CN115229841A - A manipulator device with easy adjustment of joint flexibility - Google Patents

Abstract

The invention discloses a manipulator device with joint flexibility convenient to adjust, which relates to the technical field of manipulators and comprises a first manipulator, a second manipulator, a third manipulator, a fourth manipulator, a fifth manipulator and a sixth manipulator which are sequentially connected, wherein the second manipulator is driven by a motor to rotate with the first manipulator, the third manipulator is driven by a motor to rotate with the second manipulator along a vertical surface, the fourth manipulator is driven by a motor to rotate with the third manipulator along the vertical surface, the fifth manipulator is driven by a motor to rotate with the fourth manipulator, and the sixth manipulator is driven by a motor to rotate with the fifth manipulator. The six-degree-of-freedom manipulator is formed, the flexibility of the joint arm is improved, and the grabbing range of the manipulator is adjustable, so that the six-degree-of-freedom manipulator is adaptive to more materials, and the use convenience is improved.

Description

A manipulator device with easy adjustment of joint flexibility

technical field

The present invention relates to the technical field of manipulators, in particular to a manipulator device with easy adjustment of joint flexibility.

Background technique

The manipulator was developed on the basis of the ancient robots that appeared in the early days. The research on manipulators began in the middle of the 20th century. With the development of computer and automation technology, especially since the first digital electronic computer came out in 1946, the computer has made amazing progress. , to develop in the direction of high speed, large capacity and low price. At the same time, the urgent need for mass production has promoted the progress of automation technology and laid the foundation for the development of robots. On the other hand, research in nuclear energy technology requires some operating machinery to handle radioactive materials instead of humans. In the context of this demand, the United States developed a remote control manipulator in 1947, and a mechanical master-slave manipulator in 1948.

A manipulator refers to an automatic operation device that can imitate some action functions of human hands and arms to grab, transport objects or operate tools according to a fixed program. With the continuous progress of industrial technology, manipulators are widely used in machinery manufacturing, metallurgy, electronics and light industry.

However, the existing manipulators have complex structures, relatively clumsy movements, and limited grasping range, which affects work efficiency.

Based on the above problems, we designed a manipulator device with easy adjustment of joint flexibility to solve the above problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the shortcomings existing in the prior art, and proposes a manipulator device whose joint flexibility is easy to adjust.

In order to achieve the above object, the present invention adopts the following technical solutions:

A manipulator device with easy adjustment of joint flexibility, comprising a first manipulator, a second manipulator, a third manipulator, a fourth manipulator, a fifth manipulator and a sixth manipulator which are connected in sequence, the second manipulator The arm is driven by the motor to rotate with the first robotic arm, the third robotic arm is driven by the motor to rotate with the second robotic arm along the vertical plane, and the fourth robotic arm is driven by the motor to rotate with the third robotic arm along the vertical plane The fifth mechanical arm is driven by the motor to rotate with the fourth mechanical arm, the sixth mechanical arm is driven by the motor to rotate with the fifth mechanical arm, and the end of the sixth mechanical arm is provided with a reclaiming assembly, The grabbing range of the reclaiming component can be adjusted.

A further technical solution of the present invention is that the reclaiming component is a suction cup component.

A further technical solution of the present invention is that the suction cup assembly includes an installation frame and a suction cup, the suction cups are distributed along the length direction of the installation frame, and an adjustment member for adjusting the position of the suction cup is provided on the installation frame.

A further technical solution of the present invention is that the adjusting member includes a T-shaped block and a mounting plate, a T-shaped groove slidingly matched with the T-shaped block is provided in the length direction of the mounting frame, and the T-shaped block is located in the T-shaped block. In the groove, the suction cup is fixed on the mounting plate, and the bolts pass through the mounting plate and are threadedly connected with the T-block to fix the mounting plate on the mounting frame.

A further technical solution of the present invention is that the adjusting member includes a lead screw assembly and a fixing plate, the lead screw assembly is fixed on the mounting frame, the lead screw of the lead screw assembly has forward and reverse threads, and the lead screw The assembly has two sliding blocks, the suction cups located at the end of the length direction of the mounting frame are fixed on the fixing plate correspondingly, the bolts pass through the fixing plate and are threadedly connected with the sliding block of the screw assembly, and the screw of the screw assembly is rotated to drive the The suction cup moves.

A further technical solution of the present invention is set as follows: a first bevel gear is fixed at the same direction ends of the two screw assemblies, a rotating rod is rotatably connected to the mounting frame, and both ends of the rotating rod are fixed with a first bevel gear. A second bevel gear meshed with the bevel gear, and a drive motor is connected to the end of the lead screw of the lead screw assembly.

A further technical solution of the present invention is that a rocker is connected to the ends of the screw rods of the two screw rod assemblies.

A further technical solution of the present invention is that the suction cups are arranged in series with each other through pipes, and an air connection port connected to the air source is connected to the suction cup.

A further technical solution of the present invention is that the reclaiming component is a clamping jaw component.

A further technical solution of the present invention is that the clamping jaw assembly includes a mounting seat, a bidirectional screw rod, two sliding blocks, two clamping plates and a servo motor, the middle part of the mounting seat is fixed on the end of the sixth mechanical arm, and the The two ends of the two-way screw rod are respectively rotatably matched with the two ends of the mounting seat. The splint is respectively fixed on the two sliding blocks, the servo motor is fixed on the mounting seat, and drives the bidirectional screw to rotate, and the opposite surface of the splint is fixed with an elastic layer.

Compared with the prior art, the beneficial effects of the present invention are:

The present invention forms a six-degree-of-freedom manipulator by rotating and connecting six manipulators in sequence and controlling and driving with the motor, which reduces the dead angle between the manipulators, improves the flexibility of the articulated arms, and the grasping range of the manipulator can be adjusted, so that the The invention adapts to more materials and improves the convenience of using the manipulator. The end of the sixth mechanical arm is detachably connected to a reclaiming component, and the reclaiming component is a suction cup component or a gripper component, which is used to adapt to different materials.

Description of drawings

1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

2 is a schematic cross-sectional view of Embodiment 1 of the present invention;

Fig. 3 is the enlarged schematic diagram of A part in Fig. 1;

4 is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

Fig. 5 is the enlarged schematic diagram of part B in Fig. 4;

FIG. 6 is a schematic structural diagram of Embodiment 3 of the present invention.

Reference numerals in the figure: 1, the first robotic arm; 2, the second robotic arm; 3, the third robotic arm; 4, the fourth robotic arm; 5, the fifth robotic arm; 6, the sixth robotic arm; 7, Suction cup assembly; 71, mounting bracket; 711, T-slot; 72, suction cup; 73, adjustment piece; 731, T-block; 732, mounting plate; 733, screw assembly; 734, fixing plate; 735, first cone Gear; 736, rotating rod; 737, second bevel gear; 738, drive motor; 74, fixed seat; 8, air port; 9, gripper assembly; 91, mounting seat; 92, two-way screw; 93, slider 94, splint; 95, servo motor; 96, elastic layer.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.

The invention discloses a manipulator device whose joint flexibility is easy to adjust.

Example 1:

As shown in Fig. 1 to Fig. 3 , the manipulator device with easy adjustment of joint flexibility includes a first manipulator 1, a second manipulator 2, a third manipulator 3, a fourth manipulator 4, and a fifth manipulator which are rotated and connected in sequence. Arm 5 and sixth robotic arm 6.

The first robotic arm 1 is fixed on the base or the sliding device, the second robotic arm 2 is driven by a motor to rotate with the first robotic arm 1, the second robotic arm 2 can rotate 360°, and the motor is located in the first robotic arm 1 Inside, the gear on the motor meshes with the gear on the second robotic arm 2.

The third manipulator 3 is driven by the motor to rotate with the second manipulator 2 along the vertical plane. The third manipulator 3 can rotate back and forth within a certain range of the vertical plane. The motor is located inside the second manipulator 2. The gear of 3 meshes with the gear on the third mechanical arm 3.

The fourth manipulator 4 is driven by the motor to rotate with the third manipulator 3 along the vertical plane, the fourth manipulator 4 can rotate back and forth within a certain range of the vertical plane, the motor is located inside the fourth manipulator 4, and the motor The gear of 3 meshes with the gear on the third mechanical arm 3.

At the same time, the plane formed by the rotation of the fourth mechanical arm 4 on the third mechanical arm 3 is parallel to the plane formed by the rotation of the third mechanical arm 3 on the second mechanical arm 2,

The fifth robotic arm 5 is driven by the motor to rotate with the fourth robotic arm 4 , the fifth robotic arm 5 can rotate 360°, the motor is located inside the fourth robotic arm 4 , and the gears on the motor mesh with the gears on the fifth robotic arm 5 .

The sixth manipulator 6 is driven by a motor to rotate with the fifth manipulator 5 , the motor is located inside the sixth manipulator 6 , and the gears on the motor mesh with the gears on the fifth manipulator 5 .

In the present invention, the motors on the first manipulator 1 to the sixth manipulator 6 are all controlled by the processor to run, and the end of the sixth manipulator 6 is equipped with a reclaiming assembly, and the controller makes the end of the sixth manipulator 6 The reclaiming component picks up and puts down the material.

In order to facilitate reclaiming, the grabbing range of the reclaiming component in the present invention is adjustable.

As shown in FIG. 1 and FIG. 2 , the reclaiming component may be a suction cup component 7 .

Specifically, the suction cup assembly 7 includes a mounting frame 71 , a fixing seat 74 and a suction cup 72 , the mounting frame 71 is fixed by a profile plate and an angle steel, the fixing seat 74 is formed by splicing and fixing the plates, and the fixing seat 74 is fixed on the sixth mechanical At the end of the arm 6 , the mounting bracket 71 is fixed to the side surface of the fixing base 74 by bolts, so that the width direction of the mounting bracket 71 is parallel to the longitudinal direction of the sixth mechanical arm 6 .

In addition, in the present invention, the suction cups 72 are distributed along the longitudinal direction of the mounting frame 71 . The number of the suction cups 72 is 12, and each pair is a group. The suction cups 72 are arranged in groups in the length direction of the mounting frame 71 , and each row has three groups of suction cups 72 .

An adjusting member 73 for adjusting the position of the suction cup 72 is mounted on the mounting frame 71 .

As shown in FIG. 2 , specifically, the adjusting member 73 includes a T-shaped block 731 and a mounting plate 732 , and a T-shaped groove 711 for sliding cooperation with the T-shaped block 731 is opened in the length direction of the installation frame 71 . The T-shaped groove 711 is The T-shaped block 731 is located in the T-shaped groove 711. Each set of suction cups 72 is fixed on both ends of the mounting plate 732. The bolts pass through the mounting plate 732 and are threadedly connected to the T-shaped block 731 to fix the mounting plate 732. on the mounting bracket 71 .

Therefore, the position of each group of suction cups 72 on the mounting frame 71 can be adjusted, which improves the applicability of the manipulator of the present invention.

In addition, as shown in FIG. 1 and FIG. 3 , in the present invention, in order to facilitate the suction and release of plate-like objects by the suction cups 72, the suction cups 72 are arranged in series with each other through pipes, and the suction cups 72 are connected with an air connection port 8 connected to the air source, and the inner six Each suction cup 72 is connected with an air connection port 8 , and the six external suction cups 72 are connected with an air connection port 8 , and the two air connection ports 8 are fixed side by side on the fixing base 74 by bolts. Of course, the air port 8 can also be fixed on the fifth robotic arm 5 or the sixth robotic arm 6 .

In the above, the suction cup 72 is divided into two parts in series, which are respectively connected with the air source, so that the suction quality of the article by the suction cup assembly 7 is guaranteed. If one of the two air sources is damaged, the manipulator of the present invention can still carry out picking and discharging. Operation.

In the present invention, nuts are fixed at both ends of the cylinder of the suction cup 72 , and the two nuts fix the suction cup 72 on the mounting plate 732 .

Example 2:

As shown in FIGS. 4 and 5 , the difference between this embodiment and Embodiment 1 is that the adjusting member 73 includes a lead screw assembly 733 and a fixing plate 734 .

Specifically, the lead screw assembly 733 is fixed on the mounting frame 71, the lead screw of the lead screw assembly 733 has forward and reverse threads, the lead screw assembly 733 has two sliding blocks, and suction cups located at the end of the mounting frame 71 in the length direction 72 is correspondingly fixed on the fixing plate 734 , and the bolts pass through the fixing plate 734 and are threadedly connected with the sliding block of the lead screw assembly 733 .

In the present invention, the two ends of the cylinder of the suction cup 72 are fixed with nuts, and the two nuts fix the suction cup 72 on the fixing plate 734 . The suction cup 72 in the middle of the mounting frame 71 is fixed on the mounting frame 71 or the seat of the lead screw assembly 733 through the plate body, and two nuts on the suction cup 72 fix the suction cup 72 on the plate body.

When in use, the suction cup 72 is driven to move by rotating the screw of the screw assembly 733, which is suitable for plates of different sizes.

In the present invention, the lead screw assembly 733 can be driven by the drive motor 738 or by a rocker. Preferably, the lead screw assembly 733 is driven by the drive motor 738 .

As shown in FIG. 5 , in order to facilitate the synchronous adjustment of the suction cups 72 on the two lead screw assemblies 733 , the lead screws on the two lead screw assemblies 733 are arranged in linkage, and a No. 1 A bevel gear 735, a plate body is fixed on the mounting frame 71, a block body is mounted on the plate body, a rotating rod 736 is rotatably connected to the block body, and the two ends of the rotating rod 736 are fixed with a second bevel gear 735 meshing For the bevel gear 737 , the end of the lead screw of one of the lead screw assemblies is connected to the drive motor 738 , and the drive motor 738 is fixed on the plate body on the mounting frame 71 .

In addition, the two screw assemblies 733 can be respectively connected with the driving motor 738, and such arrangement can make the suction cups 72 on the mounting frame 71 asymmetrically distributed, which is suitable for irregular plates.

Example 3:

As shown in FIG. 6 , the difference between this embodiment and Embodiment 1 is that the reclaiming component is a clamping jaw component 9 .

Specifically, the gripper assembly 9 includes a mounting seat 91, a bidirectional screw rod 92, two sliding blocks 93, two clamping plates 94 and a servo motor 95. The middle part of the mounting seat 91 is fixed on the end of the sixth mechanical arm 6, and the bidirectional screw rod The two ends of the 92 are respectively rotatably matched with the two ends of the mounting seat 91. The two sliding blocks 93 are respectively screwed on the positive and negative threads of the bidirectional screw rod 92. The two sliding blocks 93 are slidingly matched with the mounting seat 91. 94 are respectively fixed on the two sliding blocks 93, the servo motor 95 is fixed on the mounting seat 91, and drives the bidirectional screw 92 to rotate, and the opposite surface of the splint 94 is fixed with an elastic layer 96.

In the present invention, the elastic layer 96 is a layered structure made of rubber material, and the elastic layer 96 is embedded on the splint 94 .

In addition, the shape of the clamping plate 94 is not limited. If the clamping plate 94 is a straight plate, an elastic plate is installed on the opposite side of the clamping plate 94, a limit rod passing through the clamping plate 94 is fixed on the elastic plate, and a spring between the elastic plate and the clamping plate 94 is sleeved on the limiting rod.

The specific implementation principle of the present invention is:

The present invention forms a six-degree-of-freedom manipulator by rotating and connecting six manipulators in sequence and controlling and driving with the motor, which reduces the dead angle between the manipulators, improves the flexibility of the articulated arms, and the grasping range of the manipulator can be adjusted, so that the The invention adapts to more materials and improves the convenience of using the manipulator. The end of the sixth mechanical arm 6 is detachably connected to a reclaiming component, and the reclaiming component is a suction cup component 7 or a gripper component 9, which is used to adapt to different materials.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (10)

1. A manipulator device whose joint flexibility is easy to adjust, characterized in that it comprises a first manipulator (1), a second manipulator (2), a third manipulator (3), a fourth manipulator ( 4) A fifth robotic arm (5) and a sixth robotic arm (6), the second robotic arm (2) is driven by a motor to rotate with the first robotic arm (1), and the third robotic arm (3) The second mechanical arm (2) is driven by the motor to rotate along the vertical plane, the fourth mechanical arm (4) is driven by the motor to rotate along the vertical plane with the third mechanical arm (3), and the fifth mechanical arm (4) is driven by the motor to rotate along the vertical plane. The arm (5) is driven by the motor to rotate with the fourth mechanical arm (4), the sixth mechanical arm (6) is driven by the motor to rotate with the fifth mechanical arm (5), and the end of the sixth mechanical arm (6) The part is provided with a reclaiming component, and the grabbing range of the reclaiming component can be adjusted. 2 . The manipulator device according to claim 1 , wherein the reclaiming component is a suction cup component ( 7 ). 2 . 3 . The manipulator device according to claim 2 , wherein the suction cup assembly ( 7 ) comprises a mounting frame ( 71 ) and a suction cup ( 72 ), and the suction cup ( 72 ) extends along the The mounting brackets (71) are distributed and arranged in the longitudinal direction, and the mounting brackets (71) are provided with adjustment members (73) for adjusting the position of the suction cups (72). 4. The manipulator device according to claim 3, wherein the adjusting member (73) comprises a T-block (731) and a mounting plate (732), and the mounting bracket (73) 71) is provided with a T-shaped groove (711) slidingly matched with the T-shaped block (731) in the length direction, the T-shaped block (731) is located in the T-shaped groove (711), and the suction cup (72) is fixed On the mounting plate (732), bolts pass through the mounting plate (732) to be screwed with the T-block (731) to fix the mounting plate (732) on the mounting bracket (71). 5 . The manipulator device according to claim 4 , wherein the adjusting member ( 73 ) comprises a lead screw assembly ( 733 ) and a fixing plate ( 734 ), and the lead screw assembly (733) is fixed on the mounting bracket (71), the lead screw of the lead screw assembly (733) has forward and reverse threads, and the lead screw assembly (733) is provided with two sliding blocks, located on the mounting bracket (733). 71) The suction cups (72) at the ends in the length direction are correspondingly fixed on the fixing plate (734), the bolts pass through the fixing plate (734) and are threadedly connected to the sliding block of the screw assembly (733), and the screw assembly (733) is rotated. The screw rod drives the suction cup (72) to move. 6. The manipulator device according to claim 5, characterized in that, a first bevel gear (735) is fixed at the same direction ends of the lead screws of the two lead screw assemblies (733), A rotating rod (736) is rotatably connected to the mounting frame (71), and a second bevel gear (737) meshing with the first bevel gear (735) is fixed at both ends of the rotating rod (736). A drive motor (738) is connected to the end of the lead screw of the lead screw assembly. 7. The manipulator device with easy adjustment of joint flexibility according to claim 3, characterized in that a rocker is connected to the ends of the lead screws of the two lead screw assemblies (733). 8 . The manipulator device according to claim 1 , wherein the suction cups ( 72 ) are arranged in series with each other through pipes, and the suction cups ( 72 ) are connected with an air source. 9 . Air port (8). 9 . The manipulator device with easy adjustment of joint flexibility according to claim 1 , wherein the reclaiming component is a clamping jaw component ( 9 ). 10 . 10. The manipulator device according to claim 9, wherein the gripper assembly (9) comprises a mounting seat (91), a two-way screw (92), two sliding blocks (93), two clamping plates (94) and a servo motor (95), the middle part of the mounting seat (91) is fixed on the end of the sixth mechanical arm (6), and the two ends of the bidirectional screw (92) are respectively The two sliding blocks (93) are threadedly connected to the positive and negative threads of the bidirectional screw rod (92) respectively, and the two sliding blocks (93) are connected to the mounting seat (91). 91) Sliding fit, the two splints (94) are respectively fixed on the two sliders (93), the servo motor (95) is fixed on the mounting seat (91), and drives the bidirectional screw (92) to rotate , an elastic layer (96) is fixed on the facing surface of the splint (94).

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