CN205685339U - A kind of high precision machines people's clamping type manipulator - Google Patents
A kind of high precision machines people's clamping type manipulator Download PDFInfo
- Publication number
- CN205685339U CN205685339U CN201620646228.2U CN201620646228U CN205685339U CN 205685339 U CN205685339 U CN 205685339U CN 201620646228 U CN201620646228 U CN 201620646228U CN 205685339 U CN205685339 U CN 205685339U
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- CN
- China
- Prior art keywords
- jig arm
- power transmission
- transmission shaft
- high precision
- machines people
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Abstract
The utility model discloses a kind of high precision machines people's clamping type manipulator, including clamping device and control system, clamping device includes firm banking and jig arm, control system includes controlling terminal and host computer, the upper surface of firm banking is welded with fixed groove, is inlaid with power transmission shaft in fixed groove, and the power transmission shaft other end is connected in jig arm, the tail end switching of power transmission shaft has shaft coupling, and the other end of shaft coupling connects servomotor；Controlling terminal and include motion controller, motion controller connects data collecting card, driver, wireless communication module and encoder, and wireless communication module includes wireless network adapter and wireless transceiver, and the outfan of servomotor is also associated with decelerator；Jig arm includes left jig arm and right jig arm, is connected by bearing pin between two jig arm；Jig arm tip is provided with force transducer, and the relative inwall of jig arm is mounted on proximity transducer.This utility model simple in construction, it is possible to realize remote control, is automatically adjusted, and degree of regulation is high.
Description
Technical field
This utility model relates to robot architecture's technical field, is specially a kind of high precision machines people's clamping type manipulator.
Background technology
Along with making constant progress of modern science and technology, current robotics is also evolving, more and more differences
The robot of kind starts to occur, replaces the mankind to carry out some dangerous or that labor intensity is big work, improve production efficiency and
Production security.Robot is required for being equipped with mechanical hand the most in most cases, and clamping type manipulator is exactly a kind of application
Quite varied robot manipulator structure.But existing manipulator clamping mechanism, the control accuracy that general volume is bigger is the highest, controls
The structure that precision is higher is extremely complex, and fault rate is high, it is impossible to enough effectively operate at high speed.
Utility model content
For problem above, this utility model provides a kind of high precision machines people's clamping type manipulator, simple in construction, behaviour
Facilitating, degree of accuracy is high, can effectively solve the problem in background technology.
For achieving the above object, the following technical scheme of this utility model offer: a kind of clipping machinery of high precision machines people
Hands, including clamping device and control system, described clamping device includes that firm banking and jig arm, described control system include controlling
Terminal and host computer, the upper surface of described firm banking is welded with fixed groove, is inlaid with power transmission shaft, institute in described fixed groove
Stating the power transmission shaft other end to be connected in jig arm, the tail end switching of described power transmission shaft has shaft coupling, and described shaft coupling is from fixed groove
In pass, and shaft coupling the other end connect have servomotor；Described control terminal includes motion controller, described motor control
Device connect have data collecting card, wireless communication module and encoder, described wireless communication module include wireless network adapter and
Wireless transceiver, described wireless transceiver communicates with host computer.
As a kind of preferably technical scheme of this utility model, described motion controller uses ARM7 series microprocessor core
Sheet, and motion controller is also associated with driver, described driver is connected to the drive end of servomotor.
As a kind of preferably technical scheme of this utility model, the outfan of described servomotor is also associated with decelerator,
The end that controls of described decelerator is connected to the input of encoder.
As a kind of preferably technical scheme of this utility model, described jig arm includes left jig arm and right jig arm, and left jig arm
It is connected to power transmission shaft with right jig arm, is connected by bearing pin between two jig arm.
As a kind of preferably technical scheme of this utility model, described jig arm tip is provided with force transducer, left jig arm and
The relative inwall of right jig arm is mounted on proximity transducer.
Compared with prior art, the beneficial effects of the utility model are: this high precision machines people's clamping type manipulator, pass through
Wireless communication module is set, it is achieved controls terminal and carries out telecommunication with host computer, and by wireless data transmission, reduces cable
Constraint improves the motility of robot；Force transducer is set and proximity transducer gathers information, by arranging encoder and subtracting
Speed device forms closed loop feedback and controls, and improves the control accuracy of mechanism, it is ensured that dynamics and the position of clamping are accurate；This utility model is tied
Structure is simple, easy to operate, and degree of accuracy is high, is suitable to promote.
Accompanying drawing explanation
Fig. 1 is this utility model control system electrical block diagram；
Fig. 2 is this utility model plan structure schematic diagram；
Fig. 3 is this utility model side structure schematic diagram.
In figure: 1-clamping device；2-control system；3-firm banking；4-jig arm；5-controls terminal；6-host computer；7-is solid
Determine groove；8-power transmission shaft；9-shaft coupling；10-servomotor；11-motion controller；12-data collecting card；13-radio communication
Module；14-encoder；15-wireless network adapter；16-wireless transceiver；17-driver；18-decelerator；The left jig arm of 19-；
The right jig arm of 20-；21-bearing pin；22-force transducer；23-proximity transducer.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Embodiment:
Fig. 1 to Fig. 3, a kind of technical scheme of this utility model offer: a kind of clipping machinery of high precision machines people are provided
Hands, including clamping device 1 and control system 2, described clamping device 1 includes that firm banking 3 and jig arm 4, described control system 2 are wrapped
Including control terminal 5 and host computer 6, the upper surface of described firm banking 3 is welded with fixed groove 7, inlays in described fixed groove 7
Having power transmission shaft 8, described power transmission shaft 8 other end to be connected in jig arm 4, the tail end switching of described power transmission shaft 8 has shaft coupling 9, described
Shaft coupling 9 passes from fixed groove 7, and the other end connection of shaft coupling 9 has servomotor 10；Described control terminal 5 includes
Motion controller 11, described motion controller 11 connects data collecting card 12, wireless communication module 13 and encoder 14, described
Wireless communication module 13 includes that wireless network adapter 15 and wireless transceiver 16, described wireless transceiver 16 enter with host computer 6
Row communication；
Described motion controller 11 uses ARM7 series microprocessor chip, and motion controller 11 is also associated with driver
17, described driver 17 is connected to the drive end of servomotor 10；The outfan of described servomotor 10 is also associated with decelerator
18, the end that controls of described decelerator 18 is connected to the input of encoder 14；Described jig arm 4 includes left jig arm 19 and right jig arm
20, and left jig arm 19 and right jig arm 20 be connected to power transmission shaft 8, is connected by bearing pin 21 between two jig arm 4；Described jig arm
4 tips are provided with force transducer 22, and left jig arm 19 inwall relative with right jig arm 20 is mounted on proximity transducer 23.
Operation principle of the present utility model: described control system 2 is used for controlling clamping device 1 and realizes clipping operation；Described
Controlling terminal 5 to be used for gathering the action status information of jig arm 4 and controlling the action of jig arm 4, described host computer 6 is used for carrying out remotely
Handling, described firm banking 3 is used for installing whole clamping device 1, fixed groove 7 for fixed conveyor axle 8, described in pass through shaft coupling
Device 9, under the driving of servomotor 10, drives power transmission shaft 8 to move, then drives jig arm 4, described left jig arm 19 He by power transmission shaft 8
Right jig arm 20 is connected by bearing pin 21, thus it is freely rotatable to realize two-arm, and the force transducer 22 on described jig arm 4 top is used for monitoring
Current positional information, described proximity transducer 23 is used for detecting left jig arm 19 and right jig arm 20 relative distance between the two,
The signal collected is input to data collecting card 12, and the data collected are converted into digital signal by data collecting card 12, then will
Data are sent to motion controller 11, and the data collected are sent to upper by wireless communication module 13 by motion controller 11
Machine 6, described wireless network adapter 15 is connected devices to wireless network, then is sent to host computer 6 by wireless transceiver 16,
Host computer 6 sends corresponding adjustment again and instructs control terminal 5 after receiving data analysis, described motion controller 11 receives number
After it is believed that breath, servomotor 17 can be driven by driver 17, when motion has deviation with setting value, output be adjusted signal
To encoder 14, and by encoder 14 output signal controlled decelerator 18, and adjust servomotor by decelerator 18 and turn
Speed.
This high precision machines people's clamping type manipulator, by arranging wireless communication module 13, it is achieved controls terminal 5 with upper
Machine 6 carries out telecommunication, and by wireless data transmission, reduces cable constraint and improve the motility of robot；The power that arranges passes
Sensor 22 and proximity transducer 23 gather information, form closed loop feedback control by arranging encoder 14 and decelerator 18, improve
The control accuracy of mechanism, it is ensured that dynamics and the position of clamping are accurate；This utility model simple in construction, easy to operate, degree of accuracy is high,
Be suitable to promote.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (5)
1. a high precision machines people clamping type manipulator, including clamping device (1) and control system (2), described clamping device
(1) including firm banking (3) and jig arm (4), described control system (2) includes controlling terminal (5) and host computer (6), its feature
Being: the upper surface of described firm banking (3) is welded with fixed groove (7), described fixed groove is inlaid with power transmission shaft in (7)
(8), described power transmission shaft (8) other end is connected in jig arm (4), and the tail end switching of described power transmission shaft (8) has shaft coupling (9), institute
State shaft coupling (9) to pass from fixed groove (7), and the other end connection of shaft coupling (9) has servomotor (10)；Described control
Terminal (5) includes motion controller (11), and described motion controller (11) connects data collecting card (12), wireless communication module
And encoder (14) (13), described wireless communication module (13) includes wireless network adapter (15) and wireless transceiver (16),
Described wireless transceiver (16) communicates with host computer (6).
A kind of high precision machines people's clamping type manipulator the most according to claim 1, it is characterised in that: described motor control
Device (11) uses ARM7 series microprocessor chip, and motion controller (11) is also associated with driver (17), described driver
(17) drive end of servomotor (10) it is connected to.
A kind of high precision machines people's clamping type manipulator the most according to claim 1, it is characterised in that: described servomotor
(10) outfan is also associated with decelerator (18), and the control end of described decelerator (18) is connected to the input of encoder (14)
End.
A kind of high precision machines people's clamping type manipulator the most according to claim 1, it is characterised in that: described jig arm (4)
Including left jig arm (19) and right jig arm (20), and left jig arm (19) and right jig arm (20) are connected to power transmission shaft (8), two folders
Connected by bearing pin (21) between arm (4).
A kind of high precision machines people's clamping type manipulator the most according to claim 1, it is characterised in that: described jig arm (4)
Tip is provided with force transducer (22), and left jig arm (19) inwall relative with right jig arm (20) is mounted on proximity transducer
(23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620646228.2U CN205685339U (en) | 2016-06-27 | 2016-06-27 | A kind of high precision machines people's clamping type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620646228.2U CN205685339U (en) | 2016-06-27 | 2016-06-27 | A kind of high precision machines people's clamping type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205685339U true CN205685339U (en) | 2016-11-16 |
Family
ID=57426629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620646228.2U Expired - Fee Related CN205685339U (en) | 2016-06-27 | 2016-06-27 | A kind of high precision machines people's clamping type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205685339U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725660A (en) * | 2017-01-24 | 2017-05-31 | 刘晓君 | A kind of cardiac surgery operation assistor |
-
2016
- 2016-06-27 CN CN201620646228.2U patent/CN205685339U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725660A (en) * | 2017-01-24 | 2017-05-31 | 刘晓君 | A kind of cardiac surgery operation assistor |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20170627 |