CN207901159U - A kind of single motor-driven liftable high-precision pick-and-place manipulator - Google Patents
A kind of single motor-driven liftable high-precision pick-and-place manipulator Download PDFInfo
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- CN207901159U CN207901159U CN201721864633.2U CN201721864633U CN207901159U CN 207901159 U CN207901159 U CN 207901159U CN 201721864633 U CN201721864633 U CN 201721864633U CN 207901159 U CN207901159 U CN 207901159U
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Abstract
The utility model is related to a kind of single motor-driven high-precision pick-and-place manipulators that can be lifted, which includes drive module, execution module and control module；Drive module is using single motor as sole power device；Execution module includes Manipulator Hand and robot movement mechanism；Wherein Manipulator Hand includes four arms, and for this four arms two-by-two by the parallel connection of limit shaft, half gear engaged by spring and two realizes the linkage of four arms；Robot movement mechanism is made of a cam member and multiple levers, the cam member includes two coaxial arrangements, disc cams parallel to each other, big cam (7) therein drive multiple arms simultaneously inner clip, outer, the decline and rise of small cam (8) driving hand；Control module, including two sensory feedback devices are respectively used to the lifting position of positioning mechanical arm hand and judge whether Manipulator Hand grabs article.The robot manipulator structure is simple, manipulation is easy, pick-and-place is accurate, reliability is high.
Description
Technical field
The utility model belongs to field of mechanical technique, and in particular to a kind of single motor-driven manipulator.
Background technology
Manipulator, which is one kind, can imitate human body hand, arm function, complete the automatic pilot of certain set actions, structure
It makes and has human body and mechanical respective advantage, i.e. flexibility ratio and resistance to dynamics in performance concurrently, artificial realize largely can be substituted
Mechanization and automation, especially because its can under harmful operating environment (toxic, strong acid-base, radiation etc.) long-time work
Make, use protection personal safety, thus is widely used in the fields such as machine-building, metallurgy, electronics, light industry or even atomic energy.
Manipulator is mainly made of execution module, drive module and control module three parts.Execution module is by hand (industry
Boundary's custom claims paw) and motion composition.Hand is to the component of pick-and-place article, and motion is then to keep hand complete
At various compound motions to realize the component of predetermined action requirement；Drive module is the power resources of manipulator, realization method
Mainly there are 4 kinds, respectively hydraulic-driven, air pressure driving, electrically driven and Mechanical Driven at present；Control module is realizing machinery
The orderly action of hand, while receiving feedback, form stable closed circuit.
As it can be seen that the efficient operation to ensure manipulator, execution module, drive module, control module are both needed to have very high
Serious forgiveness, this requires hand and motions to have very high mechanical strength and precision, to realize the high reliability of article
Pick-and-place；The power of utmostly simplified drive module, which is set, matches, and is driven using single power, to avoid more power drive processes
In action failure caused by a certain dynamic failure；Control module uses the control device of high precision, realizes high accuracy positioning, together
When farthest reduce number of devices, to prevent a certain device fault caused by control failure.However, in published China
Not yet found in patent document single power driving, high-precision pick-and-place manipulator relevant technical motivation.
Invention content
The purpose of this utility model is to provide a kind of single power driving the high-precision pick-and-place manipulator that can be lifted,
By the lifting of the rotary driving machine tool hand of single motor, pick-and-place realizes the high reliability pick-and-place of article.
The purpose of this utility model is achieved through the following technical solutions：
A kind of liftable high-precision pick-and-place manipulator of single power driving, the manipulator include drive module, execute mould
Block and control module；
Drive module, including single motor and transmission gear are as sole power device；
Execution module includes mainly Manipulator Hand and robot movement mechanism；Wherein：
Manipulator Hand includes four arms, this four arms pass through spring and two two-by-two by the parallel connection of limit shaft
Half gear of a engagement realizes the linkage of four arms；Robot movement mechanism is made of a cam member and multiple levers,
The cam member includes two coaxial arrangements, disc cams parallel to each other, and big cam 7 therein drives multiple arms interior simultaneously
Folder is opened outside, and small cam 8 drives the decline and rise of hand；
Control module, including two sensory feedback devices, are respectively used to lifting position and the judgement of positioning mechanical arm hand
Whether Manipulator Hand grabs article.
Two cams are arranged in fixed angle in cam member, are connected by driven shaft 6 by the transmission gear of drive module,
The driven member of two cam coaxial rotations of driving, two cams is respectively two L-shaped pull rods 9,18, and one circle of cam member rotation is logical
It crosses effect lever and realizes that the lifting of Manipulator Hand is completed at the same time with pick-and-place action.
Big cam 7 controls outside multiple arms through the first L-shaped lever 9, drag link 10 in cam member, and small cam 8 is through the
Two L-shaped levers 18 control the decline and rise of hand.
The rotation center of the contact point of small cam 8 and the second L-shaped lever 18 and small cam 8 apart from it is smaller and smaller when, realize
The dropping action of Manipulator Hand；Small cam 8 is got over the contact point of the second L-shaped lever 18 and the rotation center distance of small cam 8
When coming bigger, the rise action of Manipulator Hand is realized.
Drive module includes：First fixed plate 1, the second fixed plate 2, motor 3, first gear 4, second gear 5；First is solid
Fixed board 1 connects the fixed frame to form manipulator with the second fixed plate 2 by pillar, is disposed between fixed plate 1 and fixed plate 2
Driving shaft and driven shaft pass through transmission gear engaged transmission between driving shaft and driven shaft 6.
Manipulator Hand by four arms 13,16,20,21, intermeshing two and half gear 11,14, tension spring and
Locating piece 17 forms so that each arm can complete the inner clip to article and outer with synchronous interaction.
In Manipulator Hand, the first arm 13 and the second arm 16 are oppositely disposed at intermeshing half gear 11,14
Edge, third arm 20 and the 4th arm 21 are through the first limit shaft 12 and the second limit shaft 15 and the first arm 13 and the second arm
16 fix.
Control module, including cam sensor device 22 and manipulator sensing device 23, are respectively used to positioning mechanical arm hand
Lifting position and judge Manipulator Hand whether there is or not grab article；
Cam sensor device 22 is between two cams, for completing cam rotational positioning；
Manipulator sensing device 23 is located at Manipulator Hand lower part, for judging whether deposited in Manipulator Hand detection handgrip
In article.
Cam sensor device 22 is optoelectronic switch, and manipulator sensing device 23 is to penetrating switch.
The beneficial effects of the utility model are：
(1) power of utmostly simplified drive module, which is set, matches.It selects single motor as sole power device, avoids more
Action failure caused by a certain dynamic failure during power drive, serious forgiveness are high.
(2) execution module has very high mechanical linkage and precision.Mainly pass through between Manipulator Hand and motion
Cam and lever link；Manipulator Hand realizes arm linkage by the effect of spring and meshing gear, by driving branch
Frame realizes that the arm during crawl positions with locating piece effect, and pick-and-place is accurate, and reliability is high.
(3) utmostly loop settings of simplify control module.Sensory feedback device only has at two, farthest reduces
The quantity of control device prevents from controlling failure in more device control loops caused by a certain device fault；Meanwhile it is selected
Sensory feedback device all have very high precision, it is ensured that realize high accuracy positioning.
Description of the drawings
Fig. 1 is the structural schematic diagram of the manipulator of the utility model.
Fig. 2 is manipulator schematic internal view (removing drive module).
Reference numeral：
1 first fixed plate, 2 second fixed plate
3 motor, 4 first gear
5 second gear, 6 driven shaft
7 big cam, 8 small cam
9 first L-shaped lever, 10 drag link
11 the first half 12 first limit shafts of gear
13 first arms 14, the second half gear
15 second limit shaft, 16 second arm
17 locating piece, 18 second L-shaped lever
19 vertical connecting rod, 20 third arm
21 the 4th arm, 22 cam sensor device
23 manipulator sensing devices
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.
A kind of single motor-driven manipulator, including drive module, execution module and control module.
In order to realize that the high reliability pick-and-place of manipulator, the utility model select the electrically driven realization as drive module
Mode includes mainly power plant and transmission device two parts.The utility model selects single motor as sole power device,
The accurate transmission with manipulator execution module is realized by gear engagement, avoids the damage of the machine shaft caused by pick-and-place load excessive
It is bad.
Drive module, including：First fixed plate 1, the second fixed plate 2, motor 3, first gear 4, second gear 5.
Fixed plate 1 connects the fixed frame to form manipulator with fixed plate 2 by pillar.Between fixed plate 1 and fixed plate 2
It is disposed with driving shaft and driven shaft, passes through transmission gear engaged transmission between driving shaft and driven shaft 6, it is preferable that first gear 4
It is arranged on driving shaft, second gear 5 is arranged on driven shaft, and output shaft and the active axis connection of motor 3, motor 3 pass through master
Moving axis drives first gear 4 to rotate, and first gear 4 drives second gear 5 to rotate.
According to the size that pick-and-place loads, the engagement ratio of transmission gear is can adjust, the stress size of machine shaft is made to be located at just
Within normal section, the damage of the machine shaft caused by pick-and-place load excessive is avoided, it is ensured that the normal operation of drive module.
Execution module includes mainly Manipulator Hand and robot movement mechanism.
Robot movement mechanism, including cam and lever.Cam and the transmission gear of drive module are connected by holder, tooth
Wheel belt moving cam rotates, and is in fixed angle between cam, and cam realizes that the lifting of Manipulator Hand and pick-and-place are dynamic by acting on lever
Make.
Manipulator Hand, including 4 arms and locating piece 17 are constituted.First arm 13, the second arm 20 pass through the first limit
Position 12 parallel connection of axis, third arm 16, the 4th arm 21 pass through the 15 parallel connection of the second limit shaft, spring (not shown)
It is hung between the first limit shaft 12 and the second limit shaft 15, passes through the effect of spring and the first half gears 11, the second half gears 14
Arm linkage is realized, by driving holder to realize that the arm during crawl positions with locating piece effect.
When arm starts arm inner clip simultaneously through spring, the first half gears 11 and the second half 14 zone of action of gear, connection the
The 4th arm 21 of two arms 16, the second limit shaft 15 of 13 third arm 20 of the first arm and the first limit shaft 12 are also interior simultaneously
Folder, when the second limit shaft 15 and the first limit shaft 12 are had an effect with locating piece 17, arm stops inner clip, and locating piece 17 determines
Angle between arm, it is ensured that article is held, and realizes the reliable crawl of article.
Specific embodiment of the utility model is that execution module includes：Big cam 7, small cam 8, the first L-shaped lever 9 are horizontal
Pull rod 10, the first half gears 11, the first limit shaft 12, first, third arm 13,20, the second half gears 14, the second limit shaft
15, the second, the 4th arm 16,21, locating piece 17, the second L-shaped lever 18, vertical connecting rod 19.
On the driven shaft 6, the angle between big cam 7 and small cam 8 is fixed for big cam 7 and the arrangement of small cam 8.Second tooth
Wheel 5 drives big cam 7 and small cam 8 to rotate by driven shaft 6, realizes the accurate transmission between drive module and execution module.
When driven shaft 6, which drives big cam 7 to rotate forward, pushes the first L-shaped lever 9, the first L-shaped lever 9 drives drag link
10, the second arm 16 is outer under the action of drag link 10.The first, third arm 13, the 20, second, the 4th arm 16,21 two-by-two
It is mutually parallel connection by rear limit shaft 12 and front limit axis 15, the second arm 16 passes through the first half gears 11 and between arm
2 half gears 14, which engage, drives the linkage of the first arm 13, then realizes and is opened outside while arm, completes the release to article and acts；
At the same time, the second L-shaped lever 18 is acted always in rotation process in the small cam 8 of fixed angle with big cam 7,
When distance of the position away from 8 rotation center of small cam is with minimum value is turned to, the second L-shaped lever 18 drives under Manipulator Hand
Drop, completes the dropping action of hand；Then, big cam 7 is gradually reduced the effect of the first L-shaped lever 9, and the second arm 16 is in bullet
Gradual inner clip under the pulling of spring drives arm connection by the gear engagement on the second half gears 14 between arm and the first half gears 11
Dynamic, inner clip while then realizing arm completes the grasping movement to article；Then, small cam 8 and the second L-shaped lever 18
Distance of the position away from 8 rotation center of small cam gradually increases with rotation, and the second L-shaped lever 18 drives Manipulator Hand to rise,
Complete the rise action of hand.When the second gear 5 in drive module drives 8 the second L-shaped of backwards rotation pair lever 18 of small cam
It acts, when distance of the position away from 8 rotation center of small cam is with minimum value is turned to, the second L-shaped lever 18 drives machinery
Hand hand declines, and completes the dropping action of hand；Then, big cam 7 pushes the first L-shaped lever 9, the first L-shaped lever 9 through rotation
Drive drag link 10, the second arm 16 outer under the action of drag link 10, first, third arm 13,20, second, the 4th hand
Arm 16,21 is mutually parallel connection by the first limit shaft 12 and the second limit shaft 15 two-by-two, and the second arm 16 is by between arm
The first half gears 11 and the second half engagements of gear 14 drive the linkage of the first arm 13, while then realizing arm outside, complete
Placement action to article；Then, the position of small cam 8 and the second L-shaped lever 18 away from a distance from 8 rotation center of small cam with
Rotation gradually increases, and the second L-shaped lever 18 drives Manipulator Hand to rise, and completes the rise action of hand；Then, big cam 7
Effect between the first L-shaped lever 9 is gradually reduced, the gradual inner clip under the pulling of spring of forearm 16, by between arm
Gear engagement drives arm linkage, and inner clip while then realizing arm, manipulator returns original state.
Control module, including cam sensor device 22 and manipulator sensing device 23, are respectively used to positioning mechanical arm hand
Lifting position and judge Manipulator Hand whether there is or not grab article.Cam sensor device 22 is between two cams, for completing
Cam rotational positioning.When motor 3 is positive, and two cams is driven to block triggering cam sensor device, Manipulator Hand completes article
Crawl is promoted；When motor reversely drives two cams to leave the cam sensor device, Manipulator Hand complete article put drop and
Placement acts.
Manipulator sensing device 23 is located at Manipulator Hand lower part, for judging whether deposited in Manipulator Hand detection handgrip
In article.When manipulator sensing device detects article, which blocks triggering by article, and control module connects
Feedback signal is received, then judges that the reliable crawl to article is completed in Manipulator Hand.
Preferably, the cam sensor device 22 of the utility model embodiment is optoelectronic switch, and manipulator sensing device 23 is
To penetrating switch.
The high-precision liftable pick-and-place manipulator that this kind is driven using single power, main working process are divided into 2 steps：
1) land, capture, go up：First, motor 3 rotates clockwise, and first gear 4 is driven to rotate, to drive second
Gear 5 rotates, and second gear 5 drives big cam 7, small cam 8 to rotate together by driven shaft 6, leaves cam sensor device；Greatly
Cam 7 pushes the first L-shaped lever 9, the first L-shaped lever 9 to drive drag link 10 first, and drag link 10 is under the action of big cam 7
Pull the second arm 16 so that the second, the 4th arm 16,21, first, third arm 13,20 while outer, and stay open shape
State；At this point, small cam 8 and the contact point of the second L-shaped lever 18 are got in rotary course at a distance from the rotation center of small cam 8
It is next smaller, to realize the dropping action of Manipulator Hand；In descent, manipulator sensing device 23 is sentenced by feedback signal
Whether with the presence of article in disconnected Manipulator Hand；Then, the active force between big cam 7 and the first L-shaped lever 9 is gradually reduced,
Second arm 16 gradual inner clip under the action of spring and the first half gears 11, the second half gears 14 engage, when big cam 7 and
When between one L-shaped lever 9 without active force, first to fourth arm 16,21,13,20 completes inner clip, captures article；Then, small cam
8 with the contact point of the second L-shaped lever 18 with it is increasing at a distance from 8 rotation center of small cam, to realize Manipulator Hand
Rise acts；Then, big cam 7 and small cam 8 rotate a circle, and triggering cam sensor device 22, action stops, and completes landing,
Crawl, the action of rise.
2) land, place, go up：First, motor 3 rotates counterclockwise, and first gear 4 is driven to rotate, to drive second
Gear 5 rotates, and second gear 5 drives big cam 7, small cam 8 to rotate together, leaves cam sensor device 22；First, small cam
8 with the contact point of the second L-shaped lever 18 with it is smaller and smaller at a distance from 8 rotation center of small cam, to realize Manipulator Hand
Dropping action；Then, big cam 7 pushes the first L-shaped lever 9, the first L-shaped lever 9 that drag link 10, drag link 10 is driven to exist first
The second arm 16 is pulled under the action of big cam 7 so that outer simultaneously of first to fourth arm 16,21,13,20 places workpiece；
Then, the contact point of small cam 8 and the second L-shaped lever 18 with it is increasing at a distance from 8 rotation center of small cam, to realize machine
The rise of tool hand hand acts；During rise, manipulator sensing device 23 judged by feedback signal be in Manipulator Hand
It is no to have article；Then, the active force between big cam 7 and the first L-shaped lever 9 tapers into, the second arm 16 spring with
Gradual inner clip under the action of the first half gears 11, the second half gears 14 engage, when between big cam 7 and the first L-shaped lever 9 without work
When firmly, first to fourth arm 16,21,13,20 completes inner clip, returns original state；Then, big cam 7 and small cam 8 rotate
One week, triggering cam sensor device 22, action stopped, and completes landing, places, the action of rise.
Case study on implementation
The utility model is applied successfully in a kind of compound Xray fluorescence spectrometer of wave spectrum power spectrum.The instrument
Device can detect the constituent content in sample, be widely used in the fields such as metallurgy, geology, building materials, environment.The utility model can be with
Full-automatic sample introduction is completed in the case of unattended and unloads sample, is saved the manual labor of staff, is substantially increased instrument
The working efficiency of device.
Claims (9)
1. a kind of single motor-driven liftable high-precision pick-and-place manipulator, it is characterised in that：
The manipulator includes drive module, execution module and control module；
Drive module, including single motor and transmission gear are as sole power device；
Execution module includes mainly Manipulator Hand and robot movement mechanism；Wherein：
Manipulator Hand includes four arms, this four arms are nibbled two-by-two by the parallel connection of limit shaft by spring and two
Half gear closed realizes the linkage of four arms；Robot movement mechanism is made of a cam member and multiple levers, this is convex
Wheel unit includes two coaxial arrangements, disc cams parallel to each other, and big cam (7) therein drives multiple arms interior simultaneously
Folder is opened outside, the decline and rise of small cam (8) driving hand；
Control module, including two sensory feedback devices are respectively used to the lifting position of positioning mechanical arm hand and judge machinery
Whether hand hand grabs article.
2. single motor-driven liftable high-precision pick-and-place manipulator according to claim 1, it is characterised in that：
Two cams are arranged in fixed angle in cam member, are connected, are driven by driven shaft (6) by the transmission gear of drive module
The driven member of dynamic two cam coaxials rotation, two cams is respectively two L-shaped pull rods (9,18), and one circle of cam member rotation is logical
It crosses effect lever and realizes that the lifting of Manipulator Hand is completed at the same time with pick-and-place action.
3. single motor-driven liftable high-precision pick-and-place manipulator according to claim 1, it is characterised in that：
Big cam (7) is controlled through the first L-shaped lever (9), drag link (10) and is opened outside multiple arms in cam member, small cam (8)
The decline and rise of hand are controlled through the second L-shaped lever (18).
4. single motor-driven liftable high-precision pick-and-place manipulator according to claim 1, it is characterised in that：
The contact point of small cam (8) and the second L-shaped lever (18) and the rotation center of small cam (8) apart from it is smaller and smaller when, it is real
The dropping action of existing Manipulator Hand；In the rotation of the contact point and small cam (8) of small cam (8) and the second L-shaped lever (18)
The heart apart from it is increasing when, realize Manipulator Hand rise action.
5. single motor-driven liftable high-precision pick-and-place manipulator according to claim 1, it is characterised in that：
Drive module includes：First fixed plate (1), the second fixed plate (2), motor (3), first gear (4), second gear (5)；
First fixed plate (1) connects the fixed frame to form manipulator, fixed plate (1) and fixation with the second fixed plate (2) by pillar
It is disposed with driving shaft and driven shaft between plate (2), passes through transmission gear engaged transmission between driving shaft and driven shaft (6).
6. single motor-driven liftable high-precision pick-and-place manipulator according to claim 1, it is characterised in that：
Manipulator Hand by four arms (13,16,20,21), intermeshing two and half gear (11,14), tension spring and
Locating piece (17) forms so that each arm can complete the inner clip to article and outer with synchronous interaction.
7. single motor-driven liftable high-precision pick-and-place manipulator according to claim 6, it is characterised in that：
In Manipulator Hand, the first arm (13) and the second arm (16) be oppositely disposed at intermeshing half gear (11,
14) edge, third arm (20) and the 4th arm (21) are through the first limit shaft (12) and the second limit shaft (15) and the first arm
(13) and the second arm (16) is fixed.
8. single motor-driven liftable high-precision pick-and-place manipulator according to claim 6, it is characterised in that：
Control module, including cam sensor device (22) and manipulator sensing device (23), are respectively used to positioning mechanical arm hand
Lifting position and judge Manipulator Hand whether there is or not grab article；
Cam sensor device (22) is between two cams, for completing cam rotational positioning；
Manipulator sensing device (23) is located at Manipulator Hand lower part, whether there is in Manipulator Hand detection handgrip for judging
Article.
9. single motor-driven liftable high-precision pick-and-place manipulator according to claim 6, it is characterised in that：
Cam sensor device (22) is optoelectronic switch, and manipulator sensing device (23) is to penetrating switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721864633.2U CN207901159U (en) | 2017-12-27 | 2017-12-27 | A kind of single motor-driven liftable high-precision pick-and-place manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721864633.2U CN207901159U (en) | 2017-12-27 | 2017-12-27 | A kind of single motor-driven liftable high-precision pick-and-place manipulator |
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| Publication Number | Publication Date |
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| CN207901159U true CN207901159U (en) | 2018-09-25 |
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ID=63568975
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015756A (en) * | 2017-12-27 | 2018-05-11 | 钢研纳克检测技术股份有限公司 | A kind of single motor-driven liftable high accuracy pick-and-place manipulator and its control method |
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2017
- 2017-12-27 CN CN201721864633.2U patent/CN207901159U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015756A (en) * | 2017-12-27 | 2018-05-11 | 钢研纳克检测技术股份有限公司 | A kind of single motor-driven liftable high accuracy pick-and-place manipulator and its control method |
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