WO2017128843A1 - 一种自由度机械手臂 - Google Patents

一种自由度机械手臂 Download PDF

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Publication number
WO2017128843A1
WO2017128843A1 PCT/CN2016/107583 CN2016107583W WO2017128843A1 WO 2017128843 A1 WO2017128843 A1 WO 2017128843A1 CN 2016107583 W CN2016107583 W CN 2016107583W WO 2017128843 A1 WO2017128843 A1 WO 2017128843A1
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WO
WIPO (PCT)
Prior art keywords
base
mechanical arm
telescopic
degree
arm
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Application number
PCT/CN2016/107583
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English (en)
French (fr)
Inventor
符建豪
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太仓荣中机电科技有限公司
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Publication of WO2017128843A1 publication Critical patent/WO2017128843A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/04—Manipulators positioned in space by hand rigid, e.g. shelf-reachers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

Definitions

  • the invention relates to an arm in the field of mechanical control, in particular to a degree of freedom robotic arm.
  • the industrial robot arm is a new technology emerging in the field of modern automation control. It is the combination of modern control theory and industrial production automation practice, and has become an important part of modern machinery manufacturing production system.
  • the mechanical arm is mainly used in machine tool processing, casting and forging, heat treatment and so on.
  • the robot arm controlled by PLC greatly reduces labor intensity, saves working time and improves work efficiency.
  • the mechanical arm moves the weight through the movement of the arm. In a large number of uses, the friction between the robot arm and the base easily causes the mechanical arm to wear and shorten the service life.
  • the robot arm in the existing market needs to perform the manual recovery step after the article is moved because it cannot be restored to the original state, which increases the handling time and reduces the handling efficiency.
  • the object of the present invention is to provide a degree of freedom mechanical arm with less labor input, high production efficiency, flexible operation and precise service life.
  • a degree of freedom robotic arm comprising a control device, a base, a mechanical arm, the control device being fixed on a rim under the base, the mechanical arm passing through the base, the machine
  • the sleeve area of the arm passing through the base and the base is provided with a rubber ring, and the lower end of the robot arm is connected to the active device through a rotating ball, and the mechanical arm is provided with a positioning bayonet at a position above the base, and the upper end of the robot arm passes
  • the telescopic mechanism is connected to the fixture.
  • control device is connected to the active device through a data line.
  • the robot arm has an inverted '7' shape.
  • the telescopic mechanism comprises a microcontroller, a telescopic device and a telescopic shaft, and the two ends of the micro-controller are connected with a telescopic device, and the telescopic device is connected to the telescopic shaft.
  • the invention has the advantages that the whole mechanical structure is simple, the manual input is small, the movement flexibility is strong, the cost input is greatly reduced, the production efficiency is high, the service life is long, and the reset is accurate.
  • Figure 1 is a schematic structural view of the present invention
  • control device 1, control device, 2, data line, 3, active device, 4, base, 5, rubber ring, 6, fixture, 7, mechanical arm, 8, positioning bayonet, 9, rotating ball, 10, telescopic device 11, flexible shaft, 12, microcontroller, 13, telescopic mechanism.
  • a mechanical arm includes a control device 1, a base 4, a robot arm 7, a control device 1 fixed on a rim under the base 4, a mechanical arm 7 passing through the base 4, and a mechanical arm 7 passing through the base 4 in contact with the base 4
  • the cylinder area is provided with a rubber ring 5, and the lower end of the robot arm 7 is connected to the movable device 3 through the rotating ball 9.
  • the mechanical arm 7 is provided with a positioning bayonet 8 at the upper portion of the base 4, and the upper end of the robot arm 7 is connected to the jig 6 through the telescopic mechanism 13.
  • the control device 1 is connected to the active device 3 via the data line 2.
  • the robot arm 7 has an inverted '7' shape.
  • the telescopic mechanism 13 includes a microcontroller 12, a telescopic device 10 and a telescopic shaft 11, and the two ends of the microcontroller 12 are connected to the telescopic device 10, and the telescopic device 10 is connected to the telescopic shaft 11.
  • the machine first needs to activate the switch of the control device, and drive the active device through the data line to control the telescopic movement of the robot arm, so as to achieve the purpose of changing the position of the robot arm through the clamp, and then moving the object and then positioning the bayonet through the control device.
  • Accurate reset allows all object movement processes to cycle.
  • the application of the rubber ring reduces the friction of the robot arm to the base and prolongs the life of the robot arm.
  • the telescopic mechanism can artificially control the elongation of the robot arm.
  • the rotating ball enhances the flexibility of the robotic arm to move objects in any direction.
  • the whole mechanical structure is simple, the labor input is small, the service life is long, the movement flexibility is strong, the cost input is greatly reduced, the work efficiency is high, and the reset is accurate.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种自由度机械手臂包括控制装置（1）、底座（4）和机械手臂（7）。控制装置（1）固定在底座（4）下的边沿上，机械手臂（7）穿过底座（4）；机械手臂（7）穿过底座（4）与底座（4）接触的套筒面积装有橡皮环（5），机械手臂（7）下端连接能动装置（3）。机械手臂（7）在底座（4）上部的位置设有定位卡口（8），机械手臂（7）上端通过伸缩结构（13）连接夹具（6）。整个机械结构简单，易于控制，使用寿命长，移物灵活性强，降低了成本投入，而且工作效率高，复位精准。

Description

一种自由度机械手臂 技术领域
本发明涉及一种机械控制领域的手臂，具体为一种自由度机械手臂。
背景技术
工业机械手臂是近代自动化控制领域中出现的一项新的技术，是现代控制理论与工业生产自动化实践结合的产物，并成为现代机械制造生产***中的一个重要组成部分。目前，机械手臂主要应用于机床加工、铸锻、热处理等方面。PLC控制的机械手臂，大大减轻了劳动强度，节省了工作时间，提高了工作效率。机械手臂是通过手臂的运动对重物进行移动，在大量的使用中机械手臂与底座的摩擦就容易致使机械手臂磨损，缩短使用寿命。现有市场中的机械手臂在搬移物品之后由于不能恢复原状态，而需要进行手动恢复的步骤，增加了搬运时间，降低了搬运效率。
因此，为解决上述问题，特提供一种新的技术方案。
发明内容
本发明的目的是提供一种劳动力投入少，生产效率高，操作灵活精确到位，使用寿命长的自由度机械手臂。
本发明是通过以下技术方案来实现的：
一种自由度机械手臂，包括控制装置、底座、机械手臂，所述控制装置固定在底座下的边沿上，所述机械手臂穿过底座，所述机 械手臂穿过底座与底座接触的套筒面积装有橡皮环，所述机械手臂下端通过旋转球连接能动装置，所述机械手臂在底座上部的位置设有定位卡口，所述机械手臂上端通过伸缩机构连接夹具。
进一步地，所述控制装置通过数据线连接能动装置。
进一步地，所述机械手臂呈反‘7’形。
进一步地，所述伸缩机构包括微控制器，伸缩装置和伸缩轴，所述微控制器两端连接伸缩装置，所述伸缩装置连接伸缩轴。
本发明的有益效果是：整个机械结构简单，人工投入少，移物灵活性强，大幅降低了成本投入，而且生产效率高，使用寿命长，复位精准。
附图说明
图1为本发明结构示意图；
其中：1、控制装置，2、数据线，3、能动装置，4、底座，5、橡皮环，6、夹具，7、机械手臂，8、定位卡口，9、旋转球，10、伸缩装置，11、伸缩轴，12、微控制器，13、伸缩机构。
具体实施方式
一种机械手臂，包括控制装置1、底座4、机械手臂7，控制装置1固定在底座4下的边沿上，机械手臂7穿过底座4，机械手臂7穿过底座4与底座4接触的套筒面积装有橡皮环5，机械手臂7下端通过旋转球9连接能动装置3，机械手臂7在底座4上部的位置设有定位卡口8，机械手臂7上端通过伸缩机构13连接夹具6。控制装置1通过数据线2连接能动装置3。
机械手臂7呈反‘7’形。
伸缩机构13包括微控制器12，伸缩装置10和伸缩轴11，微控制器12两端连接伸缩装置10，伸缩装置10连接伸缩轴11。
该机械首先需要启动控制装置的开关，通过数据线对能动装置进行驱动，来控制机械手臂的伸缩运动，达到机械手臂通过夹具改变物***置的目的，搬移物体后再通过控制装置对定位卡口的精确复位使所有的物体搬移过程得以循环下去。橡皮环的应用使机械手臂减少了对底座的摩擦，延长了机械手臂的使用寿命。伸缩机构可人为控制机械手臂的伸长度。旋转球增强了机械手臂移物的灵活性，可以达到任意方向移物的目的。
整个机械结构简单，人工投入少，使用寿命长，移物灵活性强，大幅降低了成本投入，而且工作效率高，复位精准。

Claims (3)

  1. 一种自由度机械手臂，包括控制装置、底座、机械手臂，其特征在于：所述控制装置固定在底座下的边沿上，所述机械手臂穿过底座，其特征在于：所述机械手臂穿过底座与底座接触的套筒面积装有橡皮环，所述机械手臂下端通过旋转球连接能动装置，所述机械手臂在底座上部的位置设有定位卡口，所述机械手臂上端通过伸缩机构连接夹具。
  2. 根据权利要求1所述的一种自由度机械手臂，其特征在于：所述控制装置通过数据线连接能动装置。
  3. 根据权利要求1所述的一种自由度机械手臂，其特征在于：所述机械手臂呈反‘7’形。
    根据权利要求1所述的一种自由度机械手臂，其特征在于：所述伸缩机构包括微控制器，伸缩装置和伸缩轴，所述微控制器两端连接伸缩装置，所述伸缩装置连接伸缩轴。
PCT/CN2016/107583 2016-01-27 2016-11-29 一种自由度机械手臂 WO2017128843A1 (zh)

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CN112091953A (zh) * 2019-06-17 2020-12-18 无锡兰舟自动化科技有限公司 一种基于plc机械手传动控制装置

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