CN113910272A - Multi-joint manipulator and mechanical arm - Google Patents
Multi-joint manipulator and mechanical arm Download PDFInfo
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- CN113910272A CN113910272A CN202111210071.0A CN202111210071A CN113910272A CN 113910272 A CN113910272 A CN 113910272A CN 202111210071 A CN202111210071 A CN 202111210071A CN 113910272 A CN113910272 A CN 113910272A
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- 230000007246 mechanism Effects 0.000 claims description 43
- 210000001145 finger joint Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 30
- 230000008569 process Effects 0.000 abstract description 27
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000001788 irregular Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000001125 extrusion Methods 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 3
- 230000006837 decompression Effects 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 3
- 230000005012 migration Effects 0.000 description 3
- 238000013508 migration Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a multi-joint mechanical arm and a mechanical arm, which comprise a base, wherein the middle part of the upper end of the base is fixedly connected with a first rotating shaft, the upper end of the first rotating shaft is rotatably connected with a first crank arm, the rear end of the first crank arm is rotatably connected with a second crank arm, the middle part of the right side of the second crank arm is rotatably connected with a first mechanical arm, the right side of the first mechanical arm is rotatably connected with a third crank arm, the front end of the third crank arm is rotatably connected with a fourth crank arm, the middle part of the lower end of the fourth crank arm is rotatably connected with a second mechanical arm, and the lower end of the second mechanical arm is fixedly connected with a tail end mechanical arm, so that a clamped object can be clamped more stably by the mechanical arm in the use process, the mechanical arm can clamp an irregular object more stably when clamping the mechanical arm, and the possibility of damaging the object in the moving process is reduced, the economic benefit is enhanced, and the adaptability of the manipulator to different working conditions is increased.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-joint mechanical arm and a mechanical arm.
Background
The manipulator can simulate some actions of a human hand and an arm, can be controlled to automatically perform grabbing, carrying and the like according to a set program, can replace a human to perform heavy work so as to realize mechanization and automation of production, can replace the human to perform work in some environments harmful to a human body, is of a joint type structure, can grab an object, and can realize accurate movement of the manipulator in a certain space.
But unstable condition can appear when getting some irregularly shaped object when manipulator working process presss from both sides, can lead to by the circumstances such as the clamping object appearance drops.
Therefore, a multi-joint manipulator and a manipulator arm are provided.
Disclosure of Invention
The invention aims to provide a multi-joint manipulator and a manipulator arm, wherein the clamping mechanism is arranged, so that the manipulator can more stably clamp a clamped object in the using process, the manipulator can also stably clamp an irregular object, the possibility of damaging the object in the moving process is reduced, the economic benefit is enhanced, and the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-joint manipulator and a mechanical arm comprise a base, wherein the middle part of the upper end of the base is fixedly connected with a first rotating shaft, the upper end of the first rotating shaft is rotatably connected with a first crank arm, the rear end of the first crank arm is rotatably connected with a second crank arm, the middle part of the right side of the second crank arm is rotationally connected with a first mechanical arm, the right side of the first mechanical arm is rotationally connected with a third crank arm, the front end of the third crank arm is rotationally connected with a fourth crank arm, the middle part of the lower end of the fourth crank arm is rotationally connected with a second mechanical arm, the lower end of the second mechanical arm is fixedly connected with a tail end mechanical arm, the right side of the tail end mechanical arm is rotatably connected with a mechanical arm rotating shaft, the lower end of the manipulator rotating shaft is rotatably connected with a manipulator mechanism, the lower end of the manipulator mechanism is provided with a finger joint mechanism, and the lower end of the finger joint mechanism is provided with a clamping mechanism.
The base is fixedly installed, the first rotating shaft can rotate around the base in the vertical direction, the first connecting lever can rotate around the first rotating shaft in the horizontal direction, the second connecting lever can rotate around the first connecting lever in a vertical plane, the first mechanical arm can rotate around the second connecting lever, the third connecting lever can rotate around the first mechanical arm, the fourth connecting lever can rotate around the third connecting lever, the second mechanical arm can rotate around the fourth connecting lever, the tail end mechanical arm can rotate around the second mechanical arm, the mechanical arm rotating shaft can rotate around the tail end mechanical arm, the mechanical arm can be controlled by the controller to operate and accurately move within a certain range, under the action of the plurality of rotating shafts and the mechanical arms, the mechanical arm and the mechanical arm are controlled by the controller to grab an object at a fixed position when clamping is carried out, the object is moved after being grabbed, the object is moved to a specified position and then put down, the moving of the object is realized, the clamping mechanism can clamp irregular objects firmly, and the condition that the object possibly falls is reduced when the manipulator runs.
Preferably, the manipulator mechanism comprises a servo motor, a first bevel gear, a transmission hole, a ball nut, a T-shaped chute, a ball screw, a mechanical finger turntable, a second bevel gear and a mechanical palm, the mechanical palm is rotationally connected with the lower end of the mechanical arm rotating shaft, the servo motor is fixedly connected with the inner center of the mechanical palm, the first bevel gear is rotationally connected with the lower end of the servo motor, the T-shaped sliding grooves are uniformly formed in the outer surface of the lower end of the mechanical palm, the number of the T-shaped chutes is three, the ball screw is rotationally connected inside the T-shaped chutes, the second bevel gear is fixedly connected with one side of the ball screw close to the first bevel gear, the second bevel gear is meshed with the first bevel gear, the ball nut is connected to the inside of the T-shaped sliding groove in a sliding mode, the ball nut is connected with the ball screw in a sliding mode, and the mechanical finger rotary table is connected to the lower end of the ball nut in a rotating mode.
When carrying out the object clamp and getting on the industrial production line, the object size shape that different assembly line clamps were got may exist differently, when getting bigger work piece of clamp after getting little work piece is got to the clamp, the scope of getting is less this moment can be got to the manipulator, controller control servo motor rotates, drive first bevel gear and rotate, when first bevel gear rotates, drive second bevel gear and ball rotate, can make ball nut slide about the inside of T type spout when ball rotates, it indicates the carousel at the mechanical palm lower part side-to-side motion to drive machinery, make the clamp of manipulator get the scope can be adjusted by the controller and can get the working range of getting, can change when not dismantling the manipulator and get the scope, satisfy the needs of the different production lines of concurrent operation, the demand to the manipulator kind has been reduced, economic benefits has been increased, the cost of production line has been reduced.
Preferably, the finger joint mechanism comprises a first clamping plate, a first electric push rod, a second clamping plate and a cylinder, the upper end of the first clamping plate is hinged to the position, close to the left side, of the lower end of the mechanical finger rotary table, the upper end of the first electric push rod is hinged to the position, close to the right side, of the lower end of the mechanical finger rotary table, the lower end of the first electric push rod is hinged to the position, close to the right side, of the right side of the first clamping plate, the lower end of the first clamping plate is hinged to the position, close to the upper end of the left side of the second clamping plate, the upper end of the second electric push rod is hinged to the position, close to the right side, of the lower end of the second electric push rod is hinged to the position, close to the right side, of the upper end of the second clamping plate.
The controller controls the first electric push rod and the second electric push rod to extend and retract so as to control the inclination angle of the first clamping plate and the second clamping plate, when an object needs to be clamped, the first electric push rod extends to enable the downward inclination angle of the first clamping plate to be increased, the bottom of the first clamping plate moves towards the central position of the knuckle mechanism, the lower end of the second clamping plate is overturned towards the inner side under the pushing action of the second electric push rod so as to control the clamping of the object, in the work of clamping the object, the controller can control the extension length of the first electric push rod and the second electric push rod so as to control the inclination angle of the left side surface of the second clamping plate, the left side surface of the second clamping plate can be always in a vertical state, so that the clamping mechanism and the vertical direction of the object are fully contacted when the object is clamped, and the object is clamped more stable, the object moving device can also enable the object to be more stable in moving, and reduces the possibility of falling off and the like in object clamping.
Preferably, the clamping mechanism comprises a clamping plate, a sucker, a clamping side plate, a first gear, a second gear, a through hole, a gear bottom plate, a clamping spring and a rack plate, the right side of the second clamping plate is close to the lower end and provided with the through hole, the lower end of the rack plate is in sliding connection with the through hole, the clamping spring is fixedly connected between the lower end of the rack plate and the second clamping plate, the gear bottom plate is rotatably connected to the right side of the second clamping plate and close to the lower end, the second gear is rotatably connected to the position of the gear bottom plate close to one end of the through hole, the first gear is rotatably connected to the position of the gear bottom plate far away from the through hole, the lower end of the clamping side plate is rotatably connected to the position of the gear bottom plate close to the front side of the first gear, the rear end of the clamping side plate is provided with side plate teeth, and the rack plate is meshed with the second gear, the second gear is meshed with the first gear, and the first gear is meshed with the side plate.
When the object is clamped, the left side surface of the second clamping plate is in a vertical position, the clamping plate contacts with the object when the object is clamped, in the continuous clamping process, the clamping spring is compressed and drives the rack plate to move rightwards, the second gear meshed with the rack plate is driven to rotate, the second gear drives the first gear to rotate, the first gear drives the clamping side plate to rotate, when the clamping side plate contacts with the object in the continuous clamping process, the clamping process is still continuous, the force of the clamping side plate is transmitted to the gear bottom plate, the gear bottom plate can be driven to rotate, when the gear bottom plate also contacts with the clamped object, the clamping plate, the gear bottom plate and the clamping side plate simultaneously contact with the clamped object, at the moment, part of the force on the clamping plate is distributed to the gear bottom plate and the clamping side plate, so that when the same clamping force acts on the clamped object, the gear bottom plate and the clamping side plate can distribute clamping force, so that stress of a clamping contact position is reduced, clamped objects can be distributed with the clamping force when the fragile objects are clamped, the clamped objects are clamped by the contact manipulator, the received clamping force is distributed around the clamped objects, and the possibility of damage when the objects are clamped is reduced. The stability when being clamped is increased.
Preferably, the cylinder is located the right side of second clamp plate and is close to upper portion position, the cylinder slope is placed, cylinder inclination is twenty degrees.
When the clamping plate extrudes the cylinder, the cylinder with the inclined left side rod can not obstruct the movement of the clamping plate in the vertical direction while being extruded, so that the clamping plate can move in the vertical direction when being extruded, and the manipulator is more stable when in operation.
Preferably, the right side of the clamping plate is hinged to the left side of the rack plate close to the lower end, and the right side of the clamping plate is hinged to the left side of the cylinder close to the lower end.
When getting some and the second pinch plate incoherent object of clamp, for example the cuboid, carry out the in-process, the pinch plate can carry out certain angle and can rotate on vertical direction, when contacting the surface of cuboid, can take place to deflect in the clamping process, make the surface of pinch plate and object laminate, make the finger area of contact grow of object and manipulator, make article more stable when by the centre gripping, reduce the emergence of the unstable condition of centre gripping in the clamping process.
Preferably, the middle position of the left side of the clamping side plate is fixedly connected with a sucker, and the sucker is in pneumatic connection with an air cylinder.
When the grip block is extruded, grip block extrusion cylinder, make the air of sucking disc joint cylinder department by the suction cylinder in, when the sucking disc contacts the surface of object, form the negative pressure between sucking disc and the object, make in close contact with between sucking disc and the object, press from both sides the back grip block and not at the extrusion cylinder, the inside of cylinder is no longer for the decompression state, when loosening after removing the end by the centre gripping object, the finger of manipulator opens, make the inside atmospheric pressure of cylinder resume gradually, make the object put down smoothly, press from both sides when getting some smooth objects in surface, can adsorb the object, the stability of manipulator when moving object has been improved, can reduce the probability of falling the damage by the centre gripping object.
Preferably, the through hole is an inclined hole, and the inclination angle of the through hole is twenty degrees.
When carrying out the centre gripping, the rack board can drive the clamp plate and produce ascending motion when being promoted right for can be upwards light little by the centre gripping thing body in carrying out the centre gripping, in some working processes that only need horizontal migration object, can reduce unnecessary promotion action, increase the work efficiency of equipment.
Compared with the prior art, the invention has the beneficial effects that:
1. by arranging the clamping mechanism, the manipulator can more stably clamp the clamped object in the use process, so that the manipulator can also stably clamp the irregular object, the possibility of damaging the object in the moving process is reduced, and the economic benefit is enhanced;
2. through setting up manipulator mechanism for the manipulator also can carry out the centre gripping to the great object of shape size difference fast when different assembly lines simultaneous working, has reduced the cost of assembly line, has increased the adaptability that the manipulator adapts to different operating conditions.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic structural view of the present invention;
FIG. 3 is a cross-sectional view of a front view of the present invention;
FIG. 4 is an enlarged view of the structure at A of FIG. 2 according to the present invention;
FIG. 5 is an enlarged view of the structure at B of FIG. 3 according to the present invention;
FIG. 6 is an enlarged view of the structure of FIG. 3 at C according to the present invention;
in the figure: 1. a base; 11. a first rotating shaft; 12. a first crank arm; 13. a second crank arm; 14. a first robot arm; 15. a fourth crank arm; 16. a third crank arm; 17. a second mechanical arm; 18. a terminal arm; 19. a manipulator spindle; 2. a manipulator mechanism; 21. a servo motor; 22. a first bevel gear; 23. a drive bore; 24. a ball nut; 25. a T-shaped chute; 26. a ball screw; 27. a mechanical finger rotating disc; 28. a second bevel gear; 29. a mechanical palm; 3. a clamping mechanism; 31. a clamping plate; 32. a suction cup; 33. clamping the side plates; 331. side plate teeth; 34. a first gear; 35. a second gear; 36. a through hole; 37. a gear bottom plate; 38. a clamping spring; 39. a rack plate; 4. a finger joint mechanism; 41. a first clamping plate; 42. a first electric push rod; 43. a second electric push rod; 44. a second clamping plate; 45. and a cylinder.
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.
Referring to fig. 1 to 6, the present invention provides a technical solution:
a multi-joint manipulator and a mechanical arm are disclosed, as shown in figure 1, comprising a base 1, wherein the middle part of the upper end of the base 1 is fixedly connected with a first rotating shaft 11, the upper end of the first rotating shaft 11 is rotatably connected with a first crank arm 12, the rear end of the first crank arm 12 is rotatably connected with a second crank arm 13, the middle part of the right side of the second crank arm 13 is rotatably connected with a first mechanical arm 14, the right side of the first mechanical arm 14 is rotatably connected with a third crank arm 16, the front end of the third crank arm 16 is rotatably connected with a fourth crank arm 15, the middle part of the lower end of the fourth crank arm 15 is rotatably connected with a second mechanical arm 17, the lower end of the second mechanical arm 17 is fixedly connected with a terminal mechanical arm 18, the right side of the terminal mechanical arm 18 is rotatably connected with a mechanical arm rotating shaft 19, the lower end of the mechanical arm rotating shaft 19 is rotatably connected with a mechanical arm mechanism 2, the lower end of the mechanical arm mechanism 2 is provided with a finger joint mechanism 4, the lower end of the finger joint mechanism 4 is provided with a clamping mechanism 3;
when the manipulator mechanism 2 works, the base 1 is fixedly installed, the first rotating shaft 11 can rotate around the base 1 in the vertical direction, the first crank arm 12 can rotate around the first rotating shaft 11 in the horizontal direction, the second crank arm 13 can rotate around the first crank arm 12 in a vertical plane, the first mechanical arm 14 can rotate around the second crank arm 13, the third crank arm 16 can rotate around the first mechanical arm 14, the fourth crank arm 15 can rotate around the third crank arm 16, the second mechanical arm 17 can rotate around the fourth crank arm 15, the tail end mechanical arm 18 can rotate around the second mechanical arm 17, the manipulator rotating shaft 19 can rotate around the tail end mechanical arm 18, the mechanical arms can be controlled by the controller to operate and accurately move within a certain range, under the action of a plurality of rotating shafts and the mechanical arms, the manipulator mechanism 2 can realize multi-angle movement within a certain range, and the controller controls the mechanical arms and the manipulator to grab objects at fixed positions when clamping is carried out, move the object after snatching, move the object and put down the object after the assigned position with the object, realize the removal of object, clamping mechanism 3 can realize getting comparatively firm clamp to irregular object, can make the manipulator operation reduce the condition that the object that probably appears dropped.
As an embodiment of the present invention, as shown in fig. 2 and 5, the manipulator mechanism 2 includes a servo motor 21, a first bevel gear 22, a transmission hole 23, a ball nut 24, a T-shaped chute 25, a ball screw 26, a mechanical finger turntable 27, a second bevel gear 28, and a mechanical palm 29, the mechanical palm 29 is rotatably connected to a lower end of the manipulator rotation shaft 19, the servo motor 21 is fixedly connected to an inner center of the mechanical palm 29, the first bevel gear 22 is rotatably connected to a lower end of the servo motor 21, the T-shaped chutes 25 are uniformly opened on an outer surface of the lower end of the mechanical palm 29, the number of the T-shaped chutes 25 is three, the ball screw 26 is rotatably connected to an inner portion of the T-shaped chute 25, the second bevel gear 28 is fixedly connected to a side of the ball screw 26 close to the first bevel gear 22, the second bevel gear 28 is engaged with the first bevel gear 22, the ball nut 24 is slidably connected to the inside of the T-shaped chute 25, the ball nut 24 is slidably connected with the ball screw 26, and the mechanical finger rotary table 27 is rotatably connected to the lower end of the ball nut 24;
in operation, when the object is clamped on the industrial production line, the sizes and the shapes of the objects clamped on different production lines may be different, when clamping a small workpiece and then clamping a larger workpiece, the clamping range of the manipulator is smaller, the controller controls the servo motor 21 to rotate to drive the first bevel gear 22 to rotate, when the first bevel gear 22 rotates, the second bevel gear 28 and the ball screw 26 are rotated, when the ball screw 26 rotates, the ball nut 24 can slide left and right in the T-shaped sliding groove 25, and the mechanical finger rotary table 27 is driven to move left and right at the lower part of the mechanical palm 29, so that the clamping range of the manipulator can be adjusted by the controller, the clamping range can be changed while the mechanical arm is not detached, the requirements of operating different production lines simultaneously are met, the requirements for the types of the mechanical arm are reduced, the economic benefit is increased, and the cost of the production line is reduced.
As an embodiment of the present invention, as shown in fig. 3 and 4, the finger joint mechanism 4 includes a first clamping plate 41, a first electric push rod 42, a second electric push rod 43, a second clamping plate 44, and an air cylinder 45, an upper end of the first clamping plate 41 is hinged to a left side position of a lower end of the mechanical finger rotary table 27, an upper end of the first electric push rod 42 is hinged to a middle position of a lower end of the mechanical finger rotary table 27, a lower end of the first electric push rod 42 is hinged to a right side middle position of the first clamping plate 41, a lower end of the first clamping plate 41 is hinged to a left side upper end position of the second clamping plate 44, an upper end of the second electric push rod 43 is hinged to a right side position of a lower end of the mechanical finger rotary table 27, and a lower end of the second electric push rod 43 is hinged to a right side position of an upper end of the second clamping plate 44;
when the clamping device works, the controller controls the first electric push rod 42 and the second electric push rod 43 to extend and retract so as to control the inclination angles of the first clamping plate 41 and the second clamping plate 44, when an object needs to be clamped, the first electric push rod 42 extends to enable the downward inclination angle of the first clamping plate 41 to be increased, the bottom of the first clamping plate 41 moves to the central position of the knuckle mechanism 4, the lower end of the second clamping plate 44 is turned inwards under the pushing action of the second electric push rod 43 so as to control the clamping of the object, in the work of clamping the object, the controller can control the extension and retraction lengths of the first electric push rod 42 and the second electric push rod 43 so as to control the inclination angle of the left side surface of the second clamping plate 44, the left side surface of the second clamping plate 44 can be always in a vertical state, so that the clamping mechanism 3 and the object can be fully contacted in the vertical direction when the object with a certain vertical surface is clamped, make the object more stable when getting is got in carrying out the clamp, also can make more stable when removing when carrying out the object and remove, reduced the emergence that probably has the circumstances such as drop when carrying out the object clamp.
As an embodiment of the present invention, as shown in fig. 3 and 4, the clamping mechanism 3 includes a clamping plate 31, a suction cup 32, a clamping side plate 33, a first gear 34, a second gear 35, a through hole 36, a gear bottom plate 37, a clamping spring 38 and a rack plate 39, the through hole 36 is opened at a position close to the lower end on the right side of the second clamping plate 44, the lower end of the rack plate 39 is slidably connected with the through hole 36, the clamping spring 38 is fixedly connected between the lower end of the rack plate 39 and the second clamping plate 44, the gear bottom plate 37 is rotatably connected to a position close to the lower end on the right side of the second clamping plate 44, the second gear 35 is rotatably connected to a position close to one end of the through hole 36 on the gear bottom plate 37, the first gear 34 is rotatably connected to a position far from the through hole 36 on the gear bottom plate 37, the position close to the rear end of the clamping side plate 33 is rotatably connected to a position where the gear bottom plate 37 is located in front of the first gear 34, side plate teeth 331 are formed at the rear end position of the clamping side plate 33, the rack plate 39 is meshed with the second gear 35, the second gear 35 is meshed with the first gear 34, and the first gear 34 is meshed with the side plate teeth 331;
in operation, when an object is gripped, the left side surface of the second clamping plate 44 is in a vertical position, the clamping plate 31 contacts the object when the object is gripped, and during the continuous gripping process, the clamping spring 38 is compressed and drives the rack plate 39 to move rightwards, the second gear 35 engaged with the rack plate 39 is driven to rotate, the second gear 35 drives the first gear 34 to rotate, the first gear 34 drives the clamping side plate 33 to rotate, so that when the clamping side plate 33 contacts the object during the continuous gripping process, the gripping process is continued, the force of the clamping side plate 33 is transmitted to the gear bottom plate 37, the gear bottom plate 37 can be driven to rotate, when the gear bottom plate 37 also contacts the gripped object, the clamping plate 31, the gear bottom plate 37 and the clamping side plate 33 simultaneously contact the gripped object, and a part of the force on the clamping plate 31 is distributed to the gear bottom plate 37 and the clamping side plate 33, when the same clamping force acts on the clamped object, the gear bottom plate 37 and the clamping side plate 33 can distribute the clamping force, so that the stress of the clamping contact position is reduced, the clamped object can be distributed with the clamping force when some fragile objects are clamped, and when the object is clamped by the contact manipulator, the received clamping force is distributed around the clamped object, so that the possibility of damage when the object is clamped is reduced. The stability when being clamped is increased.
As an embodiment of the present invention, as shown in fig. 6, the air cylinder 45 is located at a position right of the second clamping plate 44 near the upper portion, the air cylinder 45 is disposed obliquely, and the angle of inclination of the air cylinder 45 is twenty degrees;
the middle position of the left side of the clamping side plate 33 is fixedly connected with a suction cup 32, and the suction cup 32 is pneumatically connected with an air cylinder 45.
The during operation, when the grip block 31 is by the extrusion, grip block 31 extrusion cylinder 45, make the air that sucking disc 32 connects cylinder 45 department be sucked in cylinder 45, when sucking disc 32 contacts the surface of object, form the negative pressure between sucking disc 32 and the object, make in close contact with between sucking disc 32 and the object, it is not at extrusion cylinder 45 to press from both sides back grip block 31 to press from both sides, the inside of cylinder 45 is no longer the decompression state, when loosening after removing and being held the object, the finger of manipulator opens, make the inside atmospheric pressure of cylinder 45 resume gradually, make the object put down smoothly, when pressing from both sides some smooth objects in surface, can adsorb the object, the stability of manipulator when moving the object is improved, can reduce the probability of being dropped and damaging by the centre gripping object.
As an embodiment of the present invention, as shown in fig. 6, the right side of the clamping plate 31 is hinged to the left side of the rack plate 39 at a position close to the lower end, and the right side of the clamping plate 31 is hinged to the left side of the cylinder 45 at a position close to the lower end;
the during operation is getting some and the inseparable object of second pinch plate 44 when pressing from both sides, for example the cuboid, carry out the in-process, pinch plate 31 can carry out certain angle and can rotate on vertical direction, when contacting the surface of cuboid, can take place to deflect in the clamping process, make the surface of pinch plate 31 and object laminate, make the finger area of contact grow of object and manipulator, make article more stable when by the centre gripping, reduce the emergence of the unstable condition of centre gripping in the clamping process.
As an embodiment of the present invention, as shown in fig. 6, the through hole 36 is an inclined hole, and the inclined angle of the through hole 36 is twenty degrees;
during operation, when carrying out the centre gripping, rack plate 39 can drive clamp plate 31 and produce ascending motion when being promoted right for by the clamping object can be by the light microstrip that makes progress play carrying out the centre gripping in-process, in some working process that only need horizontal migration object, can reduce unnecessary promotion action, increase the work efficiency of equipment.
The working principle is as follows:
when the manipulator mechanism 2 works, the base 1 is fixedly installed, the first rotating shaft 11 can rotate around the base 1 in the vertical direction, the first crank arm 12 can rotate around the first rotating shaft 11 in the horizontal direction, the second crank arm 13 can rotate around the first crank arm 12 in a vertical plane, the first mechanical arm 14 can rotate around the second crank arm 13, the third crank arm 16 can rotate around the first mechanical arm 14, the fourth crank arm 15 can rotate around the third crank arm 16, the second mechanical arm 17 can rotate around the fourth crank arm 15, the tail end mechanical arm 18 can rotate around the second mechanical arm 17, the manipulator rotating shaft 19 can rotate around the tail end mechanical arm 18, the mechanical arms can be controlled by the controller to operate and accurately move within a certain range, under the action of a plurality of rotating shafts and the mechanical arms, the manipulator mechanism 2 can realize multi-angle movement within a certain range, and the controller controls the mechanical arms and the manipulator to grab objects at fixed positions when clamping is carried out, when the clamping mechanism 3 can clamp irregular objects firmly, the situation that the objects fall off can be reduced when the manipulator moves to a specified position, when the object is clamped on an industrial production line, the sizes and the shapes of the objects clamped by different production lines can be different, when a small workpiece is clamped and a large workpiece is clamped, the clamping range of the manipulator is smaller, the controller controls the servo motor 21 to rotate to drive the first bevel gear 22 to rotate, the first bevel gear 22 drives the second bevel gear 28 and the ball screw 26 to rotate, when the ball screw 26 rotates, the ball nut 24 can slide left and right in the T-shaped chute 25 to drive the mechanical finger rotary disc 27 to move left and right under the mechanical palm 29, so that the clamping range of the manipulator can be adjusted by the controller to clamp a large workpiece, the clamping range can be changed without disassembling the manipulator, the requirements of operating different production lines simultaneously are met, the requirements on the types of the manipulator are reduced, the economic benefit is increased, the cost of the production line is reduced, the controller controls the extension and retraction of the first electric push rod 42 and the second electric push rod 43 to control the inclination angles of the first clamping plate 41 and the second clamping plate 44, when an object needs to be clamped, the downward inclination angle of the first clamping plate 41 is increased due to the extension of the first electric push rod 42, the bottom of the first clamping plate 41 moves to the center position of the knuckle mechanism 4, the lower end of the second clamping plate 44 is turned inwards under the pushing action of the second electric push rod 43 to control the clamping of the object, in the work of clamping the object, the controller can control the extension and retraction lengths of the first electric push rod 42 and the second electric push rod 43 to control the inclination angle of the left side face of the second clamping plate 44, the left side surface of the second clamping plate 44 can be always in a vertical state, so that when some objects with vertical surfaces are clamped, the clamping mechanism 3 is fully contacted with the vertical direction of the objects, the objects are more stable when being clamped, the objects can be more stable when moving, the occurrence of falling and the like when the objects are clamped is reduced, when the objects are clamped, the left side surface of the second clamping plate 44 is in a vertical position, the clamping plate 31 is contacted with the objects when the objects are clamped, in the continuous clamping process, the clamping spring 38 is compressed and drives the rack plate 39 to move rightwards, the second gear 35 meshed with the rack plate 39 is driven to rotate, the second gear 35 drives the first gear 34 to rotate, the first gear 34 drives the clamping side plate 33 to rotate, so that when the clamping side plate 33 is contacted with the objects in the continuous clamping process, the clamping process is still continued, so that the force of the clamping side plate 33 is transmitted to the gear bottom plate 37, the gear bottom plate 37 can be driven to rotate, when the gear bottom plate 37 also contacts the clamped object, the clamping plate 31, the gear bottom plate 37 and the clamping side plate 33 simultaneously contact the clamped object, at this time, a part of the force on the clamping plate 31 is distributed to the gear bottom plate 37 and the clamping side plate 33, so that when the same clamping force acts on the clamped object, the gear bottom plate 37 and the clamping side plate 33 can distribute the clamping force, the stress of the clamping contact position is reduced, the clamped object can be distributed with the clamping force when clamping some fragile objects, so that when the objects are clamped by the contact manipulator, the received clamping force is distributed around the clamped object, the possibility of breakage during possible clamping is reduced, and the stability during clamping is increased, when the clamping plate 31 is squeezed, the clamping plate 31 squeezes the air cylinder 45, so that air at the position where the suction cup 32 is connected with the air cylinder 45 is sucked into the air cylinder 45, when the suction cup 32 contacts with the outer surface of an object, negative pressure is formed between the suction cup 32 and the object, the suction cup 32 is in close contact with the object, the clamping back clamping plate 31 is not squeezed into the air cylinder 45, the inside of the air cylinder 45 is not in a decompression state any more, when the clamped object is loosened after the movement is finished, fingers of the manipulator are opened, so that the internal air pressure of the air cylinder 45 is gradually recovered, the object is smoothly put down, when some objects with smooth surfaces are clamped, the object can be adsorbed, the stability of the manipulator when the object is moved is improved, the probability that the clamped object is dropped and damaged can be reduced, when some objects which are not cut by the second clamping plate 44 are clamped, such as cuboids, in the process, the clamp plate 31 can carry out certain angle in the vertical direction and can rotate, when contacting the surface of cuboid, can take place to deflect in the clamping process, make the surface of clamp plate 31 and object laminate, make the finger area of contact grow of object and manipulator, make article by more stable when the centre gripping, reduce the emergence of the unstable condition of centre gripping in the clamping process of appearing, when carrying out the centre gripping, rack plate 39 can drive clamp plate 31 when being promoted by the right side and produce ascending motion, make in carrying out the clamping process by the centre gripping object can be played by the light microstrip that makes progress, in some working processes that only need horizontal migration thing, can reduce unnecessary promotion action, increase the work efficiency of equipment.
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 (8)
1. The utility model provides a multi-joint manipulator and mechanical arm, includes base (1), its characterized in that, the upper end middle part fixedly connected with first pivot (11) of base (1), the upper end of first pivot (11) is rotated and is connected with first turning arm (12), the rear end of first turning arm (12) is rotated and is connected with second turning arm (13), the right side middle part of second turning arm (13) is rotated and is connected with first arm (14), the right side of first arm (14) is rotated and is connected with third turning arm (16), the front end of third turning arm (16) is rotated and is connected with fourth turning arm (15), the lower extreme middle part of fourth turning arm (15) is rotated and is connected with second arm (17), the lower extreme fixedly connected with terminal arm (18) of second arm (17), the right side of terminal arm (18) is rotated and is connected with manipulator pivot (19), the lower end of the manipulator rotating shaft (19) is rotatably connected with a manipulator mechanism (2), the lower end of the manipulator mechanism (2) is provided with a finger joint mechanism (4), and the lower end of the finger joint mechanism (4) is provided with a clamping mechanism (3).
2. The articulated manipulator and manipulator arm according to claim 1, wherein the manipulator mechanism (2) comprises a servo motor (21), a first bevel gear (22), a transmission hole (23), a ball nut (24), a T-shaped chute (25), a ball screw (26), a mechanical finger turntable (27), a second bevel gear (28) and a mechanical palm (29), the mechanical palm (29) is rotatably connected to the lower end of the manipulator rotation shaft (19), the servo motor (21) is fixedly connected to the inner center of the mechanical palm (29), the first bevel gear (22) is rotatably connected to the lower end of the servo motor (21), the T-shaped chutes (25) are uniformly arranged on the outer surface of the lower end of the mechanical palm (29), the number of the T-shaped chutes (25) is three, and the ball screw (26) is rotatably connected to the inner part of the T-shaped chute (25), the second bevel gear (28) is fixedly connected to one side, close to the first bevel gear (22), of the ball screw (26), the second bevel gear (28) is meshed with the first bevel gear (22), the ball nut (24) is connected to the inside of the T-shaped sliding groove (25) in a sliding mode, the ball nut (24) is connected with the ball screw (26) in a sliding mode, and the mechanical finger rotary table (27) is connected to the lower end of the ball nut (24) in a rotating mode.
3. The multi-joint robot and manipulator arm of claim 2, the knuckle mechanism (4) comprises a first clamping plate (41), a first electric push rod (42), a second electric push rod (43), a second clamping plate (44) and a cylinder (45), the upper end of the first clamping plate (41) is hinged to the lower end of the mechanical finger rotary table (27) close to the left side, the upper end of the first electric push rod (42) is hinged to the middle position of the lower end of the mechanical finger rotary table (27), the lower end of the first electric push rod (42) is hinged at the middle position of the right side of the first clamping plate (41), the lower end of the first clamping plate (41) is hinged at the upper end position of the left side of the second clamping plate (44), the upper end of the second electric push rod (43) is hinged at the lower end of the mechanical finger rotary table (27) close to the right side, the lower end of the second electric push rod (43) is hinged to the upper end of the second clamping plate (44) at a position close to the right side.
4. The articulated manipulator and manipulator arm according to claim 3, wherein the clamping mechanism (3) comprises a clamping plate (31), a suction cup (32), a clamping side plate (33), a first gear (34), a second gear (35), a through hole (36), a gear bottom plate (37), a clamping spring (38) and a rack plate (39), the through hole (36) is formed on the right side of the second clamping plate (44) near the lower end, the lower end of the rack plate (39) is slidably connected with the through hole (36), the clamping spring (38) is fixedly connected between the lower end of the rack plate (39) and the second clamping plate (44), the gear bottom plate (37) is rotatably connected to the right side of the second clamping plate (44) near the lower end, the second gear (35) is rotatably connected to the gear bottom plate (37) near one end of the through hole (36), first gear (34) rotate connect in gear bottom plate (37) keep away from the one end position of through-hole (36), the lower extreme that presss from both sides tight curb plate (33) is close to rear end position and rotates to connect in gear bottom plate (37) and is located the place ahead of first gear (34), side plate tooth (331) have been seted up to the rear end position that presss from both sides tight curb plate (33), rack plate (39) and second gear (35) meshing, second gear (35) and first gear (34) meshing, first gear (34) and curb plate tooth (331) meshing.
5. The articulated manipulator and manipulator arm of claim 4, wherein the cylinder (45) is located at a position right of the second clamping plate (44) near the upper portion, the cylinder (45) is disposed at an inclination, and the inclination angle of the cylinder (45) is twenty degrees.
6. A multi-joint manipulator and robot arm according to claim 4, characterized in that the right side of the clamping plate (31) is hinged to the rack plate (39) at a position close to the lower end and the right side of the clamping plate (31) is hinged to the cylinder (45) at a position close to the upper end and the left side is hinged to the lower end.
7. The articulated manipulator and manipulator arm according to claim 4, wherein the clamping side plate (33) has a suction cup (32) fixedly connected to the middle of the left side, and the suction cup (32) is pneumatically connected to the cylinder (45).
8. The articulated manipulator and manipulator arm of claim 4, wherein the through hole (36) is a slanted hole, and the slanted angle of the through hole (36) is twenty degrees.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111210071.0A CN113910272A (en) | 2021-10-18 | 2021-10-18 | Multi-joint manipulator and mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111210071.0A CN113910272A (en) | 2021-10-18 | 2021-10-18 | Multi-joint manipulator and mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571485A (en) * | 2022-04-06 | 2022-06-03 | 江苏驭芯传感器科技有限公司 | Manipulator with sensor |
| CN114770586A (en) * | 2022-04-07 | 2022-07-22 | 胡俊 | Multi-axis numerical control robot for industrial production |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
| CN116890352A (en) * | 2023-09-11 | 2023-10-17 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
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2021
- 2021-10-18 CN CN202111210071.0A patent/CN113910272A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571485A (en) * | 2022-04-06 | 2022-06-03 | 江苏驭芯传感器科技有限公司 | Manipulator with sensor |
| CN114571485B (en) * | 2022-04-06 | 2022-11-01 | 江苏驭芯传感器科技有限公司 | Manipulator with sensor |
| CN114770586A (en) * | 2022-04-07 | 2022-07-22 | 胡俊 | Multi-axis numerical control robot for industrial production |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
| CN115024086B (en) * | 2022-06-27 | 2024-05-07 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
| CN116890352A (en) * | 2023-09-11 | 2023-10-17 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
| CN116890352B (en) * | 2023-09-11 | 2023-11-10 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
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Application publication date: 20220111 |