CN203712694U - Orthogonal type two-degree-of-freedom manipulator - Google Patents
Orthogonal type two-degree-of-freedom manipulator Download PDFInfo
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- CN203712694U CN203712694U CN201420094699.8U CN201420094699U CN203712694U CN 203712694 U CN203712694 U CN 203712694U CN 201420094699 U CN201420094699 U CN 201420094699U CN 203712694 U CN203712694 U CN 203712694U
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- arm
- leading screw
- fixed
- nut
- fixedly connected
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- 230000009467 reduction Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 abstract description 6
- 210000000078 claw Anatomy 0.000 abstract 6
- 239000003638 chemical reducing agent Substances 0.000 abstract 3
- 230000033001 locomotion Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to industrial automatic equipment, and particularly relates to an automatic manipulator. An orthogonal type two-degree-of-freedom manipulator is characterized by comprising a first arm, a second arm and a claw, wherein the second arm is fixedly connected to the first arm; the claw is fixedly connected to one end of the second arm; the first arm comprises a base plate, a screw rod, a long guide rail, a square sliding block, a nut, a servo motor and a coupler; the second arm comprises a second servo motor and a precision speed reducer; an output shaft of the second servo motor is connected to the precision speed reducer; an output shaft of the precision speed reducer is fixedly connected to a rotating plate; the rotating plate is fixedly connected with the claw; the claw is fixedly connected to one end of the second arm; under the drive of extending or retraction of the first arm, the second arm drives the claw to do 360-degree rotation; under the opening and the closing of the claw, a material catching function is realized.
Description
Technical field
The utility model relates to industrial automation equipment, more particularly, relates to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function that can imitate staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.It can replace people's heavy work to realize mechanization and the automation of producing, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly comprised of hand, motion and control system three parts.Hand is for grasping the parts of workpiece (or instrument), has various structures form, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the job requirements that are grasped object.Motion, makes hand complete the action that various rotations (swing), movement or compound motion are realized regulation, changes the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is by the control to the motor of each free degree of manipulator, completes specific action.
Yet existing mechanical finger is often driven by motor, complex structure is expensive.
The life-span of existing mechanical finger is not long.
Utility model content
The purpose of this utility model is to provide a kind of guide tracked manipulator, and the utility model is applicable in machine-building process, realize the carrying transmission of material, and frictional resistance is little, operates steadily, precision is high, the life-span is long.
An orthogonal formula two degrees of freedom manipulator, comprises the first arm, the second arm and paw;
Described the first arm and described the second arm are fixed by excessive plate;
Described the second arm is fixed on described the first arm;
Described the first arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
Described the second arm comprises: the second servomotor, precision speed reduction device, and the output shaft of described the second servomotor is connected on described precision speed reduction device, and the output shaft fixed connection of described precision speed reduction device, in rotor plate, is fixed with described paw on described rotor plate;
The central axis of the gyroaxis of described the second arm and the described leading screw of described the first arm becomes 90 degree layouts, and the gyroaxis of described the second arm is perpendicular to described base plate.
First the good effect of described arm is described:
Described fixed head is fixed on equipment, realizes the installation of the utility model orthogonal formula two degrees of freedom manipulator is fixed.Described in driven by servomotor, leading screw rotates, described leading screw and then drive described nut to do traveling priority with respect to described leading screw.Because described fixed head is fixed on equipment, the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head, so described nut remains constant position with respect to described fixed head.Due to the relativity of motion, described leading screw is done traveling priority with respect to described nut, fixed head, thereby realizes stretching out or retracting of described the first arm.
Described the second arm, under the driving of described the second servomotor, is realized precise rotation.The angle of the output of described the second servomotor, after described precision speed reduction device, is obtained more accurate angle; Meanwhile, the output torque of described precision speed reduction device is also larger.Described the second arm rigidity is high, and angle is accurate, and moment of torsion is large.
Described paw is fixed on one end of described the second arm, and under the drive of stretching out or retracting of described the first arm, described the second arm drives described paw to do 360 degree rotations, coordinates the folding of described paw, realizes the function that captures material.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model orthogonal formula two degrees of freedom manipulator;
Fig. 2 is the structural representation of the utility model orthogonal formula two degrees of freedom manipulator;
Fig. 3 is the structural representation of the utility model orthogonal formula two degrees of freedom manipulator.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail, but does not form any restriction of the present utility model, in accompanying drawing, similarly element numbers represents similar element.As mentioned above, the utility model provides a kind of guide tracked manipulator, for realizing crawl and the transfer of material.
Fig. 1, Fig. 2, Fig. 3 are the structural representations of the utility model orthogonal formula two degrees of freedom manipulator.
An orthogonal formula two degrees of freedom manipulator, comprises the first arm, the second arm and paw 120; Described paw 120 is fixed on one end of described the second arm; Described the second arm is fixed on described the first arm; Described the first arm comprises base plate 210, leading screw 211, long guideway 219, square slider 220, nut 213, servomotor 218, shaft coupling 217; One end of described leading screw 211 is connected with leading screw holder 216, one end is connected with leading screw supporting seat 215 in addition, and described leading screw holder 216 and described leading screw supporting seat 215 are fixedly connected on described base plate 210; The projecting shaft of described servomotor 218 and described leading screw 211 achieve a fixed connection by described shaft coupling 217; In the other one side of described base plate 210, be fixedly connected with described long guideway 219, on described long guideway 219, be flexibly connected square slider 220, described square slider 220 belows are fixed with fixed head 221; On described leading screw 211, be flexibly connected described nut 213, the outside of described nut 213 is fixed with nut connecting plate 212, and the both sides of described nut connecting plate 212 are fixed with riser 214, and described riser 214 is fixed on described fixed head 221; Described leading screw 21 and described long guideway 219 are parallel to each other; Described the second arm comprises: the second servomotor 301, precision speed reduction device 302, the output shaft of described the second servomotor 301 is connected on described precision speed reduction device 302, the output shaft fixed connection of described precision speed reduction device 302, in rotor plate 303, is fixed with described paw 120 on described rotor plate 303.The central axis of the gyroaxis 304 of described the second arm and the described leading screw 213 of described the first arm becomes 90 degree layouts.
Below in conjunction with Fig. 1 to 3, further describe operation principle of the present utility model and the course of work:
Described fixed head is fixed on equipment, realizes the installation of the utility model orthogonal formula two degrees of freedom manipulator is fixed.Described in driven by servomotor, leading screw rotates, described leading screw and then drive described nut to do traveling priority with respect to described leading screw.Because described fixed head is fixed on equipment, the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head, so described nut remains constant position with respect to described fixed head.Due to the relativity of motion, described leading screw is done traveling priority with respect to described nut, fixed head, thereby realizes stretching out or retracting of described the first arm.
Described the second arm, under the driving of described the second servomotor, is realized precise rotation.The angle of the output of described the second servomotor, after described precision speed reduction device, is obtained more accurate angle; Meanwhile, the output torque of described precision speed reduction device is also larger.Described the second arm rigidity is high, and angle is accurate, and moment of torsion is large.
Described paw is fixed on one end of described the second arm, and under the drive of stretching out or retracting of described the first arm, described the second arm drives described paw to do 360 degree rotations, coordinates the folding of described paw, realizes the function that captures material.
Finally, it should be pointed out that above embodiment is only the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, can also have many distortion.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all should think and belong to protection domain of the present utility model.
Claims (1)
1. an orthogonal formula two degrees of freedom manipulator, is characterized in that composed as follows: comprise the first arm, the second arm and paw;
Described the second arm is fixed on described the first arm;
Described paw is fixed on one end of described the second arm;
Described the first arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
Described the second arm comprises: the second servomotor, precision speed reduction device, and the output shaft of described the second servomotor is connected on described precision speed reduction device, and the output shaft fixed connection of described precision speed reduction device, in rotor plate, is fixed with described paw on described rotor plate;
The central axis of the gyroaxis of described the second arm and the described leading screw of described the first arm becomes 90 degree layouts, and the gyroaxis of described the second arm is perpendicular to described base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420094699.8U CN203712694U (en) | 2014-02-26 | 2014-02-26 | Orthogonal type two-degree-of-freedom manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420094699.8U CN203712694U (en) | 2014-02-26 | 2014-02-26 | Orthogonal type two-degree-of-freedom manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203712694U true CN203712694U (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420094699.8U Expired - Fee Related CN203712694U (en) | 2014-02-26 | 2014-02-26 | Orthogonal type two-degree-of-freedom manipulator |
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| CN (1) | CN203712694U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182408A (en) * | 2019-05-22 | 2019-08-30 | 浙江工业大学 | A kind of polybag collating unit |
| CN111546233A (en) * | 2020-04-28 | 2020-08-18 | 华中科技大学 | Aero-engine blade grinding and polishing clamp system and robot |
-
2014
- 2014-02-26 CN CN201420094699.8U patent/CN203712694U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182408A (en) * | 2019-05-22 | 2019-08-30 | 浙江工业大学 | A kind of polybag collating unit |
| CN111546233A (en) * | 2020-04-28 | 2020-08-18 | 华中科技大学 | Aero-engine blade grinding and polishing clamp system and robot |
| CN111546233B (en) * | 2020-04-28 | 2021-10-22 | 华中科技大学 | Aero-engine blade grinding and polishing clamp system and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 Termination date: 20150226 |
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| EXPY | Termination of patent right or utility model |