CN107618024A - A kind of multi-arm joint Manipulator - Google Patents
A kind of multi-arm joint Manipulator Download PDFInfo
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- CN107618024A CN107618024A CN201710980999.4A CN201710980999A CN107618024A CN 107618024 A CN107618024 A CN 107618024A CN 201710980999 A CN201710980999 A CN 201710980999A CN 107618024 A CN107618024 A CN 107618024A
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- arm
- manipulator
- mechanical arm
- vertical lifting
- turning
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Abstract
The present invention proposes a kind of multi-arm joint Manipulator, including manipulator body, and at least three groups of mechanical arm mechanisms are connected with the manipulator body；The manipulator body is hollow structure, and inside is provided with vertical lifting axle, the mechanical arm mechanism is connected with the vertical lifting axle, the mechanical arm mechanism moves up and down along the vertical lifting axle；The relative face of described this body sidewall of manipulator is provided with through hole, and the mechanical arm mechanism passes through the through hole；The mechanical arm mechanism includes two groups of arm components, the arm component is symmetrical arranged using manipulator body as symmetry axis, spread configuration mechanical arm, multilayer producing line can be realized while operated, greatly improve operating efficiency, and occupy little space, and the control of various dimensions can be realized, the precision of gripping is high.
Description
Technical field
The present invention relates to robot field, more particularly to multi-arm joint Manipulator.
Background technology
At present, the form of manipulator is varied, and is widely used in production, medical treatment etc., in existing manipulator,
Usually single armed or dual-arm robot, it can not then be operated for some multilayer producing lines, it is necessary to set multiple single armeds or both arms
Manipulator is operated, and otherwise can not complete work, but because the place of production limits, sets multiple manipulators not only to take up an area greatly, and
If different mechanical arms interferes by closely easily causing very much, work is influenceed.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of multi-arm joint Manipulator, including manipulator body, it is described
At least three groups of mechanical arm mechanisms are connected with manipulator body；The manipulator body is hollow structure, and inside is provided with
Vertical lifting axle, is connected with the mechanical arm mechanism on the vertical lifting axle, and the mechanical arm mechanism is along the vertical lifting
Axle moves up and down；The relative face of described this body sidewall of manipulator is provided with through hole, and the mechanical arm mechanism passes through the through hole；Institute
Stating mechanical arm mechanism includes two groups of arm components, and the arm component is symmetrical arranged using manipulator body as symmetry axis.
Preferably, the arm component includes connecting portion, first rotating arm, the second turning arm, gripping portion, first rotation
Pivoted arm is connected by first rotating shaft with the connecting portion, and second turning arm is connected by the second rotating shaft and the first rotating arm
Connect, described one end is connected by the 3rd rotating shaft with second turning arm.
Preferably, the gripping portion includes the 3rd turning arm, and the 3rd turning arm is provided with fixed block, the fixed block
On be connected with two clamping jaws, the fixed block bottom is provided with pushing part between two clamping jaws, and promotes the clamping jaw
Folding.
Preferably, the clamping jaw is arc mechanism, and inner side is provided with two compact heaps, and the compact heap bottom is provided with projection
Portion.
Preferably, the clamping jaw is connected by shipping and reselling on another market with the fixed block.
Multi-arm joint Manipulator proposed by the present invention has following beneficial effect：Spread configuration mechanical arm, can be realized more
Layer producing line operates simultaneously, greatly improves operating efficiency, and occupies little space, and can realize the control of various dimensions, gripping
Precision is high.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the arm component schematic diagram of the present invention；
Fig. 3 is the gripping portion schematic diagram of the present invention；
Wherein, 1, manipulator body；2nd, through hole；3rd, arm component；4th, connecting portion；5th, first rotating arm；6th, the second rotation
Arm；7th, gripping portion；8th, the 3rd turning arm；9th, fixed block；10th, ship and resell on another market；11st, clamping jaw；12nd, compact heap；13rd, lug boss.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention proposes a kind of multi-arm joint Manipulator, including manipulator body 1, its
In, the manipulator body 1 is hollow structure, and is cylindricality mechanism, and inside is provided with vertical lifting axle, on the vertical lifting axle
It is connected with described in the mechanical arm mechanism and at least three groups of mechanical arm mechanisms, multigroup mechanical arm is connected with manipulator body 1
Structure can process a plurality of producing line, and mechanical arm mechanism can be realized up and down by the lifting of vertical lifting axle；
Specifically, the mechanical arm mechanism moves up and down along the vertical lifting axle；The side wall phase of manipulator body 1
To face be provided with through hole 2, the mechanical arm mechanism passes through the through hole 2；The mechanical arm mechanism includes two groups of arm components
3, the arm component 3 is symmetrical arranged with manipulator body 1 for symmetry axis, symmetrically arranged mechanical arm, and two mechanical arms can
Realize the effect for simulating artificial arm.
Wherein, the arm component 3 includes connecting portion 4, and connecting portion 4 is used for and vertical lifting axis connection, first rotating arm
5th, the second turning arm 6, gripping portion 7, the first rotating arm 5 are connected by first rotating shaft with the connecting portion 4, second rotation
Pivoted arm 6 is connected by the second rotating shaft with the first rotating arm 5, and described one end passes through the 3rd rotating shaft and second turning arm 6
Connection, first rotating arm 5, the second turning arm 6, gripping portion 7 can be realized in same level not by corresponding axis of rotation
With the control of angle position, in order to ensure the horizontal shape of whole arm component 3, first rotating arm 5 and gripping portion 7 are respectively positioned at the
The bottom of two turning arms 6, and the Grasp Modes in gripping portion 7 are, the gripping portion 7 includes the 3rd turning arm 8, the 3rd rotation
Arm 8 is provided with fixed block 9, and two clamping jaws 11 are connected with the fixed block 9, and the bottom of fixed block 9 is provided with pushing part
Between two clamping jaws 11, and the folding of clamping jaw 11 is promoted, the middle part of two clamping jaws 11 10 connects by shipping and reselling on another market with fixed block 9
Connect, and dead slot is provided with positioned at the end of the bottom of fixed block 9, work pushing part promotes, and pushing part can be the power such as cylinder, oil cylinder
Structure, when pushed, two clamping jaws 11 are close to each other, and during contraction, clamping jaw 11 separates, and realizes the function of crawl.
In order to ensure gripping article that clamping jaw 11 can be more stable, the clamping jaw 11 is arc mechanism, arc mechanism it is interior
Wall is three continuous straight flanges, and the groove that caves in is provided with the straight flange on both sides, is provided with compact heap 12 in the groove that caves in, under the compact heap 12
Portion is provided with lug boss 13, the crawl article that lug boss 13 can be more stable, and article is supported, and prevents from sliding downwards.
A variety of modifications to embodiment will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty
Consistent most wide scope.
Claims (5)
1. a kind of multi-arm joint Manipulator, it is characterised in that including manipulator body, be connected with the manipulator body
At least three groups of mechanical arm mechanisms；The manipulator body is hollow structure, and inside is provided with vertical lifting axle, the vertical lifting
The mechanical arm mechanism is connected with axle, the mechanical arm mechanism moves up and down along the vertical lifting axle；The manipulator sheet
The relative face of body sidewall is provided with through hole, and the mechanical arm mechanism passes through the through hole；The mechanical arm mechanism includes two groups of hands
Arm component, the arm component are symmetrical arranged using manipulator body as symmetry axis.
2. multi-arm joint Manipulator according to claim 1, it is characterised in that the arm component includes connecting portion, the
One turning arm, the second turning arm, gripping portion, the first rotating arm are connected by first rotating shaft with the connecting portion, and described
Two turning arms are connected by the second rotating shaft with the first rotating arm, and described one end passes through the 3rd rotating shaft and second turning arm
Connection.
3. multi-arm joint Manipulator according to claim 2, it is characterised in that the gripping portion includes the 3rd turning arm,
3rd turning arm is provided with fixed block, and two clamping jaws are connected with the fixed block, and the fixed block bottom is provided with
Pushing part promotes the clamping jaw folding between two clamping jaws.
4. multi-arm joint Manipulator according to claim 3, it is characterised in that the clamping jaw is arc mechanism, and inner side
Provided with two compact heaps, the compact heap bottom is provided with lug boss.
5. multi-arm joint Manipulator according to claim 2, it is characterised in that the clamping jaw is by shipping and reselling on another market and the fixation
Block connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710980999.4A CN107618024A (en) | 2017-10-20 | 2017-10-20 | A kind of multi-arm joint Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710980999.4A CN107618024A (en) | 2017-10-20 | 2017-10-20 | A kind of multi-arm joint Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107618024A true CN107618024A (en) | 2018-01-23 |
Family
ID=61092679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710980999.4A Pending CN107618024A (en) | 2017-10-20 | 2017-10-20 | A kind of multi-arm joint Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107618024A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682148A (en) * | 2019-09-16 | 2020-01-14 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN110695984A (en) * | 2019-09-30 | 2020-01-17 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN111512944A (en) * | 2020-04-29 | 2020-08-11 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN113400344A (en) * | 2021-07-23 | 2021-09-17 | 力行亲和机器人科技(西安) 有限公司 | Center post structure with rotation function and high extending structure |
| CN113736637A (en) * | 2021-10-14 | 2021-12-03 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen is scraped out ware |
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| FR2856327A1 (en) * | 2003-06-17 | 2004-12-24 | A M G | Gripper unit for retaining part, has layered structure with transversal arms articulated in relation to plane along longitudinal beam to adjust position of retaining unit such that cubic measurements of gripper unit are reduced |
| US20070233320A1 (en) * | 2006-03-28 | 2007-10-04 | Festo Ag & Co. | Handling device |
| CN205835298U (en) * | 2016-05-03 | 2016-12-28 | 让鸿宇 | A kind of multi-arm mechanical hand |
| CN107161231A (en) * | 2017-05-27 | 2017-09-15 | 郑州大学 | A kind of biomimetic climbing robot for being applied to drag-line bridge Sarasota and cable |
| CN207915446U (en) * | 2017-10-20 | 2018-09-28 | 高井云 | A kind of multi-arm joint Manipulator |
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- 2017-10-20 CN CN201710980999.4A patent/CN107618024A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2856327A1 (en) * | 2003-06-17 | 2004-12-24 | A M G | Gripper unit for retaining part, has layered structure with transversal arms articulated in relation to plane along longitudinal beam to adjust position of retaining unit such that cubic measurements of gripper unit are reduced |
| US20070233320A1 (en) * | 2006-03-28 | 2007-10-04 | Festo Ag & Co. | Handling device |
| CN205835298U (en) * | 2016-05-03 | 2016-12-28 | 让鸿宇 | A kind of multi-arm mechanical hand |
| CN107161231A (en) * | 2017-05-27 | 2017-09-15 | 郑州大学 | A kind of biomimetic climbing robot for being applied to drag-line bridge Sarasota and cable |
| CN207915446U (en) * | 2017-10-20 | 2018-09-28 | 高井云 | A kind of multi-arm joint Manipulator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682148A (en) * | 2019-09-16 | 2020-01-14 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN110682148B (en) * | 2019-09-16 | 2021-02-09 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN110695984A (en) * | 2019-09-30 | 2020-01-17 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN110695984B (en) * | 2019-09-30 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN111512944A (en) * | 2020-04-29 | 2020-08-11 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN111512944B (en) * | 2020-04-29 | 2021-12-17 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN113400344A (en) * | 2021-07-23 | 2021-09-17 | 力行亲和机器人科技(西安) 有限公司 | Center post structure with rotation function and high extending structure |
| CN113736637A (en) * | 2021-10-14 | 2021-12-03 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen is scraped out ware |
| CN113736637B (en) * | 2021-10-14 | 2023-08-04 | 华中科技大学同济医学院附属协和医院 | High-efficient cell orifice plate albumen scrapes out ware |
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