CN207172061U - A kind of flapping articulation handling machinery arm - Google Patents
A kind of flapping articulation handling machinery arm Download PDFInfo
- Publication number
- CN207172061U CN207172061U CN201721070777.0U CN201721070777U CN207172061U CN 207172061 U CN207172061 U CN 207172061U CN 201721070777 U CN201721070777 U CN 201721070777U CN 207172061 U CN207172061 U CN 207172061U
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- control system
- joint
- rocking bar
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of flapping articulation handling machinery arm, including mechanical arm body, the mechanical arm body includes pillar and control system, the pillar upper end is rotatably connected to principal arm vertically by main joint, the principal arm external part is connected with auxiliary by secondary articulation, the auxiliary external part straight down and is rotatablely equipped with the hoisting mechanism for improving material, the control system is provided with the operating mechanism for being used for controlling principal arm and auxiliary to rotate, the operating mechanism includes handle and the rocking bar for controlling principal arm and auxiliary to move, the handle is arranged on hoisting mechanism bottom, the rocking bar is arranged on handle.
Description
Technical field
It the utility model is related to manipulator technical field, more particularly to a kind of assistance mechanical arm.
Background technology
Traditional assistance mechanical arm, after material lifting, mechanical arm operating need to be pushed to by manpower to realize material
Carrying.On the one hand, because the strength of people is smaller (be usually less than 300 Ns), to overcome the motional inertia of material, can only with than
Slower speed is pushed to material movement, simultaneously because assistance mechanical arm uses doublejointed structure, principal arm is to be connected with auxiliary
Point rotates as the center of circle, and for relative usage person, material is that the track being overlapped mutually with two circular arcs is moved, when
When user need to carry to material according to straight path, the moving radius in two joints need to be overcome, it is inconvenient for operation.It is another
Aspect, due to being limited by manpower, when needing that material is implemented to be accurately positioned (below positioning precision 10mm), operator is difficult
The size of itself thrust is accurately controlled, excess of stroke motion or undershoot motion easily occurs, it is necessary to repeatedly attempt that material could be realized
It is accurately positioned.Therefore, traditional assistance mechanical arm, operation is slowly, operation is inconvenient, expends user's muscle power.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides a kind of flapping articulation handling machinery arm, should
Mechanical arm is simple in construction, replaces manpower using motor, is swift in motion, while pieces together material with the microcosmic movement locus of multistage
Macroscopical actual motion track, so as to realize the light carrying of material.
Technical scheme is used by the utility model solves its technical problem：
A kind of flapping articulation handling machinery arm, including mechanical arm body, the mechanical arm body includes pillar and control is
System, the pillar upper end are rotatably connected to principal arm vertically by main joint, and the principal arm external part is connected by secondary articulation
There is an auxiliary, the auxiliary external part straight down and is rotatablely equipped with the hoisting mechanism for improving material, the control system
Provided with the operating mechanism for controlling principal arm and auxiliary to rotate, the operating mechanism includes handle and for controlling principal arm and pair
The rocking bar of arm motion, the handle are arranged on hoisting mechanism bottom, and the rocking bar is arranged on handle.
As the improvement of above-mentioned technical proposal, the main joint includes main motor and is connected first with main motor output end
Deceleration group, the first deceleration group output end are connected by main joint rotary shaft with principal arm, the secondary joint include auxiliary-motor with
And the second deceleration group being connected with auxiliary-motor output end, the second deceleration group output end pass through secondary joint rotary shaft auxiliary connection
Arm.
As the improvement of above-mentioned technical proposal, the main joint is additionally provided with to be opened for resetting the first photoelectricity of principal arm and pillar
Close, the secondary joint is additionally provided with the second optoelectronic switch for resetting principal arm and auxiliary.
As the improvement of above-mentioned technical proposal, the hoisting mechanism includes body frame and subframe, and the body frame top passes through end
Joint is rotatablely connected with auxiliary, and the auxiliary is provided with encoder, the encoder and the rotation in last joint close to last joint one end
Axis connection, the subframe can vertically be slidably mounted on the side of body frame, and side of the subframe bottom away from body frame connects
It is connected to the fork platform for pitching delivery thing.
As the improvement of above-mentioned technical proposal, the operating mechanism is arranged on the bottom of body frame and the side away from subframe,
The handle is symmetrically mounted on the bottom of body frame, and the rocking bar is selected one and is arranged on handle, the rocking bar and control system data
Connection.
As the improvement of above-mentioned technical proposal, the rocking bar can export at least two groups of analog signalses to control system, point
Not Wei X and Y-direction analog signal, control system through can be calculated the next displacement L for performing the cycle in last joint with
, can by calculating and the angle B that hoisting mechanism is formed with rocking bar, encoder can export one group of analog signals to control system
Show that hoisting mechanism forms angle A with auxiliary, the angle A and angle B can draw next execution by control system conversion
The direction of motion in all end of term joints.
The beneficial effects of the utility model have：
The utility model provides a kind of flapping articulation handling machinery arm, and the mechanical arm is skeleton generation using principal arm and auxiliary
For manpower, user can easily carry material, and the motion of principal arm and auxiliary is controlled by rocking bar, and control system is adopted at a high speed
Sample rocking bar data, calculating, the kinematic parameter for changing principal arm and auxiliary；Track is carried due to being controlled in real time using control system, can
To improve the movement velocity of assistance mechanical arm and accuracy on a large scale, it is more flexible that user carries material；Can real time modifying removed
The movement locus of material is transported, improves the flexibility of assistance mechanical arm, acts not clamping stagnation, it is time saving and energy saving.
Brief description of the drawings
Below in conjunction with the accompanying drawings and specific embodiment the utility model is described in further detail, wherein：
Fig. 1 is the utility model embodiment structural representation；
Fig. 2 is another structural representation of the utility model embodiment；
Fig. 3 is the utility model embodiment structure schematic diagram.
Embodiment
Referring to Fig. 1, a kind of flapping articulation handling machinery arm of the present utility model, including mechanical arm body 1, the mechanical arm
Body includes pillar 2 and the control system moved for control machinery arm body 1, and the upper end of pillar 2, which horizontally rotates, to be connected with
Principal arm 3, principal arm 3 is vertical with pillar 2, and the external part of principal arm 3 is rotatably connected to auxiliary 4, and principal arm 3 is parallel to each other with auxiliary 4, secondary
Arm 4 can surround the external part of principal arm 3 and rotate, and non-interference, and main joint 7, the master are additionally provided between the pillar 2 and principal arm 3
Joint 7 includes main motor 71 and the first deceleration group 72, the output end of the first deceleration group 72 is connected with the output end of main motor 71
It is connected by the rotary shaft of main joint 7 with principal arm 3, using the first deceleration group 72, main motor output power can be kept to meet to carry
It is required that.The main joint 7 is additionally provided with the first optoelectronic switch for resetting principal arm 3 and pillar 2, for sensing principal arm 3 and pillar 2
During playback, the zeroing data to control system to main motor 71.Time joint 8 is additionally provided between the principal arm 3 and auxiliary 4, it is described
Secondary joint 8 includes auxiliary-motor 81 and the second deceleration group 82 being connected with the output end of auxiliary-motor 81, the second deceleration group 82 are defeated
Go out end and auxiliary 4 is connected by time rotary shaft of joint 8, the second deceleration group 82 is connected using secondary joint 8 and auxiliary 4, user are removing
Flexibility is stronger when transporting material.The secondary joint 8 is additionally provided with the second optoelectronic switch for resetting principal arm 3 and auxiliary 4, for feeling
When answering principal arm 3 and the playback of auxiliary 4, the zeroing data to control system to auxiliary-motor 81.
With further reference to Fig. 2, the external part of auxiliary 4 is rotatablely equipped with the hoisting mechanism for improving material straight down
5；Wherein, the hoisting mechanism 5 includes body frame 51 and subframe 52, and the top of body frame 51 is rotated by last joint 9 and auxiliary 4 to be connected
Connect, the auxiliary 4 is provided with encoder 10 close to last one end of joint 9, and the encoder 10 and the rotary shaft in last joint 9 pass through belt
Connection, encoder 10 are used to detect the relative rotation angle of hoisting mechanism 5 and auxiliary 4, facilitate control system to hoisting mechanism 5 or
Converted the position in last joint 9.The subframe 52 can vertical sliding be arranged on body frame 51 side, wherein, body frame is about 51
End is provided with a rotatable driving chain, and subframe 52 is connected in the middle part of driving chain, need to be by motor driven driving chain only
The relative motion of in the vertical direction between subframe 52 and body frame 51 can be achieved, so as to realize the lifting of material.The subframe 52
Side of the bottom away from body frame 51 is connected with the fork platform 53 for pitching delivery thing, and fork platform 53 passes through a connecting seat and the fork subframe of platform 53
52 bottoms connect, and connecting seat is provided with a rotary shaft, one external motor of the rotation axis connection, realizes that the position of fork platform 53 is put down
Move, adapt to material handling position.In addition fork platform 53 is provided with two crotch that can adjust folding distance.
The control system is provided with the operating mechanism 6 for being used for controlling principal arm 3 and auxiliary 4 to rotate, and the operating mechanism 6 is installed
In the bottom of hoisting mechanism 5.The operating mechanism 6 is arranged on the bottom of body frame 51 and the side away from subframe 52, the manipulation
Mechanism 6 includes handle 61 and the rocking bar 62 for controlling principal arm 3 and auxiliary 4 to move, and the handle 61 is symmetrically mounted on body frame
The both sides of 51 bottom, the rocking bar 62 are selected one and are arranged on handle 61, and the rocking bar 62 is connected with control system data, is only needed
By controlling the direction of rocking bar 62, the can of rocking bar 62 exports X, the displacement vector signal in Y-direction respectively, and the signal is sent
Enter control system and carry out computing, control system is synthesized the displacement vector exported of rocking bar 62, forms one in displacement
Vector, while the signal output of this resultant displacement vector is believed for the kinematic parameter that main motor 71 and auxiliary-motor 81 can identify
Number, and then control main motor 71 and auxiliary-motor 81.
Referring to Fig. 3, a kind of working method of flapping articulation handling machinery arm is as follows disclosed in the utility model：Operating personnel
Using hoisting mechanism 5 by after material lifting, and it is the same execution cycle by set-up of control system；Control system calculates
N (N >=1) is individual to perform the kinematic parameter of cycle analog signalses, and controls main motor 71 and auxiliary-motor 81 to perform week according to n-th
The kinematic parameter of phase carries out setting in motion, starts simultaneously at the N+1 execution cycle analog signals of reception, and calculate next
Perform the kinematic parameter of two motors in the cycle；Treat that main motor 71 and auxiliary-motor 81 perform the kinematic parameter in cycle according to n-th
After the completion of progress, material on hoisting mechanism 5 reaches the target point that n-th performs the cycle, and now control system will calculate
The kinematic parameter signal in the N+1 execution cycle feeds back to main motor 71 and auxiliary-motor 81, while control system starts to receive N
The kinematic parameter signal in+2 execution cycles, and calculate the N+2 motion for performing main motor 71 and auxiliary-motor 81 in the cycle
Parameter；The like, macroscopical actual motion track of material is pieced together with the microcosmic movement locus of multistage, so as to realize material
Carrying.
Wherein above-mentioned kinematic parameter includes running speed, Acceleration and deceleration time and the rotation side of main motor 71 and auxiliary-motor 81
To etc. parameter, and the resultant displacement vector of principal arm 3 and auxiliary 4 both motions, these kinematic parameters carry out by control system
It is calculated.Above-mentioned fixed frequency can be set to 50Hz or more than 50Hz, facilitate control system to be controlled
In addition the rocking bar 62 can export at least two groups of analog signalses, the simulation of respectively X and Y-direction to control system
Signal, control system is by can be calculated last the N+1 displacement L and hoisting mechanism 5 and rocking bar for performing the cycle in joint 9
62 angle Bs formed.Wherein, displacement L is equal to rocking bar 62 and performed at the N+1 in the cycle, respectively needed for X and Y-direction
The displacement to be moved synthesis summation, displacement L is on rocking bar 62 using mode is implemented as described below：When distant bar 62 is towards a side
To when entering line tilt, the size of the angle B formed between distant bar 62 and hoisting mechanism 5 determines that the motion of whole mechanical arm is fast
Slowly, now inclined distant bar 62 can be projected decomposition in x and y direction, and the length projected determines the size of movement velocity, control
System processed reads the motion vector of distant bar 62 in x and y direction with the fixed cycle, can be with according to the time of movement velocity and motion
Mechanical arm is calculated respectively, and both are synthesized to final displacement again in the distance moved needed for X and Y-direction, control system respectively
Amount.In addition, also other modes that displacement L is used on rocking bar 62 are realized：Because each execution cycle is fixed
, displacement L determines the speed of manipulator motion, and angle B determines displacement L direction.Above-mentioned displacement L and angle B are equal
The data-signal exported by rocking bar 62 is sent in control system, so as to realize control.
In addition, encoder 10 can to control system export one group of analog signals, through can be calculated hoisting mechanism 5 with
Auxiliary 4 forms angle A, and angle A is equal to encoder 10 and the angle value finally rotated in the cycle is performed at the N+1.It is described
Angle A and angle B can draw the N+1 direction of motion for performing all end of term joints 9 by control system conversion.Due to principal arm 3,
The eccentric throw in auxiliary 4 and rocking bar 62 and last joint 9 is known, and the position of rocking bar 62 and last joint 9 is entered by D-H matrixes
Row conversion, you can realize the conversion for the center of rotation that rocking bar 62 and last joint 9 are typically fixed at fulcrum with pillar and ground, side
Just control system transmits a signal to main motor 71 and auxiliary-motor 81.Completed when the N+1 execution cycle, control system meeting
Controlled motor performs the kinematic parameter in the N+2 execution cycle calculated, is held because control system circulates according to fixation
The row cycle receive institute's output signal of encoder 10 and rocking bar 62, so can real time modifying and executive control system calculated
The movement locus gone out, macroscopical actual motion track of material is pieced together with the microcosmic movement locus of multistage, so as to realize material
Carrying, and then handling process flexible, light requirement.
It is described above, simply better embodiment of the present utility model, but the utility model is not limited to above-mentioned reality
Example is applied, as long as it reaches technique effect of the present utility model with any same or similar means, should all belong to of the present utility model
Protection domain.
Claims (6)
- A kind of 1. flapping articulation handling machinery arm, it is characterised in that：Including mechanical arm body (1), mechanical arm body (1) bag Pillar (2) and control system are included, pillar (2) upper end is rotatably connected to principal arm (3), the master vertically by main joint (7) Arm (3) external part is rotatably connected to auxiliary (4) by secondary joint (8), and auxiliary (4) external part straight down and is rotatablely installed There is the hoisting mechanism (5) for improving material, the control system is provided with the behaviour for being used for controlling principal arm (3) and auxiliary (4) to rotate Vertical mechanism (6), the operating mechanism (6) include handle (61) and the rocking bar for controlling principal arm (3) and auxiliary (4) to move (62), the handle (61) is arranged on hoisting mechanism (5) bottom, and the rocking bar (62) is arranged on handle (61).
- A kind of 2. flapping articulation handling machinery arm according to claim 1, it is characterised in that：The main joint (7) includes Main motor (71) and the first deceleration group (72) is connected with main motor (71) output end, the first deceleration group (72) output end is led to Cross main joint (7) rotary shaft to be connected with principal arm (3), the secondary joint (8) includes auxiliary-motor (81) and defeated with auxiliary-motor (81) Go out the second deceleration group (82) of end connection, the second deceleration group (82) output end connects auxiliary by secondary joint (8) rotary shaft (4)。
- A kind of 3. flapping articulation handling machinery arm according to claim 2, it is characterised in that：The main joint (7) also sets Have for resetting the first optoelectronic switch of principal arm (3) and pillar (2), the secondary joint (8) be additionally provided be used to resetting principal arm (3) and Second optoelectronic switch of auxiliary (4).
- A kind of 4. flapping articulation handling machinery arm according to claim 1, it is characterised in that：Hoisting mechanism (5) bag Body frame (51) and subframe (52) are included, body frame (51) top is rotatablely connected by last joint (9) and auxiliary (4), the auxiliary (4) encoder (10), the encoder (10) and the rotation axis connection in last joint (9) are provided with close to last joint (9) one end, it is described Subframe (52) can vertically be slidably mounted on the side of body frame (51), subframe (52) bottom away from body frame (51) one Side is connected with the fork platform (53) for pitching delivery thing.
- A kind of 5. flapping articulation handling machinery arm according to claim 4, it is characterised in that：Operating mechanism (6) peace Mounted in the bottom of body frame (51) and the side away from subframe (52), the handle (61) are symmetrically mounted on the bottom of body frame (51), The rocking bar (62) is selected one and is arranged on handle (61), and the rocking bar (62) is connected with control system data.
- A kind of 6. flapping articulation handling machinery arm according to claim 1, it is characterised in that：The rocking bar (62) can be to control System processed exports the analog signal of at least two groups of analog signalses, respectively X and Y-direction, and control system is by can be calculated The angle B that the next displacement L for performing the cycle of last joint (9) and hoisting mechanism (5) are formed with rocking bar (62), encoder (10) one group of analog signals being exported to control system, angle is formed with auxiliary (4) by can be calculated hoisting mechanism (5) A is spent, the angle A and angle B can draw next direction of motion for performing all end of term joints (9) by control system conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721070777.0U CN207172061U (en) | 2017-08-24 | 2017-08-24 | A kind of flapping articulation handling machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721070777.0U CN207172061U (en) | 2017-08-24 | 2017-08-24 | A kind of flapping articulation handling machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207172061U true CN207172061U (en) | 2018-04-03 |
Family
ID=61738864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721070777.0U Expired - Fee Related CN207172061U (en) | 2017-08-24 | 2017-08-24 | A kind of flapping articulation handling machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207172061U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582143A (en) * | 2018-06-27 | 2018-09-28 | 上海海洋大学 | A kind of adaptive portable sorting mechanical arm |
-
2017
- 2017-08-24 CN CN201721070777.0U patent/CN207172061U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582143A (en) * | 2018-06-27 | 2018-09-28 | 上海海洋大学 | A kind of adaptive portable sorting mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108190497B (en) | Folding lifting device, folding robot for clamping stacked objects and carrying method | |
| US8423183B2 (en) | Robot and method of controlling the same | |
| CN106325273A (en) | Multi-phase gait switching control system and control method for power-assisted exoskeleton robot | |
| CN105320138B (en) | The control method that recovery exercising robot movement velocity and movement locus are tracked simultaneously | |
| CN105751211B (en) | A kind of the continual curvature variation robot and its control method of flexible link driving | |
| CN105244808B (en) | Cable climbing robot for power transmission line to perform on-line monitoring | |
| CN109946974A (en) | A kind of control system of electric drive quadruped robot | |
| CN207172061U (en) | A kind of flapping articulation handling machinery arm | |
| CN105775226A (en) | Five-bar pushing mechanism for packing machine | |
| CN115783081A (en) | Foot type robot and motion control method | |
| CN109676916A (en) | A kind of 3D printing system and its working method | |
| CN107457772A (en) | A kind of flapping articulation handling machinery arm and its method for carrying | |
| CN207462308U (en) | A kind of dermaskeleton type upper limb rehabilitation image training robot | |
| CN108858123A (en) | Scout car based on computer control | |
| CN105171744A (en) | Movement control method for five-freedom-degree rotary chain type stacking manipulator | |
| CN205328245U (en) | Cantilever hacking machine | |
| CN104555472A (en) | Simple mechanical arm stacking machine | |
| CN107671834A (en) | Complete intelligent heavy mechanical hand | |
| CN106697345A (en) | Granular medicine packing equipment | |
| CN208559586U (en) | A kind of cable climbing robot | |
| CN109896434A (en) | A kind of plant produced line work piece carrying mechanism | |
| CN215341502U (en) | Robot spider hand controlled equipment | |
| CN205652428U (en) | Five -bar linkage pushing equipment that packagine machine used | |
| CN206934727U (en) | A kind of robot | |
| CN204626630U (en) | A kind of coal mine drainage ditch cleaning equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 Termination date: 20210824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |