CN203697000U - Four-freedom-degree servo manipulator - Google Patents

Abstract

The utility model relates to industrial automation equipment, in particular to an automatic manipulator. A four-degree-of-freedom servo manipulator includes a lifting arm, a rotary arm, a telescopic arm, a torsion arm, a base, and a claw; the lifting arm is fixedly connected to the base, and the base is fixed on the ground; The claw is fixed to the output end of the torsion arm; the fixed plate of the telescopic arm is fixed to the rotary cover; one end of the telescopic arm is fixed to a vertical flange, and the vertical flange The torsion arm is fixedly connected to the disc. The utility model is applicable to the process of mechanical manufacturing to realize the transportation and transmission of materials, and has small frictional resistance, stable operation, high precision and long service life. The utility model can pick up workpieces by using the four-degree-of-freedom servo manipulator. The utility model has four-degree-of-freedom servo The manipulator is arranged in a compact structure to effectively control the external dimensions and obtain the maximum operating space.

Description

Four degrees of freedom servo manipulator

technical field

The utility model relates to industrial automation equipment, in particular to an automatic manipulator.

Background technique

A manipulator refers to an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The lifting, telescoping, rotating and other independent motion modes of the motion mechanism are called the degrees of freedom of the manipulator. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator.

However, the existing manipulators are often driven by motors, with complex structures and expensive prices.

The life-span of existing manipulator is not long.

Utility model content

The purpose of the utility model is to provide a four-degree-of-freedom servo manipulator. The utility model is suitable for the transportation and transmission of materials in the process of mechanical manufacturing, and the frictional resistance is small, the operation is stable, the precision is high, and the service life is long. Using the utility model The four-degree-of-freedom servo manipulator can pick up the workpiece and complete the lifting, telescopic and rotating functions of the workpiece.

A four-degree-of-freedom servo manipulator, including a lifting arm, a rotating arm, a telescopic arm, a torsion arm, a base and a gripper;

The lifting arm is fixedly connected to the base, and the base is fixed on the ground;

The lifting arm includes a first servo motor, a lifting screw, a lifting nut, a synchronous belt, a guide column, and a base plate; the lower end of the lifting screw is movably connected to the base plate, and the first servo motor is fixed Connected to the base plate, the first servo motor is connected to the synchronous belt, the synchronous belt is connected to one end of the lifting screw, and the lifting screw is movably connected to the lifting nut; the lifting nut is fixed The slewing frame connected to the slewing arm, the lifting nut is located at the edge of the slewing frame; the guide posts are fixed at the edge of the base plate, the number of the guide posts is 4, and they are parallel to each other ; The slewing frame is provided with a guide sleeve matching the guide post;

The slewing arm includes: a slewing frame, a second servo motor, and a slewing reducer; the slewing frame includes an upper slewing frame, a column, and a lower slewing frame, the upper part of the column is fixedly connected to the edge of the upper slewing frame, The lower part of the column is fixed to the edge of the lower slewing frame; the outer casing of the slewing reducer is fixed to the upper slewing frame, and the slewing reducer is located in the middle of the upper part of the upper slewing frame; The second servo motor is connected to the rotary reducer and is located in the middle of the lower part of the upper rotary frame, and the lifting screw is located on the side of the second servo motor; the upper part of the rotary reducer is fixedly connected to With revolving cover;

The telescopic arm includes a bottom plate, a lead screw, a long guide rail, a square slider, a nut, a third servo motor, and a coupling; one end of the lead screw is movably connected to a lead screw fixing seat, and the other end is movably connected to a lead screw support seat, the screw fixing seat and the screw supporting seat are fixedly connected to the base plate; the extension shaft of the third servo motor and the screw are fixedly connected through the coupling; the On the other side of the bottom plate, the long guide rail is fixedly connected, the square slider is movably connected to the long guide rail, and the fixed plate is fixedly connected under the square slider; the nut is movably connected to the screw, and the A nut connecting plate is fixedly connected to the outside of the nut, and vertical plates are fixedly connected to both sides of the nut connecting plate, and the vertical plate is fixedly connected to the fixing plate; the lead screw is parallel to the long guide rail;

The torsion arm includes a fourth servo motor and a torsion reducer, the output shaft of the fourth servo motor is connected to the torsion reducer; the claw is fixedly connected to the output end of the torsion arm;

The fixed plate of the telescopic arm is fixedly connected to the rotary cover; one end of the telescopic arm is fixedly connected to a vertical flange, and the torsion arm is fixedly connected to the vertical flange.

Compared with the traditional technology, the beneficial effects of the utility model four-degree-of-freedom servo manipulator are as follows:

The base is fixedly connected to the ground or other equipment to realize the installation and fixation of the four-degree-of-freedom servo manipulator of the utility model.

The four-degree-of-freedom servo manipulator of the utility model can effectively control the outer dimension and obtain the largest running space through the compact structural arrangement. Compared with the traditional linear coordinate robot, the volume of the four-degree-of-freedom servo manipulator of the utility model is small.

The lifting arm is located at the bottom, and the first servo motor is located inside the base; the lifting screw, the guide column and the second servo motor are arranged in the same row, shortening the four-degree-of-freedom servo motor of the utility model. The height dimension of the manipulator.

Driven by the third servo motor, the rotary arm realizes precise rotation. After the output angle of the third servo motor passes through the rotary reducer, a more precise angle is obtained; meanwhile, the output torque of the rotary reducer is also larger. The rotary arm has high rigidity, accurate angle and large torque.

The joints of the traditional robot reducer are expensive. Compared with the traditional joint industrial robot, the lifting arm and the telescopic arm of the four-degree-of-freedom servo manipulator of the utility model adopt the structural form of a ball screw plus a guide rail, which can significantly improve economic benefits .

The number of the guide posts is 4, the number of the guide sleeves is 4, the guiding precision is high, and the rigidity is high.

For the telescopic arm, the square slider and the fixed plate are fixedly connected to the reducer cover plate, and driven by the third servo motor, the bottom plate and the screw rod protrude forward together or retract back. There is rolling friction between the square slider and the long guide rail to reduce frictional resistance.

The arm of the utility model four-degree-of-freedom servo manipulator comprises a lifting arm, a rotary arm, a telescopic arm, and a torsion arm. The lifting arm is located at the bottom of the four-degree-of-freedom servo manipulator of the present invention, and has a lifting function, that is, driven by the first servo motor, the rotating arm, the telescopic arm, and the torsion arm can be driven to rise or fall together; The slewing arm is connected to the lifting arm, and the slewing arm has a slewing function, that is, driven by the second servo motor, it can drive the telescopic arm and the torsion arm to rotate horizontally clockwise or counterclockwise; The telescopic arm is connected to the rotary arm, and the telescopic arm has a linear telescopic function, that is, driven by the third servo motor, the torsion arm can be driven to extend or retract; the torsion arm is connected to On the telescopic arm, the torsion arm has a torsion function, that is, driven by the fourth servo motor, the claw can be driven to rotate clockwise or counterclockwise. The arm of the four-degree-of-freedom servo manipulator of the utility model has motion control of four degrees of freedom.

Description of drawings

Fig. 1 is the structural representation of the utility model four-degree-of-freedom servo manipulator;

Fig. 2 is the structural representation of the four-degree-of-freedom servo manipulator of the utility model;

Fig. 3 is a structural schematic diagram of a four-degree-of-freedom servo manipulator of the present invention;

Fig. 4 is a structural schematic diagram of the lifting arm of the four-degree-of-freedom servo manipulator of the present invention;

Fig. 5 is a structural schematic diagram of the lifting arm of the four-degree-of-freedom servo manipulator of the present invention;

Fig. 6 is a structural schematic diagram of a linear arm of a four-degree-of-freedom servo manipulator of the present invention.

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings, but does not constitute any limitation to the utility model. Similar component numbers in the accompanying drawings represent similar components. As mentioned above, the utility model provides a guide-rail type manipulator, which is used for grasping and transferring materials.

Fig. 1, Fig. 2, Fig. 3 are the structure schematic diagrams of the utility model four-degree-of-freedom servo manipulator, Fig. 4, Fig. 5 are the structure schematic diagrams of the utility model four-degree-of-freedom servo manipulator lifting arm, Fig. 6 is the utility model four-degree-of-freedom servo manipulator Schematic diagram of the structure of the linear arm of the servo manipulator.

A four-degree-of-freedom servo manipulator, including a lifting arm 1001, a rotating arm 1002, a telescopic arm 1003, a torsion arm 1004, a base 336 and a gripper 120;

The lifting arm 1001 is fixedly connected to the base 336, and the base 336 is fixed on the ground;

The lifting arm 1001 includes a first servo motor 330, a lifting screw 332, a lifting nut 335, a synchronous belt 331, a guide post 334, and a base plate 333; the lower end of the lifting screw 332 is movably connected to the base plate 333, the first servo motor 330 is fixedly connected to the base plate 333, the first servo motor 330 is connected to the synchronous belt 331, and the synchronous belt 331 is connected to one end of the lifting screw 332, the The lifting screw 332 is movably connected to the lifting nut 335; the lifting nut 335 is fixedly connected to the slewing frame 261 of the slewing arm 1002, and the lifting nut 335 is located at the edge of the slewing frame 261; the guide post 334 Fixedly connected to the edge of the base plate 333, the number of the guide posts 334 is four and parallel to each other; the slewing frame 261 is provided with a guide sleeve 262 that matches the guide posts 334;

The rotary arm 1002 includes: a rotary frame 262, a second servo motor 258, and a rotary reducer 259; the rotary frame 262 includes an upper rotary frame 2645, a column 2646, and a lower rotary frame 2647, and the upper part of the column 2646 is fixedly connected to At the edge of the upper slewing frame 2645, the lower part of the column 2646 is fixed at the edge of the lower slewing frame 2647; the shell of the rotary speed reducer 259 is fixed at the upper slewing frame 2645, and The reducer 259 is located at the middle position of the upper part of the upper slewing frame 2645; the second servo motor 258 is connected to the slewing reducer 259 and is located at the middle position of the lower part of the upper slewing frame 2645, and the lifting screw 332 Located on the side of the second servo motor 258; the upper part of the rotary reducer 259 is fixed with a rotary cover plate 260;

Described telescopic arm comprises base plate 210, leading screw 211, long guide rail 219, square slide block 220, nut 213, servomotor 218, coupling 217; One end of described leading screw 211 is movably connected with leading screw holder 216, in addition One end is movably connected with a lead screw support seat 215, and the lead screw fixed seat 216 and the lead screw support seat 215 are fixedly connected to the base plate 210; the extension shaft of the servo motor 218 and the lead screw 211 pass through The coupling 217 realizes fixed connection; on the other side of the base plate 210, the long guide rail 219 is fixedly connected, and the square slider 220 is movably connected to the long guide rail 219, and the square slider 220 is fixedly connected below There is a fixed plate 221; the screw 211 is movably connected to the nut 213, the nut 213 is fixed to the outside of the nut connecting plate 212, the two sides of the nut connecting plate 212 are fixed to the vertical plate 214, the The vertical plate 214 is fixedly connected to the fixed plate 221; the lead screw 21 is parallel to the long guide rail 219;

The torsion arm 1004 includes a fourth servo motor 304 and a torsion reducer 301, the output shaft of the fourth servo motor 304 is connected to the torsion reducer 301; output terminal;

The fixed plate 223 of the telescopic arm 1003 is fixedly connected to the rotary cover 260; one end of the telescopic arm 1003 is fixedly connected to the vertical flange 2000, and the vertical flange 2000 is fixedly connected to the torsion arm 1004.

Finally, it should be pointed out that the above embodiments are only representative examples of the present utility model. Apparently, the utility model is not limited to the above-mentioned embodiments, and many variations are possible. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall be deemed to belong to the protection scope of the present invention.

Claims (1)

1. a four-degree-of-freedom servo manipulator, is characterized in that composed as follows: comprise lifting arm, revolution arm, telescopic arm, reverse arm, pedestal and paw;

Described lifting arm is fixed on described pedestal, and described pedestal is fixed on ground;

Described lifting arm comprises the first servomotor, elevating screw, lifting nut, Timing Belt, guide pillar, base plate; The lower end of described elevating screw is movably connected on described base plate, described the first servomotor is fixed on described base plate, described the first servomotor connects described Timing Belt, and described Timing Belt connects one end of described elevating screw, and described elevating screw is flexibly connected described lifting nut; Described lifting nut is fixed on the reversing frame of described revolution arm, and described lifting nut is positioned at the edge of described reversing frame; Described guide pillar is fixed on the edge of described base plate, and described guide pillar quantity is 4, and is parallel to each other; On described reversing frame, be provided with the guide pin bushing matching with described guide pillar;

Described revolution arm comprises: reversing frame, the second servomotor, rotary reducer; Described reversing frame comprises pivoted frame last time, column, lower reversing frame, and the top of described column is fixed on the edge of described last time of pivoted frame, and the bottom of described column is fixed on the edge of described lower reversing frame; The shell of described rotary reducer is fixed on described last time of pivoted frame, and described rotary reducer is positioned at the centre position on described pivoted frame last time top; Described the second servomotor is connected in described rotary reducer, and is positioned at the centre position of described pivoted frame last time bottom, and described elevating screw is positioned at the side of described the second servomotor; The top of described rotary reducer is fixed with revolving flats;

Described telescopic arm comprises base plate, leading screw, long guideway, square slider, nut, the 3rd 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 the 3rd 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 is parallel with described long guideway;

Described reverse arm comprises the 4th servomotor and torsion decelerator, and the output shaft of described the 4th servomotor is connected to described torsion decelerator; Described paw is fixed on the output of described reverse arm;

The fixed head of described telescopic arm is fixed on described revolving flats; One end of described telescopic arm vertical ring flange that is connected, described reverse arm is connected on described vertical ring flange.