CN114102566A

CN114102566A - Multi-degree-of-freedom mechanical arm

Info

Publication number: CN114102566A
Application number: CN202111492290.2A
Authority: CN
Inventors: 徐立伟; 徐立建; 郑林
Original assignee: Rudong Lianyi Electromechanical Co ltd
Current assignee: Rudong Lianyi Electromechanical Co ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-03-01

Abstract

The invention discloses a multi-degree-of-freedom mechanical arm which comprises an installation seat, a first movable arm and a second movable arm, wherein a rotary table is movably installed at the top of the installation seat, the first movable arm is movably installed at the top of the rotary table through a fixed seat, buffering seats are movably installed at the top and one side of the fixed seat, and the second movable arm is movably installed at the front end of the first movable arm. The multi-degree-of-freedom movable cleaning device can move with multiple degrees of freedom, the flexibility is effectively improved through the mutual matching among the rotary disc, the first movable arm, the second movable arm, the limiting frame and the movable frame, the movable ring is synchronously driven by the limiting frame to move outside the protective cylinder, the adhered dust can be conveniently cleaned through the matching cleaning brush, the grabbing force can be reduced by utilizing the movable column, the roller-shaped cleaning basket is prevented from being damaged due to the overlarge clamping force, meanwhile, the movable cleaning device can be stably attached to the roller-shaped cleaning basket, the falling is not easy to occur, and the grabbing effect is improved.

Description

Multi-degree-of-freedom mechanical arm

Technical Field

The invention relates to the technical field of machining, in particular to a multi-degree-of-freedom manipulator.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments, in the production and processing of workpieces, the workpieces are usually required to be placed in a roller-shaped cleaning basket, the roller-shaped cleaning basket is grabbed by using a mechanical arm, the roller-shaped cleaning basket is grabbed by using the workpiece placed in an industrial cleaning machine for cleaning the workpiece in the basket, grease and dust are mainly cleaned and removed, and therefore the multi-degree-of-freedom mechanical arm is required to be used so as to improve the using effect.

Although the prior patent (publication No. CN 108742158A) is a multi-degree-of-freedom robot, the multi-degree-of-freedom robot includes: a universal wheel base; the vertical motion assembly comprises a support shell, a ball screw assembly and a stepping motor, wherein the support shell is fixed on the universal wheel base, the ball screw assembly and the stepping motor are fixed on the support shell, and the stepping motor provides power for the slider seat in the ball screw assembly to move in the vertical direction; the rotary clamping assembly comprises a rotary air cylinder and a clamping device, the rotary air cylinder is fixed on the sliding block seat, the output end of the rotary air cylinder is connected with the clamping device, and the clamping device is used for contracting and clamping heavy objects. However, in the process of implementing the present invention, the inventor finds that at least the following problems in the prior art are not solved:

1. can only reciprocate, inconvenient article according to snatching adjust the position, need adjust the position through artifical whole device that removes, the flexibility is general, uses comparatively trouble, has reduced application range, brings more trouble for production and processing.

2. After long-term use, the outside can the more dust of adhesion, shortens life easily, needs artifical manual use clearance instrument to clean the clearance usually, has reduced the convenience.

3. At the in-process to the material centre gripping, do not have better protection device, it is big to take place the centre gripping dynamics easily, causes the condition of damage to the material, leads to the material to take place to damage, has improved use cost, and the operation is comparatively troublesome.

Disclosure of Invention

The invention aims to solve the defects in the prior art, such as: the flexibility of the existing multi-degree-of-freedom mechanical arm is general, the function is single, and the protection effect is general.

In order to achieve the purpose, the invention provides the following technical scheme:

the multi-degree-of-freedom mechanical arm comprises an installation seat, a first movable arm and a second movable arm, wherein a turntable is movably installed at the top of the installation seat, the first movable arm is movably installed at the top of the turntable through a fixed seat, a buffer seat is movably installed at the top and one side of the fixed seat, the second movable arm is movably installed at the front end of the first movable arm, a protection cylinder is fixedly installed at one side of the second movable arm, a first electric push rod is fixedly installed inside the protection cylinder, and a movable frame is movably installed at one side of the first electric push rod through a limiting frame;

one side fixed mounting of spacing has the loose collar that corresponds with a protection section of thick bamboo, the bottom movable mounting of loose collar has the mount, the bottom of mount has movable post through slide bar movable mounting, the inboard movable mounting of activity post has the (holding) chuck.

Preferably, the mounting seat and the turntable are movably mounted through a rotating shaft, and the buffer seat and the fixed seat are movably mounted through a first spring.

Preferably, an annular rack is fixedly mounted on the mounting seat at the bottom of the rotary table, a first motor is fixedly mounted on the rotary table at the front end of the fixing seat, and the output end of the first motor and the annular rack are mounted through a transmission gear in a transmission manner.

Preferably, the front end fixed mounting of fixing base has with first digging arm complex second motor, and the front end fixed mounting of first digging arm has the spacing stake that corresponds with the cushion socket.

Preferably, the rear end of the first movable arm is fixedly provided with a third motor matched with the second movable arm, and the inner side of the movable ring is fixedly provided with a cleaning brush corresponding to the protective cylinder.

Preferably, the rear end of the movable frame is fixedly provided with a fourth motor, and the output end of the fourth motor is fixedly arranged with the movable frame.

Preferably, a second electric push rod is fixedly mounted at the top of the fixing frame, and the output end of the second electric push rod and the sliding rod are movably mounted through a movable rod.

Preferably, the movable column and the movable rod are movably mounted through a second spring, and a fifth motor matched with the fixed frame is fixedly mounted on the inner side of the movable frame.

Compared with the prior art, the invention has the beneficial effects that:

1. the multi-degree-of-freedom movable arm disclosed by the invention can move at multiple degrees of freedom, the grabbing position can be conveniently adjusted according to the position of a material through the mutual matching among the rotary table, the first movable arm, the second movable arm, the limiting frame and the movable frame, the flexibility is effectively improved, the first electric push rod can be conveniently protected by matching with the protective barrel, the condition of damage caused by collision with an external object is reduced, the safety is effectively improved, meanwhile, the limiting pile can be contacted with the buffer seat to buffer the first movable arm when the first movable arm rotates to the maximum angle by utilizing the buffer seat, the damage to the first movable arm can be effectively reduced, and the safety is improved.

2. The surface cleaning device has the advantages that the surface of the protective cylinder can be conveniently cleaned, the movable ring can be synchronously driven to move outside the protective cylinder through the limiting frame in the moving process, and dust adhered to the surface of the protective cylinder can be conveniently cleaned by the aid of the cleaning brush, so that the protective cylinder can keep a good protective effect, the service life is prolonged, the trouble of manual cleaning is reduced, the working efficiency is improved, and the operation is convenient and fast.

3. The clamping device has the advantages that the protection is realized when materials are grabbed, the grabbing strength can be effectively reduced by utilizing the activity of the movable column when the roller-shaped cleaning basket can be grabbed through the mutual matching of the sliding rod, the movable column and the clamping plate, the damage to the roller-shaped cleaning basket caused by overlarge clamping strength can be effectively prevented, the clamping device is convenient and practical, meanwhile, the clamping plate and the roller-shaped cleaning basket can be driven to be stably attached, the roller-shaped cleaning basket is not easy to fall off, the grabbing effect is improved, and more convenience is brought to production and processing.

Drawings

FIG. 1 is a perspective view of the main body of the present invention;

FIG. 2 is a front view of the main body of the present invention;

FIG. 3 is a schematic view of the back structure of the main body according to the present invention;

FIG. 4 is a partial perspective view of the movable frame of the present invention;

FIG. 5 is a schematic view of a partial perspective structure of the movable column of the present invention;

FIG. 6 is a schematic view of the internal structure of the protective cylinder of the present invention;

fig. 7 is a partial perspective view of the ring rack of the present invention.

In the figure: 1. a mounting seat; 101. an annular rack; 102. a rotating shaft; 2. a turntable; 201. a first motor; 202. a fixed seat; 203. a second motor; 204. a buffer seat; 205. a first spring; 206. a transmission gear; 3. a first movable arm; 301. limiting piles; 302. a third motor; 4. a second movable arm; 401. a protective cylinder; 402. a first electric push rod; 5. a movable ring; 501. cleaning a brush; 6. a limiting frame; 7. a movable frame; 701. a fourth motor; 702. a fifth motor; 8. a fixed mount; 801. a second electric push rod; 802. a movable post; 803. a chuck; 804. a second spring; 805. a movable rod; 806. a slide bar.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

As shown in fig. 1-7, the multi-degree-of-freedom manipulator provided by the invention comprises an installation base 1, a first movable arm 3 and a second movable arm 4, wherein a turntable 2 is movably installed at the top of the installation base 1, the installation base 1 and the turntable 2 are movably installed through a rotating shaft 102, the turntable 2 can rotate, the first movable arm 3 is movably installed at the top of the turntable 2 through a fixed base 202, an annular rack 101 is fixedly installed on the installation base 1 at the bottom of the turntable 2, a first motor 201 is fixedly installed on the turntable 2 at the front end of the fixed base 202 through a bolt, an output end of the first motor 201 and the annular rack 101 are installed through a transmission gear 206 in a transmission manner, the transmission gear 206 can be driven to rotate by using the first motor 201, the turntable 2 can be conveniently driven to rotate by matching with the annular rack 101, the grabbing direction is convenient to adjust, a buffer base 204 is movably installed at both the top and one side of the fixed base 202, the buffer base 204 and the fixed base 202 are movably installed through a first spring 205, the front end of the fixed base 202 is fixedly installed with a second motor 203 matched with the first movable arm 3 through a bolt, the output end of the second motor 203 is fixedly installed with the first movable arm 3, the first movable arm 3 can be driven to turn over by the second motor 203, the position can be conveniently adjusted according to the grabbing requirement, the front end of the first movable arm 3 is fixedly installed with a limit pile 301 corresponding to the buffer base 204 through a bolt, when the first movable arm 3 rotates to the maximum angle, the limit pile 301 can be in contact clamping with the buffer base 204, the first movable arm 3 can be conveniently buffered by the action of the first spring 205, the damage can be prevented, the front end of the first movable arm 3 is movably installed with a second movable arm 4 through a movable shaft, the rear end of the first movable arm 3 is fixedly installed with a third motor 302 matched with the second movable arm 4 through a bolt, the second movable arm 4 can be conveniently driven to movably overturn up and down through the third motor 302, a protective cylinder 401 is fixedly mounted on one side of the second movable arm 4 through a bolt, a first electric push rod 402 is fixedly mounted inside the protective cylinder 401, the first electric push rod 402 can be conveniently protected through the protective cylinder 401, the situation that the first electric push rod 402 is damaged due to collision of an external object is reduced, a movable frame 7 is movably mounted on one side of the first electric push rod 402 through a limiting frame 6, the distance of the movable frame 7 can be adjusted through extension and retraction of the first electric push rod 402, the use length can be conveniently adjusted according to use requirements, and the device is convenient and practical;

example two

As shown in fig. 1 to 7, compared with the first embodiment, the multi-degree-of-freedom manipulator provided by the present invention further includes a movable ring 5 fixedly mounted on one side of the limiting frame 6 and corresponding to the protective cylinder 401, the movable ring 5 is located on the outer side of the protective cylinder 401, and a cleaning brush 501 corresponding to the protective cylinder 401 is fixedly mounted on the inner side of the movable ring 5, so that the first electric push rod 402 can conveniently and synchronously drive the movable ring 5 to move while extending and retracting, and the cleaning brush 501 can conveniently clean dust adhered to the surface of the protective cylinder 401, so that the protective cylinder 401 can maintain a good protective effect, and simultaneously reduce the trouble of manual cleaning and working strength, the rear end of the movable frame 7 is fixedly mounted with a fourth motor 701 through a bolt, the output end of the fourth motor 701 is fixedly mounted with the movable frame 7, so that the movable frame 7 can be conveniently driven to turn over by the fourth motor 701, the flexibility of the device is effectively improved, a fixed frame 8 is movably arranged at the bottom of a movable frame 7, a fifth motor 702 matched with the fixed frame 8 is fixedly arranged on the inner side of the movable frame 7 through bolts, the fixed frame 8 can be conveniently driven to rotate through the fifth motor 702, the adjustment according to the grabbing position is convenient, the convenience is improved, a movable column 802 is movably arranged at the bottom of the fixed frame 8 through a sliding rod 806, a chuck plate 803 is movably arranged on the inner side of the movable column 802, a second electric push rod 801 is fixedly arranged at the top of the fixed frame 8, the output end of the second electric push rod 801 is movably arranged with the sliding rod 806 through a movable rod 805, the movable column 802 and the movable rod 805 are movably arranged through a second spring 804, the movable rod 805 can be driven to move up and down through the telescopic activity of the second electric push rod 801, and the movable rod 805 and the sliding rod 806 are slidably arranged through a sliding chute, can drive slide bar 806 and fold and expand, can be comparatively convenient drive (holding) chuck 803 carry out the centre gripping with the material and snatch, through the effect of second spring 804, the cooperation activity post 802 can slow down the centre gripping dynamics of (holding) chuck 803, can effectually prevent that the too big condition that causes the damage to the material of centre gripping dynamics, can utilize activity post 802 to drive (holding) chuck 803 and material to stabilize the laminating simultaneously, make the difficult condition that takes place to drop of material, the effectual result of use that has improved, convenient and fast.

The working principle is as follows: before using the device, a user firstly detects the device and confirms that no problem exists, then the device is used, firstly, the device is fixed at a proper position through the mounting seat 1, the first motor 201 drives the transmission gear 206 to rotate, the annular rack 101 drives the turntable 2 to rotate, the second motor 203 drives the first movable arm 3 to perform overturning movement, the limit pile 301 is in clamping contact with the buffer seat 204 and can buffer with the first movable arm 3, the third motor 302 drives the second movable arm 4 to perform overturning movement, the using length is adjusted by the extension of the first electric push rod 402, the movable ring 5 is synchronously driven to move, the cleaning brush 501 is matched to clean dust on the protective barrel 401, the fourth motor 701 drives the movable frame 7 to perform overturning movement, the fifth motor 702 is matched to drive the fixed frame 8 to rotate, the grabbing position is adjusted, the movable rod 805 is driven by the extension of the second electric push rod 801 to move up and down, make slide bar 806 fold and expand the activity, drive the (holding) chuck 803 and carry out the centre gripping with the material and snatch, through the activity of activity post 802 and the mutually supporting of second spring 804, make the (holding) chuck 803 slow down the centre gripping dynamics, make the (holding) chuck 803 stable laminate with the material simultaneously, avoid taking place to drop, just accomplish a series of operations of this device more.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Multi freedom type manipulator, including mount pad (1), first movable arm (3) and second movable arm (4), its characterized in that: the top of the mounting seat (1) is movably provided with a turntable (2), the top of the turntable (2) is movably provided with a first movable arm (3) through a fixing seat (202), the top and one side of the fixing seat (202) are both movably provided with a buffer seat (204), the front end of the first movable arm (3) is movably provided with a second movable arm (4), one side of the second movable arm (4) is fixedly provided with a protective cylinder (401), the interior of the protective cylinder (401) is fixedly provided with a first electric push rod (402), and one side of the first electric push rod (402) is movably provided with a movable frame (7) through a limiting frame (6);

one side fixed mounting of spacing (6) has activity ring (5) that correspond with a protection section of thick bamboo (401), the bottom movable mounting of adjustable shelf (7) has mount (8), there is movable post (802) bottom of mount (8) through slide bar (806) movable mounting, the inboard movable mounting of activity post (802) has (803).

2. The multiple degree of freedom type manipulator according to claim 1, characterized in that: the mounting seat (1) and the turntable (2) are movably mounted through a rotating shaft (102), and the buffer seat (204) and the fixed seat (202) are movably mounted through a first spring (205).

3. The multiple degree of freedom type manipulator according to claim 1 or 2, characterized in that: an annular rack (101) is fixedly mounted on a mounting seat (1) at the bottom of the rotary table (2), a first motor (201) is fixedly mounted on the rotary table (2) at the front end of the fixing seat (202), and an output end of the first motor (201) and the annular rack (101) are mounted through a transmission gear (206) in a transmission mode.

4. The multiple degree of freedom type manipulator according to claim 3, characterized in that: the front end fixed mounting of fixing base (202) has second motor (203) with first digging arm (3) complex, and the front end fixed mounting of first digging arm (3) has spacing stake (301) that corresponds with buffer seat (204).

5. The multiple degree of freedom type manipulator according to claim 1 or 4, characterized in that: the rear end of the first movable arm (3) is fixedly provided with a third motor (302) matched with the second movable arm (4), and the inner side of the movable ring (5) is fixedly provided with a cleaning brush (501) corresponding to the protective cylinder (401).

6. The multiple degree of freedom type manipulator according to claim 1, characterized in that: the rear end fixed mounting of adjustable shelf (7) has fourth motor (701), and fixed mounting between the output of fourth motor (701) and adjustable shelf (7).

7. The multiple degree of freedom-type manipulator according to claim 6, characterized in that: the top of the fixed frame (8) is fixedly provided with a second electric push rod (801), and the output end of the second electric push rod (801) is movably arranged with the sliding rod (806) through a movable rod (805).

8. The multiple degree of freedom-type manipulator according to claim 7, characterized in that: the movable column (802) and the movable rod (805) are movably mounted through a second spring (804), and a fifth motor (702) matched with the fixed frame (8) is fixedly mounted on the inner side of the movable frame (7).