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CN107553482A - A kind of new three freedom degree manipulator - Google Patents

A kind of new three freedom degree manipulator Download PDF

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Publication number
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
Authority
CN
China
Prior art keywords
manipulator
right angle
axial
servomotor
radial
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.)
Pending
Application number
CN201710948743.5A
Other languages
Chinese (zh)
Inventor
侯继伟
朱宇辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Lover Health Science and Technology Development Co Ltd
Original Assignee
Zhejiang Lover Health Science and Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Lover Health Science and Technology Development Co Ltd filed Critical Zhejiang Lover Health Science and Technology Development Co Ltd
Priority to CN201710948743.5A priority Critical patent/CN107553482A/en
Publication of CN107553482A publication Critical patent/CN107553482A/en
Pending legal-status Critical Current

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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

A kind of new three freedom degree manipulator
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.
CN201710948743.5A 2017-10-12 2017-10-12 A kind of new three freedom degree manipulator Pending CN107553482A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710948743.5A CN107553482A (en) 2017-10-12 2017-10-12 A kind of new three freedom degree manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710948743.5A CN107553482A (en) 2017-10-12 2017-10-12 A kind of new three freedom degree manipulator

Publications (1)

Publication Number Publication Date
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

Country Status (1)

Country Link
CN (1) CN107553482A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (9)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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