CN208132954U - A kind of three freedom degree manipulator - Google Patents
A kind of three freedom degree manipulator Download PDFInfo
- Publication number
- CN208132954U CN208132954U CN201820490674.8U CN201820490674U CN208132954U CN 208132954 U CN208132954 U CN 208132954U CN 201820490674 U CN201820490674 U CN 201820490674U CN 208132954 U CN208132954 U CN 208132954U
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- China
- Prior art keywords
- shaft
- forearm
- adjusting rod
- driving motor
- transmission device
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Abstract
The utility model provides a kind of three freedom degree manipulator, including pedestal, rotating mechanism, supporting mechanism and clamping device, and rotating mechanism includes chassis, the first driving motor and the first transmission device；Supporting mechanism includes arm support section, the second driving motor, the second transmission device, large arm, triangular supports, first rotating shaft, the second shaft, first shaft coupling, second shaft coupling, forearm, cooperation adjusting rod and connection shoulder；The bottom end of connection shoulder is connected with clamping device.Second driving motor can respectively drive first shaft coupling by the second transmission device, second shaft coupling collaboration drives postbrachium, cooperation the upper and lower of adjusting rod moves forward and backward, and then drive the back-and-forth motion up and down of clamping device.Manipulator operation designed by the utility model is simple, structurally reasonable, on the basis of capable of being accurately positioned in three dimensions, can have faster tracking velocity, track following performance and can overcome the probabilistic interference of three freedom degree manipulator itself.
Description
Technical field
The utility model relates to manipulator fields, and in particular to a kind of three freedom degree manipulator.
Background technique
On Automated assembly electroplating assembly line, manipulator can be quickly accurate from a position by single or multiple workpiece
Ground crawl is moved to target position.The application of manipulator substantially increases production efficiency, is also easier to realize automation control, together
When it can also make operator from influence of the plating environment for health of human body.The more manipulator of application has two freedom at present
Spend manipulator and three freedom degree manipulator.
Along with the progress of science and technology, robot industry has welcome air port, while enterprise is in order to solve the problems, such as waste pair of recruitment
In replacing artificial interest more and more denseer using manipulator, it is fast that various factors exacerbate carrying code coal industrial robot
Speed development has welcome gold developing period.And the industry mechanical arm of the important branch as industrial robot, have extremely important
Research significance.The repeatability of many work is relatively high, safety is lower, manipulator is easy to operate as one kind, cost is relatively low,
Highly-safe very strong practicability technology, in occupation of increasingly important role in the work of Industry Control.And it is existing
Manipulator designs complexity mostly, higher cost, to during analysis of mechanism, kinematics analysis and realization trajectory planning and movement
The comprehensive reasonable of emulation is dissected and is maximized and utilizes to it, thus to maximize the flexibility for improving manipulator, reasonable structure
Deng will be with important application value.
Utility model content
For above-mentioned background, the utility model provides a kind of three freedom degree manipulator, in mechanical, hand-driven mechanics and movement
On the basis of learning research, designed manipulator operation is simple, structurally reasonable, being capable of pinpoint basis in three dimensions
On, can there are faster tracking velocity, track following performance and three freedom degree manipulator itself can be overcome probabilistic
Interference.
The following technical solution is employed for the utility model：
A kind of three freedom degree manipulator, including pedestal, rotating mechanism, supporting mechanism and clamping device,
The rotating mechanism includes chassis, the first driving motor and the first transmission device, and the chassis is arranged at the bottom
On seat, first driving motor can drive chassis to be rotated on pedestal by first transmission device；
The supporting mechanism include arm support section, the second driving motor, the second transmission device, large arm, triangular supports,
First rotating shaft, the second shaft, first shaft coupling, second shaft coupling, forearm, cooperation adjusting rod and connection shoulder, the arm support
Section is fixed on chassis, and the first rotating shaft is arranged in arm support section；The large arm includes forearm and postbrachium, the forearm
It is connected by first rotating shaft with arm support section, the postbrachium is connected in first rotating shaft by the first shaft coupling；It is described
The tail end of forearm is arranged in second shaft, and the triangular supports are triangle, and a vertex of the triangle passes through second turn
Axis is connected with forearm, and another two vertex is connected with postbrachium and forearm respectively；The cooperation adjusting rod includes cooperation adjusting rod leading portion
With cooperation adjusting rod back segment, the cooperation adjusting rod back segment is connected in first rotating shaft by the second shaft coupling, the association
Making adjustments bar leading portion can be rotated using the second shaft as axis, and the tail end of cooperation adjusting rod leading portion is connected with the connection shoulder；
The connection shoulder is equipped with vertical bar, and the tail end of forearm is connected with the vertical bar；The bottom end of connection shoulder and the clamping device
It is connected；
Second driving motor can drive first shaft coupling that postbrachium is driven to carry out by second transmission device
The up and down motion of lower movement, postbrachium drives forearm to carry out movement up and down or around by triangular supports, meanwhile, the second driving electricity
Machine can drive second shaft coupling that cooperation adjusting rod back segment is driven to move up and down by the second transmission device, and cooperate adjusting rod
The up and down motion of back segment drives cooperation adjusting rod leading portion to carry out movement up and down or around by the second shaft；Forearm it is upper and lower or preceding
It moves afterwards and the movement up and down or around of cooperation adjusting rod leading portion can link and drive the upper and lower of connection shoulder or be moved forward and backward, in turn
It drives the upper and lower of clamping device or is moved forward and backward.
Preferably, the connection of the clamping device and the connection shoulder is shaft connection.
Preferably, the clamping device includes third driving motor, third transmission device and gripper.
Preferably, the third driving motor by the third transmission device drive the crawl campaign of the gripper with
And the clamping device is rotated by shaft in the bottom end of the connection shoulder.
Preferably, the forearm, one side of triangular supports, postbrachium and first shaft coupling are parallelogram knot along connection
Structure.
Preferably, three apex angles of the triangular supports are fillet.
Preferably, the forearm is hollow type, and forearm uses Metal plate.
The utility model has an advantageous effect in that：
The three freedom degree manipulator is able to carry out 360 ° of circle rotation movements and moves forward and backward up and down, and structure is simple, spirit
Activity is good, greatly improves the motion range of manipulator, realizes the space bit big, and that end clamping device can be made to reach of span
It sets more extensively, reduces the volume of manipulator, smooth motion profile can be obtained, it is practical；End clamping device can begin
Keep straight down, there is stronger stability eventually；On the basis of mechanical, hand-driven mechanics and kinematics research, designed machine
Tool hand is easy to operate, structurally reasonable, on the basis of capable of being accurately positioned in three dimensions, can there is tracking speed faster
Degree, track following performance simultaneously can overcome the probabilistic interference of three freedom degree manipulator itself；The connecting rod machine of triangular supports
Structure has high stability, can keep stable transmission ratio.Movement of attached connecting rod by large arm etc. is more attached than being transmitted to forearm
Belong to connecting rod；Triangular supports are processed into fillet at each interior exterior angle, prevent stress from concentrating and cause the rupture failure of component；It is small
Arm is arch design, improves forearm when running work by the resistance of external impacts.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three freedom degree manipulator.
Wherein, 1 is pedestal, and 2 be chassis, and 3 be arm support section, and 4 be first rotating shaft, and 5 be forearm, and 6 be postbrachium, and 7 be the
Two shaft couplings, 8 be the second shaft, and 9 be triangular supports, and 10 be forearm, and 11 be cooperation adjusting rod leading portion, and 12 be cooperation adjusting rod
Back segment, 13 be connection shoulder, and 14 be vertical bar, and 15 be clamping device.
Specific embodiment
The utility model is specifically described with reference to the accompanying drawing：
In conjunction with Fig. 1, a kind of three freedom degree manipulator, including pedestal, rotating mechanism, supporting mechanism and clamping device, rotation
Mechanism includes that chassis, the first driving motor and the first transmission device, chassis are set on the base, and the first driving motor passes through first
Transmission device can drive chassis to be rotated on pedestal.
Supporting mechanism includes arm support section, the second driving motor, the second transmission device, large arm, triangular supports, first
Shaft, the second shaft, first shaft coupling, second shaft coupling, forearm, cooperation adjusting rod and connection shoulder, arm support section are fixed on
On chassis, first rotating shaft is arranged in arm support section；Large arm includes forearm and postbrachium, and forearm passes through first rotating shaft and arm branch
It supports section to be connected, postbrachium is connected in first rotating shaft by first shaft coupling；The tail end of forearm, triangle branch is arranged in second shaft
Frame is triangle, and a vertex of the triangle is connected by the second shaft with forearm, another two vertex respectively with postbrachium and small
Arm is connected；The adjusting rod that cooperates includes cooperation adjusting rod leading portion and cooperation adjusting rod back segment, and cooperation adjusting rod back segment passes through second
Axis device is connected in first rotating shaft, and cooperation adjusting rod leading portion can be rotated using the second shaft as axis, and cooperate adjusting rod leading portion
Tail end with connect shoulder be connected；It connects shoulder and is equipped with vertical bar, the tail end of forearm is connected with vertical bar；Connect bottom end and the folder of shoulder
Mechanism is held to be connected.Forearm, one side of triangular supports, postbrachium and first shaft coupling are parallelogram sturcutre along connection, and forearm is
Hollow type, forearm use Metal plate, and three apex angles of triangular supports are fillet.
Second driving motor can drive first shaft coupling that postbrachium is driven to move up and down by the second transmission device, after
The up and down motion of arm drives forearm to carry out movement up and down or around by triangular supports, meanwhile, the second driving motor passes through the
Two transmission devices can drive second shaft coupling that cooperation adjusting rod back segment is driven to move up and down, and cooperate the upper of adjusting rod back segment
Lower movement drives cooperation adjusting rod leading portion to carry out movement up and down or around by the second shaft；The movement up and down or around of forearm and
The movement up and down or around of cooperation adjusting rod leading portion, which can link, to be driven the upper and lower of connection shoulder or is moved forward and backward, and then drives clamping
The upper and lower or back-and-forth motion of mechanism.
Clamping device is shaft connection with the connection for connecting shoulder, and clamping device includes third driving motor, third transmission dress
It sets and gripper.Third driving motor is by the crawl campaign and clamping device of third transmission device driving gripper by turning
Axis is rotated in the bottom end of connection shoulder.
Certainly, the above description is not intended to limit the present invention, and the utility model is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made in the essential scope of the utility model, are also answered
Belong to the protection scope of the utility model.
Claims (5)
1. a kind of three freedom degree manipulator, which is characterized in that described including pedestal, rotating mechanism, supporting mechanism and clamping device
Rotating mechanism includes chassis, the first driving motor and the first transmission device, and the chassis is arranged on the base, and described first
Driving motor can drive chassis to be rotated on pedestal by first transmission device；
The supporting mechanism includes arm support section, the second driving motor, the second transmission device, large arm, triangular supports, first
Shaft, the second shaft, first shaft coupling, second shaft coupling, forearm, cooperation adjusting rod and connection shoulder, the arm support Duan Gu
Due on chassis, the first rotating shaft is arranged in arm support section；The large arm includes forearm and postbrachium, and the forearm passes through
First rotating shaft is connected with arm support section, and the postbrachium is connected in first rotating shaft by the first shaft coupling；Described second
Shaft is arranged in the tail end of forearm, and the triangular supports are triangle, a vertex of the triangle by the second shaft with
Forearm is connected, and another two vertex is connected with postbrachium and forearm respectively；The cooperation adjusting rod includes cooperation adjusting rod leading portion and association
Bar back segment is made adjustments, the cooperation adjusting rod back segment is connected in first rotating shaft by the second shaft coupling, and the cooperation is adjusted
Pole leading portion can be rotated using the second shaft as axis, and the tail end of cooperation adjusting rod leading portion is connected with the connection shoulder；It is described
It connects shoulder and is equipped with vertical bar, the tail end of forearm is connected with the vertical bar；The bottom end of connection shoulder is connected with the clamping device；
Second driving motor can drive first shaft coupling that postbrachium is driven to carry out fortune up and down by second transmission device
Dynamic, the up and down motion of postbrachium drives forearm to carry out movement up and down or around by triangular supports, meanwhile, the second driving motor is logical
Crossing the second transmission device can drive second shaft coupling that cooperation adjusting rod back segment is driven to move up and down, and cooperate adjusting rod back segment
Up and down motion by the second shaft drive cooperation adjusting rod leading portion carry out movement up and down or around；It transports the upper and lower or front and back of forearm
Dynamic and cooperation adjusting rod leading portion movement up and down or around, which can link, to be driven the upper and lower of connection shoulder or is moved forward and backward, and then is driven
The upper and lower or back-and-forth motion of clamping device.
2. a kind of three freedom degree manipulator according to claim 1, which is characterized in that the clamping device and the connection
The connection of shoulder is shaft connection.
3. a kind of three freedom degree manipulator according to claim 2, which is characterized in that the clamping device includes that third is driven
Dynamic motor, third transmission device and gripper.
4. a kind of three freedom degree manipulator according to claim 3, which is characterized in that the third driving motor passes through institute
Stating third transmission device drives the crawl movement of the gripper and the clamping device to pass through shaft in the connection shoulder
Bottom end is rotated.
5. a kind of three freedom degree manipulator according to claim 1, which is characterized in that three tops of the triangular supports
Angle is fillet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820490674.8U CN208132954U (en) | 2018-04-08 | 2018-04-08 | A kind of three freedom degree manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820490674.8U CN208132954U (en) | 2018-04-08 | 2018-04-08 | A kind of three freedom degree manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132954U true CN208132954U (en) | 2018-11-23 |
Family
ID=64292040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820490674.8U Expired - Fee Related CN208132954U (en) | 2018-04-08 | 2018-04-08 | A kind of three freedom degree manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132954U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111713537B (en) * | 2020-07-02 | 2021-02-09 | 中国农业科学院农产品加工研究所 | A fixing device that is used for sheep trunk intelligence to cut apart |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
-
2018
- 2018-04-08 CN CN201820490674.8U patent/CN208132954U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111713537B (en) * | 2020-07-02 | 2021-02-09 | 中国农业科学院农产品加工研究所 | A fixing device that is used for sheep trunk intelligence to cut apart |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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| 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: 20181123 Termination date: 20190408 |
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| CF01 | Termination of patent right due to non-payment of annual fee |