecting rod 6 and can rotate along perpendicular with described upper connecting rod 6, and upper arm body 3 includes along himself long to the upper arm body leading portion 18 being slidably connected and upper arm body back segment 19;Described upper arm body leading portion 18 is set in upper arm body back segment 19, the double acting hydraulic cylinder 20 for driving upper arm body leading portion 18 to slide it is provided with in upper arm body back segment 19, the cylinder barrel of double acting hydraulic cylinder 20 is fixed on upper arm body back segment 19, the piston rod of double acting hydraulic cylinder 20 passes through hinge in the inwall of upper arm body leading portion 18, telescopic upper arm body is used to substantially increase radius of action, there is bigger area coverage, the multiple-aspect control of gripper is realized in conjunction with upper arm drive mechanism, improve positioning precision, strong adaptability, double acting hydraulic cylinder 20 drive efficiency is high, it is quick on the draw, serviceability is good;Described gripper installation assembly includes link 7 and gripper mounting disc 8, and described gripper mounting disc 8 is can be installed on link 7 in the way of own axis, and described link 7 is can be connected to described upper arm body front end in the way of perpendicular rotation;Gripper mounting disc rotates by driving motor 16 to drive;Described link 7 is provided with the mounting blocks 22 for installing gripper mounting disc 8, and two leading screws that described mounting blocks 22 is arranged by planche cross staggered form are connected to link 7;nullThe two ends of two leading screws are slidably connected to link 7 by slide block 23 along the direction single-degree-of-freedom being perpendicular to corresponding leading screw axis respectively,Two leading screws misplace layout up and down,Motor 16 is driven to be fixed on mounting blocks 22,The slip plane of two slide blocks 23 at one of them leading screw two ends is parallel with the slip plane of two slide blocks 23 at another one leading screw two ends,Two leading screws are all connected formation screw pair with mounting blocks 22,Therefore the connecting hole of corresponding two leading screws of mounting blocks 22 is the screwed hole matched,Two leading screws are driven by a servomotor 21 respectively and rotate,Servomotor 21 is fixed on outside the slide block 23 of any one end of corresponding leading screw,Link 7 is tower structure,Link 7 is provided with for installing slide block 23 and slide block 23 carrying out the guide rail of slide-and-guide,Described track is provided with for respective slide 23 being carried out spacing rail groove along being perpendicular to glide direction,On described slide block 23, respective carter groove is provided with locating convex block,Make during one of them screw turns, to drive mounting blocks 22 and another one screw synchronous to slide,Mounting blocks 22 little range translationai in link 7 can be realized,Improve control accuracy and the adaptability of gripper.
In the present embodiment, described gripper installation assembly also includes link 7 drive mechanism, front rod 9, intermediate connecting rod II 10 and the back link 11 that described link 7 drive mechanism is the most hinged, described back link 11 lower end is articulated with arm body mounting seat 2, and described front rod 9 front end is articulated with link 7.
In the present embodiment, the radius of clean-up of arm assembly is 1350mm-3150mm;Working in the annular region that i.e. this mechanical arm front end can be formed between the circle that radius is 1350mm and circle that radius is 3150mm, radius of action is relatively big, and working range is wider.
In the present embodiment, described intermediate connecting rod II 10 is inverted triangle structure, and the front end of intermediate connecting rod II 10 is articulated with front rod 9, and the rear end of intermediate connecting rod II 10 is articulated with back link 11, and the lower end of intermediate connecting rod II 10 is articulated with the upper end of underarm body 1;Underarm body 1, arm body mounting seat 2, back link 11 and intermediate connecting rod II 10 connect formation lanar four rod mechanism;Intermediate connecting rod II 10, upper arm body 3, link 7 and front rod 9 connect formation lanar four rod mechanism.
In the present embodiment, described intermediate connecting rod II 10 and described upper connecting rod 6 by same jointed shaft realize with underarm body 1 upper end hinged, the articulated manner existing jointed shaft structure of employing, belong to prior art, do not repeat them here;Link 7 drive mechanism can be formed rotating fulcrum, it is provided that dynamics supports, and reaches the operation of stable smooth-going, and simple and compact for structure, installing/dismounting and safeguard simple and convenient.
In the present embodiment, described arm body mounting seat 2 is U-shaped structure, its end side wall arranges described driving motor I 17, motor I 17 is driven to drive underarm body 1 to rotate by a speed reducing gear pair I, underarm body 1 is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven by described driving motor I 17 and rotates;Described arm body mounting seat 2 other end sidewall sets centrally-mounted driving II 12, motor II 12 is driven to drive lower link 4 to rotate by a speed reducing gear pair II, lower link 4 is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven by described driving motor II 12 and rotates;Described revolution pedestal includes driving motor III 13, driving box and rotary disk 14, described driving box includes casing 15 and the speed reducing gear pair III being arranged in casing 15, described rotary disk 14 is arranged at the driving box driven gear shaft being connected to speed reducing gear pair III fixed above, and the driving tooth of speed reducing gear pair III is by driving motor II 12 drive rotation;Realize underarm body 1 and 4 two parts of lower link and the installation of driver part thereof in the confined space in arm body mounting seat 2, preferably control size and overall weight so that compact conformation, reached running balance;Additionally, the gear structure of speed reducing gear pair I, speed reducing gear pair II and speed reducing gear pair III also can by existing RV reductor or harmonic speed reducer gear structure realize, after driving motor 16, driving motor I 17, driving motor II 12 and driving motor III 13 to assemble with corresponding speed reducing gear pair, under ensureing that assembly precision requires, the repetitive positioning accuracy of mechanical arm can reach 0.05mm, repetitive cycling precision can reach 0.25mm, it addition, rotary disk 14 and gripper mounting disc 8 can reach ± the rotation of 400 °.
Finally illustrate is, above example is only in order to illustrate the technical solution of the utility model and unrestricted, although this utility model being described in detail with reference to preferred embodiment, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent, without deviating from objective and the scope of technical solutions of the utility model, it all should be contained in the middle of right of the present utility model.

Claims (7)

1. a high-precision positioning type mechanical arm, it is characterised in that: including turning round pedestal and arm assembly, arm assembly includes lower arm assembly, upper arm assembly and gripper installation assembly;Described lower arm assembly includes underarm body and arm body mounting seat, and arm body mounting seat is fixedly installed on revolution pedestal, and described underarm body is rotationally connected with described arm body mounting seat by single-degree-of-freedom in the way of perpendicular rotation;Described upper arm assembly includes upper arm body and upper arm drive mechanism, described upper arm drive mechanism includes the most hinged lower link, intermediate connecting rod I and upper connecting rod, described lower link rotates along perpendicular by driving motor I to drive, in the middle part of described upper connecting rod hinged be arranged at described underarm body upper end formed lever construction, described upper arm body is fixedly installed on described upper connecting rod and can rotate along perpendicular with described upper connecting rod, and upper arm body includes along himself long to the upper arm body leading portion being slidably connected and upper arm body back segment;Described upper arm body leading portion is set in upper arm body back segment, the double acting hydraulic cylinder for driving upper arm body leading portion to slide it is provided with in upper arm body back segment, the cylinder barrel of double acting hydraulic cylinder is fixed on upper arm body back segment, and the piston rod of double acting hydraulic cylinder passes through hinge in the inwall of upper arm body leading portion;Described gripper installation assembly includes link and gripper mounting disc, and described gripper mounting disc is can be installed on link in the way of own axis, and described link is can be connected to described upper arm body front end in the way of perpendicular rotation;Described link is provided with the mounting blocks for installing gripper mounting disc, and two leading screws that described mounting seat is arranged by planche cross staggered form are connected to link;The two ends of two leading screws are slidably connected to link by slide block along the direction single-degree-of-freedom being perpendicular to corresponding leading screw axis respectively.
High-precision positioning type mechanical arm the most according to claim 1, it is characterized in that: described gripper installation assembly also includes link drive mechanism, front rod, intermediate connecting rod II and the back link that described link drive mechanism is the most hinged, described back link lower end is articulated with arm body mounting seat, and described front rod front end is articulated with link.
High-precision positioning type mechanical arm the most according to claim 2, it is characterised in that: the radius of clean-up of described arm assembly is 1350mm-3150mm.
High-precision positioning type mechanical arm the most according to claim 3, it is characterized in that: described intermediate connecting rod II is inverted triangle structure, the front end of intermediate connecting rod II is articulated with front rod, and the rear end of intermediate connecting rod II is articulated with back link, and the lower end of intermediate connecting rod II is articulated with the upper end of underarm body.
High-precision positioning type mechanical arm the most according to claim 4, it is characterised in that: described intermediate connecting rod II and described upper connecting rod by same jointed shaft realize with underarm body upper end hinged.
High-precision positioning type mechanical arm the most according to claim 5, it is characterized in that: described arm body mounting seat is U-shaped structure, its end side wall arranges described driving motor I, motor I is driven to drive underarm body to rotate by a speed reducing gear pair I, underarm body is fixedly connected on the driven gear shaft of speed reducing gear pair I, and the driving tooth of speed reducing gear pair I is driven rotation by described driving motor I;Described arm body mounting seat other end sidewall sets centrally-mounted driving II, motor II is driven to drive lower link to rotate by a speed reducing gear pair II, lower link is fixedly connected on the driven gear shaft of speed reducing gear pair II, and the driving tooth of speed reducing gear pair II is driven rotation by described driving motor II.
High-precision positioning type mechanical arm the most according to claim 6, it is characterized in that: described revolution pedestal includes driving motor III, driving box and rotary disk, described driving box includes casing and the speed reducing gear pair III being arranged in casing, described rotary disk is arranged at the driving box driven gear shaft being connected to speed reducing gear pair III fixed above, and the driving tooth of speed reducing gear pair III drives rotation by driving motor II.
CN201620401974.5U 2016-05-05 2016-05-05 High -precision locate mode manipulator Active CN205614702U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108068106A (en) * 2017-12-25 2018-05-25 上海交通职业技术学院 It is a kind of based on the robotic gripping device for having ordered-socs
CN108547461A (en) * 2018-04-09 2018-09-18 同济大学 A kind of prefabricated panel installation manipulator
CN106475996B (en) * 2016-10-20 2019-08-13 广州长仁工业科技有限公司 A kind of heavy load robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106475996B (en) * 2016-10-20 2019-08-13 广州长仁工业科技有限公司 A kind of heavy load robot
CN108068106A (en) * 2017-12-25 2018-05-25 上海交通职业技术学院 It is a kind of based on the robotic gripping device for having ordered-socs
CN108547461A (en) * 2018-04-09 2018-09-18 同济大学 A kind of prefabricated panel installation manipulator

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