CN206982666U - A kind of multi-functional five shaft mechanicals arm work station - Google Patents
A kind of multi-functional five shaft mechanicals arm work station Download PDFInfo
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- CN206982666U CN206982666U CN201720988388.XU CN201720988388U CN206982666U CN 206982666 U CN206982666 U CN 206982666U CN 201720988388 U CN201720988388 U CN 201720988388U CN 206982666 U CN206982666 U CN 206982666U
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Abstract
It the utility model is related to a kind of multi-functional five shaft mechanicals arm work station, including base, turntable, postbrachium, middle arm, forearm and end effector, the second planet-gear speed reducer is fixedly connected with base, the output shaft of second planet-gear speed reducer is affixed with turntable by flange, the bottom of postbrachium is affixed by the output shaft of flange and the second turbine worm reducer, the top of postbrachium is affixed by the output shaft of flange and the first turbine worm reducer, forearm is affixed by the output shaft of flange and the first planet-gear speed reducer, Servo-controller is connected with the free end of forearm, Servo-controller is connected with fixture.Robotic arm of the present utility model has five frees degree so that print job is more flexibly comprehensively, and the side processing to printing objects reduces secondary operation, improves the operating efficiency of 3D printing.The output shaft of each motor directly acts on base, postbrachium, middle arm, forearm and end effector, improves the precision of printing.
Description
Technical field
Robotic technology field is the utility model is related to, specifically, refers to a kind of multi-functional five shaft mechanicals arm work station.
Background technology
The mechanical arm technology of robot is to have concentrated theory of mechanisms, informatics, sensing technology and automatically controlled in the prior art
The new and high technology formed etc. a variety of subjects, with extensive use of the mechanical arm in life, industrial circle, the scheme of mechanical arm
Design is updated and innovated, and improves constantly the performances such as control accuracy, stability and production efficiency, according to application scenario not
Together, the design of mechanical arm is also varied, especially application of the mechanical arm in 3D printing technique.Wherein, FDM meltings are heavy
Product moulding process is that now currently used 3D printing technique manufacturing process, its material are usually that material is in shower nozzle with thread feed
Interior heated fusing, shower nozzle is moved along part section profile and filling track, while the material of fusing is extruded, and material coagulates rapidly
Gu and with the condensation of materials of surrounding.
But due to coordinating the mechanical arm of FDM fused glass pellet technique 3D printers that only there are 3 freedom in the prior art
Degree, it is impossible to carry out printing processing to the side of printing objects, it is necessary to carry out secondary operation ability to the side of printing objects again
Complete shaping so that the operating efficiency of 3D printing reduces.In order to increase the free degree of mechanical arm, most mechanical arm is passed using connecting rod
It is dynamic, and error when connecting rod is exaggerated manipulator motion, this makes precision to ensure again.Furthermore mechanical arm in the prior art
The installation site of motor, mechanical arm is easily set to produce larger inertia couple in motion process away from also to mechanical arm 3D printing
Precision cause strong influence.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of multi-functional five shaft mechanicals arm work station, existing to solve
Have the mechanical arm that the free degree is few in technology in its motion process, it is not high to end effector control accuracy the problem of.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：
A kind of multi-functional five shaft mechanicals arm work station, including base, turntable, postbrachium, middle arm, forearm and end are provided
Actuator, the second planet-gear speed reducer is fixedly connected with the base, a thrust ball axles are installed between turntable and base
Hold, the output shaft of the second planet-gear speed reducer is fixedly connected by flange with turntable, is fixedly connected at the top of turntable
There is support, the second turbine worm reducer is fixedly connected with support, the bottom of postbrachium is subtracted by flange and the second turbine and worm
The output shaft of fast machine is fixedly connected, and the first turbine worm reducer and the first planetary gear speed-reduction are fixedly connected with middle arm
Machine, the top of postbrachium are fixedly connected by flange with the output shaft of the first turbine worm reducer, and forearm passes through flange and first
The output shaft of planet-gear speed reducer is fixedly connected, and the free end of the forearm is fixedly connected with Servo-controller, Servo-controller
Output shaft is fixedly connected with the fixture for fixation ends actuator.
On the basis of above-mentioned technical proposal, the utility model can also do following improvement.
Further, in addition to control cabinet, control cabinet are connected with the plug on forearm, plug connection by cable
Have a sensor signal processor in the base, and plug also respectively with Servo-controller, the first planet-gear speed reducer,
First turbine worm reducer, the second turbine worm reducer, the second planet-gear speed reducer and end effector are connected,
The sensor signal processor is connected to be subtracted for detecting the first planet-gear speed reducer step number with the first turbine and worm
The first angle sensor of fast machine step number, second angle sensor and use for detecting the second turbine worm reducer step number
In the reference direction sensor for detecting the second planet-gear speed reducer step number and compare direction sensor, first angle sensor peace
On forearm, second angle sensor is arranged in postbrachium, reference direction sensor and is compared direction sensor and is arranged on bottom
In seat.
Further, the end effector is metallic print head, mechanical hand, pen, laser head or CNC motors.
Further, the end effector is metallic print head, and the outside of the materail tube in metallic print head is provided with stone
Mo Guan, the outside of graphite-pipe are provided with protection gas passage, protect and be wound with induction coil on the outside of gas passage.
Further, the induction coil is driven by external ZVS on-off circuits.
Further, the lower section of the metallic print head is provided with water cooling plant, and water cooling plant includes semiconductor chilling plate, water cooling
Tank and copper pipe, the top of the semiconductor chilling plate are provided with heat absorption platform, and the bottom of semiconductor chilling plate is provided with heat absorption bottom plate, institute
State and offer water inlet and delivery port in the side wall of water cooling tank respectively, the copper pipe helically plate-like be close to heat absorption bottom plate bottom
Portion, copper pipe both ends are tightly connected with water inlet, delivery port respectively.
Further, the lower section of the water cooling tank is provided with water-cooling subbase, and third planet tooth is fixedly connected with water-cooling subbase
Reductor is taken turns, b thrust ball bearings, the output shaft of the third planet gear reduction unit are installed between water cooling tank and water-cooling subbase
It is fixedly connected by flange with water cooling tank.
Further, the control cabinet includes microcomputer, feed mechanism, water pump, touch screen unit and emergency stop switch hand
Handle, microcomputer are connected with feed mechanism, water pump, touch screen unit and emergency stop switch handle respectively, feed mechanism and gold
Category printhead is connected, and water pump is connected with water inlet.
Further, the motor driving for being easy to increase by the 6th spindle motor is additionally provided with the forearm and starts metallic print
The touch sensor of head, motor are driven through fastener and reserved on forearm, and touch sensor is connected with metallic print head
Connect.
Further, the material of the base, turntable, postbrachium, middle arm and forearm is polymethyl methacrylate.
Relative to prior art, the utility model has the advantages that：
(1) robotic arm of the present utility model has five frees degree, be support respectively relative to the horizontally rotating of base, after
Arm is relative to the articulation of support, middle arm relative to torsion and end of the articulation, forearm of postbrachium relative to middle arm
Actuator relative to forearm swing so that print job more flexibly comprehensively, wherein, forearm can relative to the torsion of middle arm
Realize that mechanical arm is processed to the side of printing objects, reduce the secondary operation of printing objects, improve the work effect of 3D printing
Rate.
(2) be between base of the present utility model, postbrachium, middle arm, forearm and end effector by flange with it is each
Motor is directly connected to, and different from mechanical arm of the prior art by link transmission, makes the output shaft of each motor reducer direct
Base, postbrachium, middle arm, forearm and end effector are acted on, improves the precision during manipulator motion, and each electricity
Machine is installed within corresponding parts, avoid mechanical arm produced in motion process larger inertia couple away from and influence it
The problem of precision.
(3) first angle sensor of the present utility model, second angle sensor, reference direction sensor and comparison side
The anglec of rotation of each motor is detected to sensor, and control cabinet is fed back to by sensor signal processor, control cabinet is according to each
The step number of motor, automatically control the anglec of rotation of postbrachium, middle arm, forearm and end effector.
(4) the utility model sets up graphite-pipe in metallic print head, consumptive material is not only heated by metallic print head, simultaneously
Also aiding in heating by graphite-pipe, improve the efficiency of 3D printing, the protection gas path protection graphite-pipe of graphite-pipe is not oxidized, and
And ZVS on-off circuit induction heating techniques are used, the fast melt to low-melting-point metal can be achieved.
(5) water cooling plant of the present utility model produces the temperature difference by the pyroelectric effect of semiconductor chilling plate, makes on heat absorption platform
Relatively low temperature is formed, absorbs more heats, because printed material is metal, itself has good thermal conductivity, passes through heat absorption
Platform can be conducted to whole printout, and printout is quickly cooled down.
(6) base of the present utility model, postbrachium, middle arm and forearm are polymethyl methacrylate, different from existing
The mechanical arm of aluminum alloy materials is used in technology, polymethyl methacrylate is a kind of high hardness resin material, have hardness it is high,
Rigid body performance is good, light weight, insulation, it is fire-retardant, attractive in appearance the advantages of.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the sectional view of metallic print head；
Fig. 3 is the structural representation of water cooling plant；
Fig. 4 is the structural representation that copper pipe is arranged on heat absorption bottom plate；
Fig. 5 is the circuit theory diagrams of ZVS on-off circuits；
Fig. 6 is the structural representation that mechanical arm, water cooling plant and control cabinet are arranged in shell.
In accompanying drawing, the part representated by each label is as follows：
1st, base, 2, turntable, 3, postbrachium, 4, middle arm, 5, forearm, 6, Servo-controller, the 7, first planet-gear speed reducer,
8th, the first turbine worm reducer, the 9, second turbine worm reducer, the 10, second planet-gear speed reducer, 11, fixture, 12, end
Hold actuator, 121, graphite-pipe, 122, protection gas passage, 123, materail tube, 124, induction coil, 13, plug, 14, a thrust ball axles
Hold, 15, support, 16, heat absorption platform, 17, semiconductor chilling plate, 18, heat absorption bottom plate, 19, water inlet, 20, delivery port, 21, water cooling
Tank, 22, b thrust ball bearings, 23, third planet gear reduction unit, 24, water-cooling subbase, 25, copper pipe, 26, control cabinet.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit the scope of the utility model.
Embodiment 1：
A kind of multi-functional five shaft mechanicals arm work station, as shown in Figures 1 to 5, including base 1, turntable 2, postbrachium 3, in
Arm 4, forearm 5 and end effector 12, the second planet-gear speed reducer 10, turntable 2 and bottom are fixedly connected with base 1
A thrust ball bearings 14 are installed between seat 1, the output shaft of the second planet-gear speed reducer 10 is fixed by flange and turntable 2
Connection, support 15 is fixedly connected with the top of turntable 2, the driving arm 15 of the second planet-gear speed reducer 10 is on base 1
Horizontally rotate.The second turbine worm reducer 9 is fixedly connected with support 15, the bottom of postbrachium 3 passes through flange and the second turbine
The output shaft of worm decelerating machine 9 is fixedly connected, so that postbrachium can rotate vertically on support 15.It is fixedly connected in middle arm 4
There are the first turbine worm reducer 8 and the first planet-gear speed reducer 7, wherein, the top of postbrachium 3 passes through flange and the first turbine
The output shaft of worm decelerating machine 8 is fixedly connected, so that middle arm 4 can be in postbrachium 3 and the rotation with surface of middle arm 4；Forearm 5 passes through
Flange is fixedly connected with the output shaft of the first planet-gear speed reducer 7, so that forearm 5 can reverse relative to middle arm 4.Forearm 5
Free end be fixedly connected with Servo-controller 6, the output shaft of Servo-controller 6 is fixedly connected with fixture 11, the clamping ends of fixture 11
Actuator 12, Servo-controller 6 can drive end effector 12 to swing.
Mechanical arm of the present utility model also include plug 13, control cabinet 26, sensor signal processor, for detect first
The first angle sensor of the step number of planet-gear speed reducer 7 and the step number of the first turbine worm reducer 8, for detecting the second turbine
The second angle sensor of the step number of worm decelerating machine 9 and the reference direction for detecting the step number of the second planet-gear speed reducer 10
Sensor and compare direction sensor.Wherein, the process chip in control cabinet 26 for mechanical arm uses STM32F746, is used for
The control chip of mechanical arm uses ATMEGA2560, and the chip of sensor signal processor is TCA9548, first angle sensor
MPU6050 is used with second angle sensor, reference direction sensor direction sensor compared with uses QMC5883L.Insert
First 13 are arranged on forearm 5 with first angle sensor, and second angle sensor is arranged in postbrachium 3, sensor signal processing
Device, reference direction sensor and compare direction sensor in the base 1.First angle sensor, second angle sensing
Device, reference direction sensor and compare direction sensor and be connected with sensor signal processor, Servo-controller 6, first
Planet-gear speed reducer 7, the first turbine worm reducer 8, the second turbine worm reducer 9, the second planet-gear speed reducer 10,
End effector 12 and sensor signal processor are connected with plug 13, and plug 13 passes through in cable and control cabinet 26
Chip be connected.
End effector 12 of the present utility model can clamp metallic print head, mechanical hand, pen, laser head or CNC motors,
Such as：Clamping metallic print head can carry out 3D printing, and clamping mechanical hand can carry out carrying part, soldered circuit board, clamp
Pen can be mapped, paint, and clamping laser head can carry out laser engraving, and clamping CNC motors can be machined, therefore,
Make the application of tool arm more extensive.
Embodiment 2：
The present embodiment is further improved on the basis of above-described embodiment, as shown in Fig. 2 end effector 12 is metal
During printhead, the outside of the materail tube 123 in metallic print head is provided with graphite-pipe 121, and the outside of graphite-pipe 121 is provided with protection
Gas passage 122, the outside of protection gas passage 122 are wound with induction coil 124, and induction coil 124 is driven by external ZVS on-off circuits
It is dynamic.For the circuit diagram of ZVS on-off circuits as shown in figure 5, L1, L2 are connected with induction coil 124 respectively in figure, induction coil uses copper cash
It is made, ± 48V is connected with power supply, and efficient Medium frequency induction inversion, graphite-pipe 121 are realized by ZVS on-off circuits
The electric current come out by autonomous induction produces Joule heat, material is melted rapidly, and the metal of liquid is extruded by shower nozzle, sense
Dry nitrogen is filled with protection gas passage 122 in should enclosing, on the one hand can be heat-insulated, on the other hand prevent graphite-pipe 121
Oxidation.
Embodiment 3：
The present embodiment is further improved on the basis of above-described embodiment, as shown in Figure 3, Figure 4, under metallic print head
Side is provided with water cooling plant, and water cooling plant includes semiconductor chilling plate 17, water cooling tank 21 and copper pipe 25, semiconductor chilling plate 17
Top is provided with heat absorption platform 16, and the bottom of semiconductor chilling plate 17 is provided with heat absorption bottom plate 18, opened up respectively in the side wall of water cooling tank 21
Have a water inlet 19 and delivery port 20, helically plate-like is close to the bottom of heat absorption bottom plate 18 to copper pipe 25, the both ends of copper pipe 25 respectively with
Water inlet 19, delivery port 20 are tightly connected.Water-cooling subbase 24 is additionally provided with the lower section of water cooling tank 21, it is fixed in water-cooling subbase 24
Third planet gear reduction unit 23 is connected with, b thrust ball bearings 22, the third line are installed between water cooling tank 21 and water-cooling subbase 24
The output shaft of star gear reduction unit 23 is fixedly connected by flange with water cooling tank 21.
The thermoelectric-cooled unit that liquid metal is made up of semiconductor chilling plate 17 quickly cools down, semiconductor chilling plate 17
Pyroelectric effect produces the temperature difference, makes to form relatively low temperature on heat absorption platform 16, absorbs more heats, because printed material is gold
Category, itself has good thermal conductivity, platform 16 can be conducted to whole printing objects by absorbing heat, so that rapid by printing objects
Shaping.Helically plate-like is close to the bottom of heat absorption bottom plate 18 to copper pipe 25, can be transferred to the maximum temperature limit of cold water
Absorb heat bottom plate 18.In addition, third planet gear reduction unit 23 drives water cooling tank 21 to horizontally rotate, make mechanical arm of the present utility model
The side print of printing objects can be further realized under control of the computer.
Embodiment 4：
The present embodiment is further improved on the basis of above-described embodiment, and above-mentioned control cabinet 26 also includes miniature calculating
Machine, feed mechanism, water pump, touch screen unit and emergency stop switch handle, microcomputer is mainly by above-mentioned STM32F746 machinery
Arm process chip and ATMEGA2560 mechanical arm control chip form, and microcomputer respectively with feed mechanism, water pump,
Touch screen unit and emergency stop switch handle are connected, and feed mechanism is connected with metallic print head, and water pump is connected with water inlet 19
Connect.The motor driving for being easy to increase by the 6th spindle motor and the touch sensor for starting metallic print head are additionally provided with forearm 5,
Motor is driven through fastener and reserved on forearm 5, and touch sensor is connected with metallic print head.
Above-mentioned TCA9548 sensor signal processor is by first angle sensor, second angle sensor, reference direction
Sensor and compare direction sensor feedback of the information it is automatic by the control of microcomputer to microcomputer, mechanical arm
Printed according to model.Feed mechanism to metallic print head feeding, water pump make cold water successively by water inlet 19, copper pipe 25 and
Delivery port 20 is circulated.
In addition, above-mentioned base 1, turntable 2, postbrachium 3, the material of middle arm 4 and forearm 5 are poly-methyl methacrylate
Fat, polymethyl methacrylate are a kind of high hardness resin materials, have good hardness height, rigid body performance, light weight, insulation, resistance
The advantages of firing, be attractive in appearance.The installing plate of mechanical arm upper flange, the installing plate of motor using chloroform dissolving bonding, can make
The structure of mechanical arm is more solid, and reduces construction machine loosening, further improves precision during manipulator motion.It is above-mentioned
Flange is flange made of aerolite, has the advantages of accurate, reduction torsional deflection.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (10)
- A kind of 1. multi-functional five shaft mechanicals arm work station, it is characterised in that：Including base (1), turntable (2), postbrachium (3), in Arm (4), forearm (5) and end effector (12), the base (1) is interior to be fixedly connected with the second planet-gear speed reducer (10) a thrust ball bearings (14), the output of the second planet-gear speed reducer (10), are installed between turntable (2) and base (1) Axle is fixedly connected by flange with turntable (2), and support (15) is fixedly connected with the top of turntable (2), and support (15) is interior The second turbine worm reducer (9) is fixedly connected with, the bottom of postbrachium (3) passes through flange and the second turbine worm reducer (9) Output shaft be fixedly connected, be fixedly connected with the first turbine worm reducer (8) and the first planetary gear speed-reduction in the middle arm (4) Machine (7), the top of postbrachium (3) are fixedly connected by flange with the output shaft of the first turbine worm reducer (8), and forearm (5) is logical The output shaft that flange is crossed with the first planet-gear speed reducer (7) is fixedly connected, and the free end of the forearm (5), which is fixedly connected with, to be watched Steering wheel (6) is taken, the output shaft of Servo-controller (6) is fixedly connected with the fixture (11) for fixation ends actuator (12).
- 2. multi-functional five shaft mechanicals arm work station according to claim 1, it is characterised in that：Also include control cabinet (26), Control cabinet (26) is connected with the plug (13) on forearm (5) by cable, and plug (13) is connected with installed in base (1) sensor signal processor in, and plug (13) also respectively with Servo-controller (6), the first planet-gear speed reducer (7), the first turbine worm reducer (8), the second turbine worm reducer (9), the second planet-gear speed reducer (10) and end End actuator (12) is connected, and the sensor signal processor is connected to for detecting the first planet-gear speed reducer (7) the first angle sensor of step number and the first turbine worm reducer (8) step number, for detecting the second turbine worm reducer (9) the second angle sensor of step number and the reference direction sensor for detecting the second planet-gear speed reducer (10) step number With compare direction sensor, first angle sensor is arranged on forearm (5), and second angle sensor is arranged in postbrachium (3), Reference direction sensor is arranged in base (1) with direction sensor is compared.
- 3. multi-functional five shaft mechanicals arm work station according to claim 2, it is characterised in that：The end effector (12) For metallic print head, mechanical hand, pen, laser head or CNC motors.
- 4. multi-functional five shaft mechanicals arm work station according to claim 3, it is characterised in that：The end effector (12) For metallic print head, the outside of the materail tube (123) in metallic print head is provided with graphite-pipe (121), graphite-pipe (121) it is outer Side is provided with protection gas passage (122), and induction coil (124) is wound with the outside of protection gas passage (122).
- 5. multi-functional five shaft mechanicals arm work station according to claim 4, it is characterised in that：The induction coil (124) is logical Cross external ZVS on-off circuits driving.
- 6. multi-functional five shaft mechanicals arm work station according to claim 5, it is characterised in that：Under the metallic print head Side is provided with water cooling plant, and water cooling plant includes semiconductor chilling plate (17), water cooling tank (21) and copper pipe (25), the semiconductor The top of cooling piece (17) is provided with heat absorption platform (16), and the bottom of semiconductor chilling plate (17) is provided with heat absorption bottom plate (18), the water Water inlet (19) and delivery port (20) are offered in the side wall of cold tank (21) respectively, the copper pipe (25) helically be close to by plate-like The bottom of heat absorption bottom plate (18), copper pipe (25) both ends are tightly connected with water inlet (19), delivery port (20) respectively.
- 7. multi-functional five shaft mechanicals arm work station according to claim 6, it is characterised in that：Under the water cooling tank (21) Side is provided with water-cooling subbase (24), and third planet gear reduction unit (23), water cooling tank are fixedly connected with water-cooling subbase (24) (21) b thrust ball bearings (22), the output of the third planet gear reduction unit (23) are installed between water-cooling subbase (24) Axle is fixedly connected by flange with water cooling tank (21).
- 8. multi-functional five shaft mechanicals arm work station according to claim 7, it is characterised in that：The control cabinet (26) includes Microcomputer, feed mechanism, water pump, touch screen unit and emergency stop switch handle, microcomputer respectively with feed mechanism, water Pump, touch screen unit and emergency stop switch handle are connected, and feed mechanism is connected with metallic print head, water pump and water inlet (19) It is connected.
- 9. multi-functional five shaft mechanicals arm work station according to claim 8, it is characterised in that：Also set on the forearm (5) There are the motor driving for being easy to increase by the 6th spindle motor and the touch sensor for starting metallic print head, motor to be driven through tightly Firmware is reserved to be arranged on forearm (5), and touch sensor is connected with metallic print head.
- 10. the multi-functional five shaft mechanicals arm work station according to any one of claim 1 to 9, it is characterised in that：The base (1), the material of turntable (2), postbrachium (3), middle arm (4) and forearm (5) is polymethyl methacrylate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720988388.XU CN206982666U (en) | 2017-08-09 | 2017-08-09 | A kind of multi-functional five shaft mechanicals arm work station |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720988388.XU CN206982666U (en) | 2017-08-09 | 2017-08-09 | A kind of multi-functional five shaft mechanicals arm work station |
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| Publication Number | Publication Date |
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| CN206982666U true CN206982666U (en) | 2018-02-09 |
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| CN201720988388.XU Expired - Fee Related CN206982666U (en) | 2017-08-09 | 2017-08-09 | A kind of multi-functional five shaft mechanicals arm work station |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263453A (en) * | 2017-08-09 | 2017-10-20 | 成都航空职业技术学院 | A kind of multi-functional five shaft mechanicals arm work station |
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- 2017-08-09 CN CN201720988388.XU patent/CN206982666U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263453A (en) * | 2017-08-09 | 2017-10-20 | 成都航空职业技术学院 | A kind of multi-functional five shaft mechanicals arm work station |
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Granted publication date: 20180209 Termination date: 20200809 |