CN113547535A - Multi-degree-of-freedom manipulator - Google Patents

Abstract

The invention relates to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator which comprises a connecting seat, wherein the upper surface of the connecting seat is fixedly connected with a fixed seat, the right side of the outer surface of the connecting seat is provided with a motor, an output shaft of the motor penetrates through the connecting seat and is fixedly connected with a second gear, the lower side inside the connecting seat is symmetrically and rotatably provided with first gears, the two first gears are mutually meshed, the first gear positioned at the rear part is meshed with the second gear, the central positions of the two first gears are fixedly connected with second mechanical claw arms, the lower ends of the outer surfaces of the two second mechanical claw arms are symmetrically provided with anti-skidding adsorption mechanisms, the two sides of the outer surface of the connecting seat are symmetrically and fixedly provided with hydraulic rods, one ends of the hydraulic rods, far away from the connecting seat, are fixedly connected with the first mechanical claw arms, the invention realizes the adsorption of goods by arranging the adsorption mechanisms to be matched with the first mechanical claw arms, meanwhile, the additional use of an air pump for air exhaust is avoided, the cost is saved, and the energy consumption is reduced.

Description

Multi-degree-of-freedom manipulator

Technical Field

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

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for gripping and carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The Chinese patent discloses a novel mechanical arm, the patent application number is CN201720938496.6, the novel mechanical arm comprises an auxiliary arm, one end of the auxiliary arm is provided with a mechanical arm swinging shaft, one end of the mechanical arm swinging shaft, which is far away from the auxiliary arm, is provided with a mechanical arm rotating shaft, a clamping finger joint is arranged below the mechanical arm rotating shaft, one end of the clamping finger joint is provided with a clamping hand, the inner side of the clamping hand is provided with an anti-skid pad, a sucking disc is arranged below the clamping finger joint, one end of the auxiliary arm, which is far away from the mechanical arm swinging shaft, is provided with an auxiliary arm rotating shaft, and one end of the auxiliary arm rotating shaft, which is far away from the main arm, is provided with a main arm controller; the clamping hands and the finger joints which are arranged below the rotating shaft of the manipulator can enable the manipulator to clamp materials more stably, and the phenomenon that the materials fall off when the manipulator clamps the materials in the prior art is solved; through the slipmat in the design tong, can increase the frictional force between tong and the material, the unstable problem of material when having solved former tong and pressing from both sides the material has been solved.

Although the device can be matched with the vacuum machine, the vacuum guide pipe and the sucker through the arrangement, the sucker has adsorption force, the problem that the material falls off from the gripper easily when the gripper clamps the material is solved, the production cost of the manipulator is improved through the vacuum machine, the vacuum machine is required to be connected with an external power supply, the electric energy consumption is increased, and the vacuum machine is not beneficial to environmental protection.

Therefore, a multi-degree-of-freedom manipulator is provided.

Disclosure of Invention

The present invention is directed to a multi-degree-of-freedom manipulator, which solves the problems set forth in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom manipulator comprises a connecting seat, wherein a fixed seat is fixedly connected to the upper surface of the connecting seat, a motor is arranged on the right side of the outer surface of the connecting seat, an output shaft of the motor penetrates through the connecting seat and is fixedly connected with a second gear, first gears are symmetrically and rotatably arranged on the lower side inside the connecting seat, the two first gears are meshed with each other, the first gear positioned behind the first gear is meshed with the second gear, a second mechanical claw arm is fixedly connected to the central position of each of the two first gears, anti-skid adsorption mechanisms are symmetrically arranged at the lower ends of the outer surfaces of the two second mechanical claw arms, hydraulic rods are symmetrically and fixedly arranged on two sides of the outer surface of the connecting seat, and one ends, far away from the connecting seat, of the hydraulic rods are fixedly connected with the first mechanical claw arms;

the adsorption mechanism comprises a cross rod, an air cylinder, a first circular plate, an air pipe, a sucker and a connecting pipe, the middle position of the fixed seat is provided with an installation opening, the inflator is fixedly arranged in the mounting opening, the first circular plate is slidably arranged in the inflator, the right center of the outer surface of the first circular plate is fixedly connected with a cross bar, the right end of the cross bar penetrates through an air cylinder and is fixedly connected with a first mechanical claw arm, the left side of the outer surface of the first circular plate is provided with a checking mechanism, the sucker is arranged at one side of the lower end of the outer surface of the second mechanical claw arm close to the first mechanical claw arm, one side of the sucker, which is close to the second mechanical claw arm, is fixedly connected with a connecting pipe, the connecting pipe penetrates through the second mechanical claw arm, and the connecting pipe is connected with the second mechanical claw arm through setting up a rotating mechanism, the front end of the connecting pipe with the outer surface of the inflator is detachably connected with the air pipe through setting up a connecting mechanism.

When the mechanical arm is used, the hydraulic rod is driven to extend to the longest length to enable the length between the first mechanical claw arms to be longer than the goods, when the hydraulic rod extends, the first circular plate connected with the first mechanical claw arms through the cross rod moves to one side, closest to the first mechanical claw arms, in the air cylinder, the motor is connected with an external power supply to start the motor to rotate, the second gear drives the second gear to rotate, and the second gear is meshed with the first gear positioned behind the second gear, so that the first gear positioned behind the second gear rotates and the two first gears are meshed with each other, the first gear positioned in front rotates along with the first gear, so that the second mechanical claw arm can be driven to rotate around the axis of the first gear, the second mechanical claw arm can clamp the front and the back of a cargo, the sucking disc arranged below the second mechanical claw arm can be attached to the front and the back surfaces of the cargo, at the moment, the driving hydraulic rod is contracted until the first mechanical claw arm just can clamp the left and the right sides of the cargo, the first circular plate connected with the first mechanical claw arm through the cross rod moves along with the first mechanical claw arm when the first mechanical claw arm moves towards the cargo, at the moment, the sucking disc is attached to the surface of the cargo, so that outside air cannot be sucked into the air cylinder through the sucking disc and the air pipe, along with the movement of the first circular plate, the cavity formed by the first circular plate and the air cylinder is in a negative pressure state, the sucking disc can suck the surface of the cargo, the sliding of the cargo is avoided, and meanwhile, the cargo is sucked through the arrangement of the sucking mechanism, avoid taking place relative slip between goods and the mechanical clamping jaw and produce the mar, lead to the goods to take place to damage, in addition, adsorption apparatus drives and realizes the adsorption effect through first mechanical gripper arm, has avoided additionally using the air pump to bleed, practices thrift the cost, reduces the energy consumption.

Preferably, the inspection mechanism includes second plectane, round hole, cylindrical slot, spring and cylinder, the second plectane sets up the surface left side position at first plectane, just the cylindrical slot is all seted up to the outward flange downside of second plectane and first plectane, the spring sets up in the cylindrical slot, just the both ends of spring are fixed connection second plectane and first plectane respectively, the round hole has been seted up to first plectane outward flange upside, the surface left side upper end fixed connection cylinder of second plectane, the section of the columniform second plectane of keeping away from runs through the inflator.

When the device works, the inflator can be aged or even damaged along with the long-term use of the adsorption mechanism, so that the adsorption mechanism can generate an air leakage phenomenon, the sucking disc can not well adsorb cargoes, however, the damage condition of the adsorption mechanism can not be observed by naked eyes, a piece of white paper is placed on one side of the sucking disc by arranging the round hole and the second round plate to be matched, the cylinder is pulled to move to one side far away from the first mechanical claw arm, at the moment, the second round plate is separated from the first round plate, the spring extends, if the white paper can be adsorbed on the sucking disc at the moment, the air tightness of the adsorption mechanism is good, otherwise, the air tightness of the surface adsorption mechanism is insufficient, after the inspection is finished, the cylinder is loosened, the spring contracts, the second round plate moves to one side of the first round plate to be combined with the round hole, the influence of the round hole on the first round plate during working is eliminated, and the air tightness of the adsorption mechanism can be inspected by arranging the inspection mechanism, to facilitate maintenance thereof.

Preferably, coupling mechanism includes outer joint head and interconnection joint, the outer joint head is provided with two, one of them the one end fixed connection inflator of outer joint head, another one the one end fixed connection connecting pipe of outer joint head, two the other end threaded connection of outer joint head has the interconnection joint, two the tracheal both ends of interconnection joint difference fixed connection.

During operation, after carrying out the gas tightness inspection to adsorption element, if the trachea takes place to leak gas, then need change it, through setting up outer connector and interconnection joint, only need to screw off the interconnection joint, just can dismantle the trachea to can change the trachea, guarantee adsorption element's gas tightness with this, make adsorption element can adsorb the goods, avoid the goods landing.

Preferably, the outer edge of the upper end of the air pipe is fixedly sleeved with a fixing ring, and the outer edge of the lower end of the external connector is movably sleeved with a rubber ring.

The during operation, because be threaded connection between outer joint and the in-connection connects, the junction has the gap, the phenomenon of gas leakage takes place easily, cooperate with the rubber circle through setting up solid fixed ring, when the rotating trachea is installed it, gu fixed ring and the distance between the outer joint head reduce gradually, the rubber circle of setting in trachea upper end periphery department is between solid fixed ring and outer joint head, because the space between solid fixed ring and the outer joint head reduces gradually, the rubber circle receives the extrusion, make rubber circle closely laminate solid fixed ring and outer joint head, avoid gas leakage.

Preferably, slewing mechanism is including leading to groove and axis of rotation, logical groove has been seted up to the surface downside of second gripper arm, the axis of rotation is installed to the internal rotation, the axis of rotation is run through to the connecting pipe.

The during operation, because goods surface inclination differs, the sucking disc follows the removal of second gripper arm and removes, the angle adaptation second gripper arm's of sucking disc angle leads to the sucking disc can not laminate the surface of the goods that all kinds of inclination differ to can not adsorb the goods, cooperate with the sucking disc through setting up the axis of rotation, make the sucking disc can revolute the axis of rotation and rotate, make the sucking disc hug closely the surface of the goods that all kinds of inclination differ, carry out the centre gripping to the goods that all kinds of inclination differ.

Preferably, a balancing weight is fixedly connected to the lower side of the outer surface of the rotating shaft.

The during operation, before the centre gripping goods, unstable when second gripper arm removes can lead to the axis of rotation to take place to deflect, and the sucking disc deflects thereupon, can lead to sucking disc and second gripper arm to bump, leads to the sucking disc to take place to damage, shortens the life of sucking disc, through setting up the balancing weight for the axis of rotation remains stable state all the time, can not take place to deflect, thereby the sucking disc can not bump with second gripper arm, leads to the sucking disc to take place to damage.

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

1. according to the invention, the adsorption mechanism is arranged to adsorb the goods, so that the goods are prevented from being damaged due to scratches caused by relative sliding between the goods and the mechanical clamping jaw;

2. in addition, the first mechanical claw arm cross rod is connected, when the first mechanical claw arm clamps the goods, the cross rod and the first circular plate are driven to move to exhaust air, so that the sucker on the second mechanical arm has adsorption force and can adsorb the goods, the additional use of a vacuum machine for exhausting air is avoided, the cost is saved, and the energy consumption is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a cross-sectional view of the adsorption mechanism of the present invention;

FIG. 3 is a structural view of the inspection mechanism of the present invention;

FIG. 4 is a structural view of the coupling mechanism of the present invention;

fig. 5 is a structural view of the rotating mechanism of the present invention.

In the figure: 1. a first mechanical claw arm; 2. a motor; 3. a connecting seat; 4. a hydraulic lever; 5. a first gear; 6. a second gripper arm; 7. an adsorption mechanism; 71. a cross bar; 72. an air cylinder; 73. a first circular plate; 74. an air tube; 75. a suction cup; 76. a connecting pipe; 8. a fixed seat; 9. a second gear; 10. a checking mechanism; 101. a second circular plate; 102. a circular hole; 103. a cylindrical groove; 104. a spring; 105. a cylinder; 11. a connecting mechanism; 111. an outer connector; 112. an inner connection joint; 12. a fixing ring; 13. a rubber ring; 14. a rotating mechanism; 141. a through groove; 142. a rotating shaft; 15. and a balancing weight.

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 is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, 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.

Referring to fig. 1 to 5, the present invention provides a technical solution:

a multi-degree-of-freedom manipulator is shown in figures 1 to 2 and comprises a connecting seat 3, a fixed seat 8 is fixedly connected to the upper surface of the connecting seat 3, the right side of the outer surface of the connecting seat 3 is provided with a motor 2, an output shaft of the motor 2 penetrates through the connecting seat 3 and is fixedly connected with a second gear 9, the lower side inside the connecting seat 3 is symmetrically and rotatably provided with first gears 5, the two first gears 5 are mutually meshed, the first gear 5 positioned at the rear part is meshed with the second gear 9, the center positions of the two first gears 5 are fixedly connected with second mechanical claw arms 6, the lower ends of the outer surfaces of the two second mechanical claw arms 6 are symmetrically provided with anti-skid adsorption mechanisms 7, the two sides of the outer surface of the connecting seat 3 are symmetrically and fixedly provided with hydraulic rods 4, and one ends of the hydraulic rods 4 far away from the connecting seat 3 are fixedly connected with first mechanical claw arms 1;

the adsorption mechanism 7 comprises a cross rod 71, an air cylinder 72, a first circular plate 73, an air pipe 74, a suction cup 75 and a connecting pipe 76, wherein an installation opening is formed in the middle position of the fixing seat 8, the air cylinder 72 is fixedly installed inside the installation opening, the first circular plate 73 is slidably installed inside the air cylinder 72, the right side center position of the outer surface of the first circular plate 73 is fixedly connected with the cross rod 71, the right end of the cross rod 71 penetrates through the air cylinder 72 and is fixedly connected with the first mechanical claw arm 1, the left side of the outer surface of the first circular plate 73 is provided with a checking mechanism 10, the suction cup 75 is arranged at one side, close to the first mechanical claw arm 1, of the lower end of the outer surface of the second mechanical claw arm 6, the suction cup 75 is fixedly connected with the connecting pipe 76 at one side, close to the second mechanical claw arm 6, the connecting pipe 76 penetrates through the second mechanical claw arm 6, and the connecting pipe 76 is connected with the second mechanical claw arm 6 by arranging a rotating mechanism 14, the front end of the connecting pipe 76 and the outer surface of the air cylinder 72 are detachably connected with an air pipe 74 through a connecting mechanism 11.

When the mechanical arm is used, the hydraulic rod 4 is firstly driven to extend to the longest length so that the length between the first mechanical claw arms 1 is longer than that of the goods, when the hydraulic rod 4 extends, the first circular plate 73 connected with the first mechanical claw arm 1 through the cross rod 71 moves to one side, closest to the first mechanical claw arm 1, in the air cylinder 72, the motor 2 is connected with an external power supply to start the motor 2 to rotate, the motor 2 drives the second gear 9 to rotate, and the second gear 9 is meshed with the first gear 5 positioned behind, so that the first gear 5 positioned behind rotates, since the two first gears 5 are engaged with each other, the first gear 5 positioned in front rotates with the engagement, so as to drive the second mechanical claw arm 6 to rotate around the axis of the first gear 5, so that the second mechanical claw arm 6 clamps the goods forward and backward, the suction cup 75 disposed below the second mechanical claw arm 6 can be attached to the front and rear surfaces of the goods, at this time, the hydraulic rod 4 is driven to contract until the first mechanical claw arm 1 can just clamp the left and right sides of the goods, the first circular plate 73 connected to the first mechanical claw arm 1 through the cross rod 71 moves along with the movement of the first mechanical claw arm 1 toward the goods, and since the suction cup 75 is attached to the surface of the goods at this time, the external air cannot be sucked into the air cylinder 72 through the suction cup 75 and the air pipe 74, and the cavity formed by the first circular plate 73 and the air cylinder 72 is in a negative pressure state with the movement of the first circular plate 73, thereby sucking disc 75 can adsorb the goods surface, avoid the goods landing to slide even, simultaneously, adsorb the goods through setting up adsorption apparatus 7, avoid taking place relative slip production mar between goods and the mechanical clamping jaw, lead to the goods to take place to damage, in addition, adsorption apparatus 7 drives and realizes the adsorption effect through first mechanical gripper arm 1, has avoided additionally using the air pump to bleed, practices thrift the cost, reduces the energy consumption.

As an embodiment of the present invention, as shown in fig. 3, the checking mechanism 10 includes a second circular plate 101, a circular hole 102, a cylindrical groove 103, a spring 104, and a cylinder 105, the second circular plate 101 is disposed at a left side position of an outer surface of the first circular plate 73, the cylindrical groove 103 is opened at lower sides of outer edges of the second circular plate 101 and the first circular plate 73, the spring 104 is disposed in the cylindrical groove 103, both ends of the spring 104 are respectively fixedly connected to the second circular plate 101 and the first circular plate 73, the circular hole 102 is opened at an upper side of the outer edge of the first circular plate 73, the cylinder 105 is fixedly connected to an upper end of the left side of the outer surface of the second circular plate 101, and a section of the cylinder 105 far from the second circular plate 101 penetrates through the gas cylinder 72.

In operation, as the adsorption mechanism 7 is used for a long time, the air cylinder 72 is aged or even damaged, which results in the phenomenon that the adsorption mechanism 7 leaks air, the suction cup 75 can not well adsorb goods, however, the naked eye can not observe the damage condition of the adsorption mechanism 7, by arranging the round hole 102 and the second circular plate 101 to be matched, a piece of white paper is placed on one side of the suction cup 75, the cylinder 105 is pulled to move to the side far away from the first mechanical claw arm 1, at this time, the second circular plate 101 is separated from the first circular plate 73, the spring 104 is extended, if the white paper can be adsorbed on the suction cup 75 at this time, the air tightness of the adsorption mechanism 7 is good, otherwise, the air tightness of the surface adsorption mechanism 7 is insufficient, after the inspection is finished, the cylinder 105 is released, the spring 104 is contracted, the second circular plate 101 moves to one side of the first circular plate 73 to be combined with the round hole 102, the influence of the round hole 102 on the operation of the first circular plate 73 is eliminated, by providing the inspection mechanism 10, the airtightness of the adsorption mechanism 7 can be inspected to facilitate maintenance thereof.

As an embodiment of the present invention, as shown in fig. 4, the connection mechanism 11 includes two external connectors 111 and two internal connectors 112, one end of one of the external connectors 111 is fixedly connected to the air cylinder 72, one end of the other external connector 111 is fixedly connected to the connection pipe 76, the other ends of the two external connectors 111 are threadedly connected to the internal connectors 112, and the two internal connectors 112 are respectively and fixedly connected to two ends of the air pipe 74.

During operation, after carrying out the gas tightness inspection to adsorption apparatus 7, if trachea 74 takes place to leak gas, then need change it, through setting up outer joint head 111 and interconnection joint 112, only need unscrew interconnection joint 112, just can dismantle trachea 74 to can change trachea 74, guarantee adsorption apparatus 7's gas tightness with this, make adsorption apparatus 7 can adsorb the goods, avoid the goods landing.

As an embodiment of the present invention, as shown in fig. 4, a fixing ring 12 is fixedly fitted to an upper end outer edge of the air pipe 74, and a rubber ring 13 is movably fitted to a lower end outer edge of the external connection head 111.

During operation, because be threaded connection between external connection head 111 and the internal connection 112, the junction has the gap, the phenomenon of gas leakage takes place easily, cooperate with rubber ring 13 through setting up solid fixed ring 12, when rotating trachea 74 is installed it, the distance between solid fixed ring 12 and the external connection head 111 reduces gradually, rubber ring 13 that sets up in trachea 74 upper end periphery department between solid fixed ring 12 and external connection head 111, because the space between solid fixed ring 12 and the external connection head 111 reduces gradually, rubber ring 13 receives the extrusion, make rubber ring 13 closely laminate solid fixed ring 12 and external connection head 111, avoid gas leakage.

As an embodiment of the present invention, as shown in fig. 5, the rotating mechanism 14 includes a through groove 141 and a rotating shaft 142, the through groove 141 is opened on the lower side of the outer surface of the second gripper arm 6, the rotating shaft 142 is rotatably mounted on the through groove 149, and the connecting pipe 76 penetrates the rotating shaft 142.

The during operation, because goods surface inclination differs, sucking disc 75 follows the removal of second mechanical gripper arm 6 and removes, the angle adaptation second mechanical gripper arm 6's of sucking disc 75 angle, lead to the surface of the goods that all kinds of inclination differ of sucking disc 75 can not laminate, thereby can not adsorb the goods, cooperate with sucking disc 75 through setting up axis of rotation 142, make sucking disc 75 can revolute axis of rotation 142 and rotate, make sucking disc 75 hug closely the surface of the goods that all kinds of inclination differ, carry out the centre gripping to the goods that all kinds of inclination differ.

As an embodiment of the present invention, as shown in fig. 5, a weight 15 is fixedly connected to a lower side of an outer surface of the rotating shaft 142.

The during operation, before the centre gripping goods, second gripper arm 6 is unstable when removing, can lead to rotation axis 142 to take place to deflect, sucking disc 75 deflects thereupon, can lead to sucking disc 75 and second gripper arm 6 to bump, leads to sucking disc 75 to take place to damage, shortens sucking disc 75's life, through setting up balancing weight 15 for rotation axis 142 remains stable state all the time, can not take place to deflect, thereby sucking disc 75 can not bump with second gripper arm 6, leads to sucking disc 75 to take place to damage.

The working principle is as follows: when the mechanical arm is used, the hydraulic rod 4 is firstly driven to extend to the longest length so that the length between the first mechanical claw arms 1 is longer than that of the goods, when the hydraulic rod 4 extends, the first circular plate 73 connected with the first mechanical claw arm 1 through the cross rod 71 moves to one side, closest to the first mechanical claw arm 1, in the air cylinder 72, the motor 2 is connected with an external power supply to start the motor 2 to rotate, the motor 2 drives the second gear 9 to rotate, and the second gear 9 is meshed with the first gear 5 positioned behind, so that the first gear 5 positioned behind rotates, since the two first gears 5 are engaged with each other, the first gear 5 positioned in front rotates with the engagement, so as to drive the second mechanical claw arm 6 to rotate around the axis of the first gear 5, so that the second mechanical claw arm 6 clamps the goods forward and backward, the suction cup 75 disposed below the second mechanical claw arm 6 can be attached to the front and rear surfaces of the goods, at this time, the hydraulic rod 4 is driven to contract until the first mechanical claw arm 1 can just clamp the left and right sides of the goods, the first circular plate 73 connected to the first mechanical claw arm 1 through the cross rod 71 moves along with the movement of the first mechanical claw arm 1 toward the goods, and since the suction cup 75 is attached to the surface of the goods at this time, the external air cannot be sucked into the air cylinder 72 through the suction cup 75 and the air pipe 74, and the cavity formed by the first circular plate 73 and the air cylinder 72 is in a negative pressure state with the movement of the first circular plate 73, thereby sucking disc 75 can adsorb the goods surface, avoid the goods landing to slide even, simultaneously, adsorb the goods through setting up adsorption apparatus 7, avoid taking place relative slip production mar between goods and the mechanical clamping jaw, lead to the goods to take place to damage, in addition, adsorption apparatus 7 drives and realizes the adsorption effect through first mechanical gripper arm 1, has avoided additionally using the air pump to bleed, practices thrift the cost, reduces the energy consumption.

The electric elements in the document are electrically connected with an external main controller and 220V mains supply through a transformer, the main controller can be a conventional known device controlled by a computer and the like, the product model provided by the invention is only used according to the structural characteristics of the product, the product can be adjusted and modified after being purchased, so that the product is more matched with and accords with the technical scheme of the invention, the product model is a technical scheme of the optimal application of the technical scheme, the product model can be replaced and modified according to the required technical parameters, and the product model is familiar to the technical personnel in the field, so that the technical scheme provided by the invention can clearly obtain the corresponding use effect.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a multi freedom manipulator, includes connecting seat (3), its characterized in that: the upper surface of the connecting seat (3) is fixedly connected with a fixed seat (8), the right side of the outer surface of the connecting seat (3) is provided with a motor (2), an output shaft of the motor (2) penetrates through the connecting seat (3) and is fixedly connected with a second gear (9), first gears (5) are symmetrically and rotatably arranged at the lower side in the connecting seat (3), the two first gears (5) are mutually meshed, the first gears (5) positioned at the rear part are meshed with the second gears (9), the center positions of the two first gears (5) are fixedly connected with second mechanical claw arms (6), the lower ends of the outer surfaces of the two second mechanical claw arms (6) are symmetrically provided with anti-skid adsorption mechanisms (7), hydraulic rods (4) are symmetrically and fixedly arranged on two sides of the outer surface of the connecting seat (3), one end of the hydraulic rod (4) far away from the connecting seat (3) is fixedly connected with a first mechanical claw arm (1);

the adsorption mechanism (7) comprises a cross rod (71), an air cylinder (72), a first circular plate (73), an air pipe (74), a sucker (75) and a connecting pipe (76), an installation opening is formed in the middle of the fixing seat (8), the air cylinder (72) is fixedly installed inside the installation opening, the first circular plate (73) is slidably installed inside the air cylinder (72), the right center of the outer surface of the first circular plate (73) is fixedly connected with the cross rod (71), the right end of the cross rod (71) penetrates through the air cylinder (72) and is fixedly connected with the first mechanical claw arm (1), an inspection mechanism (10) is arranged on the left side of the outer surface of the first circular plate (73), the sucker (75) is arranged on one side, close to the first mechanical claw arm (1), of the lower end of the outer surface of the second mechanical claw arm (6), the connecting pipe (76) is fixedly connected with one side, close to the second mechanical claw arm (6), of the sucker (75), the connecting pipe (76) runs through the second mechanical claw arm (6), the connecting pipe (76) is connected with the second mechanical claw arm (6) through the rotating mechanism (14), and the front end of the connecting pipe (76) and the outer surface of the inflator (72) are both detachably connected with the air pipe (74) through the connecting mechanism (11).

2. The multi-degree-of-freedom manipulator of claim 1, wherein: inspection mechanism (10) include second plectane (101), round hole (102), cylindrical groove (103), spring (104) and cylinder (105), second plectane (101) set up the outside surface left side position at first plectane (73), just cylindrical groove (103) have all been seted up to the outward flange downside of second plectane (101) and first plectane (73), spring (104) set up in cylindrical groove (103), just the both ends of spring (104) are fixed connection second plectane (101) and first plectane (73) respectively, round hole (102) have been seted up to first plectane (73) outward flange upside, the outside surface left side upper end fixed connection cylinder (105) of second plectane (101), cylinder (105) are run through inflator (72) to one section of keeping away from second plectane (101).

3. A multi-degree-of-freedom robot as claimed in claim 2, wherein: coupling mechanism (11) are including outer joint head (111) and interconnection joint (112), outer joint head (111) are provided with two, one of them one end fixed connection inflator (72) of outer joint head (111), another one end fixed connection connecting pipe (76) of outer joint head (111), two the other end threaded connection of outer joint head (111) has interconnection joint (112), two interconnection joint (112) is the both ends of fixed connection trachea (74) respectively.

4. A multi-degree-of-freedom robot as claimed in claim 3, wherein: the outer edge of the upper end of the air pipe (74) is fixedly sleeved with a fixing ring (12), and the outer edge of the lower end of the outer connector (111) is movably sleeved with a rubber ring (13).

5. A multi-degree-of-freedom robot as claimed in claim 1, wherein: the rotating mechanism (14) comprises a through groove (141) and a rotating shaft (142), the through groove (141) is formed in the lower side of the outer surface of the second mechanical claw arm (6), the rotating shaft (142) is rotatably mounted on the second mechanical claw arm (149), and the connecting pipe (76) penetrates through the rotating shaft (142).

6. The multi-degree-of-freedom manipulator of claim 5, wherein: and a balancing weight (15) is fixedly connected to the lower side of the outer surface of the rotating shaft (142).

Images