CN115229841A

CN115229841A - Manipulator device with joint flexibility ratio convenient to adjust

Info

Publication number: CN115229841A
Application number: CN202210136359.6A
Authority: CN
Inventors: 张东俊; 张程; 程华
Original assignee: Shanghai Tuhua Intelligent Technology Co ltd
Current assignee: Shanghai Tuhua Intelligent Technology Co ltd
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-10-25

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

Manipulator device with joint flexibility ratio convenient to adjust

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator device with joint flexibility convenient to adjust.

Background

The manipulator is developed on the basis of an ancient robot appearing in the early period, the manipulator research starts in the middle of the 20 th century, along with the development of computers and automation technology, particularly since the first digital electronic computer appeared in 1946, the computers have made remarkable progress and developed towards high speed, large capacity and low price. Meanwhile, the urgent need of mass production promotes the development of automation technology, and lays a foundation for the development of robots. On the other hand, the research of nuclear energy technology requires some handling machinery to handle radioactive materials instead of humans. Against this background, remote manipulators were developed in 1947 in the united states, and mechanical master-slave manipulators were developed in 1948.

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program.

However, the existing manipulator equipment has a complex structure and relatively clumsy action, the grabbing range is limited, and the working efficiency is influenced.

Based on the problems, the manipulator device with the joint flexibility convenient to adjust is designed to solve the problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a manipulator device with a joint flexibility convenient to adjust.

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

the utility model provides a manipulator device that joint flexibility ratio is convenient for adjust, is including the first arm, second arm, third arm, fourth arm, fifth arm and the sixth arm that connect gradually, the second arm passes through motor drive and rotates with first arm, the third arm passes through motor drive and rotates along vertical face with the second arm, the fourth arm passes through motor drive and rotates along vertical face with the third arm, the fifth arm passes through motor drive and rotates with the fourth arm, the sixth arm passes through motor drive and rotates with the fifth arm, the tip of sixth arm is provided with gets the material subassembly, get the adjustable setting in the scope of snatching of material subassembly.

According to the further technical scheme, the material taking assembly is a sucker assembly.

According to a further technical scheme, the sucker assembly comprises an installation frame and suckers, the suckers are distributed along the length direction of the installation frame, and adjusting pieces for adjusting the positions of the suckers are arranged on the installation frame.

According to the further technical scheme, the adjusting piece comprises a T-shaped block and a mounting plate, a T-shaped groove matched with the T-shaped block in a sliding mode is formed in the length direction of the mounting frame, the T-shaped block is located in the T-shaped groove, the sucking disc is fixed on the mounting plate, a bolt penetrates through the mounting plate and is in threaded connection with the T-shaped block, and the mounting plate is fixed on the mounting frame.

According to a further technical scheme, the adjusting piece comprises a lead screw assembly and a fixing plate, the lead screw assembly is fixed on the mounting frame, a lead screw of the lead screw assembly is provided with forward and reverse threads, the lead screw assembly is provided with two sliding blocks, the suckers located at the end part of the mounting frame in the length direction are correspondingly fixed on the fixing plate, the bolts penetrate through the fixing plate and are in threaded connection with the sliding blocks of the lead screw assembly, and the lead screw of the lead screw assembly is rotated to drive the suckers to move.

According to the further technical scheme, first bevel gears are fixed at the equidirectional ends of screw rods of the two screw rod assemblies, a rotating rod is rotatably connected to the mounting frame, second bevel gears meshed with the first bevel gears are fixed at the two ends of the rotating rod, and a driving motor is connected to the end portions of the screw rods of the screw rod assemblies.

The invention further adopts the technical scheme that the end parts of the screw rods of the two screw rod assemblies are connected with rockers.

According to the further technical scheme, the suckers are connected in series through pipelines, and the suckers are connected with air connecting ports connected with an air source.

According to a further technical scheme, the material taking assembly is a clamping jaw assembly.

According to a further technical scheme, the clamping jaw assembly comprises an installation seat, a bidirectional screw rod, two sliding blocks, two clamping plates and a servo motor, the middle of the installation seat is fixed at the end of a sixth mechanical arm, two ends of the bidirectional screw rod are respectively in rotating fit with two ends of the installation seat, the two sliding blocks are respectively in threaded connection with positive and negative threads of the bidirectional screw rod, the two sliding blocks are in sliding fit with the installation seat, the two clamping plates are respectively fixed on the two sliding blocks, the servo motor is fixed on the installation seat and drives the bidirectional screw rod to rotate, and elastic layers are fixed on opposite surfaces of the clamping plates.

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

according to the six-degree-of-freedom manipulator, the six mechanical arms are sequentially and rotationally connected and are controlled and driven by the motor, so that the six-degree-of-freedom manipulator is formed, the dead angle between the mechanical arms is reduced, the flexibility of the joint arm is improved, the grabbing range of the manipulator is adjustable, the six-degree-of-freedom manipulator is adaptive to more materials, and the use convenience of the manipulator is improved. The material subassembly of getting of connection can be dismantled to the tip of sixth arm, gets the material subassembly and be sucking disc subassembly or clamping jaw subassembly for the different materials of adaptation.

Drawings

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic sectional view showing embodiment 1 of the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 1;

FIG. 4 is a schematic view of the overall structure of embodiment 2 of the present invention;

FIG. 5 is an enlarged view of portion B of FIG. 4;

fig. 6 is a schematic structural diagram of embodiment 3 of the present invention.

Reference numbers in the figures: 1. a first robot arm; 2. a second robot arm; 3. a third mechanical arm; 4. a fourth mechanical arm; 5. a fifth mechanical arm; 6. a sixth mechanical arm; 7. a sucker component; 71. a mounting frame; 711. a T-shaped groove; 72. a suction cup; 73. an adjustment member; 731. a T-shaped block; 732. mounting a plate; 733. a lead screw assembly; 734. a fixing plate; 735. a first bevel gear; 736. rotating the rod; 737. a second bevel gear; 738. a drive motor; 74. a fixed seat; 8. an air receiving port; 9. a jaw assembly; 91. a mounting seat; 92. a bidirectional screw rod; 93. a slider; 94. a splint; 95. a servo motor; 96. an elastic layer.

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.

The invention discloses a manipulator device with joint flexibility convenient to adjust.

Example 1:

as shown in fig. 1 to 3, the manipulator device with joint flexibility convenient to adjust includes a first manipulator 1, a second manipulator 2, a third manipulator 3, a fourth manipulator 4, a fifth manipulator 5 and a sixth manipulator 6, which are rotatably connected in sequence.

The first mechanical arm 1 is fixed on a base or sliding equipment, the second mechanical arm 2 is driven by a motor to rotate with the first mechanical arm 1, the second mechanical arm 2 can rotate by 360 degrees, the motor is located inside the first mechanical arm 1, and a gear on the motor is meshed with a gear on the second mechanical arm 2.

The third mechanical arm 3 is driven by a motor to rotate along a vertical surface with the second mechanical arm 2, the third mechanical arm 3 can rotate back and forth in a certain range of the vertical surface, the motor is located inside the second mechanical arm 2, and a gear on the motor is meshed with a gear on the third mechanical arm 3.

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

Meanwhile, 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 mechanical arm 5 is driven by a motor to rotate with the fourth mechanical arm 4, the fifth mechanical arm 5 can rotate by 360 degrees, the motor is located inside the fourth mechanical arm 4, and a gear on the motor is meshed with a gear on the fifth mechanical arm 5.

The sixth mechanical arm 6 is driven by a motor to rotate with the fifth mechanical arm 5, the motor is located inside the sixth mechanical arm 6, and a gear on the motor is meshed with a gear on the fifth mechanical arm 5.

In the invention, the motors on the first mechanical arm 1 to the sixth mechanical arm 6 are controlled by the processor to operate, the material taking assembly is arranged at the end part of the sixth mechanical arm 6, and the material taking assembly at the end part of the sixth mechanical arm 6 takes and puts down materials through the controller.

In order to facilitate material taking, the grabbing range of the material taking assembly is adjustable.

As shown in fig. 1 and 2, the material taking assembly may be a suction cup assembly 7.

Specifically, sucking disc subassembly 7 includes mounting bracket 71, fixing base 74 and sucking disc 72, and mounting bracket 71 is formed by section bar board cooperation angle steel is fixed, and fixing base 74 is formed by the panel concatenation is fixed, and fixing base 74 passes through the bolt fastening at the tip of sixth arm 6, and mounting bracket 71 passes through the bolt fastening in the side of fixing base 74 for the width direction of mounting bracket 71 is parallel with the length direction of sixth arm 6.

In the present invention, the suction pads 72 are distributed along the longitudinal direction of the mount 71. The number of the suckers 72 is 12, every two suckers are in a group, the suckers 72 are arranged in the length direction of the mounting frame 71 in groups, and each row comprises three groups of suckers 72.

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

As shown in fig. 2, specifically, the adjusting member 73 includes a T-shaped block 731 and a mounting plate 732, a T-shaped groove 711 slidably engaged with the T-shaped block 731 is formed in the length direction of the mounting frame 71, the T-shaped groove 711 is formed by a profile plate, the T-shaped block 731 is located in the T-shaped groove 711, each set of suction cups 72 is fixed to two ends of the mounting plate 732, and a bolt penetrates through the mounting plate 732 to be threadedly connected with the T-shaped block 731, so as to fix the mounting plate 732 to the mounting frame 71.

Thus, the position of each set of suction cups 72 on the mounting frame 71 can be adjusted, improving the applicability of the robot of the present invention.

In addition, as shown in fig. 1 and 3, in the present invention, in order to facilitate the suction and discharge of the plate-shaped object by the suction cups 72, the suction cups 72 are connected in series with each other through a pipe, the suction cups 72 are connected with the air inlets 8 connected with an air source, the six suction cups 72 inside are connected with one air inlet 8, the six suction cups 72 outside are connected with one air inlet 8, and the two air inlets 8 are fixed side by side on the fixing base 74 through bolts. Of course, the air receiving opening 8 may be fixed to the fifth robot arm 5 or the sixth robot arm 6.

In the above, the suction cup 72 is serially connected into two parts which are respectively connected with the air sources, so that the suction quality of the suction cup assembly 7 to the article is guaranteed, one air source of the two air sources is damaged, and the manipulator can still perform the material taking and placing operation.

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

Example 2:

as shown in fig. 4 and 5, the present embodiment is different from embodiment 1 in that the adjusting member 73 includes a lead screw assembly 733 and a fixing plate 734.

Specifically, the screw assembly 733 is fixed on the mounting frame 71, a screw of the screw assembly 733 is provided with forward and reverse threads, the screw assembly 733 is provided with two sliding blocks, the suction cups 72 located at the end portions of the mounting frame 71 in the length direction are correspondingly fixed on the fixing plate 734, and the bolts penetrate through the fixing plate 734 to be in threaded connection with the sliding blocks of the screw assembly 733.

In the present invention, nuts are fixed to both ends of the cylinder of the suction cup 72, and the two nuts fix the suction cup 72 to 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 body of the screw assembly 733 through a plate body, and the suction cup 72 is fixed on the plate body by two nuts on the suction cup 72.

During the use, through the lead screw that rotates lead screw assembly 733, drive sucking disc 72 and remove for be suitable for not unidimensional panel, when putting panel, make the quality of panel obtain the guarantee, simultaneously, be convenient for adjust the position of sucking disc 72.

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

As shown in fig. 5, in order to facilitate the synchronous adjustment of the suckers 72 on the two screw assemblies 733, the screws on the two screw assemblies 733 are arranged in a linkage manner, first bevel gears 735 are fixed at the ends of the screws of the two screw assemblies 733 in the same direction, a plate body is fixed on the mounting frame 71, a block body is installed on the plate body, a rotating rod 736 is connected to the block body in a rotating manner, second bevel gears 737 meshed with the first bevel gears 735 are fixed at two ends of the rotating rod 736, the end portion of the screw of one of the screw assemblies is connected with a driving motor 738, and the driving motor 738 is fixed on the plate body on the mounting frame 71.

In addition, the two screw assemblies 733 may be respectively connected to the driving motor 738, so that the suckers 72 on the mounting rack 71 are asymmetrically distributed, and the device is suitable for irregular plates.

Example 3:

as shown in fig. 6, the present embodiment is different from embodiment 1 in that the material taking assembly is a jaw assembly 9.

Specifically, the clamping jaw assembly 9 includes a mounting seat 91, a two-way lead screw 92, two sliders 93, two clamp plates 94 and a servo motor 95, the middle part of the mounting seat 91 is fixed at the end of the sixth mechanical arm 6, the two ends of the two-way lead screw 92 are respectively matched with the two ends of the mounting seat 91 in a rotating manner, the two sliders 93 are respectively in threaded connection with the positive and negative threads of the two-way lead screw 92, the two sliders 93 are in sliding fit with the mounting seat 91, the two clamp plates 94 are respectively fixed on the two sliders 93, the servo motor 95 is fixed on the mounting seat 91, the two-way lead screw 92 is driven to rotate, and the opposite surfaces of the clamp plates 94 are fixedly provided with elastic layers 96.

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

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

The specific implementation principle of the invention is as follows:

according to the six-degree-of-freedom manipulator, the six mechanical arms are sequentially and rotationally connected and are controlled and driven by the motor, so that the six-degree-of-freedom manipulator is formed, the dead angle between the mechanical arms is reduced, the flexibility of the joint arm is improved, the grabbing range of the manipulator is adjustable, the six-degree-of-freedom manipulator is adaptive to more materials, and the use convenience of the manipulator is improved. The material subassembly of getting of connection can be dismantled to the tip of sixth arm 6, gets the material subassembly and be sucking disc subassembly 7 or clamping jaw assembly 9 for the different materials of adaptation.

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 equipment 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, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a manipulator device that joint flexibility ratio is convenient for adjust, a serial communication port, including first arm (1), second arm (2), third arm (3), fourth arm (4), fifth arm (5) and sixth arm (6) that connect gradually, second arm (2) rotate through motor drive and first arm (1), third arm (3) rotate along vertical face through motor drive and second arm (2), fourth arm (4) rotate along vertical face through motor drive and third arm (3), fifth arm (5) rotate through motor drive and fourth arm (4), sixth arm (6) rotate through motor drive and fifth arm (5), the tip of sixth arm (6) is provided with gets the material subassembly, the adjustable setting of the scope of grabbing of getting the material subassembly.

2. Manipulator device with easily adjustable joint flexibility according to claim 1, characterized in that said material-taking assembly is a suction cup assembly (7).

3. The manipulator device with the joint flexibility convenient to adjust as claimed in claim 2, wherein the sucker assembly (7) comprises a mounting frame (71) and suckers (72), the suckers (72) are distributed along the length direction of the mounting frame (71), and adjusting pieces (73) for adjusting the positions of the suckers (72) are arranged on the mounting frame (71).

4. The manipulator device with the joint flexibility convenient to adjust as claimed in claim 3, wherein the adjusting member (73) comprises a T-shaped block (731) and a mounting plate (732), a T-shaped groove (711) matched with the T-shaped block (731) in a sliding manner is formed in the length direction of the mounting frame (71), the T-shaped block (731) is located in the T-shaped groove (711), the suction cup (72) is fixed on the mounting plate (732), and a bolt penetrates through the mounting plate (732) to be in threaded connection with the T-shaped block (731) so as to fix the mounting plate (732) on the mounting frame (71).

5. The manipulator device with the joint flexibility convenient to adjust according to claim 4, wherein the adjusting part (73) comprises a lead screw assembly (733) and a fixing plate (734), the lead screw assembly (733) is fixed on the mounting frame (71), a lead screw of the lead screw assembly (733) is provided with forward and reverse threads, the lead screw assembly (733) is provided with two sliding blocks, a sucker (72) located at the end part of the mounting frame (71) in the length direction is correspondingly fixed on the fixing plate (734), a bolt penetrates through the fixing plate (734) to be in threaded connection with the sliding block of the lead screw assembly (733), and the lead screw of the lead screw assembly (733) is rotated to drive the sucker (72) to move.

6. The manipulator device with the joint flexibility convenient to adjust according to claim 5, wherein a first bevel gear (735) is fixed to the same-direction ends of the screw rods of the two screw rod assemblies (733), a rotating rod (736) is rotatably connected to the mounting frame (71), a second bevel gear (737) meshed with the first bevel gear (735) is fixed to each end of the rotating rod (736), and a driving motor (738) is connected to one end of the screw rod of each screw rod assembly.

7. The manipulator device with the joint flexibility convenient to adjust as claimed in claim 3, wherein a rocker is connected to the end of the lead screw of the two lead screw assemblies (733).

8. The manipulator device with the joint flexibility convenient to adjust as claimed in claim 1, wherein the suckers (72) are connected in series with each other through a pipeline, and the suckers (72) are connected with an air receiving port (8) connected with an air source.

9. Manipulator device with joint flexibility easy to adjust according to claim 1, characterized in that the material taking component is a clamping jaw component (9).

10. The manipulator device with the joint flexibility convenient to adjust according to claim 9, wherein the clamping jaw assembly (9) comprises a mounting seat (91), a bidirectional screw rod (92), two sliding blocks (93), two clamping plates (94) and a servo motor (95), the middle of the mounting seat (91) is fixed at the end of a sixth mechanical arm (6), two ends of the bidirectional screw rod (92) are respectively in running fit with two ends of the mounting seat (91), the two sliding blocks (93) are respectively in threaded connection with the positive and negative threads of the bidirectional screw rod (92), the two sliding blocks (93) are in sliding fit with the mounting seat (91), the two clamping plates (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 rod (92) to rotate, and an elastic layer (96) is fixed on the opposite surface of each clamping plate (94).