CN107553482A - A kind of new three freedom degree manipulator - Google Patents
A kind of new three freedom degree manipulator Download PDFInfo
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- CN107553482A CN107553482A CN201710948743.5A CN201710948743A CN107553482A CN 107553482 A CN107553482 A CN 107553482A CN 201710948743 A CN201710948743 A CN 201710948743A CN 107553482 A CN107553482 A CN 107553482A
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- manipulator
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- 230000033001 locomotion Effects 0.000 claims abstract description 57
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000002787 reinforcement Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The present invention discloses a kind of new three freedom degree manipulator, including support, axial motion mechanism, circular motion mechanism, radial movement mechanism, manipulator telescoping mechanism, the pedestal upper end is provided with the axis of guide that extends vertically upwards, axial leading screw that the axial motion mechanism includes being vertically arranged on the axis of guide, is arranged on the first servomotor on the axis of guide, the axial slider being connected with axial threads of lead screw;The circular motion mechanism includes the second servomotor, right angle frame;The radial movement mechanism includes the 3rd servomotor, radial direction leading screw, right angle seat, radial slider;The manipulator telescoping mechanism includes platform, wheel carrier, rack, gear, driving wheel, driven pulley, connector, guide rail, manipulator, structure of the present invention is novel, the motion for making manipulator more rapidly, flexibly, stably, enables manipulator preferably to adapt to the trend of modern mechanical automation development.
Description
Technical field
The present invention relates to industry mechanical arm field, specifically a kind of new three freedom degree manipulator.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The content of the invention
It is an object of the invention to provide a kind of new three freedom degree manipulator, to solve what is proposed in above-mentioned background technology
Problem.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is:
A kind of new three freedom degree manipulator, including support, axial motion mechanism, circular motion mechanism, radial movement mechanism, machine
Tool hand telescoping mechanism, the pedestal upper end are provided with the axis of guide extended vertically upwards, and the axial motion mechanism includes setting vertically
The axial direction for put the axial leading screw on the axis of guide, being arranged on the first servomotor on the axis of guide, being connected with axial threads of lead screw is sliding
Block, the first servomotor spindle axle spindle are slidably connected to leading screw between the axial slider and the axis of guide;
The circular motion mechanism includes the second servomotor, right angle frame, a right angle end face fixed connection shaft of the right angle frame
To sliding block, second servomotor is fixed on another right angle end face of right angle frame;
The radial movement mechanism includes the 3rd servomotor, radial direction leading screw, right angle seat, radial slider, the 3rd servo electricity
Machine is arranged on the right angle inner plane of right angle seat, and the radial direction leading screw is horizontally set on the right angle inner plane of right angle seat and with
Three servomotor spindle axles are connect, and the radial slider is connected with radial direction threads of lead screw, and are slidably connected between right angle seat;
The manipulator telescoping mechanism is consistent with the direction of motion of radial movement mechanism, including platform, wheel carrier, rack, gear, master
Driving wheel, driven pulley, connector, guide rail, manipulator, the platform are arranged in radial slider, and the wheel carrier is arranged on platform,
The rack is arranged on the right-angle side top of right angle seat, and the wheel and rack is ratcheting, and gear is coaxial with driving wheel, the master
Driving wheel is arranged on wheel carrier with driven pulley, and is connected by transmission belt, and the guide rail is arranged on wheel carrier, the connection
Part is slidably connected with guide rail, and connector lower end is bolted conveyer belt, and the manipulator is fixed on connector.
Further, the direction of motion of the radial slider is consistent with the stretching motion direction of manipulator.
Further, the radial slider and manipulator are 1 in the movement travel ratio in section at the same time:2.
Further, it is provided with pulley below the support.
Further, reinforcement is provided between the pedestal upper end and the axis of guide.
The beneficial effects of the invention are as follows:
Structure of the present invention provides a kind of new three freedom degree manipulator, and its structure is novel, by radial slider with manipulator same
Movement travel ratio in one period is 1:2, the movement velocity for making manipulator faster, reacts sensitiveer, and use servo
Motor control machinery hand ensure that the accuracy of motion, therefore new mechanical arm is a kind of motion in circular-rotation and up and down motion
Precise and stable mechanism, adapt to the development need of modernization industry.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is structure front view of the present invention.
Fig. 2 is structure top view of the present invention.
Fig. 3 is circular motion mechanism and radial movement mechanism and the connection diagram of manipulator telescoping mechanism.
Fig. 4 is the left view of radial movement mechanism and manipulator telescoping mechanism attachment structure.
Fig. 5 is the right view of manipulator telescoping mechanism.
In figure:1st, support, 2, axial motion mechanism, 20, axial silk, the 21, first servomotor, 22, axial slider, 3, circle
All motions, the 30, second servomotor, 31, right angle frame, 4, radial movement mechanism, the 40, the 3rd servomotor, 41, radial direction silk
Thick stick, 42, right angle seat, 43, radial slider, 5, manipulator telescoping mechanism, 50, platform, 51, wheel carrier, 52, rack, 53, gear, 54,
Driving wheel, 55, driven pulley, 56, transmission belt, 57, connector, 58, guide rail, 59, manipulator, 6, the axis of guide, 7, pulley, 8, strengthen
Muscle.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in Fig. 1~5, the present invention provides a kind of new three freedom degree manipulator, including support 1, axial motion mechanism
2nd, circular motion mechanism 3, radial movement mechanism 4, manipulator telescoping mechanism 5, the upper end of support 1 are provided with what is extended vertically upwards
The axis of guide 6, the axial motion mechanism 2 include be vertically arranged on the axis of guide 6 axial leading screw 20, be arranged on the axis of guide 6
First servomotor 21, the axial slider 22 being threadedly coupled with axial leading screw 20, the spindle shaft spindle of the first servomotor 21
To leading screw 20, it is slidably connected between the axial slider 22 and the axis of guide 6;
The circular motion mechanism 3 includes the second servomotor 30, right angle frame 31, and a right angle end face of the right angle frame 31 is fixed
Axial slider 22 is connected, second servomotor 30 is fixed on another right angle end face of right angle frame 31;
The radial movement mechanism 4 includes the 3rd servomotor 40, radial direction leading screw 41, right angle seat 42, radial slider 43, and described the
Three servomotors 40 are arranged on the right angle inner plane of right angle seat, and the radial direction leading screw 41 is horizontally set on the right angle of right angle seat 42
Connect on inner plane and with the spindle shaft of the 3rd servomotor 40, the radial slider 43 is threadedly coupled with radial direction leading screw 41, and with it is straight
It is slidably connected between angled seat 42;
The manipulator telescoping mechanism 5 is consistent with the direction of motion of radial movement mechanism 4, including platform 50, wheel carrier 51, rack
52nd, gear 53, driving wheel 54, driven pulley 55, transmission belt 56, connector 57, guide rail 58, manipulator 59, the platform 50 are set
In radial slider 43, the wheel carrier 51 is arranged on platform 50, and the rack 52 is arranged on the right-angle side top of right angle seat 42,
The gear 53 and rack 52 are ratcheting, and gear 53 is coaxial with driving wheel 54, and the driving wheel 54 is arranged at driven pulley 55
On wheel carrier 51, and it is connected by transmission belt 56, the guide rail 58 is arranged on wheel carrier 51, the connector 57 and guide rail 58
It is slidably connected, and the lower end of connector 57 is bolted conveyer belt 56, the manipulator 59 is fixed on connector 57.
The direction of motion of the radial slider 43 is consistent with the stretching motion direction of manipulator 59.
The radial slider 43 is 1 in the movement travel ratio in section at the same time with manipulator 59:2.
The lower section of support 1 is provided with pulley 7.
Reinforcement 8 is provided between the upper end of support 1 and the axis of guide 6, in order to strengthen steadiness.
The course of work:Rotated by the first servomotor 21, axial leading screw 20 rotates, and axial slider 22 is along the axis of guide 6
Move up;Axial slider 22, which moves up, drives circular motion mechanism 3, in circular motion mechanism 3 the second servomotor 30 by rotating,
Adjust radial movement mechanism 4 and the movement swing angle of manipulator telescoping mechanism 5 in the horizontal plane;By in radial movement mechanism 4
3rd servomotor 40 rotates, and radial direction leading screw 41 rotates, and moves radial slider 43;The moving belt moving platform 50 of radial slider 43 moves
It is dynamic, now it is arranged on the rack 52 on the right-angle side top of right angle seat 42 and relative motion occurs for gear 53, gear 53 drives driving wheel
54 rotate, and driving wheel 54 drives driven pulley 55 to rotate by transmission belt 56, connect the driving mechanical hand of connector 57 of transmission belt 56
59 slide on slide rail 58, manipulator 59 is protracted or retraction.
The embodiments of the present invention described above are not intended to limit the scope of the present invention, any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (5)
1. a kind of new three freedom degree manipulator, it is characterised in that including support, axial motion mechanism, circular motion mechanism, footpath
To motion, manipulator telescoping mechanism, the pedestal upper end is provided with the axis of guide extended vertically upwards, the axial movement machine
Structure include be vertically arranged on the axis of guide axial leading screw, be arranged on the first servomotor on the axis of guide, with axial threads of lead screw
The axial slider of connection, the first servomotor spindle axle spindle are slided to leading screw between the axial slider and the axis of guide
Connection;
The circular motion mechanism includes the second servomotor, right angle frame, a right angle end face fixed connection shaft of the right angle frame
To sliding block, second servomotor is fixed on another right angle end face of right angle frame;
The radial movement mechanism includes the 3rd servomotor, radial direction leading screw, right angle seat, radial slider, the 3rd servo electricity
Machine is arranged on the right angle inner plane of right angle seat, and the radial direction leading screw is horizontally set on the right angle inner plane of right angle seat and with
Three servomotor spindle axles are connect, and the radial slider is connected with radial direction threads of lead screw, and are slidably connected between right angle seat;
The manipulator telescoping mechanism is consistent with the direction of motion of radial movement mechanism, including platform, wheel carrier, rack, gear, master
Driving wheel, driven pulley, connector, guide rail, manipulator, the platform are arranged in radial slider, and the wheel carrier is arranged on platform,
The rack is arranged on the right-angle side top of right angle seat, and the wheel and rack is ratcheting, and gear is coaxial with driving wheel, the master
Driving wheel is arranged on wheel carrier with driven pulley, and is connected by transmission belt, and the guide rail is arranged on wheel carrier, the connection
Part is slidably connected with guide rail, and connector lower end is bolted conveyer belt, and the manipulator is fixed on connector.
2. new three freedom degree manipulator according to claim 1, it is characterised in that the motion side of the radial slider
To consistent with the stretching motion direction of manipulator.
3. new three freedom degree manipulator according to claim 2, it is characterised in that the radial slider exists with manipulator
The movement travel ratio in section is 1 at the same time:2.
4. new three freedom degree manipulator according to claim 1, it is characterised in that be provided with pulley below the support.
5. new three freedom degree manipulator according to claim 1, it is characterised in that the pedestal upper end and the axis of guide it
Between be provided with reinforcement.
Priority Applications (1)
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CN201710948743.5A CN107553482A (en) | 2017-10-12 | 2017-10-12 | A kind of new three freedom degree manipulator |
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CN201710948743.5A CN107553482A (en) | 2017-10-12 | 2017-10-12 | A kind of new three freedom degree manipulator |
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CN107553482A true CN107553482A (en) | 2018-01-09 |
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CN201710948743.5A Pending CN107553482A (en) | 2017-10-12 | 2017-10-12 | A kind of new three freedom degree manipulator |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112824062A (en) * | 2019-11-20 | 2021-05-21 | 苏州瀚川智能科技股份有限公司 | Two-degree-of-freedom manipulator mechanism |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH674976A5 (en) * | 1987-05-25 | 1990-08-15 | Wittmann Robot Systeme Gmbh | Handling system for use in confined spaces |
JPH1110577A (en) * | 1997-06-27 | 1999-01-19 | Mitsubishi Electric Corp | Rectilinear working device |
CN102862267A (en) * | 2011-07-08 | 2013-01-09 | 恩格尔奥地利有限公司 | Telescoping operating arm, operating device and injection moulding device |
CN203438232U (en) * | 2013-09-11 | 2014-02-19 | 哈尔滨工业大学(威海) | Paw drive and guide device with reduplicated strokes |
CN204711036U (en) * | 2015-02-06 | 2015-10-21 | 惠州经济职业技术学院 | A kind of automatic loading and unloading manipulator |
CN105328692A (en) * | 2014-07-29 | 2016-02-17 | 沈阳众拓机器人设备有限公司 | Telescopic device |
JP5896369B1 (en) * | 2015-08-24 | 2016-03-30 | 豊明工業株式会社 | Telescopic transfer device |
CN207373175U (en) * | 2017-10-12 | 2018-05-18 | 浙江科技学院 | A kind of new three freedom degree manipulator |
-
2017
- 2017-10-12 CN CN201710948743.5A patent/CN107553482A/en active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH674976A5 (en) * | 1987-05-25 | 1990-08-15 | Wittmann Robot Systeme Gmbh | Handling system for use in confined spaces |
JPH1110577A (en) * | 1997-06-27 | 1999-01-19 | Mitsubishi Electric Corp | Rectilinear working device |
CN102862267A (en) * | 2011-07-08 | 2013-01-09 | 恩格尔奥地利有限公司 | Telescoping operating arm, operating device and injection moulding device |
CN203438232U (en) * | 2013-09-11 | 2014-02-19 | 哈尔滨工业大学(威海) | Paw drive and guide device with reduplicated strokes |
CN105328692A (en) * | 2014-07-29 | 2016-02-17 | 沈阳众拓机器人设备有限公司 | Telescopic device |
CN204711036U (en) * | 2015-02-06 | 2015-10-21 | 惠州经济职业技术学院 | A kind of automatic loading and unloading manipulator |
JP5896369B1 (en) * | 2015-08-24 | 2016-03-30 | 豊明工業株式会社 | Telescopic transfer device |
JP2017043423A (en) * | 2015-08-24 | 2017-03-02 | 豊明工業株式会社 | Expansion/contraction carrying device |
CN207373175U (en) * | 2017-10-12 | 2018-05-18 | 浙江科技学院 | A kind of new three freedom degree manipulator |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112824062A (en) * | 2019-11-20 | 2021-05-21 | 苏州瀚川智能科技股份有限公司 | Two-degree-of-freedom manipulator mechanism |
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Application publication date: 20180109 |