CN105563476A - Three-freedom-degree mechanical arm - Google Patents

Abstract

The invention discloses a three-degree-of-freedom manipulator, including an X-axis unit, a Y-axis unit, and a Z-axis unit respectively arranged along the X-axis, Y-axis, and Z-axis directions of a spatial rectangular coordinate system; the invention realizes three degrees of freedom , The control stroke of each degree of freedom can be adjusted as needed to meet the needs of various industrial sites; the response speed of the servo motor and the linear cylinder is fast and accurate, which improves the working accuracy and production efficiency; the load capacity is strong, and the working process is safe and reliable; the manipulator The end effector is an open expansion connection board, which can be connected to different fixtures to meet actual needs.

Description

A three-degree-of-freedom manipulator

technical field

The invention relates to the field of automatic mechanical equipment, in particular to a three-degree-of-freedom manipulator.

Background technique

A manipulator is an automated device that simulates human hand operation. It can grasp and carry objects or hold tools to complete certain specific operations according to a fixed program. The application of manipulators can replace people in monotonous, repetitive or heavy physical labor, realize automated production processes, and can also operate in harmful environments to improve the working environment and ensure worker safety.

At present, manipulator devices have been widely used in various industrial production and other fields. Such as conveyor belt handling, injection molding machine pick-up, product packing, etc. Commonly used manipulators generally have disadvantages such as complex structure, high cost, and low control precision.

Contents of the invention

In view of this, the object of the present invention is to propose a three-degree-of-freedom manipulator with simple structure, low cost and high control precision.

Based on the above purpose, the present invention provides a three-degree-of-freedom manipulator, comprising: an X-axis unit, a Y-axis unit, and a Z-axis unit arranged along the X-axis, Y-axis, and Z-axis directions of a space Cartesian coordinate system;

The X-axis unit includes: a fixed square steel extending along the X-axis direction, an X-axis guide rail with an X-axis slider is arranged on the upper surface of the fixed square steel, and an X-axis substrate is fixed on the X-axis slider. A servo motor is arranged on the X-axis base plate, and a roller is arranged on the motor shaft of the servo motor; a belt is also arranged on the fixed square steel along the X-axis guide rail, and the belt is connected with the roller through a pulley ;

The Y-axis unit includes: a Y-axis aluminum profile with one end fixed on the X-axis base plate and extending along the Y-axis direction. A Y-axis with a Y-axis slider is provided on one side of the Y-axis aluminum profile. Guide rail, the Y-axis base plate is fixed on the Y-axis slider; the other end of the Y-axis aluminum profile is provided with a Y-axis cylinder, and the piston rod of the Y-axis cylinder is fixedly connected to the Y-axis base plate;

The Z-axis unit includes: a Z-axis aluminum profile, a Z-axis base fixedly connected to the Y-axis base plate; the Z-axis aluminum profile extends along the Z-axis direction, and a Z-axis sliding The Z-axis guide rail of the block, the Z-axis slider is fixedly connected to the Z-axis base; the Z-axis base is also provided with a Z-axis cylinder, and the piston rod of the Z-axis cylinder is fixedly connected to the Z-axis The bottom end of the Z-axis aluminum profile; the bottom end of the Z-axis aluminum profile is also provided with an expansion connecting plate for installing working tools.

Preferably, the X-axis unit further includes an X-axis drag chain; the X-axis drag chain upper fixing plate is set on the X-axis base plate, and the X-axis drag chain lower fixing plate is set on the fixed square steel; the X-axis drag chain The two ends of the chain are respectively connected to the upper fixing plate of the X-axis drag chain and the lower fixing plate of the X-axis drag chain, and the power line and control line of the servo motor are placed in the X-axis drag chain.

Preferably, the two ends of the fixed square steel are respectively provided with a left limit sensing block and a right limit sensing block; the left and right limit sensing devices are respectively provided at the left and right ends of the lower surface of the X-axis substrate.

Preferably, the fixed square steel is provided with a fetching sensing block and a placing sensing block; the lower surface of the X-axis substrate is provided with a fetching sensing device and a placing sensing device.

Preferably, the Y-axis unit further includes a Y-axis towline; the upper fixing plate of the Y-axis towline is set on the Y-axis base plate, the lower fixing plate of the Y-axis towline is set on the Y-axis aluminum profile, and the Y-axis The two ends of the drag chain are respectively connected to the upper fixing plate of the Y-axis drag chain and the lower fixing plate of the Y-axis drag chain, and the air pipe and control line of the Y-axis cylinder are placed in the Y-axis drag chain.

Preferably, on the Y-axis aluminum profile, a Y-axis hydraulic buffer is respectively arranged at the maximum and minimum stroke positions of the piston rod of the Y-axis cylinder.

Preferably, the lower end of the Y-axis base plate is also provided with an anti-drop cylinder, which is used to prevent the Z-axis aluminum profile from falling freely when the manipulator air source fails in the example described above.

Preferably, the Z-axis unit further includes a Z-axis drag chain; the upper part of the Z-axis aluminum profile is provided with a Z-axis drag chain upper fixing plate, and the upper part of the Y-axis base plate is provided with a Z-axis drag chain lower fixing plate; the Z-axis The two ends of the towline are respectively connected to the upper fixed plate of the Z-axis towline and the lower fixed plate of the Z-axis towline, and the gas pipe and control line of the Z-axis cylinder are placed in the Y-axis towline.

Preferably, the Z-axis aluminum profile is fixedly connected to the bottom end of the Z-axis aluminum profile through the Z-axis lower connecting plate, and an upper stopper is set at the upper end of the Z-axis guide rail; the upper and lower sides of the Z-axis base Each end is provided with a Z-axis hydraulic buffer.

Preferably, suction cups and/or clamps for installing working tools are arranged on the expansion connecting plate.

As can be seen from the above, the three-degree-of-freedom manipulator provided by the present invention realizes The three degrees of freedom and the control stroke of each degree of freedom can be adjusted as needed to meet the needs of various industrial sites; the response speed of the servo motor and the linear cylinder is fast and accurate, which improves the working accuracy and production efficiency; the load capacity is strong, and the working process Safe and reliable; the end effector of the manipulator is an open expansion connection board, which can be connected to different fixtures to meet actual needs.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

1 is a schematic diagram of the overall structure of a three-degree-of-freedom manipulator according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the X-axis unit structure of the embodiment of the present invention;

Fig. 3 is a schematic diagram of the Y-axis unit structure of the embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a Z-axis unit according to an embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

An embodiment of the present invention provides a three-degree-of-freedom manipulator, including: an X-axis unit, a Y-axis unit, and a Z-axis unit, and the above three units are respectively arranged along the X-axis, Y-axis, and Z-axis directions of the space Cartesian coordinate system, namely The three-degree-of-freedom manipulator in this embodiment can move along the three coordinate axes X, Y, and Z in the space Cartesian coordinate system.

Referring to Fig. 1 and Fig. 2, the X-axis unit includes: a fixed square steel 2 extending along the X-axis direction. The fixed square steel 2 is fixed to a machine base 1 by a hexagon socket head cap screw, and the machine base 1 is located at the bottom of the entire three-degree-of-freedom manipulator, and is used to carry and fix other parts of the three-degree-of-freedom manipulator. The upper surface of the fixed square steel 2 is provided with an X-axis guide rail 3 with an X-axis slider (not shown). In this embodiment, two X-axis guide rails 3 are provided, and each X-axis guide rail 3 is provided with two X-axis slider; in other embodiments, according to specific work needs, the X-axis slider and the X-axis guide rail can be set to other numbers. An X-axis base plate 4 is fixed on the four X-axis sliders. A motor mounting plate 5 is installed on the X-axis base plate 4. The servo motor 6 is installed on the motor mounting plate 5 after being connected with the reducer 7. The motor of the servo motor 6 A roller 8 is set on the shaft. The fixed square steel 2 is also provided with a belt 9 along the X-axis guide rail 3, and the belt 9 is installed on the fixed square steel 2 through the belt fixing blocks 10 installed at both ends of the fixed square steel 2, and the belt fixing block 10 can be used to adjust the belt 9 tightness. The belt 9 is connected to the roller 8 through a pulley. In this embodiment, the belt 9 is connected to the roller 8 through two pulleys. In other embodiments, according to specific work requirements, the number of pulleys can also be set to other numbers.

When working, the servo motor 6 drives the roller 8 to rotate, and through the transmission of the pulley and the belt 9, the X-axis substrate 4 reciprocates along the X-axis guide rail through the X-axis slider.

Further, an electric control box 11 is also arranged on the fixed square steel 2, and the servo motor in this embodiment and the power module and control module of each cylinder are arranged inside it. Correspondingly, the X-axis unit of this embodiment also includes an X-axis drag chain 12; in this embodiment, the X-axis drag chain 12 is sequentially connected by a plurality of chain links to form a hollow chain-like structure, wherein the hollow Some can be used for wiring. The X-axis towline upper fixed plate 13 is set on the X-axis base plate 4, the X-axis towline lower fixed plate 14 is set on the fixed square steel 2, and the two ends of the X-axis towline 12 are respectively connected to the X-axis towline upper fixed plate 13 and the X The lower fixed plate 14 of the towline of the axis; wherein, the lower fixed plate 14 of the X-axis towline is a long groove-shaped structure, and a part of the X-axis towline 12 close to the connection with the lower fixed plate 14 of the X-axis towline can be placed in it, When the X-axis towline 12 moves, it will be guided by the lower fixing plate 14 of the X-axis towline to carry out regular movement and have high stability. After the power line and control line of the servo motor 6 are led out from the electrical control box 11, they are placed in the X-axis drag chain 12; when the X-axis unit is working, the X-axis substrate 4 will drive the power line and control line of the servo motor 6 to reciprocate , the X-axis drag chain 12 can limit and guide the movement of the power line and control line of the servo motor 6, ensuring its service life.

Further, the two ends of the fixed square steel 2 are respectively provided with a left limit sensing block 15 and a right limit sensing block 16; correspondingly, left limit sensing devices (not shown) and The right limit sensing device (not shown), the left limit sensing device and the right limit sensing device are preferably magnetic induction proximity switches; in other embodiments, the left limit sensing device and the right limit sensing device can also select infrared sensors, laser sensors sensor, or other object detection devices. The left limit sensing device and the right limit sensing device are used to sense the left limit sensing block 15 and the right limit sensing block 16 during the movement of the X-axis substrate 4, so as to ensure that the X-axis substrate 4 will not move beyond the left and right limit positions . For example, during the movement of the X-axis substrate 4 to the left, it gradually approaches the left limit position, and the left limit sensing device will sense the left limit sensing block 15, and generate a sensing signal and send it to the control module to control the servo motor under the control of the control module 6 Emergency braking to prevent the device from being damaged.

Referring to FIG. 1 and FIG. 3 , the Y-axis unit includes: a Y-axis aluminum profile 17 whose one end is fixed on the X-axis base plate 4 and extends along the Y-axis direction. The Y-axis aluminum profile 17 is fixed on the X-axis base plate 4 through the Y-axis connecting plate 18 (shown in FIG. 2 ). One side of the Y-axis aluminum profile 17 is provided with a Y-axis guide rail 19 with a Y-axis slide block (not shown); in this embodiment, there are two Y-axis guide rails 19, and each Y-axis guide rail 19 is provided with two Y-axis sliders; in other embodiments, according to specific work needs, Y-axis sliders and Y-axis guide rails can be selected to be set to other numbers. A Y-axis base plate 20 is fixed on the four Y-axis sliders. The Y-axis cylinder 21 is fixed on the other end of the Y-axis aluminum profile 17 through the Y-axis cylinder fixing plate 22; a cylinder piston rod fixing plate 23 extends from the Y-axis base plate 20, and the piston rod of the Y-axis cylinder 21 is fixedly connected to the cylinder Piston rod fixing plate 23.

When working, the piston rod of the Y-axis cylinder 21 drives the cylinder piston rod fixing plate 23 to move, so that the Y-axis base plate 20 connected to the cylinder piston rod fixing plate 23 reciprocates along the Y-axis guide rail 19 through the Y-axis slider.

Further, the Y-axis unit of this embodiment also includes a Y-axis drag chain 24 , and the structure of the Y-axis drag chain 24 is the same as that of the X-axis drag chain 12 . The upper fixing plate 25 of the Y-axis drag chain is arranged on the Y-axis base plate 20 ; the lower fixing plate 26 of the Y-axis drag chain is arranged on the Y-axis aluminum profile 17 . Both ends of the Y-axis towline 24 are respectively connected to the upper fixing plate 25 of the Y-axis towline and the lower fixing plate 26 of the Y-axis towline. The lower fixing plate 26 of the Y-axis drag chain is also an elongated groove-shaped structure, which has the same function as the lower fixing plate 14 of the X-axis drag chain, and can guide and restrict the Y-axis drag chain 2 . After the air pipe and control line of the Y-axis cylinder 21 are drawn out from the electrical control box 11, they reach the position of the Y-axis cylinder 21 through the X-axis drag chain 12 and the Y-axis drag chain 24; similarly, during the movement of the Y-axis unit, the Y-axis The towline 24 can limit and guide the air pipe and control line of the Y-axis cylinder 21 to ensure its service life.

Further, the Y-axis aluminum profile 17 is also provided with an oil pressure buffer mounting plate 27 . Referring to Figure 3, since the Y-axis cylinder 21 is installed on the Y-axis cylinder fixing plate 22, the position of the Y-axis cylinder fixing plate 22 is the minimum stroke of the piston rod of the Y-axis cylinder 21; the oil pressure buffer mounting plate 27 passes through the inner hexagon The screw is fixed at a position opposite to the Y-axis cylinder fixing plate 22 and separated by a certain linear distance. The length of this distance is roughly equal to the maximum stroke of the piston rod of the Y-axis cylinder 21; correspondingly, between the oil pressure buffer mounting plate 27 and the Y An oil pressure buffer 28 is arranged on each axis cylinder fixing plate 22 to reduce damage to the Y axis cylinder 21 caused by emergency braking.

Referring to FIG. 1 and FIG. 4 , the Z-axis unit includes: a Z-axis aluminum profile 29 , and a Z-axis base 30 fixedly connected to the Y-axis base plate 20 . The Z-axis aluminum profile 29 extends along the Z-axis direction, and a Z-axis guide rail 31 with a Z-axis slider (not shown) is arranged on one side thereof. In this embodiment, a Z-axis guide rail 31 is provided with two Z-axis sliders on it; in other embodiments, other numbers of Z-axis sliders and Z-axis guide rails can be selected according to specific work requirements. The two Z-axis sliders are fixedly connected to the Z-axis base 30 by hexagon socket head cap screws. A Z-axis cylinder 32 is also installed on the Z-axis base 30 . The bottom end of the Z-axis aluminum profile 29 is provided with a Z-axis lower connecting plate 33 , and the piston rod of the Z-axis cylinder 32 is fixedly connected to the Z-axis lower connecting plate 33 . The bottom end of the Z-axis aluminum profile 29 is also provided with an expansion connecting plate 34, and the expansion connecting plate 34 is provided with at least 4 hexagon socket screws, through which suction cups or clamps for installing working tools are installed.

When working, the Z-axis cylinder 32 piston rod drives the Z-axis aluminum profile 29 through the Z-axis lower connecting plate 33, and based on the sliding relationship between the Z-axis slider and the Z-axis guide rail 31, the Z-axis aluminum profile 29 reciprocates along the Z-axis direction sports.

Further, the Z-axis unit also includes a Z-axis drag chain 35 , and the structure of the Z-axis drag chain 35 is the same as that of the X-axis drag chain 12 . The upper part of the Z-axis aluminum profile 29 is provided with the upper fixed plate 36 of the Z-axis drag chain, and the upper part of the Y-axis base plate 20 (shown in FIG. 3 ) is provided with the lower fixed plate 37 of the Z-axis drag chain. Both ends of the Z-axis towline 35 are respectively connected to the upper fixing plate 36 of the Z-axis towline and the lower fixing plate 37 of the Z-axis towline. After the air pipe and control line of the Z-axis cylinder 32 are drawn out from the electrical control box 11, they pass through the X-axis drag chain 12 and the Y-axis drag chain 24 in turn, and then pass through the Z-axis drag chain 35 to reach the Z-axis cylinder 32; similarly, During the movement of the Z-axis unit, the Z-axis tow chain 35 can limit and guide the gas pipe and control line of the Z-axis cylinder 32 to ensure its service life.

Further, an upper stopper 38 is provided at the upper end of the Z-axis guide rail 31 . A Z-axis hydraulic shock absorber 39 is respectively arranged at the upper and lower ends of the Z-axis base 30 . During the working process of the Z-axis unit, the cooperation of the Z-axis oil pressure buffer 39 with the upper block 38 and the Z-axis lower connecting plate 33 can also reduce the damage to the Z-axis cylinder 32 caused by emergency braking.

For the above-mentioned complete embodiment, according to different operation conditions, the required operation tools are fixed on the expansion connecting plate 34 through suction cups and clamps. The position adjustment of the expansion connecting plate 34 is performed through the movement of the X-axis unit, the Y-axis unit, and the Z-axis unit on the X-axis, Y-axis, and Z-axis respectively, and specific operations are performed through the operating tools installed thereon.

Preferably, with reference to FIG. 2 , in the X-axis unit, an object sensing block 40 and an object placement sensing block 41 are also provided on the fixed square steel 2 . Correspondingly, an object sensing device (not shown) and an object sensing device (not shown) are provided on the lower surface of the X-axis substrate 4 . The object sensing device and the object sensing device can be infrared sensors, laser sensors, or other object detection devices; when the X-axis substrate 4 moves to the object sensing block 40, the object sensing device senses the object sensing block Stop after 40, this position is the preset pick-up position, now the Z-axis aluminum profile 29 of the Z-axis unit can move downwards, and the pick-up is carried out by the expansion connecting plate 34. The working mode of the object sensing block 41 and the object sensing device is similar to that of the retrieval sensor block 40 and the object retrieval device, and is used to control the object placement process. According to different working conditions, the pick-up sensing block 40 and the placement sensing block 41, as well as the setting positions of the pick-up sensing device and the placement sensing device can be changed.

As preferably, with reference to Fig. 3, the lower end of the Y-axis base plate 20 is also provided with an anti-fall cylinder 42, the anti-fall cylinder 42 is fixed on the Y-axis base plate 20 by the anti-fall cylinder mounting plate 43, and a spring is installed on the anti-fall cylinder rod, During the movement of the manipulator, when there is no air supply due to special reasons such as failures, the force of the spring will make the anti-drop cylinder rod withstand the arm to prevent the Z-axis arm from falling due to gravity and cause accidents; when the pressure of the air source is normal, the cylinder rod will retract.

Those of ordinary skill in the art should understand that: the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention etc., should be included within the protection scope of the present invention.

Claims (10)

1. A three-degree-of-freedom manipulator is characterized in that, comprising: an X-axis unit, a Y-axis unit and a Z-axis unit arranged along the X-axis, the Y-axis, and the Z-axis direction of a space Cartesian coordinate system respectively; The X-axis unit includes: a fixed square steel extending along the X-axis direction, an X-axis guide rail with an X-axis slider is arranged on the upper surface of the fixed square steel, and an X-axis substrate is fixed on the X-axis slider. A servo motor is arranged on the X-axis base plate, and a roller is arranged on the motor shaft of the servo motor; a belt is also arranged on the fixed square steel along the X-axis guide rail, and the belt is connected with the roller through a pulley ; The Y-axis unit includes: a Y-axis aluminum profile with one end fixed on the X-axis base plate and extending along the Y-axis direction. A Y-axis with a Y-axis slider is provided on one side of the Y-axis aluminum profile. Guide rail, the Y-axis base plate is fixed on the Y-axis slider; the other end of the Y-axis aluminum profile is provided with a Y-axis cylinder, and the piston rod of the Y-axis cylinder is fixedly connected to the Y-axis base plate; The Z-axis unit includes: a Z-axis aluminum profile, a Z-axis base fixedly connected to the Y-axis base plate; the Z-axis aluminum profile extends along the Z-axis direction, and a Z-axis sliding The Z-axis guide rail of the block, the Z-axis slider is fixedly connected to the Z-axis base; the Z-axis base is also provided with a Z-axis cylinder, and the piston rod of the Z-axis cylinder is fixedly connected to the Z-axis The bottom end of the Z-axis aluminum profile; the bottom end of the Z-axis aluminum profile is also provided with an expansion connecting plate for installing working tools. 2. The three-degree-of-freedom manipulator according to claim 1, wherein the X-axis unit also includes an X-axis drag chain; the X-axis drag chain is provided with a fixed plate on the X-axis base plate, and the fixed square steel The lower fixing plate of the X-axis towline is arranged on the top; the two ends of the X-axis towline are respectively connected to the upper fixing plate of the X-axis towline and the lower fixing plate of the X-axis towline, and the power line and control line of the servo motor are placed in the X-axis drag chain. 3. The three-degree-of-freedom manipulator according to claim 1, characterized in that, the two ends of the fixed square steel are respectively provided with a left limit sensor block and a right limit sensor block; the left and right ends of the lower surface of the X-axis substrate Set the left limit sensing device and the right limit sensing device respectively. 4. The three-degree-of-freedom manipulator according to claim 1, characterized in that, the fixed square steel is provided with a pick-up sensing block and a placement sensing block; the lower surface of the X-axis substrate is provided with a pick-up sensing device and a placement sensing block. Sensing device. 5. The three-degree-of-freedom manipulator according to claim 1, wherein the Y-axis unit also includes a Y-axis drag chain; the Y-axis drag chain upper fixing plate is arranged on the Y-axis base plate, and the Y-axis aluminum The lower fixing plate of the Y-axis towline is arranged on the profile, and the two ends of the Y-axis towline are respectively connected to the upper fixing plate of the Y-axis towline and the lower fixing plate of the Y-axis towline, and the gas pipe and the control line of the Y-axis cylinder placed in the Y-axis towline. 6. The three-degree-of-freedom manipulator according to claim 1, characterized in that, on the Y-axis aluminum profile, a Y-axis hydraulic buffer is respectively arranged at the maximum and minimum stroke positions of the Y-axis cylinder piston rod. 7. The three-degree-of-freedom manipulator according to claim 1, characterized in that, the lower end of the Y-axis base plate is also provided with an anti-drop cylinder, which is used to prevent the Z-axis aluminum profile from being free when the air source of the manipulator fails in the example. whereabouts. 8. The three-degree-of-freedom manipulator according to claim 1, wherein the Z-axis unit also includes a Z-axis drag chain; the upper part of the Z-axis aluminum profile is provided with a fixed plate on the Z-axis drag chain, and the Y-axis The upper part of the base plate is provided with the lower fixing plate of the Z-axis drag chain; the two ends of the Z-axis drag chain are respectively connected with the upper fixing plate of the Z-axis drag chain and the lower fixing plate of the Z-axis drag chain, and the gas pipe and the control line of the Z-axis cylinder placed in the Y-axis towline. 9. The three-degree-of-freedom manipulator according to claim 1, wherein the Z-axis aluminum profile is fixedly connected to the bottom end of the Z-axis aluminum profile through a Z-axis lower connecting plate, and the upper end of the Z-axis guide rail An upper block is set at the upper and lower ends of the Z-axis base, and a Z-axis oil pressure buffer is respectively set at the upper and lower ends of the Z-axis base. 10 . The three-degree-of-freedom manipulator according to claim 1 , wherein a suction cup and/or a clamp for installing a working tool is arranged on the extension connecting plate. 11 .