CN109775345B - Special robot for carrying, taking and placing pills - Google Patents
Special robot for carrying, taking and placing pills Download PDFInfo
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- CN109775345B CN109775345B CN201811499752.1A CN201811499752A CN109775345B CN 109775345 B CN109775345 B CN 109775345B CN 201811499752 A CN201811499752 A CN 201811499752A CN 109775345 B CN109775345 B CN 109775345B
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Abstract
The invention relates to a special robot for carrying, taking and placing pills. The robot has good flexibility and can realize large-span work in a narrow space. The robot structurally comprises a robot body, a clamp and a telescopic platform; the robot body is arranged on the telescopic platform and driven by the telescopic platform to do reciprocating motion; the robot body comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint which are sequentially connected in series; the first joint, the third joint, the fourth joint and the fifth joint all perform rotary motion, and the second joint performs lifting motion; the end of the fifth joint is provided with a clamp for picking up ammunition.
Description
Technical Field
The invention relates to a robot, in particular to a special robot for carrying, taking and placing pills.
Background
Ammunition of a vehicle-mounted weapon system is replenished by a manual carrying method, and the problems of high labor intensity of personnel, low weapon combat firing speed, poor combat maneuverability and the like exist.
Later, some hoists have been added and as the auxiliary device of artifical transport, have alleviated manual work's intensity to a certain extent to handling efficiency has been improved.
In order to further improve the work efficiency and reduce the potential safety hazard problem that human intervention may exist, a means of automatically carrying ammunition using a manipulator or a robot is proposed at present.
But the characteristics of current rectangular coordinate manipulator and six degree of freedom industrial robot self mechanisms have its limitation in this task field, show as: poor working flexibility, limited working space, limited working radius, difficult completion of large-span space operation and the like.
Therefore, a robot body is urgently needed to meet the requirement of taking and placing the shots in the using environment.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides the special robot for carrying, picking and placing the projectile, which can realize large-span work in a narrow space and has good flexibility.
The specific technical scheme of the invention is as follows:
the invention provides a special robot for carrying, taking and placing pills, which comprises a robot body, a clamp and a telescopic platform, wherein the robot body is provided with a plurality of clamping devices;
the robot body is arranged on the telescopic platform and driven by the telescopic platform to do reciprocating motion;
the robot body comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint which are sequentially connected in series; the first joint, the third joint, the fourth joint and the fifth joint all perform rotary motion, and the second joint performs lifting motion;
the end of the fifth joint is provided with a clamp for picking up ammunition.
Further, the second joint comprises a first horizontal arm, a vertical arm, a first speed reduction motor, a guide rail, a rack and a gear;
the guide rail and the rack are both arranged on the vertical arm along the vertical direction, the first horizontal arm is clamped on the guide rail, the first speed reducing motor is fixed in the first horizontal arm, a gear is arranged on an output shaft of the first speed reducing motor, the gear is meshed with the rack, and the first horizontal arm moves in the vertical direction under the driving of the first speed reducing motor;
the third joint comprises a second speed reducing motor and a second horizontal arm; the second speed reducing motor is fixedly arranged in the first horizontal arm, and an output shaft of the second speed reducing motor is connected with the second horizontal arm;
the first joint, the fourth joint and the fifth joint are respectively a third speed reduction motor, a fourth speed reduction motor and a fifth speed reduction motor; the third speed reducing motor is arranged on the telescopic platform, and an output shaft of the third speed reducing motor is connected with the vertical arm; the fourth speed reducing motor is fixedly arranged on the second horizontal arm, and an output shaft of the fourth speed reducing motor is connected with the fifth speed reducing motor; and an output shaft of the fifth speed reducing motor is connected with the clamp.
Further, in order to balance the center of gravity of the first horizontal arm and reduce the load of the first speed reduction motor, the second joint further comprises a counterweight component; the counterweight component comprises a steel wire rope, a guide rod, a pulley, a rotating shaft, a bearing and a counterweight block;
a guide rod is arranged on the vertical arm along the vertical direction, and a balancing weight is inserted on the guide rod; the pulley is installed at the top of standing the arm through pivot and bearing, and wire rope's one end links firmly with first horizontal arm, and the other end links firmly with the balancing weight after walking around the pulley.
Further, the fixture comprises a connecting seat, an installation frame, a servo motor, a screw rod nut, a screw rod supporting seat, a connecting plate, a fixing block, a first linear guide rail pair, a first clamping jaw assembly and a second clamping jaw assembly;
the servo motor is fixed at the end of the mounting frame,
the first linear guide rail pair is fixed in the mounting frame, and the connecting plate is clamped on the first linear guide rail pair;
one end of the screw rod is connected with the output end of the servo motor through a coupler, and the other end of the screw rod is fixed in the mounting frame through a screw rod supporting seat; a screw nut is arranged on the screw rod, and the bottom of the screw nut and the bottom of the fixed block are fixed on the connecting plate; clamping jaw assemblies are respectively arranged at the top of the screw nut and the top of the fixed block;
the clamping jaw assembly comprises two driving connecting rods and two clamping jaws, one ends of the two driving connecting rods are hinged with the top of the screw rod nut, and the other ends of the two driving connecting rods are hinged with connecting lug seats; the middle parts of the two clamping jaws are respectively hinged with the two sides of the mounting frame, one ends of the two clamping jaws are respectively hinged with the two connecting lug seats, and the other ends of the two clamping jaws are suspended; a bullet clamping area is formed between the suspension parts of the two clamping jaws;
one end of the connecting seat is connected with the output end of the fifth speed reduction motor of the robot body, and the other end of the connecting seat is fixedly connected with the mounting frame.
Furthermore, the telescopic platform comprises a fixed bottom plate, a second linear guide rail pair, an installation platform, a pull ring, a support frame and a sliding groove;
the mounting platform is mounted on the fixed bottom plate through a second linear guide rail pair, the pull rings are mounted at the end parts of the mounting platform, the number of the sliding grooves is two, the sliding grooves are respectively mounted on two sides of the mounting platform, and the supporting frame consists of two side beams and a cross beam; one ends of the two side beams are clamped in the sliding grooves through pin shafts respectively, the other ends of the two side beams are connected through a cross beam, and the cross beam is located at one end of the mounting pull ring of the mounting platform.
During the use, operating personnel will whole mounting platform outwards pull out through the pull ring (braced frame is also outwards pulled out this moment), then will outwards pull out braced frame through the crossbeam, and round pin axle on the curb girder makes braced frame's rotation make its crossbeam and ground contact to the robot body that makes to install on flexible platform can be steady fixed.
Furthermore, in order to enable the support of the support frame on the ground to be more stable, a support frame locking assembly is further arranged on the telescopic platform;
the supporting frame locking component comprises a clamping block and a rotating handle; the clamping block is positioned between the second linear guide rail pair and the fixed bottom plate and clamped on the linear guide rail of the second linear guide rail pair; the fixture block is provided with a threaded through hole;
the rotary handle comprises a screw and a rotary rod vertically and fixedly connected with the screw; the screw rod is connected with the threaded through hole, and the end part of the screw rod is contacted with the linear guide rail of the second linear guide rail pair.
When the supporting frame is supported on the ground, the rotating rod is rotated to enable the end part of the screw rod to be separated from the linear guide rail of the second linear guide rail pair, then the supporting frame locking assembly is enabled to slide on the linear guide rail of the second linear guide rail pair to reach a position close to the supporting frame, then the rotating rod is rotated to enable the end part of the screw rod to be tightly pressed against the linear guide rail of the second linear guide rail pair, meanwhile, the rotating rod is leaned on the supporting frame, and therefore the supporting frame is locked at the position.
Furthermore, in order to enable the support of the support frame on the ground to be more stable and the support height to be adjustable, the adjustable support assembly is arranged on the cross beam; the adjustable supporting component comprises a hand wheel, a screw rod, a nut and a supporting leg; the screw rod is perpendicular to the cross beam and is in threaded connection with the cross beam, a hand wheel is installed at one end of the screw rod, supporting legs are installed at the other end of the screw rod, and nuts are installed on the screw rod. When the device is used, the screw rod drives the support legs to move up and down by rotating the hand wheel, and after the position is properly adjusted, the nut is screwed down, and the position is fixed.
Furthermore, the reducer in the first reduction motor adopts a precise planetary reducer, the second reduction motor adopts a mode that a servo motor is connected with an RV cycloidal pin gear reducer, and the reducers in the third reduction motor, the fourth reduction motor and the fifth reduction motor adopt precise RV cycloidal pin gear reducers.
Furthermore, the first linear guide rail pairs are split and are divided into two groups.
The invention has the beneficial effects that:
1. the robot body adopted by the invention adopts a five-joint type design, and has three rotational degrees of freedom, one lifting degree of freedom and one pitching degree of freedom, so that the flexibility of the robot is better, the moving range is larger, and the design of the telescopic platform greatly increases the working range of the whole robot, thereby being suitable for narrow space operation.
2. The special robot for carrying, taking and placing the projectile can solve the problems of high labor intensity, low carrying speed, poor maneuverability and the like of personnel; the problem of insecurity caused by direct contact of personnel and the projectile is solved together with manual carrying.
3. The robot body keeps the gravity center balance in the lifting process, and simultaneously reduces the load of the speed reducing motor, thereby increasing the counterweight assembly.
4. The clamp adopts the servo motor, is accurate in clamping, controllable in torque, and capable of alarming in an overrun mode, prevents the damage to the shot caused by overlarge clamping force, and prevents the unreliable gripping of the shot caused by too small clamping force; the clamping jaws are driven by the servo motor and the trapezoidal lead screw with the self-locking function, so that the situation that the shot drops due to the fact that the clamping jaws are reversely opened after sudden power failure under extreme conditions can be avoided.
5. The support frame disclosed by the invention realizes position locking by arranging the locking assembly, and the support stability of the support frame is ensured.
6. The supporting frame realizes adjustable supporting height by arranging the adjustable supporting component, and further ensures the supporting stability of the supporting frame.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a view of the robot of the present invention with the telescoping platform removed;
FIG. 3 is an assembly view of a first joint, a second joint and a third joint of the robot body according to the present invention;
FIG. 4 is a block diagram of the counterweight assembly of the present invention;
FIG. 5 is a view taken along line A-A of FIG. 4;
FIG. 6 is a view showing the construction of the jig;
FIG. 7 is a front view of the telescoping platform when not deployed;
FIG. 8 is a bottom view of the telescoping platform when deployed;
FIG. 9 is a perspective view of the support frame when open;
FIG. 10 is a front view of the support frame locking assembly;
FIG. 11 is a top view of the support frame locking assembly;
FIG. 12 is a block diagram of an adjustable support assembly.
The reference numbers are as follows:
1-a robot body, 11-a first joint, 12-a second joint, 121-a first horizontal arm, 122-a vertical arm, 123-a first speed reducing motor, 124-a guide rail, 125-a rack, 126-a gear, 127-a counterweight component, 1271-a steel wire rope, 1272-a guide rod, 1273-a pulley, 1274-a rotating shaft, 1275-a bearing, 1276-a counterweight block, 13-a third joint, 131-a second speed reducing motor, 132-a second horizontal arm, 14-a fourth joint and 15-a fifth joint;
2-a clamp, 20-a clamping jaw assembly, 201-a driving connecting rod, 202-a clamping jaw, 203-a connecting lug seat, 21-a connecting seat, 22-a mounting frame, 23-a servo motor, 24-a lead screw, 25-a lead screw nut, 26-a lead screw supporting seat, 27-a connecting plate, 28-a fixing block and 29-a first linear guide rail pair;
3-telescopic platform, 31-fixed bottom plate, 32-second linear guide rail pair, 33-mounting platform, 34-pull ring, 35-support frame, 351-side beam, 352-cross beam, 36-sliding chute, 37-support frame locking component, 371-fixture block, 372-rotary handle, 3721-screw rod, 3722-rotary rod, 38-adjustable support component, 381-hand wheel, 382-screw rod, 383-nut and 384-support leg.
Detailed Description
The invention provides a special robot for carrying, picking and placing pills, which is described in detail in the following structure and working principle by combining the attached drawings:
basic structure
As shown in fig. 1, the robot mainly comprises three parts, namely a robot body 1, a clamp 2 and a telescopic platform 3, wherein the robot body 1 is arranged on the telescopic platform 3, and the robot body 1 is driven by the telescopic platform 3 to reciprocate;
as shown in fig. 2, the robot body 1 includes a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, and a fifth joint 15, which are sequentially arranged in series; wherein, the first joint 11, the third joint 13, the fourth joint 14 and the fifth joint 15 all make rotation movement, and the second joint 12 makes lifting movement;
the end of the fifth joint 15 mounts a gripper 2 for picking up ammunition. The robot with the structure is convenient to take and place in a long distance when being completely extended, and the occupied space of the whole robot is small after being retracted, so that the robot is suitable for being installed in narrow spaces such as a vehicle-mounted weapon system to carry out object carrying, taking and placing operations.
Concrete structure
1. Robot body
As shown in fig. 2 and 3, the second joint 12 in the robot body 1 includes a first horizontal arm 121, a vertical arm 122, a first reduction motor 123 (a reducer in the first reduction motor is a precision planetary reducer), a guide rail 124, a rack 125, and a gear 126;
the guide rail 124 and the rack 125 are both arranged on the vertical arm 122 along the vertical direction, the first horizontal arm 121 is clamped on the guide rail 124, the first speed reducing motor 123 is fixed in the first horizontal arm 121, the gear 125 is arranged on the output shaft of the first speed reducing motor 123, the gear 125 is meshed with the rack 126, and the first horizontal arm 121 moves in the vertical direction under the driving of the first speed reducing motor 123;
the third joint 13 comprises a second speed reduction motor 131 (in the form of a servo motor connected to a RV cycloidal pin gear reducer) and a second horizontal arm 132; the second speed reducing motor 131 is fixedly arranged in the first horizontal arm 132, and an output shaft of the second speed reducing motor 131 is connected with the second horizontal arm 132;
the first joint 11, the fourth joint 14 and the fifth joint 15 are respectively a third speed reduction motor, a fourth speed reduction motor and a fifth speed reduction motor (speed reducers in the third speed reduction motor, the fourth speed reduction motor and the fifth speed reduction motor adopt a precision RV cycloidal pin gear speed reducer); the third speed reducing motor is arranged on the telescopic platform 3, and the output shaft of the third speed reducing motor is connected with the vertical arm 122; the fourth gear motor is fixedly arranged on the second horizontal arm 132, and the output shaft of the fourth gear motor is connected with the fifth gear motor; and an output shaft of the fifth speed reducing motor is connected with the clamp 2.
The first joint 11 realizes the reciprocating rotation of the entire robot body, and the rotation center thereof is the position of the central axis of the vertical arm.
The second joint 12 realizes the up-and-down reciprocating motion of the first horizontal arm in a gear and rack transmission mode;
the rotation of the 13-axis third joint ensures the movable range of the gripping clamp at the tail end of the robot;
the fourth joint 14 and the fifth joint 15 ensure the accurate pose of the clamp at the tail end of the robot body.
The optimization design of the robot body is as follows:
as shown in fig. 4 and 5, a weight assembly 127 is added to the second joint 12; the counterweight component comprises a steel wire rope 1271, a guide rod 1272, a pulley 1273, a rotating shaft 1274, a bearing 1275 and a counterweight 1276; a guide rod 1272 is vertically arranged on the vertical arm 122, and a balancing weight 1276 is inserted on the guide rod 1272; the pulley 1273 is mounted on the top of the vertical arm 122 through a rotating shaft 1274 and a bearing 1275, one end of the wire rope 1271 is fixedly connected with the first horizontal arm 132, and the other end of the wire rope is fixedly connected with the balancing weight 1276 after passing around the pulley 1273. The design of the counterweight component can effectively reduce the load capacity of the second speed reduction motor in the second joint and play a role in stabilizing the gravity center of the whole robot.
2. Clamp apparatus
As shown in fig. 6, the clamping apparatus 2 includes a connecting seat 21, a mounting frame 22, a servo motor 23, a lead screw 24, a lead screw nut 25, a lead screw supporting seat 26, a connecting plate 27, a fixing block 28, a first linear guide rail pair 29 and a clamping jaw assembly 20;
the mounting frame 22 is composed of a bottom, end portions, and both side portions;
a servo motor 23 is fixed to the end of the mounting frame 22,
a first linear guide rail pair 29 is fixed in the mounting frame 22, and the connecting plate 27 is clamped on the first linear guide rail pair 29;
one end of a screw 24 is connected with the output end of the servo motor 23 through a coupler, and the other end is fixed in the mounting frame 22 through a screw support seat 26; a screw nut 25 is arranged on the screw rod 24, and the bottom of the screw nut 25 and the bottom of the fixed block 28 are fixed on the connecting plate 27; the top of the screw nut 25 and the top of the fixed block 28 are respectively provided with a clamping jaw assembly 20;
the clamping jaw assembly 20 comprises two driving connecting rods 201 and two clamping jaws 202, wherein one ends of the two driving connecting rods 201 are hinged with the top of the screw rod nut 25 (or the fixed block 28), and the other ends of the two driving connecting rods 201 are hinged with connecting lug seats 203; the middle parts of the two clamping jaws 202 are respectively hinged with the two sides of the mounting frame 22, one ends of the two clamping jaws 202 are respectively hinged with the two connecting lug seats 203, and the other ends of the two clamping jaws 202 are suspended; a projectile clamping area is formed between the suspended parts of the two clamping jaws 202;
one end of the connecting base 21 is connected to the output end of the fifth speed reduction motor of the robot body 1, and the other end is fixedly connected to the mounting frame 22.
Note: 1. the lead screw adopts trapezoidal lead screw, and the purpose forms double-deck guarantee with servo motor jointly, can stop under the extreme condition to have a power failure suddenly the back clamping jaw reverse open and lead to the condition emergence that the shot dropped.
2. In the practical process, the first linear guide rail pair can be one group or two segmented groups; when two sets of clamping jaw assemblies are arranged, one set is correspondingly arranged at the positions of the two clamping jaw assemblies.
The servo motor drives the trapezoidal screw to rotate, the screw nut is driven to do linear motion and fixed on the connecting plate, the screw nut drives the connecting plate and the fixing block to do linear motion along the first linear guide rail pair, and then the two clamping jaw assemblies are driven to act in the same mode. The method comprises the following steps: when the two driving connecting rods rotate, the two clamping jaws are driven to rotate through the linkage of the connecting lug seats, and the clamping of the shot is realized. When the robot carries the projectile to a target point, the servo motor rotates reversely, the two clamping jaws are opened, and the projectile is put down. According to different projectile series and sizes, the clamping jaw can be replaced, and the adaptability is stronger.
Three, telescopic platform
As shown in fig. 7, 8 and 9, the telescopic platform 3 comprises a fixed bottom plate 31, a second linear guide rail pair 32, a mounting platform 33, a pull ring 34, a support frame 35 and a sliding groove 36;
the mounting platform 33 is mounted on the fixed base plate 31 through the second linear guide rail pair 32, the pull rings 34 are mounted at the end parts of the mounting platform 33, the number of the slide grooves 36 is two, the two slide grooves are respectively mounted at two sides of the mounting platform 33, and the support frame 35 is composed of two side beams 351 and a cross beam 352; one ends of the two side beams 351 are clamped in the sliding grooves 36 through pin shafts respectively, the other ends of the two side beams 351 are connected through a cross beam 352, and the cross beam 352 is positioned at one end of the mounting platform 33 where the pull ring 34 is mounted.
When the telescopic robot body is used, an operator pulls out the whole mounting platform (the robot body is mounted on the mounting platform) outwards through the pull ring (the supporting frame is pulled out outwards at the moment), then the supporting frame is pulled out outwards through the cross beam, the cross beam is contacted with the ground through the rotation of the supporting frame through the pin shaft on the side beam, and therefore the robot body mounted on the telescopic platform can be fixed.
In order to make the support of the support frame on the ground more stable, a support frame locking assembly 37 is further arranged on the telescopic platform 3;
as shown in fig. 10 and 11, the support frame locking assembly 37 includes a latch 371 and a rotary handle 372; the fixture block 371 is positioned between the second linear guide rail pair 32 and the fixed bottom plate 31 and clamped on the linear guide rail of the second linear guide rail pair 32; the fixture block 371 is provided with a threaded through hole; the rotating handle 372 comprises a screw rod 3721 and a rotating rod 3722 vertically and fixedly connected with the screw rod 3721; screw 3721 is connected to the threaded through hole and the end of screw 3721 contacts the linear guide of second linear guide pair 32.
When the supporting frame is supported on the ground, the rotating rod is rotated to enable the end part of the screw rod to be separated from the linear guide rail of the second linear guide rail pair, then the supporting frame locking assembly is enabled to slide on the linear guide rail of the second linear guide rail pair to reach a position close to the supporting frame, then the rotating rod is rotated to enable the end part of the screw rod to be tightly pressed against the linear guide rail of the second linear guide rail pair, meanwhile, the rotating rod is leaned on the supporting frame, and therefore the supporting frame is locked at the position.
In order to make the supporting frame more stable on the ground and the supporting height adjustable, as shown in fig. 12, the cross beam is provided with an adjustable supporting component 38; the adjustable support assembly 38 includes a hand wheel 381, a screw 382, a nut 383, and a foot 384; the screw 382 is perpendicular to the cross beam 352 and is in threaded connection with the cross beam 352, one end of the screw 382 is provided with a hand wheel 381, the other end of the screw 382 is provided with a support leg 384, and a nut 383 is arranged on the screw 382. When the device is used, the screw rod drives the support legs to move up and down by rotating the hand wheel, and after the position is properly adjusted, the nut is screwed down, and the position is fixed.
The special robot for carrying, taking and placing the projectile in the narrow space can be used as a part of an intelligent automatic supply system matched with a vehicle-mounted weapon system, the robot is installed on an ammunition supply vehicle, the supply vehicle stops to a specified position, a rear door is opened, a person can manually pull out a telescopic platform for placing a robot body to the specified position, a supporting frame is put down, and an adjustable supporting component at the lower part is adjusted by rotating a hand wheel so as to be fully contacted with the ground. The robot is sent with the length that telescopic platform stretches out in real time to the last position sensor of installation of telescopic platform, and the assigned position on the supply vehicle is taken out with the shot of different models with the instruction of on-vehicle control system to the robot, then places in the assigned position, accomplishes getting of automation of shot and puts.
Claims (7)
1. A special robot for carrying, taking and placing pills comprises a robot body, a clamp and a telescopic platform; the robot body is arranged on the telescopic platform and driven by the telescopic platform to do reciprocating motion;
the telescopic platform comprises a fixed bottom plate, a second linear guide rail pair, an installation platform, a pull ring, a support frame, a sliding groove and a support frame locking assembly;
the mounting platform is mounted on the fixed bottom plate through a second linear guide rail pair, the pull rings are mounted at the end parts of the mounting platform, the number of the sliding grooves is two, the sliding grooves are respectively mounted on two sides of the mounting platform, and the supporting frame consists of two side beams and a cross beam; one ends of the two side beams are respectively clamped in the sliding grooves through pin shafts, the other ends of the two side beams are connected through a cross beam, and the cross beam is positioned at one end of the mounting pull ring of the mounting platform;
the supporting frame locking component comprises a clamping block and a rotating handle; the clamping block is positioned between the second linear guide rail pair and the fixed bottom plate and clamped on the linear guide rail of the second linear guide rail pair; the fixture block is provided with a threaded through hole;
the rotating handle comprises a screw and a rotating rod vertically and fixedly connected with the screw; the screw rod is connected with the threaded through hole, and the end part of the screw rod is contacted with the linear guide rail of the second linear guide rail pair;
the robot body comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint which are sequentially connected in series; the first joint, the third joint, the fourth joint and the fifth joint all perform rotary motion, and the second joint performs lifting motion;
a clamp for picking up ammunition is installed at the tail end of the fifth joint;
the fixture comprises a connecting seat, an installation frame, a servo motor, a screw rod nut, a screw rod supporting seat, a connecting plate, a fixing block, a first linear guide rail pair, a first clamping jaw assembly and a second clamping jaw assembly;
one end of the connecting seat is connected with the output end of the fifth joint of the robot body, and the other end of the connecting seat is fixedly connected with the mounting frame;
the servo motor is fixed at the end of the mounting frame,
the first linear guide rail pair is fixed in the mounting frame, and the connecting plate is clamped on the first linear guide rail pair;
one end of the screw rod is connected with the output end of the servo motor through a coupler, and the other end of the screw rod is fixed in the mounting frame through a screw rod supporting seat; a screw nut is arranged on the screw rod, and the bottom of the screw nut and the bottom of the fixed block are fixed on the connecting plate; clamping jaw assemblies are respectively arranged at the top of the screw nut and the top of the fixed block;
the clamping jaw assembly comprises two driving connecting rods and two clamping jaws, one ends of the two driving connecting rods are hinged with the top of the screw nut, and the other ends of the two driving connecting rods are hinged with connecting lug seats; the middle parts of the two clamping jaws are respectively hinged with the two sides of the mounting frame, one ends of the two clamping jaws are respectively hinged with the two connecting lug seats, and the other ends of the two clamping jaws are suspended; a projectile clamping area is formed between the suspended parts of the two clamping jaws.
2. The pellet handling, picking and placing special robot as claimed in claim 1, wherein:
the second joint comprises a first horizontal arm, a vertical arm, a first speed reduction motor, a guide rail, a rack and a gear;
the guide rail and the rack are both arranged on the vertical arm along the vertical direction, the first horizontal arm is clamped on the guide rail, the first speed reducing motor is fixed in the first horizontal arm, a gear is arranged on an output shaft of the first speed reducing motor, the gear is meshed with the rack, and the first horizontal arm moves in the vertical direction under the driving of the first speed reducing motor;
the third joint comprises a second speed reducing motor and a second horizontal arm; the second speed reducing motor is fixedly arranged in the first horizontal arm, and an output shaft of the second speed reducing motor is connected with the second horizontal arm;
the first joint, the fourth joint and the fifth joint are respectively a third speed reduction motor, a fourth speed reduction motor and a fifth speed reduction motor; the third speed reducing motor is arranged on the telescopic platform, and an output shaft of the third speed reducing motor is connected with the vertical arm; the fourth speed reducing motor is fixedly arranged on the second horizontal arm, and an output shaft of the fourth speed reducing motor is connected with the fifth speed reducing motor; and an output shaft of the fifth speed reducing motor is connected with the clamp.
3. The pellet handling, picking and placing special robot as claimed in claim 2, wherein:
the second joint further comprises a counterweight assembly; the counterweight component comprises a steel wire rope, a guide rod, a pulley, a rotating shaft, a bearing and a counterweight block;
a guide rod is arranged on the vertical arm along the vertical direction, and a balancing weight is inserted on the guide rod; the pulley is installed at the top of standing the arm through pivot and bearing, and wire rope's one end links firmly with first horizontal arm, and the other end links firmly with the balancing weight after walking around the pulley.
4. The pellet handling, picking and placing special robot as claimed in claim 3, wherein: the lead screw is a trapezoidal lead screw.
5. The pellet handling, picking and placing special robot as claimed in claim 4, wherein: the beam is provided with an adjustable supporting component; the adjustable supporting component comprises a hand wheel, a screw rod, a nut and a supporting leg; the screw rod is perpendicular to the cross beam and is in threaded connection with the cross beam, a hand wheel is installed at one end of the screw rod, supporting legs are installed at the other end of the screw rod, and nuts are installed on the screw rod.
6. The pellet handling pick and place specialty robot of claim 5, wherein: the speed reducer in the first speed reducing motor adopts a precise planetary speed reducer, the second speed reducing motor adopts a mode that a servo motor is connected with an RV cycloidal pin gear speed reducer, and the speed reducers in the third speed reducing motor, the fourth speed reducing motor and the fifth speed reducing motor adopt precise RV cycloidal pin gear speed reducers.
7. The pellet handling, picking and placing specialty robot of claim 6, wherein: the first linear guide rail pairs are split and are divided into two groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811499752.1A CN109775345B (en) | 2018-12-09 | 2018-12-09 | Special robot for carrying, taking and placing pills |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811499752.1A CN109775345B (en) | 2018-12-09 | 2018-12-09 | Special robot for carrying, taking and placing pills |
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| Publication Number | Publication Date |
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| CN109775345A CN109775345A (en) | 2019-05-21 |
| CN109775345B true CN109775345B (en) | 2021-01-12 |
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| CN201811499752.1A Active CN109775345B (en) | 2018-12-09 | 2018-12-09 | Special robot for carrying, taking and placing pills |
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| CN110481818B (en) * | 2019-08-27 | 2021-11-23 | 北京卫星环境工程研究所 | Multi-degree-of-freedom assembly system suitable for assembly of equipment in large cabin of spacecraft |
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| CN113288427B (en) * | 2020-02-21 | 2022-07-05 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
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