CN116604609A - Multi-degree-of-freedom grabbing mechanical arm - Google Patents
Multi-degree-of-freedom grabbing mechanical arm Download PDFInfo
- Publication number
- CN116604609A CN116604609A CN202310895990.9A CN202310895990A CN116604609A CN 116604609 A CN116604609 A CN 116604609A CN 202310895990 A CN202310895990 A CN 202310895990A CN 116604609 A CN116604609 A CN 116604609A
- Authority
- CN
- China
- Prior art keywords
- pipe
- air
- grabbing
- end cover
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000149 penetrating effect Effects 0.000 claims abstract description 9
- 230000006978 adaptation Effects 0.000 claims description 3
- 210000004177 elastic tissue Anatomy 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-degree-of-freedom grabbing mechanical arm, and relates to the technical field of mechanical arms. The multi-degree-of-freedom grabbing mechanical arm comprises: the device comprises a driving base, wherein a grabbing arm is detachably arranged at the top end of the driving base, meanwhile, the driving base drives the grabbing arm to rotate in a multi-angle state, an end cover is detachably arranged at a gas pipe penetrating hole in the middle of the grabbing arm, and a clamp is arranged on the end cover; the driving base, the grabbing arms and the end cover are designed in a vertical 1-shaped state; the drive base includes the bottom plate, the top of bottom plate rotates installs rotatory shell. The multi-degree-of-freedom grabbing mechanical arm is characterized in that the whole device adopts a shaftless design, the bending degree of the air bag arm is mainly used for controlling the movement of the clamp, the clamp is not limited by an axle, the clamp can be bent at any angle, the flexibility is strong, the clamp is flexible, the degree of freedom of the mechanical arm is stronger, the pneumatic motor drives the grabbing arm to rotate in multiple directions, and the mechanical arm can bend in multiple directions without dead angles.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom grabbing mechanical arm.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc. The mechanical arm is used for replacing the manual work to engage in the assembly, the carrying and other works of the product, and can greatly save the manpower.
Currently, the flexibility of a mechanical arm in the market is mainly determined by a few axes, for example, a three-axis mechanical arm, a five-axis mechanical arm and the like, the more the axes are, the more flexible the mechanical arm is, the rotational movement of the mechanical arm is determined by the axes, the limited degree is provided, the degree of freedom is lacking, meanwhile, the flexible movement of a clamp can be realized only by multi-axis matching, and meanwhile, the steering of the existing mechanical arm is realized mainly through an electric driving type module, so that the mechanical arm is not suitable for being used in an explosion-proof environment.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom grabbing mechanical arm so as to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a multiple degree of freedom grasping mechanical arm, comprising:
the device comprises a driving base, wherein a grabbing arm is detachably arranged at the top end of the driving base, meanwhile, the driving base drives the grabbing arm to rotate in a multi-angle state, an end cover is detachably arranged at a gas pipe penetrating hole in the middle of the grabbing arm, a clamp is arranged on the end cover, and the driving base, the grabbing arm and the end cover are in a vertical 1-shaped state design;
the driving base comprises a bottom plate, a rotary shell is rotatably arranged at the top end of the bottom plate, and an air pump for supplying air to the grabbing arm is arranged in the rotary shell;
the grabbing arms are formed by vertically stacking a plurality of grabbing main bodies, and two adjacent grabbing main bodies are detachably connected;
the grabbing main body comprises a lower end cover and an upper end cover, a lower frame is arranged at the top end of the lower end cover, an upper frame is arranged at the bottom end of the upper end cover, four air bag arms are arranged between the lower frame and the upper frame, a pipe cover used as a plug is detachably arranged at the top end and the tail end of each air bag arm, and springs are detachably arranged between the opposite surfaces of four sides of the lower frame and the upper frame.
As a further scheme of the invention: the air bag arm comprises eleven annular bag ends, two adjacent annular bag ends are connected and communicated through a connecting end, a lower inlet pipe is installed at an air inlet at the bottom of the annular bag end, an air inlet connecting pipe and an air outlet connecting pipe are installed at an air inlet and an air outlet on the lower inlet pipe respectively, meanwhile, electromagnetic valves are installed on the air inlet connecting pipe and the air outlet connecting pipe, and an upper outlet pipe is installed at an air outlet at the top of the annular bag end.
As still further aspects of the invention: the upper outlet pipe and the lower inlet pipe are made of hard metal materials, and the connecting end and the annular bag end are integrally formed and are made of three-dimensional woven elastic fiber net.
As still further aspects of the invention: the structure size of lower end cover and upper end cover is the same, tube hole C has all been run through in the four corners department of upper end cover, and tube hole C's internally mounted has the locking ring, goes up the exit tube and advances the pipe and correspond to pass and lie in upper and lower locking ring inside, the structure size of lower frame and last frame is the same, the four corners department of last frame is provided with the lumen that supplies the pipeline to pass, goes up exit tube, advances down and is transition fit between pipe and the lumen.
As still further aspects of the invention: the top and the bottom of spring have welded respectively and have gone up plectane and lower plectane, and lower plectane and go up the centre of a circle department at the plectane looks back and all offered the screw thread recess, the middle part on four limits all runs through on the upper frame and has offered the screw thread and link the hole, four tube holes B have been offered in the top penetration of upper end cover, tube hole B's internally mounted has the internal thread pipe, and the internal thread pipe installs interior angle bolt A through the screw hole screw thread on it, simultaneously, interior angle bolt A's bottom passes behind the screw thread link hole with screw thread recess threaded connection.
As still further aspects of the invention: the four sides of the outer wall of the locking ring are all penetrated and provided with threaded holes, and internal angle bolts B which are in conflict with the upper outlet pipe or the lower inlet pipe are arranged on the internal threads of the threaded holes and are used for reinforcing and connecting the upper outlet pipe and the lower inlet pipe.
As still further aspects of the invention: the center department at upper end cover top has run through and has seted up tube hole A, and tube hole A's inside welding has the go-between, and go-between's head end and tail end all wear out tube hole A's inside, the external screw thread has been seted up on the go-between, the screw thread groove with external screw thread looks adaptation has been seted up to the bottom of end cover, and carries out threaded connection through external screw thread and screw thread groove.
As still further aspects of the invention: the middle part at bottom plate top is installed pneumatic motor, and pneumatic motor's drive end is connected with the middle part of rotatory shell bottom, four screw holes have all been run through at the top of lower extreme cover and upper end cover, simultaneously, four nuts are installed to the inside end of rotatory shell, and a nut corresponds a screw hole to, screw thread installs the stock bolt between corresponding screw hole and the nut, then realizes snatching the main part with the below and fix at the top of drive base through the stock bolt, perhaps, fixes upper and lower next-door neighbour's lower extreme cover and upper end cover together, then snatchs the main part with two adjacent snatchs the detachable connection of screw thread together.
As still further aspects of the invention: the air pump is provided with four groups of inlet and outlet, each group of inlet and outlet is correspondingly provided with an air supply pipe and an air return pipe, the air supply pipe and the air return pipe are one set, the air supply pipe and the air return pipe are matched for use, the air supply pipe and the air return pipe are matched with one air bag arm for advancing and discharging air, and the air supply pipe and the air supply connecting pipe and the air return pipe and the air outlet connecting pipe are connected and communicated through connecting pipes.
As still further aspects of the invention: the length of the air supply pipe is consistent with that of the air return pipe, meanwhile, the specifications of the air supply pipe and the air return pipe are various, the lengths of the air supply pipe and the air return pipe are determined by the grabbing arm, the length of the grabbing main body is assumed to be A, the grabbing arm is formed by stacking N grabbing main bodies, and then the lengths of the air supply pipe and the air return pipe are corresponding to A.
Compared with the prior art, the invention has the beneficial effects that:
1. the grabbing arm can be composed of different numbers of grabbing main bodies, the number of grabbing main bodies can be selected to form the grabbing arm according to actual use conditions, the adaptability can be flexibly selected and adjusted according to specific application environments of the mechanical arm, and the use flexibility of the mechanical arm is improved.
2. The whole device adopts a shaftless design, the movement of the clamp is controlled mainly by the bending degree of the air bag arm, the clamp is free from the limitation of the shaft, the clamp can be bent at any angle, the flexibility is strong, the clamp can move more flexibly, the degree of freedom of the mechanical arm is stronger, the pneumatic motor drives the grabbing arm to rotate in multiple directions, the grabbing arm can bend in multiple directions without dead angles, and the clamp is very flexible.
3. The structure adopted by the invention is pneumatic driving, is suitable for use in explosion-proof environment, and can be used as special equipment.
Drawings
FIG. 1 is a schematic view of a multi-degree-of-freedom gripper arm;
FIG. 2 is a schematic diagram of a driving base in a multi-degree-of-freedom gripper arm;
FIG. 3 is a schematic view of a gripper arm of a multi-degree-of-freedom gripper arm;
FIG. 4 is a front view of a gripper body in a multiple degree of freedom gripper robot;
FIG. 5 is an exploded view of a gripper body in a multiple degree of freedom gripper arm;
FIG. 6 is a schematic view of the structure of an air bag arm in a multi-degree-of-freedom gripper arm;
FIG. 7 is a schematic structural diagram showing a separation state of an upper end cover and an upper frame in a multi-degree-of-freedom grabbing mechanical arm;
FIG. 8 is a schematic view of a spring in a multi-degree of freedom gripper arm;
fig. 9 is a schematic structural view of an upper end cap of the multi-degree-of-freedom gripping robot arm (wherein the inside of the pipe hole C in the lower left corner does not contain a locking ring).
In the figure: the device comprises a driving base 1, a grabbing arm 2, an end cover 3, a bottom plate 4, a pneumatic motor 5, a rotating shell 6, a long rod bolt 7, an air supply pipe 8, an air return pipe 9, an air pump 10, a grabbing main body 11, a lower end cover 12, a lower frame 13, a spring 14, an air bag arm 15, an upper end cover 16, a pipe cover 17, an upper frame 18, an upper outlet pipe 19, a connecting end 20, a ring-shaped bag end 21, a lower inlet pipe 22, an air supply connecting pipe 23, an air outlet connecting pipe 24, a pipe hole A25, a locking ring 26, an inner angle bolt A27, an inner threaded pipe 28, a threaded hole 29, an inner angle bolt B30, a pipe hole B31, a threaded connecting hole 32, a pipe cavity 33, a connecting ring 34, a pipe hole C35, an upper circular plate 36, a lower circular plate 37 and a threaded groove 38.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 8, the present invention proposes a technical solution, a multi-degree-of-freedom grabbing mechanical arm, comprising:
the device comprises a driving base 1, wherein a grabbing arm 2 is detachably arranged at the top end of the driving base 1, meanwhile, the driving base 1 drives the grabbing arm 2 to rotate in a multi-angle state, an end cover 3 is detachably arranged at a gas pipe penetrating port in the middle of the grabbing arm 2, and a clamp is arranged on the end cover 3;
the driving base 1, the grabbing arm 2 and the end cover 3 are designed in a vertical 1-shaped state;
the driving base 1 comprises a bottom plate 4, fixing holes are formed in four corners of the top of the bottom plate 4, a rotary shell 6 is rotatably arranged at the top end of the bottom plate 4, the top end of the rotary shell 6 is open, and an air pump 10 for supplying air to the grabbing arm 2 is arranged in the rotary shell 6;
the grabbing arm 2 is formed by vertically stacking a plurality of grabbing main bodies 11, two adjacent grabbing main bodies 11 are detachably connected, the grabbing arm 2 can be formed by grabbing main bodies 11 with different numbers, the number of grabbing main bodies 11 can be selected to form the grabbing arm 2 according to actual use conditions, the adaptability can be flexibly selected and adjusted according to specific application environments of the mechanical arm, and the use flexibility of the mechanical arm is improved;
referring to fig. 4, the gripping body 11 includes a lower end cover 12 and an upper end cover 16, a lower frame 13 is mounted at the top end of the lower end cover 12, an upper frame 18 is mounted at the bottom end of the upper end cover 16, four air bag arms 15 are mounted between the lower frame 13 and the upper frame 18, the top ends and the tail ends of the air bag arms 15 respectively pass through the upper end cover 16 and the lower end cover 12, a pipe cover 17 serving as a plug is detachably mounted at the top ends and the tail ends of the air bag arms 15, springs 14 are detachably mounted between four opposite surfaces of the four sides of the lower frame 13 and the upper frame 18, and the springs 14 play roles in supporting and resetting.
The whole device adopts shaftless design, and the motion of control anchor clamps is mainly carried out by the crooked degree of gasbag arm 15, does not have the restriction of axle, and the bendability is strong, and the anchor clamps activity is more nimble, from this, mechanical arm self degree of freedom is stronger, and by the multidirectional rotation of pneumatic motor 5 drive grabbing arm 2, it can be multidirectional do not have the dead angle and crooked, and very nimble, and the structure that the device wholly adopted is pneumatic drive, is applicable to the use of explosion-proof environment, can regard as special equipment to use.
Referring to fig. 6, the air bag arm 15 is composed of eleven annular bag ends 21, two adjacent annular bag ends 21 are connected and communicated through a connecting end 20, a lower inlet pipe 22 is installed at an air inlet at the bottom of the lowermost annular bag end 21, an air inlet connecting pipe 23 and an air outlet connecting pipe 24 are respectively installed at an air inlet and an air outlet on the lower inlet pipe 22, simultaneously, electromagnetic valves are installed on the air inlet connecting pipe 23 and the air outlet connecting pipe 24, and an upper outlet pipe 19 is installed at an air outlet at the top of the uppermost annular bag end 21.
Referring to fig. 6, the upper outlet pipe 19 and the lower inlet pipe 22 are made of hard metal materials, and the connecting end 20 and the annular bag end 21 are integrally formed and made of a three-dimensional woven elastic fiber mesh.
Referring to fig. 7 and 9, the lower end cover 12 and the upper end cover 16 have the same structural size, the four corners of the upper end cover 16 are respectively provided with a pipe hole C35, the inside of the pipe hole C35 is provided with a locking ring 26, the upper pipe 19 and the lower pipe 22 correspondingly penetrate through the inside of the locking rings 26 located at the upper and lower parts, the lower frame 13 and the upper frame 18 have the same structural size, the four corners of the upper frame 18 are respectively provided with a pipe cavity 33 for the pipe to penetrate through, and the upper pipe 19, the lower pipe 22 and the pipe cavity 33 are in transition fit.
Referring to fig. 8, the top and bottom ends of the spring 14 are welded with an upper circular plate 36 and a lower circular plate 37 respectively, and the center of the back sides of the lower circular plate 37 and the upper circular plate 36 are provided with threaded grooves 38, the middle parts of the four sides of the upper frame 18 are provided with threaded connecting holes 32 in a penetrating manner, the top of the upper end cover 16 is provided with four pipe holes B31 in a penetrating manner, the center points of the tops of the four pipe holes B31 and the upper end cover 16 are round points, the round surrounding distribution is performed, an internal threaded pipe 28 is installed in the pipe holes B31, the internal threaded pipe 28 is provided with internal angle bolts a27 through threaded holes on the internal threaded pipe 28, and meanwhile, the bottom ends of the internal angle bolts a27 are connected with the threaded grooves 38 through the threaded connecting holes 32.
The assembly flow of the grasping main body 11 is as follows:
the upper outlet pipe 19 and the lower inlet pipe 22 on the air bag arm 15 are correspondingly in interference fit with the inner parts of the upper pipe cavity 33 of the upper frame 18 and the upper pipe cavity 33 of the lower frame 13, at the moment, the air bag arm 15 is fixed between the lower frame 13 and the upper frame 18, and the rest three are installed in the same way;
then, the upper end cover 16 and the upper frame 18, and the lower end cover 12 and the lower frame 13 are fixed together, and the principle is the same, and the flow is as follows:
the four upper outlet pipes 19 are passed through the inside of the locking ring 26 and the internally threaded pipes 28 are aligned with the threaded connecting holes 32, at which time the internal angle bolts a27 are screwed from the internally threaded pipes 28, and the internal angle bolts a27 are sequentially screwed into the threaded connecting holes 32 and the threaded recesses 38, at which time not only the fixation of the upper end cover 16 to the upper frame 18 but also the fixation of the springs 14 to the upper frame 18 is achieved.
The four sides of the outer wall of the locking ring 26 are provided with threaded holes 29 in a penetrating way, and internal angle bolts B30 which are in contact with the upper outlet pipe 19 or the lower inlet pipe 22 are installed in the internal threads of the threaded holes 29 and are used for reinforcing and connecting the upper outlet pipe 19 and the lower inlet pipe 22.
The center department at upper end cover 16 top has run through and has offered tube hole A25, and the inside welding of tube hole A25 has go out the inside of tube hole A25 with the tail end of go-between 34, and air pipe 8 and muffler 9 pass the inside of go-between 34, have offered the external screw thread on the go-between 34, and the thread groove with external screw thread looks adaptation has been offered to the bottom of end cover 3, and carries out threaded connection through external screw thread and thread groove.
The middle part at bottom plate 4 top is installed pneumatic motor 5, and pneumatic motor 5's drive end is connected with the middle part of rotatory shell 6 bottom, four screw holes have all been run through to the top of lower end cover 12 and upper end cover 16, simultaneously, four nuts are installed to the inside end of rotatory shell 6, a nut corresponds a screw hole, and install stock bolt 7 between corresponding screw hole and the nut screw thread, then realize through stock bolt 7 with the bottom snatch main part 11 fixed at the top of drive base 1, or, fix upper and lower next-door neighbour's lower end cover 12 and upper end cover 16 together, then two adjacent snatch main parts 11 are together through the removable connection of screw thread.
The assembly process of the two adjacent driving bases 1 is as follows:
the upper outlet pipe 19 of the upper and lower grabbing bodies 11 is aligned with and communicated with the lower inlet pipe 22, and then nuts are mounted on the long rod bolts 7 by the long rod bolts 7 penetrating through threaded holes on the upper and lower grabbing bodies 11 and the lower end cover 12, so that two adjacent grabbing bodies 11 are connected together;
the connection flow of the lowermost grip body 11 and the rotary case 6 is as follows:
the long rod bolt 7 passes through the threaded hole on the pipe cover 17, enters the inside of the rotary shell 6, and is connected with the nut inside the rotary shell 6, so that the installation can be realized.
Four groups of inlet and outlet are arranged on the air pump 10, an air supply pipe 8 and an air return pipe 9 are correspondingly arranged on each group of inlet and outlet, the air supply pipe 8 and the air return pipe 9 are one set, and for matched use, one set of air supply pipe 8 and the air return pipe 9 correspond to one air bag arm 15 for air supply and air exhaust, and the air supply pipe 8 and the air supply connecting pipe 23 and the air return pipe 9 and the air exhaust connecting pipe 24 are connected and communicated through connecting pipes.
The lengths of the air supply pipe 8 and the air return pipe 9 are consistent, meanwhile, the specifications of the air supply pipe 8 and the air return pipe 9 are various, the lengths of the air supply pipe 8 and the air return pipe 9 are determined by the grabbing arm 2, and if the lengths of the grabbing main bodies 11 are A and the grabbing arm 2 is formed by stacking N grabbing main bodies 11, the lengths of the air supply pipe 8 and the air return pipe 9 are A.
The working principle of the invention is as follows:
when in use, the air supply pipe 8 and the air return pipe 9 with the corresponding lengths are selected according to the lengths of the grabbing arms 2 and are connected with the air pump 10;
when the workpiece is required to be clamped, assuming that the workpiece is on the right side, the air pump 10 controls the two air bag arms 15 on the right side to convey less air, and the two air bag arms 15 on the left side convey more air, at the moment, the air flow in the air bag arms 15 on the right side is less, the air flow in the air bag arms 15 on the left side is more, the air bag arms 15 on the right side bend, and the clamp on the driving base 1 moves towards the workpiece; when the clamp clamps the workpiece, the gas in the four air bag arms 15 is controlled in the same way, so that the movement of the clamp is realized, and the carrying movement of the workpiece is realized;
the air supply or the air exhaust is controlled to be carried out on the interiors of the four air bag arms 15, so that the air in the interiors is equal, and when the air bag arms 15 are bent, the springs 14 are driven to bend and stretch, so that when the air flows in the air bag arms 15 on the left side and the air bag arms 15 on the right side are consistent, the springs 14 reset under the elastic action, and the whole grabbing main body 11 is driven to return to an initial vertical upward state;
meanwhile, when the air pump 10 is used for conveying air into the air bag arm 15, the position of the connecting end 20 of the air bag arm 15 can be accurately controlled to bend, and the control is flexible and accurate.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. The utility model provides a multi freedom snatchs arm which characterized in that: comprising the following steps:
the device comprises a driving base (1), wherein a grabbing arm (2) is detachably arranged at the top end of the driving base (1), meanwhile, the driving base (1) drives the grabbing arm (2) to rotate in a multi-angle state, an end cover (3) is detachably arranged at an air pipe penetrating port in the middle of the grabbing arm (2), and a clamp is arranged on the end cover (3);
the driving base (1), the grabbing arm (2) and the end cover (3) are designed in a vertical 1-shaped state;
the driving base (1) comprises a bottom plate (4), a rotary shell (6) is rotatably arranged at the top end of the bottom plate (4), and an air pump (10) for supplying air to the grabbing arm (2) is arranged in the rotary shell (6);
the grabbing arm (2) is formed by vertically stacking a plurality of grabbing main bodies (11), and two adjacent grabbing main bodies (11) are detachably connected;
snatch main part (11) including lower end cover (12) and upper end cover (16), lower frame (13) are installed on the top of lower end cover (12), upper frame (18) are installed to the bottom of upper end cover (16), install four gasbag arms (15) between lower frame (13) and upper frame (18), the top and the tail end of gasbag arm (15) are all detachably installed and are used for being as tube cap (17) of end cap, all detachably install spring (14) between the opposite face of lower frame (13) and upper frame (18) four sides.
2. The multi-degree of freedom grasping arm according to claim 1, wherein: the air bag arm (15) is composed of eleven annular bag ends (21), two adjacent annular bag ends (21) are connected and communicated through a connecting end (20), a lower inlet pipe (22) is arranged at an air inlet at the bottom of the annular bag end (21), an air inlet connecting pipe (23) and an air outlet connecting pipe (24) are respectively arranged at an air inlet and an air outlet on the lower inlet pipe (22), electromagnetic valves are respectively arranged on the air inlet connecting pipe (23) and the air outlet connecting pipe (24), and an upper outlet pipe (19) is arranged at an air outlet at the top of the annular bag end (21).
3. The multi-degree of freedom grasping arm according to claim 2, wherein: the upper outlet pipe (19) and the lower inlet pipe (22) are made of hard metal materials, and the connecting end (20) and the annular bag end (21) are integrally formed and made of a three-dimensional woven elastic fiber net.
4. The multi-degree of freedom grasping arm according to claim 2, wherein: the structure size of lower end cover (12) is the same as that of upper end cover (16), tube hole C (35) has all been run through in four corners department of upper end cover (16), and the internally mounted of tube hole C (35) has locking ring (26), goes up exit tube (19) and advances inside pipe (22) corresponding pass locking ring (26) that are located upper and lower, the structure size of lower frame (13) and last frame (18) is the same, the four corners department of last frame (18) is provided with lumen (33) that supplies the pipeline to pass, goes up exit tube (19), advances down between pipe (22) and lumen (33) and is transition fit.
5. The multi-degree of freedom grasping arm according to claim 4, wherein: the top and the bottom of spring (14) have welded respectively and have gone up plectane (36) and lower plectane (37), and down plectane (37) and go up plectane (36) the centre of a circle department of looks back and all seted up screw thread recess (38), threaded hole (32) have all been run through to the middle part on four limits on upper frame (18), four tube hole B (31) have been run through at the top of upper end cover (16), internally mounted of tube hole B (31) has internal thread pipe (28), and internal thread pipe (28) have interior angle bolt A (27) through the screw hole screw thread on it, simultaneously, after the bottom of interior angle bolt A (27) passes threaded hole (32) and screw thread recess (38) threaded connection.
6. The multi-degree of freedom grasping arm according to claim 4, wherein: threaded holes (29) are formed in the four sides of the outer wall of the locking ring (26) in a penetrating mode, and inner angle bolts B (30) which are in contact with the upper outlet pipe (19) or the lower inlet pipe (22) are installed on the inner threads of the threaded holes (29).
7. The multi-degree of freedom grasping arm according to claim 4, wherein: the center department at upper end cover (16) top has run through and has seted up tube hole A (25), and the inside welding of tube hole A (25) has go out inside tube hole A (25) with the tail end of go out in go-between (34), the external screw thread has been seted up on go-between (34), the screw thread groove with external screw thread looks adaptation has been seted up to the bottom of end cover (3), and carries out threaded connection with the screw thread groove through the external screw thread.
8. The multi-degree of freedom grasping arm according to claim 1, wherein: the middle part at bottom plate (4) top is installed pneumatic motor (5), and the drive end of pneumatic motor (5) is connected with the middle part of rotatory shell (6) bottom, four screw holes have all been run through at the top of lower end cover (12) and upper end cover (16), simultaneously, four nuts are installed to the inside end of rotatory shell (6), a nut corresponds a screw hole, and install stock bolt (7) with the screw thread between the nut, then realize snatching main part (11) with the below through stock bolt (7) and fix the top at driving base (1), or, fix upper and lower next-door neighbour's lower extreme cover (12) and upper end cover (16) together, then will two adjacent snatch main part (11) through the removable connection of screw thread together.
9. The multi-degree of freedom grasping arm according to claim 8, wherein: four groups of air inlet and outlet are arranged on the air pump (10), an air supply pipe (8) and an air return pipe (9) are correspondingly arranged on each group of inlet and outlet, the air supply pipe (8) and the air return pipe (9) are one set, the air supply pipe (8) and the air return pipe (9) are matched for use, the air supply pipe (8) and the air return pipe (9) correspond to an air bag arm (15) for air inlet and air outlet, and the air supply pipe (8) and the air inlet connecting pipe (23) and the air return pipe (9) and the air outlet connecting pipe (24) are connected and communicated through connecting pipes.
10. The multi-degree of freedom grasping arm according to claim 9, wherein: the length of the air supply pipe (8) is consistent with that of the air return pipe (9), meanwhile, the specifications of the air supply pipe (8) and the air return pipe (9) are various, the lengths of the air supply pipe (8) and the air return pipe (9) are determined by the grabbing arm (2), the length of the grabbing main body (11) is assumed to be A, the grabbing arm (2) is formed by stacking N grabbing main bodies (11), and the lengths of the air supply pipe (8) and the air return pipe (9) are corresponding to be A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310895990.9A CN116604609A (en) | 2023-07-20 | 2023-07-20 | Multi-degree-of-freedom grabbing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310895990.9A CN116604609A (en) | 2023-07-20 | 2023-07-20 | Multi-degree-of-freedom grabbing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116604609A true CN116604609A (en) | 2023-08-18 |
Family
ID=87680516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310895990.9A Pending CN116604609A (en) | 2023-07-20 | 2023-07-20 | Multi-degree-of-freedom grabbing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116604609A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006088311A (en) * | 2004-09-24 | 2006-04-06 | Tatsuya Hasemi | Earthworm type robot |
| US7171279B2 (en) * | 2000-08-18 | 2007-01-30 | Oliver Crispin Robotics Limited | Articulating arm for positioning a tool at a location |
| CN106239561A (en) * | 2016-08-22 | 2016-12-21 | 上海交通大学 | Gas control gasbag-type software mechanical arm |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN109648550A (en) * | 2019-02-27 | 2019-04-19 | 福州大学 | A kind of the software mechanical arm module and its control method of stiffness variable |
| US10562180B2 (en) * | 2016-03-29 | 2020-02-18 | Other Lab, Llc | Fluidic robotic actuator system and method |
| CN114274133A (en) * | 2021-12-23 | 2022-04-05 | 浙江水利水电学院 | Pneumatic bionic snake-shaped flexible robot |
| CN217728729U (en) * | 2022-06-02 | 2022-11-04 | 江苏智能软体机器人科技有限公司 | Stay wire and pneumatic control rigid-flexible coupling mechanical arm |
-
2023
- 2023-07-20 CN CN202310895990.9A patent/CN116604609A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7171279B2 (en) * | 2000-08-18 | 2007-01-30 | Oliver Crispin Robotics Limited | Articulating arm for positioning a tool at a location |
| JP2006088311A (en) * | 2004-09-24 | 2006-04-06 | Tatsuya Hasemi | Earthworm type robot |
| US10562180B2 (en) * | 2016-03-29 | 2020-02-18 | Other Lab, Llc | Fluidic robotic actuator system and method |
| CN106239561A (en) * | 2016-08-22 | 2016-12-21 | 上海交通大学 | Gas control gasbag-type software mechanical arm |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN109648550A (en) * | 2019-02-27 | 2019-04-19 | 福州大学 | A kind of the software mechanical arm module and its control method of stiffness variable |
| CN114274133A (en) * | 2021-12-23 | 2022-04-05 | 浙江水利水电学院 | Pneumatic bionic snake-shaped flexible robot |
| CN217728729U (en) * | 2022-06-02 | 2022-11-04 | 江苏智能软体机器人科技有限公司 | Stay wire and pneumatic control rigid-flexible coupling mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 郭巧: "《现代机器人学 仿生系统的运动 感知与控制》", 北京理工大学出版社, pages: 228 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Matsumaru | Design and control of the modular robot system: TOMMS | |
| US4378959A (en) | Apparatus for performing work functions | |
| CN107585555A (en) | A kind of material carrying machine hand for production line | |
| CN107186707B (en) | Mechanical structure of flexible arm | |
| CN104552286A (en) | Continuous multi-joint mechanical arm device | |
| CN111300445B (en) | Six-degree-of-freedom joint type mechanical arm for carrying mobile robot | |
| CN116604609A (en) | Multi-degree-of-freedom grabbing mechanical arm | |
| Wang et al. | Kinematic performance analysis and promotion of a spatial 3-RPaS parallel manipulator with multiple actuation modes | |
| CN214350747U (en) | Screw locking machine capable of automatically adsorbing screw combination | |
| CN208196840U (en) | Joint of mechanical arm connector and its mechanical arm | |
| CN113696171A (en) | Secondary mechanical arm and mechanical arm for multi-station machining | |
| CN209618322U (en) | A kind of new machine human arm grabbing device | |
| CN109531552B (en) | Two-degree-of-freedom pure rotation parallel mechanism | |
| CN214602737U (en) | Automatic welding clamping jaw of anti-skid robot | |
| CN109531563A (en) | A kind of gear fluids robot hand device | |
| CN110630596A (en) | Underwater redundant hydraulic mechanical arm and working method thereof | |
| CN212859467U (en) | Multi-degree-of-freedom and multi-section intelligent pipe climbing robot | |
| CN206048179U (en) | A kind of linear type parallel robot | |
| JPS60127988A (en) | Composite hand | |
| CN108189014A (en) | A kind of 3-dof parallel robot suitable for spherical surface processing | |
| CN208601519U (en) | Commutate clamping manipulator | |
| CN117944021B (en) | Robot capable of being flexibly operated | |
| CN219190252U (en) | Modularized mechanical clamp | |
| CN112846731A (en) | Screw locking machine capable of automatically adsorbing screw combination | |
| CN112296992A (en) | Rope-driven multi-joint robot unit mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20230818 |