CN205237681U - Automatic many joints digit control machine tool arm of material is got to centering - Google Patents
Automatic many joints digit control machine tool arm of material is got to centering Download PDFInfo
- Publication number
- CN205237681U CN205237681U CN201520837181.3U CN201520837181U CN205237681U CN 205237681 U CN205237681 U CN 205237681U CN 201520837181 U CN201520837181 U CN 201520837181U CN 205237681 U CN205237681 U CN 205237681U
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- mechanical finger
- joint
- driving joint
- automatic centering
- intelligent robot
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Abstract
The utility model relates to an automatic many joints digit control machine tool arm of material is got to centering, this arm is including being equipped with the articular rotating basis of intelligent robot drive, articulating in the rotating basis upper end and be equipped with the articular big arm of intelligent robot drive, articulate in big arm upper end and be equipped with the intelligent robot articular forearm of drive and set up and get the material tongs in the automatic centering of forearm upper end, the automatic centering is got the material tongs and is included mechanical finger and mechanical finger actuating mechanism, mechanical finger actuating mechanism includes cylinder and drive mechanism, intelligent robot drives the power output gear that joint arc outside driving joint casing, power input shaft, pair roused the tooth and was provided with interior arc drum gear, the integration is provided with driving motor, stopper on the drive joint, unit and the sensor of shaking declines, drive joint end is provided with magnetic powder brake and each drive arrangement all adopts the self -adaptation sliding mode control method based on neural network to control and compensate. This arm compact structure, reliability are high, control performance is good.
Description
Technical field
The utility model belongs to articulated robot technical field, relates to a kind of multi-joint Digit Control Machine Tool machinery of automatic centering feedingArm.
Background technology
The multi-joint Digit Control Machine Tool machinery arm of automatic centering feeding is an important branch of intelligent machine tool and robot. Automatic centeringThe multi-joint Digit Control Machine Tool machinery arm of feeding can promptly and accurately coordinate Digit Control Machine Tool to complete and assign smoothly reliably under various operating modesProcessing tasks, has the market demand extensively in intelligence manufacture field. In Machinery Tool Automation production line, the carrying of materialBe necessary to realize automation with lathe loading and unloading etc. and reach generation heavy ground manual labor, thereby improve working environment, lighten one's labor strongDegree, enhances productivity, and reduces costs, and ensures the q&r of product and saves the energy, realizes intelligence manufacture. ManyThereby by sensor senses continuous feedback collection information, independently make a policy in the joint Digit Control Machine Tool machinery arm course of workWith send movement instruction, thereby implement high accuracy manufacture. But the uncertainty of surrounding enviroment and complexity make multi-joint numberWhen controlled machine manipulator motion, there are many unknown messages, simultaneously due to modeling and measurement inaccuracy, load disturbance and parameter time varyingEtc. the impact of factor, multi-joint Digit Control Machine Tool machinery arm anti-interference, robustness and real-time etc. are all faced with formidable challenges.
Automatic centering feeding handgrip grabbing workpiece or blank are also sent into the position of appointment. If workpiece is larger, shape is comparatively irregular,Feeding handgrip can not well be realized automatic centering, is difficult to carry out automated high-precision processing with Digit Control Machine Tool matching coordinative. RealityIn, people can carry out interval classification according to shape and size, are equipped with the feeding handgrip of different size, make Digit Control Machine Tool machinery arm logicalCross the peripheral rifle dish of certainly moving and switch different handgrip feedings, but this solution increases feeding handgrip to a certain extentSpecificity, complexity and quantity, increased processing cost.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of multi-joint Digit Control Machine Tool machinery arm of automatic centering feeding, shouldMechanical arm compact conformation, reliability is high, control performance good.
For achieving the above object, the utility model provides following technical scheme:
A multi-joint Digit Control Machine Tool machinery arm for automatic centering feeding, thus comprise that the realization of intelligent robot driving joint is housed revolvesThe pedestal of rotating function, be hinged on rotating basis upper end and be equipped with intelligent robot driving joint large arm, be hinged on large arm upper end alsoThe forearm and the automatic centering feeding handgrip that is arranged on forearm upper end of intelligent robot driving joint are housed;
The feeding handgrip of described automatic centering comprises mechanical finger and mechanical finger driving mechanism, described mechanical finger driving mechanism bagDraw together cylinder and transmission mechanism; Described intelligent robot driving joint comprises driving joint housing, power input shaft, duplex outer arcuateDrum tooth and the power output gear that is provided with arc drum gear; Integratedly on driving joint be provided with drive motors, brake, declineUnit and sensor shake; Described intelligent robot driving joint end be provided with magnetic powder brake and each drive unit all adopt based onThe adaptive sliding mode control method of neutral net is carried out control and compensation.
Further, on described driving joint housing, be provided with arc drum gear, on described power input shaft, fixed jacket hasOne rolling bearing, the first rolling bearing is with power input shaft eccentric setting, and described duplex outer arcuate drum gear cover is in the first rollingBearing also coaxially arranges with it;
The first barreled tooth flank of described duplex outer arcuate drum tooth is with the interior rack barrel few teeth difference engagement on driving joint housing, twoThe second barreled tooth flank of connection outer arcuate drum tooth is with the interior cydariform drum gear few teeth difference engagement of power output gear;
The rotor fixed jacket of described drive motors in power input shaft and with its coaxial cooperation, the stator of drive motors is arranged atOn driving joint housing;
Described brake comprises and is provided with the clutch body of friction material and is arranged at the Compress Spring between clutch body and rotor, described inClutch is external to be placed on power input shaft and can to slide along its axial single-degree-of-freedom, and described Compress Spring is used for promoting clutch body and drivesThe laminating of movable joint housing realizes braking;
The described unit that shakes of declining comprises vibration-damped component and vibration-damped component is fixed to the connector on driving joint housing, described vibration-damped component bagDraw together housing and be arranged on the damping material on housing, damping material is pressed on driving joint housing by connector;
On described driving joint housing, be also provided with for detection of the velocity sensor of rotor speed, for detection of duplex outer arcuateRouse the acceleration transducer of tooth oscillation intensity and the temperature sensor for detection of drive motors temperature.
Further, described automatic centering feeding handgrip comprises mechanical finger and mechanical finger driving mechanism, and described mechanical finger drivesMechanism comprises cylinder and transmission mechanism;
Described transmission mechanism comprises and is fixed in cylinder block and the tooth bar parallel with cylinder piston rod, is fixed on the transmission on piston rodPiece, be rotatably assorted with drive block single-degree-of-freedom and the jackshaft vertical with piston rod, be fixed on jackshaft and with tooth bar, engage inBetween shaft gear, be fixed on connecting plate on jackshaft, be rotatably assorted with connecting plate single-degree-of-freedom and the output shaft parallel with jackshaft,And being fixed on the output shaft gear engaging on output shaft and with countershaft-gear, described mechanical finger is fixed on output shaft;
Described cylinder comprises two on same straight line and stretches out the piston rod of opposite direction, and described transmission mechanism corresponds to symmetricallyTwo covers that arrange, described mechanical finger corresponds to symmetrical two.
Further, the rotor of described drive motors is induction coil.
The beneficial effects of the utility model are:
1, the multi-joint Digit Control Machine Tool of this automatic centering feeding machinery arm has two large arm and forearms that can carry out horizontal rotation,And forearm is the handgrip of prodigiosin automatic centering feeding also, can maintain response performance and positioning precision, in the larger context motion; Respectively driveMoving device all adopts the adaptive sliding mode control method based on neutral net to control, and realizes high accuracy TRAJECTORY CONTROL, overcomes parameterThe unknown, and disturbance has certain robustness to external world.
2, the multi-joint Digit Control Machine Tool of this automatic centering feeding machinery arm, its intelligent robot driving joint is by integrated drive motors oneBody design, terminal with compact integral structure, driving-chain is short, and rigging error is little, and transmission efficiency is high, adopts the transmission of duplex outer arcuate drum tooth, energyThe nonlinear wave of decay transmission system also can ensure carrier gear strength and stiffness, and the sensor arranging on driving joint housing can be surveyedThe information such as transmission speed, system vibration state and the drive motors temperature of amount transmission system, are convenient to monitor its duty, and safety canLean on property higher.
3, the multi-joint Digit Control Machine Tool of this automatic centering feeding machinery arm, its two mechanical finger has two frees degree, can driveUnder mechanism's effect, do reciprocal opening and closing campaign, applied widely, drive mechanism reliability is high, and load is strong.
Brief description of the drawings
In order to make the purpose of this utility model, technical scheme and beneficial effect clearer, the utility model provides following accompanying drawing to enterRow explanation:
Fig. 1 is the multi-joint Digit Control Machine Tool machinery arm configuration schematic diagram of the automatic centering feeding at a certain visual angle;
Fig. 2 is the multi-joint Digit Control Machine Tool machinery arm configuration schematic diagram of the automatic centering feeding at another visual angle.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
Fig. 1 is the multi-joint Digit Control Machine Tool machinery arm configuration schematic diagram of the automatic centering feeding at a certain visual angle, as shown in the figure, and this realityWith the multi-joint Digit Control Machine Tool machinery arm of novel described automatic centering feeding, thereby comprise intelligent robot driving joint reality is housedThe pedestal of existing spinfunction, be hinged on rotating basis upper end and be equipped with intelligent robot driving joint large arm, be hinged on large armHold and be equipped with the forearm and the automatic centering feeding handgrip that is arranged on forearm upper end of intelligent robot driving joint;
The feeding handgrip of described automatic centering comprises mechanical finger and mechanical finger driving mechanism, described mechanical finger driving mechanism bagDraw together cylinder and transmission mechanism; Described intelligent robot driving joint comprises driving joint housing, power input shaft, duplex outer arcuateDrum tooth and the power output gear that is provided with arc drum gear; Integratedly on driving joint be provided with drive motors, brake, declineUnit and sensor shake; Described intelligent robot driving joint end be provided with magnetic powder brake and each drive unit all adopt based onThe adaptive sliding mode control method of neutral net is carried out control and compensation. Fig. 2 is the multi-joint of the automatic centering feeding at another visual angleDigit Control Machine Tool machinery arm configuration schematic diagram.
On described driving joint housing, be provided with arc drum gear, on described power input shaft, fixed jacket has the first rollingBearing, the first rolling bearing is with power input shaft eccentric setting, and described duplex outer arcuate drum gear cover is in the first rolling bearingAnd coaxially arrange with it; The first barreled tooth flank of described duplex outer arcuate drum tooth is with the interior rack barrel on driving joint housingFew teeth difference engagement, the second barreled tooth flank of duplex outer arcuate drum tooth is nibbled with the interior cydariform drum gear few teeth difference of power output gearClose; The rotor fixed jacket of described drive motors in power input shaft and with its coaxial cooperation, the stator setting of drive motorsOn driving joint housing; In the present embodiment, the rotor of described drive motors is induction coil.
Described brake comprises and is provided with the clutch body of friction material and is arranged at the Compress Spring between clutch body and rotor, instituteState the external power input shaft that is placed on of clutch and also can slide along its axial single-degree-of-freedom, described Compress Spring is used for promoting clutch bodyRealize braking with the laminating of driving joint housing;
The described unit that shakes of declining comprises vibration-damped component and vibration-damped component is fixed to the connector on driving joint housing, described vibration-damped componentComprise housing and be arranged on the damping material on housing, damping material is pressed on driving joint housing by connector;
On described driving joint housing, be also provided with for detection of the velocity sensor of rotor speed, for detection of duplex outer arcShape is roused the acceleration transducer of tooth oscillation intensity and the temperature sensor for detection of drive motors temperature.
Described automatic centering feeding handgrip comprises mechanical finger and mechanical finger driving mechanism, and described mechanical finger driving mechanism comprisesCylinder and transmission mechanism;
Described transmission mechanism comprises and is fixed in cylinder block and the tooth bar parallel with cylinder piston rod, is fixed on the transmission on piston rodPiece, be rotatably assorted with drive block single-degree-of-freedom and the jackshaft vertical with piston rod, be fixed on and engage on jackshaft and with tooth barCountershaft-gear, be fixed on connecting plate on jackshaft, be rotatably assorted with connecting plate single-degree-of-freedom and the output parallel with jackshaftAxle and be fixed on the output shaft gear engaging on output shaft and with countershaft-gear, described mechanical finger is fixed on output shaft;
Described cylinder comprises two on same straight line and stretches out the piston rod of opposite direction, and described transmission mechanism corresponds to mutually rightClaim two covers that arrange, described mechanical finger corresponds to symmetrical two.
The described adaptive sliding mode control method based on neutral net adopts radial base neural net to approach and appoint with arbitrarily small errorThe continuous unknown nonlinear function of anticipating, self adaptation online updating weights, provide under matching condition and disturb with parameter uncertainty and outsideMoving irrelevant strong robustness; In the present embodiment, described radial base neural net comprises 8 nodes, and center mean allocationUpper in interval [2,2], width is 2.
Finally explanation, above preferred embodiment is only unrestricted in order to the technical solution of the utility model to be described, although pass throughAbove preferred embodiment is described in detail the utility model, but it will be appreciated by those skilled in the art that can beIt is made to various changes in form and in details, and do not depart from the utility model claims limited range.
Claims (4)
1. a multi-joint Digit Control Machine Tool machinery arm for automatic centering feeding, is characterized in that: thus comprise be equipped with intelligent robot driving joint realize the pedestal of spinfunction, be hinged on rotating basis upper end and be equipped with intelligent robot driving joint large arm, be hinged on large arm upper end and the forearm of intelligent robot driving joint be housed and be arranged on the automatic centering feeding handgrip of forearm upper end;
The feeding handgrip of described automatic centering comprises mechanical finger and mechanical finger driving mechanism, and described mechanical finger driving mechanism comprises cylinder and transmission mechanism; Described intelligent robot driving joint comprises driving joint housing, power input shaft, duplex outer arcuate drum tooth and is provided with the power output gear of arc drum gear; Integratedly on driving joint be provided with drive motors, brake, unit and the sensor of shaking declines; Described intelligent robot driving joint end is provided with magnetic powder brake.
2. the multi-joint Digit Control Machine Tool of a kind of automatic centering feeding according to claim 1 machinery arm, it is characterized in that: on described driving joint housing, be provided with arc drum gear, on described power input shaft, fixed jacket has the first rolling bearing, the first rolling bearing is with power input shaft eccentric setting, and described duplex outer arcuate drum gear cover coaxially arranges in the first rolling bearing and with it;
The first barreled tooth flank of described duplex outer arcuate drum tooth is with the interior rack barrel few teeth difference engagement on driving joint housing, and the second barreled tooth flank of duplex outer arcuate drum tooth is with the interior cydariform drum gear few teeth difference engagement of power output gear;
The rotor fixed jacket of described drive motors in power input shaft and with its coaxial cooperation, the stator of drive motors is arranged on driving joint housing;
Described brake comprises and is provided with the clutch body of friction material and is arranged at the Compress Spring between clutch body and rotor, described clutch is external to be placed on power input shaft and can to slide along its axial single-degree-of-freedom, and described Compress Spring is used for promoting clutch body and the laminating of driving joint housing realizes braking;
The described unit that shakes of declining comprises vibration-damped component and vibration-damped component is fixed to the connector on driving joint housing, and described vibration-damped component comprises housing and be arranged on the damping material on housing, and damping material is pressed on driving joint housing by connector;
On described driving joint housing, be also provided with for detection of the velocity sensor of rotor speed, rouse the acceleration transducer of tooth oscillation intensity and the temperature sensor for detection of drive motors temperature for detection of duplex outer arcuate.
3. the multi-joint Digit Control Machine Tool of a kind of automatic centering feeding according to claim 2 machinery arm, it is characterized in that: described automatic centering feeding handgrip comprises mechanical finger and mechanical finger driving mechanism, and described mechanical finger driving mechanism comprises cylinder and transmission mechanism;
Described transmission mechanism comprises and is fixed in cylinder block and the tooth bar parallel with cylinder piston rod, is fixed on drive block on piston rod, is rotatably assorted and the jackshaft vertical with piston rod, is fixed on the countershaft-gear that engages on jackshaft and with tooth bar, is fixed on connecting plate on jackshaft, is rotatably assorted with connecting plate single-degree-of-freedom and the output shaft parallel with jackshaft and be fixed on the output shaft gear engaging on output shaft and with countershaft-gear with drive block single-degree-of-freedom, and described mechanical finger is fixed on output shaft;
Described cylinder comprises two on same straight line and stretches out the piston rod of opposite direction, and described transmission mechanism corresponds to two covers that are symmetrically set, and described mechanical finger corresponds to symmetrical two.
4. the multi-joint Digit Control Machine Tool of a kind of automatic centering feeding according to claim 3 machinery arm, is characterized in that: the rotor of described drive motors is induction coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520837181.3U CN205237681U (en) | 2015-10-27 | 2015-10-27 | Automatic many joints digit control machine tool arm of material is got to centering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520837181.3U CN205237681U (en) | 2015-10-27 | 2015-10-27 | Automatic many joints digit control machine tool arm of material is got to centering |
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| Publication Number | Publication Date |
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| CN205237681U true CN205237681U (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520837181.3U Expired - Fee Related CN205237681U (en) | 2015-10-27 | 2015-10-27 | Automatic many joints digit control machine tool arm of material is got to centering |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945984A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Transport robot of which manipulator is rotatable |
| CN108132602A (en) * | 2017-12-07 | 2018-06-08 | 四川理工学院 | Solid brewing yeast machine tool hand neural networks sliding mode self-adaptation control method |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN109048989A (en) * | 2018-09-29 | 2018-12-21 | 电子科技大学 | A kind of mechanical carpal joint for nuclear environment |
| CN109591004A (en) * | 2019-01-14 | 2019-04-09 | 中国科学院自动化研究所 | Precision assembly manipulator |
| CN113418591A (en) * | 2021-07-29 | 2021-09-21 | 哈尔滨理工大学 | Axial vibration double-position non-contact detection device and prediction method for five-axis machine tool workbench |
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2015
- 2015-10-27 CN CN201520837181.3U patent/CN205237681U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945984A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Transport robot of which manipulator is rotatable |
| CN105945984B (en) * | 2016-05-28 | 2018-03-20 | 海南大学 | A kind of rotatable transfer robot of manipulator |
| CN108132602A (en) * | 2017-12-07 | 2018-06-08 | 四川理工学院 | Solid brewing yeast machine tool hand neural networks sliding mode self-adaptation control method |
| CN108132602B (en) * | 2017-12-07 | 2021-03-23 | 四川理工学院 | Neural network sliding mode self-adaptive control method for solid-state brewing yeast turning manipulator |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN109048989A (en) * | 2018-09-29 | 2018-12-21 | 电子科技大学 | A kind of mechanical carpal joint for nuclear environment |
| CN109048989B (en) * | 2018-09-29 | 2019-12-27 | 电子科技大学 | A mechanical arm wrist joint for nuclear environment |
| CN109591004A (en) * | 2019-01-14 | 2019-04-09 | 中国科学院自动化研究所 | Precision assembly manipulator |
| CN113418591A (en) * | 2021-07-29 | 2021-09-21 | 哈尔滨理工大学 | Axial vibration double-position non-contact detection device and prediction method for five-axis machine tool workbench |
| CN113418591B (en) * | 2021-07-29 | 2024-01-26 | 哈尔滨理工大学 | Five-axis machine tool workbench axial vibration double-position non-contact detection device and prediction method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160518 Termination date: 20161027 |