CN109822556A - Industry mechanical arm based on PLC control - Google Patents
Industry mechanical arm based on PLC control Download PDFInfo
- Publication number
- CN109822556A CN109822556A CN201910308677.4A CN201910308677A CN109822556A CN 109822556 A CN109822556 A CN 109822556A CN 201910308677 A CN201910308677 A CN 201910308677A CN 109822556 A CN109822556 A CN 109822556A
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- arm
- forearm
- cylinder
- seat
- gripper
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- 210000000245 forearm Anatomy 0.000 claims abstract description 29
- 230000010355 oscillation Effects 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000009827 uniform distribution Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention discloses a kind of industry mechanical arms based on PLC control, including the gripper being installed on more piece joint arm, the more piece joint arm includes large arm, middle arm and forearm, the large arm hinge is loaded on waist seat, the waist seat is installed on base by rotating mechanism, the waist seat is equipped with the first cylinder for swinging large arm, the middle arm hinge is loaded in large arm, large arm is equipped with the second cylinder of arm in swing, the forearm hinge is loaded on middle arm, middle arm is equipped with the third cylinder for swinging forearm, and the gripper is installed on forearm by swing mechanism；The plane of oscillation of the large arm, middle arm and forearm is on same vertical plane.Mechanical arm of the invention can move above and below with it is forward and backward stretching, extension and also 360 degree rotation, and gripper is gathered around there are three one-movement-freedom-degree and two rotational freedoms, has the characteristics that big Work Space Range, accurate positioning, precision height, good rigidity, movement is flexible, transmission efficiency is high.
Description
Technical field
The present invention relates to robot device, specially a kind of industry mechanical arm based on PLC control.
Background technique
With the demand that industrial transformation upgrades, the rising of human cost, the support of national policy, 2017~2022 years China
The speedup in industrial robot future will be more than 270,000 to China's industrial robot annual turnover in 2022 up to 30% or more,
Operation is carried out using intelligent industrial robot and has become development trend, such as transfer robot, the people that puts together machines, rescue robot
Deng, which not only improves labor efficiency, alleviate labour, and to the adaptable of environment, can replace manually being engaged in it is dangerous, have
The work in the place that harmful and personnel cannot reach.
Industry mechanical arm is the product to grow up during mechanization, automated production, and it is real to operate control by PLC
Now crawl, spot welding, arc-welding, assembly, spray painting, cutting, carrying, packaging stacking etc. automated job, work can constantly be repeated by having
Make and labour, does not know fatigue, is fearless of danger, the features such as snatch strength is big.
Summary of the invention
The technical problem to be solved by the present invention is to propose a kind of work based on PLC control of achievable industrialization running
Industry manipulator.
It is able to solve the industry mechanical arm based on PLC control of above-mentioned technical problem, technical solution is more including being installed on
The gripper on joint arm is saved, except that:
1, the more piece joint arm includes large arm, middle arm and forearm, and loaded on waist seat, the waist seat passes through the large arm hinge
Rotating mechanism is installed on base, and the waist seat is equipped with the first cylinder for swinging large arm, and the middle arm hinge is loaded in large arm, greatly
Arm is equipped with the second cylinder of arm in swing, and for the forearm hinge loaded on middle arm, middle arm is equipped with the third cylinder for swinging forearm,
The gripper is installed on forearm by swing mechanism.
2, the plane of oscillation of the large arm, middle arm and forearm is on same vertical plane.
A kind of structure of the swing mechanism includes the sleeve being installed on forearm and the revolution that is coaxially installed in sleeve
Gear wheel is equipped with servo motor on the sleeve, is equipped on the output shaft of the servo motor and engages with revolution gear wheel
Revolution pinion gear.
A kind of structure of the gripper includes four claw bars of circumference uniform distribution, and each claw bar passes through radial inside and outside connecting rod structure
At parallelogram mechanism be installed in corresponding pawl seat, four pawl seats be installed on revolution gear wheel end face on, four pawl seats
Axial annular rack is offered on the telescopic rod of 4th cylinder of central coaxial setting, four inner links are in the connection in pawl seat
End offers local rotary teeth, and pendulum tooth is correspondingly provided between each rotary teeth and annular rack, each upper and lower end part for putting tooth
The corresponding rotary teeth of tooth engagement and annular rack.
For the amplitude of fluctuation for further increasing forearm, the third cylinder and upper curved bar, lower pole and small arm seat constitute four
For the tie point hinge of side shape link mechanism, the cylinder rod of third cylinder and lower pole loaded on middle arm, the forearm is installed on forearm
On seat.
Beneficial effects of the present invention:
1, the present invention is based on PLC control industry mechanical arm select cylindrical-coordinate system, mechanical arm can move above and below and
Forward and backward stretching, extension and 360 degree rotation, and gripper is gathered around there are five freedom degree (three one-movement-freedom-degrees and two rotational freedoms), is had
There is big Work Space Range, accurate positioning, precision height, good rigidity, move the features such as flexible, transmission efficiency is high.
2, the present invention by replacement end effector (gripper) or can rewrite PLC control according to different applications
Processing procedure sequence and meet different demands, expand the use scope of industry mechanical arm.
3, the present invention controls entire mechanism kinematic using PLC, and easy to operate, stability is good.
4, the present invention is easy to disassemble and the other types of gripper of transformation, each mechanical arm and gripper motion mode combination gear pass
Dynamic and air pressure driving, it is compact-sized, light-weight, inertia is small, the operation is stable.
Detailed description of the invention
Fig. 1 is the main view of one embodiment of the present invention.
Fig. 2 is the top view of Fig. 1 embodiment.
Fig. 3 is the A direction view in Fig. 1.
Fig. 4 is B-B cross-sectional view in Fig. 2.
Figure number mark: 1, gripper；2, large arm；3, middle arm；4, forearm；5, waist seat；6, base；7, the first cylinder；8, second
Cylinder；9, third cylinder；10, sleeve；11, gear wheel is turned round；12, servo motor；13, pinion gear is turned round；14, outside connecting rod；15,
Inner link；16, pawl seat；17, tooth is put；18, upper curved bar；19, lower pole；20, small arm seat；21, claw bar；22, annular rack；23,
Rotating turret；24, support frame；25, the 4th cylinder.
Specific embodiment
Illustrated embodiment is described further technical solution of the present invention with reference to the accompanying drawing.
The present invention is based on the industry mechanical arms of PLC control, including large arm 2, middle arm 3 and forearm 4 and gripper 1, correspond to
Large arm 2 is equipped with the first cylinder 7, corresponds to middle arm 3 and is equipped with the second cylinder 8, corresponds to forearm 4 and is equipped with third cylinder 9.
By the hinge of rotating turret 23 loaded on the rear side of waist seat 5, the waist seat 5 (is enclosed by rotating mechanism for 2 lower end of large arm
Rotated around vertical axes) it is installed on base 6, the front side of the waist seat 5 is equipped with cylinder seat, before the cylinder body of first cylinder 7
Lower end hinge loaded in cylinder seat, such as scheme loaded on the support frame 24 installed in large arm 2 by the rear upper end hinge of the telescopic rod of the first cylinder 7
1, shown in Fig. 2.
The middle arm 3 is set to the top of large arm 2, and the posterior end of middle arm 3 is installed on the pivoted frame of 2 upper end of large arm, and described the
Two cylinders 8 are set between large arm 2 and middle arm 3, and the cylinder body posterior end hinge of the second cylinder 8 is loaded on the support frame 24 in large arm 2, the
The preceding upper end of the telescopic rod of two cylinders 8 is hinged in the arm body bottom of middle arm 3, as shown in Figure 1.
The third cylinder 9 is set to middle 3 top of arm, and the preceding lower end of the telescopic rod of third cylinder 9 is hinged in lower pole 19
The back segment bar portion upper end of upper end afterwards, the lower pole 19 is installed on the pivoted frame of the preceding upper end of middle arm 3, which is against
On middle 3 front end of arm, the leading portion bar portion front end of lower pole 19 is hinged the posterior end of small arm seat 20, after the cylinder body of third cylinder 9 on
End is hinged the posterior end of upper curved bar 18, and the preceding lower end of upper curved bar 18 is hinged the preceding upper end of small arm seat 20, third cylinder 9, upper curved bar
18, small arm seat 20 and lower pole 19 constitute a quadrangular mechanism, and the forearm 4 is set to small 20 front of arm seat, forearm 4 it is rear on
End is installed on the front end face of small arm seat 20, as shown in Figure 1 and Figure 2.
The gripper 1 includes rotating part and opening and closing portion, and the rotating part includes the sleeve 10 being connected with the preceding lower end of forearm 4,
It is coaxially installed with revolution gear wheel 11 in the sleeve 10, is also equipped with servo motor 12, the servo motor 12 on sleeve 10
Output shaft on be equipped with revolution pinion gear 13, the revolution pinion gear 13 with turn round gear wheel 11 engage；The opening and closing portion is set
In front of rotating part, four claw bars 21 (being parallel to axial direction) including circumference uniform distribution correspond to four claw bars 21 and four pawls are arranged
Seat 16, four pawl seats 16 are installed on the front end face of revolution gear wheel 11 (concordant 10 front end of sleeve), each claw bar 21 and corresponding pawl
By the connection installation of the parallelogram mechanism that is correspondingly arranged between seat 16, each parallelogram mechanism includes radial inside and outside
Connecting rod 15,14, each inner link 15 offer local rotary teeth, four 16 centers of pawl seat with the lower part of corresponding 16 connecting pin of pawl seat
Equipped with the 4th cylinder 25 being installed on revolution 11 front end face of gear wheel, axial direction is offered on the telescopic rod of the 4th cylinder 25
Annular rack 22, set around 22 circumference uniform distribution of annular rack there are four tooth 17 is put, each hinge of tooth 17 of putting is loaded on corresponding pawl seat 16
On, each outer tooth engagement for putting tooth 17 correspond to the rotary teeth of inner link 15, each internal tooth engagement annular rack 22 for putting tooth 17, as Fig. 3,
Shown in Fig. 4.
The revolution of the gripper 1 is controlled by the driving of servo motor 12, the synchronous radial dilatation of each claw bar 21 and shrink by
It controls in the 4th cylinder 25, when the telescopic rod of the 4th cylinder 25 travels forward (as shown by the arrows in Figure 4), annular rack 22 is driven
Four pendulum teeth 17 of four pendulum 17 synchronous huntings of tooth, synchronous hunting pass through four pawls of corresponding parallelogram mechanism synchronous drive
Bar 21 shrinks crawl object (as shown by the arrows in Figure 3), and the telescopic rod of the 4th cylinder 25 moves then four claw bars 21 of drive backward
Synchronous expansion release object.
Each pneumatic mechanism and motor drive mechanism in above structure can be controlled by PLC, and the gripper 1 is the portion with isoelectric membrane
Part, using the clipping finger of rotary type (claw bar 21), finger realizes opening and closing holding action, and structure is simple, easily manufactured；
The forearm 4 and middle arm 3 connect gripper 1 and large arm 2, for adjusting the orientation (posture) for being crawled object；Large arm 2 has supported quilt
Object, gripper 1, forearm 4 and middle arm 3 are grabbed, and gripper 1 is driven to grab object, and according to desired trajectory object is moved to specified
Position；The waist seat 5 realizes the rotary motion of more piece joint arm；It requires movement velocity slow when carrying workpiece, is wanted when unloaded
Speed of seeking quickness movement；The base 6 is the basic components of manipulator, and each executing agency of manipulator and drive system are all mounted on machine
On seat 6, connection and supporting role are played.
The present invention, which is most suitable for being arranged between left and right conveyer belt, to be used and realizes on assembly line article between two conveyer belts
Handling work, PLC control program can be write according to sequence of movement.
Claims (4)
1. based on the industry mechanical arm of PLC control, including the gripper (1) being installed on more piece joint arm, it is characterised in that:
The more piece joint arm includes large arm (2), middle arm (3) and forearm (4), and large arm (2) hinge is loaded on waist seat (5), institute
It states waist seat (5) to be installed on base (6) by rotating mechanism, the waist seat (5) is equipped with the first cylinder for swinging large arm (2)
(7), for middle arm (3) hinge loaded on large arm (2), large arm (2) is equipped with the second cylinder (8) of arm (3) in swing, the forearm
(4) for hinge loaded on middle arm (3), middle arm (3) is equipped with the third cylinder (9) for swinging forearm (4), and the gripper (1) passes through revolution
Mechanism is installed on forearm (4)；
The plane of oscillation of the large arm (2), middle arm (3) and forearm (4) is on same vertical plane.
2. the industry mechanical arm according to claim 1 based on PLC control, it is characterised in that: the swing mechanism includes
The sleeve (10) being installed on forearm (4) and the revolution gear wheel (11) being coaxially installed in sleeve (10), the sleeve (10)
On be equipped with servo motor (12), be equipped on the output shaft of the servo motor (12) with revolution gear wheel (11) engage time
Turn pinion gear (13).
3. the industry mechanical arm according to claim 2 based on PLC control, it is characterised in that: the gripper (1) includes circle
Four claw bars (14) of Zhou Junbu, the parallelogram mechanism that each claw bar (21) is made up of radial inside and outside connecting rod (15,14)
It is installed on corresponding pawl seat (16), four pawl seats (16) are installed on revolution gear wheel (11) end face, in four pawl seats (16)
It entreats and is offered axial annular rack (22) on the telescopic rod of the 4th cylinder of coaxial arrangement, four inner links (15) are in pawl seat
(16) connecting pin on offers local rotary teeth, pendulum tooth (17) is correspondingly provided between each rotary teeth and annular rack, respectively
Put the corresponding rotary teeth of upper and lower end part tooth engagement and annular rack of tooth (17).
4. the industry mechanical arm according to any one of claims 1 to 3 based on PLC control, it is characterised in that: described
Third cylinder (9) and upper curved bar (18), lower pole (19) and small arm seat (20) constitute quadrilateral connecting rod mechanism, third cylinder (9)
Cylinder rod and lower pole (19) tie point hinge loaded on middle arm (3), the forearm (4) is installed on small arm seat (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308677.4A CN109822556A (en) | 2019-04-17 | 2019-04-17 | Industry mechanical arm based on PLC control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308677.4A CN109822556A (en) | 2019-04-17 | 2019-04-17 | Industry mechanical arm based on PLC control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109822556A true CN109822556A (en) | 2019-05-31 |
Family
ID=66875616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910308677.4A Pending CN109822556A (en) | 2019-04-17 | 2019-04-17 | Industry mechanical arm based on PLC control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109822556A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722544A (en) * | 2019-11-13 | 2020-01-24 | 泉州台商投资区连进信息技术有限公司 | Automatic snatch manipulator |
| CN112454424A (en) * | 2020-11-18 | 2021-03-09 | 盐城工学院 | Industrial mechanical arm |
| CN112605578A (en) * | 2020-12-23 | 2021-04-06 | 浩科机器人（苏州）有限公司 | Welding manipulator for grabbing bar and working method thereof |
| WO2021115073A1 (en) * | 2019-12-13 | 2021-06-17 | 中国科学院深圳先进技术研究院 | Manipulator and automatic centering and clamping clamp thereof |
| WO2024031885A1 (en) * | 2022-08-10 | 2024-02-15 | 国网上海市电力公司 | Oil sampling robot for transformer substation |
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| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN202910617U (en) * | 2012-11-20 | 2013-05-01 | 天津福臻工业装备有限公司 | Connection rod mechanism saving space |
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-
2019
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722544A (en) * | 2019-11-13 | 2020-01-24 | 泉州台商投资区连进信息技术有限公司 | Automatic snatch manipulator |
| CN110722544B (en) * | 2019-11-13 | 2020-10-30 | 惠安县崇武镇洛妤茶具商行 | Automatic snatch manipulator |
| WO2021115073A1 (en) * | 2019-12-13 | 2021-06-17 | 中国科学院深圳先进技术研究院 | Manipulator and automatic centering and clamping clamp thereof |
| CN112454424A (en) * | 2020-11-18 | 2021-03-09 | 盐城工学院 | Industrial mechanical arm |
| CN112605578A (en) * | 2020-12-23 | 2021-04-06 | 浩科机器人（苏州）有限公司 | Welding manipulator for grabbing bar and working method thereof |
| WO2024031885A1 (en) * | 2022-08-10 | 2024-02-15 | 国网上海市电力公司 | Oil sampling robot for transformer substation |
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