CN203077278U

CN203077278U - Manipulator

Info

Publication number: CN203077278U
Application number: CN 201320067265
Authority: CN
Inventors: 陈小红; 陈俊铭; 姜晓强; 凌旭峰
Original assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Current assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Priority date: 2013-02-05
Filing date: 2013-02-05
Publication date: 2013-07-24
Anticipated expiration: 2023-02-05

Abstract

The utility model relates to a manipulator which is composed of a manipulator rotary disc device, a mechanical arm device and a mechanical claw device, wherein the manipulator rotary disc device comprises a second rotary disc; a connecting block for connecting the mechanical arm device is fixed on the second rotary disc; a first through hole is formed in the connecting block; a second through hole is formed in a large arm in the mechanical arm device, and the large arm and the connecting block are connected together through the mode that an inner hexagonal cylinder head screw passes through the first through hole in the connecting block; a large arm screw rod slide block is fixed on the large arm through a cross recess pan head screw, and is sleeved on the large arm screw rod on the manipulator rotary disc device; and a sub arm in the mechanical arm device is connected with the mechanical claw device through a swivel motor. The manipulator provided by the utility model has the beneficial effects that the rotary disc and the manipulator can both rotate for 360 degrees, and the manipulator has the characteristics of simplicity and convenience in operation, high flexibility, high grabbing efficiency and reduction of required time.

Description

Manipulator

Technical field

The utility model relates to the robot field, mainly is a kind of manipulator.

Background technology

Human safety in Duo Fa nature and man-made disaster such as earthquake, fire, flood, nuclear radiation etc. in recent years, serious threat.Though people increase to the forecast and the respond of various disasters, when handling destructive disaster event, because preparation is abundant inadequately, a lot of people still die from professional, not untimely pick-up operation.Therefore, multi-subject knowledges such as Robotics, rescue attempt technology, disaster are organically blended, development is challenging frontier of robotics research with the disaster relief robot that exploitation is used for searching and succour; But still there are a lot of defectives in the used manipulator of being developed in the robot at present, dumb as lifting, as to grasp inefficiency shortcoming.

Summary of the invention

The purpose of this utility model is to overcome the deficiency that prior art exists, and provide a kind of easy and simple to handle, flexibility strong, grasp the high manipulator of efficient.

The purpose of this utility model is finished by following technical solution, it is made of manipulator rotating-table apparatus, robot arm device and gripper device, described manipulator rotating-table apparatus includes second rotating disk, be fixed with the contiguous block that is used to connect robot arm device on this second rotating disk, offer first through hole on this contiguous block; Offer second through hole on the big arm in the described robot arm device, and first through hole that passes on the contiguous block by hexagon socket cap head screw connects big arm and contiguous block; Be fixed with big arm screw rod slide block by Cross Recess Head Screw on this big arm, this big arm screw rod slide block is placed on the big arm screw rod on the manipulator rotating-table apparatus; Two arms in the described robot arm device are connected with the gripper device by the rotary head motor.

As preferably, described manipulator rotating-table apparatus comprises rotary tray motor, four rotating disk connecting rods, first rotating disk, second rotating disk, thrust ball bearing; Described first rotating disk is fixed on four rotating disk connecting rods by hexagon socket cap head screw, be fixed with rotary tray motor in these four rotating disk connecting rods, be fixed with second rotating disk on the driving shaft of this rotary tray motor, accompany thrust ball bearing between second rotating disk and first rotating disk, this thrust ball bearing is placed on the driving shaft of rotary tray motor, and is embedded in the groove of second rotating disk.

As preferably, one side of described second rotating disk is fixed with two latch hooks by hexagon socket cap head screw, be connected with first deep groove ball bearing by hexagon socket cap head screw in this latch hook, the end face of this first deep groove ball bearing contacts with the lower surface of first rotating disk; The opposite side of this second rotating disk is fixed with first arm electric machine support by hexagon socket cap head screw, be connected with second largest arm electric machine support by hexagon socket cap head screw, second deep groove ball bearing in this first arm electric machine support, and this second deep groove ball bearing is positioned at first arm electric machine support.

As preferably, be fixed with big arm motor by hexagon socket cap head screw in the described second largest arm electric machine support, be fixed with big arm screw rod shaft coupling by hexagon socket cap head screw on the driving shaft of this big arm motor, be fixed with big arm screw rod on this big arm screw rod shaft coupling.

As preferably, described robot arm device comprises two arms, two arm electric machine supports, two arm motors, big arm, big arm screw rod slide block, worm gear, worm screw; One end of this two arm is fixed with worm-wheel shaft by hexagon socket cap head screw, and worm gear is fixed on the worm-wheel shaft by hexagon socket cap head screw, and worm gear is meshed with worm screw; The other end of two arms is fixed with the rotary head electric machine support by hexagon socket cap head screw, is fixed with the rotary head motor in this rotary head electric machine support.

As preferably, described worm screw is positioned at the worm gear frame by the 3rd deep groove ball bearing, the worm gear frame is fixed on the big arm by hexagon socket cap head screw, worm screw is fixedly connected by worm gear motor coupler and the driving shaft that is fixed on two arm motors on the two arm electric machine supports, and two arm electric machine supports are fixed on the big arm by hexagon socket cap head screw.

As preferably, described gripper device comprises the pincers bracing frame, is connected with two pincers connecting rods on this pincers bracing frame, i.e. the first pincers connecting rod, the second pincers connecting rod; Mesh by the tooth mouth between this first pincers connecting rod and the second pincers connecting rod, the both sides of the first pincers connecting rod, the second pincers connecting rod are connected with pincers by hexagon socket cap head screw respectively, be connected with the 3rd pincers connecting rod, the 4th pincers connecting rod respectively by hexagon socket cap head screw on the claw beam of these pincers, the 3rd pincers connecting rod, the 4th pincers connecting rod are connected on the pincers bracing frame.

The beneficial effects of the utility model are: 1, big arm lifting adopts the big arm of motor-driven screw rod rotation drive to move up and down, needs according to carry arm, but we have installed the screw rod of the big arm of movement below big arm, motor rotates, the rotation of drive screw rod, thereby realize the fast lifting motion of big arm, make mechanical arm more flexible; 2, rotating disk and manipulator all can 360 ° of rotations, 360 ° of Rotation Design of whole mechanical arm be need not be too much when satisfying the clamping object locomotive at the bottom of, only need to rotate the place that rotating disk can be put into object regulation, reduced the required time; And the rotation of manipulator is to consider that 3 district's article are cylinders, can directly be rolled into the safe boundary of a piece of land, has reduced the required time, conveniently finishes rescue task, reduces the time of using.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is a manipulator rotating-table apparatus master TV structure schematic diagram of the present utility model.

Fig. 3 is a manipulator rotating-table apparatus plan structure schematic diagram of the present utility model.

Fig. 4 is a robot arm device master TV structure schematic diagram of the present utility model.

Fig. 5 is a robot arm device plan structure schematic diagram of the present utility model.

Label in the accompanying drawing is respectively: 1, manipulator rotating-table apparatus; 2, robot arm device; 3, gripper device; 4, Cross Recess Head Screw; 11, second rotating disk; 12, contiguous block; 13, big arm screw rod; 14, rotary tray motor; 15, rotating disk connecting rod; 16, first rotating disk; 17, thrust ball bearing; 18, latch hook; 19, first deep groove ball bearing; 21, big arm; 22, big arm screw rod slide block; 23, two arms; 24, rotary head motor; 25, two arm electric machine supports; 26, two arm motors; 27, worm gear; 28, worm screw; 29, worm-wheel shaft; 31, pincers bracing frame; 32, the first pincers connecting rod; 33, the second pincers connecting rod; 34, pincers; 35, claw beam; 36, the 3rd pincers connecting rod; 37, the 4th pincers connecting rod; 41, first arm electric machine support; 42, second deep groove ball bearing; 43, second largest arm electric machine support; 44, big arm motor; 45, big arm screw rod shaft coupling; 51, rotary head electric machine support; 52, the 3rd deep groove ball bearing; 53, worm gear frame; 54, worm gear motor coupler; 111, groove; 121, through hole; 211, second through hole.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is done detailed introduction: as shown in Figure 1, the utility model is made of manipulator rotating-table apparatus 1, robot arm device 2 and gripper device 3, described manipulator rotating-table apparatus 1 includes second rotating disk 11, be fixed with the contiguous block 12 that is used to connect robot arm device 2 on this second rotating disk 11, offer first through hole 121 on this contiguous block 12; Offer second through hole 211 on the big arm 21 in the described robot arm device 2, and first through hole 121 that passes on the contiguous block 12 by hexagon socket cap head screw connects big arm 21 with contiguous block 12; Be fixed with big arm screw rod slide block 22 by Cross Recess Head Screw 4 on this big arm 21, this big arm screw rod slide block 22 is placed on the big arm screw rod 13 on the manipulator rotating-table apparatus 1; Two arms 23 in the described robot arm device 2 are connected with gripper device 3 by rotary head motor 24.Described gripper device 3 comprises pincers bracing frame 31, is connected with two pincers connecting rods on this pincers bracing frame 31, i.e. the first pincers connecting rod 32, the second pincers connecting rod 33; This first pincers connecting rod 32 and second 33 on the pincers connecting rod pass through the engagement of tooth mouth, the both sides of the first pincers connecting rod 32, the second pincers connecting rod 33 are connected with pincers 34 by hexagon socket cap head screw respectively, being connected with the 3rd pincers connecting rod 36, the 4th pincers connecting rod 37, the three pincers connecting rods 36, the 4th pincers connecting rod 37 respectively by hexagon socket cap head screw on the claw beam 35 of these pincers 34 is connected on the pincers bracing frame 31.

Shown in accompanying drawing 2,3, described manipulator rotating-table apparatus 1 comprises rotary tray motor 14, four rotating disk connecting rods 15, first rotating disk 16, second rotating disk 11, thrust ball bearing 17; Described first rotating disk 16 is fixed on four rotating disk connecting rods 15 by hexagon socket cap head screw, be fixed with rotary tray motor 14 in these four rotating disk connecting rods 15, be fixed with second rotating disk 11 on the driving shaft of this rotary tray motor 14, second rotating

disk

11 and 16 of first rotating disks accompany thrust ball bearing 17, this thrust ball bearing 17 is placed on the driving shaft of rotary tray motor 14, and is embedded in the groove 111 of second rotating disk 11.One side of described second rotating disk 11 is fixed with two latch hooks 18 by hexagon socket cap head screw, be connected with first deep groove ball bearing 19 by hexagon socket cap head screw in this latch hook 18, the end face of this first deep groove ball bearing 19 contacts with the lower surface of first rotating disk 16; The opposite side of this second rotating disk 11 is fixed with first arm electric machine support 41 by hexagon socket cap head screw, be connected with second largest arm electric machine support 43 by hexagon socket cap head screw, second deep groove ball bearing 42 in this first arm electric machine support 41, and this second deep groove ball bearing 42 is positioned at first arm electric machine support 41.Be fixed with big arm motor 44 by hexagon socket cap head screw in the described second largest arm electric machine support 43, be fixed with big arm screw rod shaft coupling 45 by hexagon socket cap head screw on the driving shaft of this big arm motor 44, be fixed with big arm screw rod 13 on this big arm screw rod shaft coupling 45.

Shown in accompanying drawing 4,5, described robot arm device 2 comprises two arms 23, two arm electric machine supports 25, two arm motors 26, big arm 21, big arm screw rod slide block 22, worm gear 27, worm screw 28; One end of this two arm 23 is fixed with worm-wheel shaft 29 by hexagon socket cap head screw, and worm gear 27 is fixed on the worm-wheel shaft 29 by hexagon socket cap head screw, and worm gear 27 is meshed with worm screw 28; The other end of two arms 23 is fixed with rotary head electric machine support 51 by hexagon socket cap head screw, is fixed with rotary head motor 24 in this rotary head electric machine support 51.Described worm screw 28 is positioned at worm gear frame 53 by the 3rd deep groove ball bearing 52, worm gear frame 53 is fixed on the big arm 21 by hexagon socket cap head screw, worm screw 28 is fixedly connected by worm gear motor coupler 54 and the driving shaft that is fixed on two arm motors 26 on the two arm electric machine supports 25, and two arm electric machine supports 25 are fixed on the big arm 21 by hexagon socket cap head screw.

For manipulator can level freely be rotated relative to car body, designed the manipulator rotating-table apparatus 1 of manipulator and car body.Manipulator rotating-table apparatus 1 mainly is made up of turntable bearing and turbine and worm reducing motor, the outer ring of turntable bearing is fixed on the car body, the turbine and worm motor is fixed on the turntable bearing outer ring, and robot arm device 2 is fixed on the turntable bearing inner ring, the output shaft of turbine and worm motor is connected by jockey with mechanical arm, has so just realized manipulator horizontally rotating with respect to car body.

The effect of robot arm device 2 is equivalent to the arm of our human body, grasps the object all right balance self except moving; According to the requirement of task, arm needs to pack up to guarantee to cross smoothly bend.Again can not be too short, because intensity is considered in the restriction of obstacle in addition, guarantee safety, big arm 21 has been selected the aluminum alloy materials of 20mm thickness.Because for weight reduction, the thickness of two arms 23 has been selected the aluminum alloy materials of 8mm again.

Consider in design that manipulator adds and hold the most effectively that we have done the design of an angle, 132 ° of angle orientation when being parallel to the state on ground when the design of big arm 21.Because consider the effect that grasps object, we have kept at least 180 ° angle to the anglec of rotation of two arms 23, reserve certain space, handled easily for operation.

The utility model is not limited to above-mentioned embodiment; no matter on its shape or material formation, do any variation; every employing structural design provided by the utility model all is a kind of distortion of the present utility model, all should think within the utility model protection domain.

Claims

1. manipulator, constitute by manipulator rotating-table apparatus (1), robot arm device (2) and gripper device (3), it is characterized in that: described manipulator rotating-table apparatus (1) includes second rotating disk (11), be fixed with the contiguous block (12) that is used to connect robot arm device (2) on this second rotating disk (11), offer first through hole (121) on this contiguous block (12); Offer second through hole (211) on the big arm (21) in the described robot arm device (2), and first through hole (121) that passes on the contiguous block (12) by hexagon socket cap head screw connects big arm (21) and contiguous block (12); This big arm (21) is gone up and to be fixed with big arm screw rod slide block (22) by Cross Recess Head Screw (4), and this big arm screw rod slide block (22) is placed on the big arm screw rod (13) on the manipulator rotating-table apparatus (1); Two arms (23) in the described robot arm device (2) are connected with gripper device (3) by rotary head motor (24).

2. manipulator according to claim 1 is characterized in that: described manipulator rotating-table apparatus (1) comprises rotary tray motor (14), four rotating disk connecting rods (15), first rotating disk (16), second rotating disk (11), thrust ball bearing (17); Described first rotating disk (16) is fixed on four rotating disk connecting rods (15) by hexagon socket cap head screw, be fixed with rotary tray motor (14) in these four rotating disk connecting rods (15), be fixed with second rotating disk (11) on the driving shaft of this rotary tray motor (14), accompany thrust ball bearing (17) between second rotating disk (11) and first rotating disk (16), this thrust ball bearing (17) is placed on the driving shaft of rotary tray motor (14), and is embedded in the groove (111) of second rotating disk (11).

3. manipulator according to claim 2, it is characterized in that: a side of described second rotating disk (11) is fixed with two latch hooks (18) by hexagon socket cap head screw, be connected with first deep groove ball bearing (19) by hexagon socket cap head screw in this latch hook (18), the end face of this first deep groove ball bearing (19) contacts with the lower surface of first rotating disk (16); The opposite side of this second rotating disk (11) is fixed with first arm electric machine support (41) by hexagon socket cap head screw, be connected with second largest arm electric machine support (43) by hexagon socket cap head screw, second deep groove ball bearing (42) in this first arm electric machine support (41), and this second deep groove ball bearing (42) is positioned at first arm electric machine support (41).

4. manipulator according to claim 3, it is characterized in that: be fixed with big arm motor (44) by hexagon socket cap head screw in the described second largest arm electric machine support (43), be fixed with big arm screw rod shaft coupling (45) by hexagon socket cap head screw on the driving shaft of this big arm motor (44), be fixed with big arm screw rod (13) on this big arm screw rod shaft coupling (45).

5. manipulator according to claim 1 is characterized in that: described robot arm device (2) comprises two arms (23), two arm electric machine supports (25), two arm motors (26), big arm (21), big arm screw rod slide block (22), worm gear (27), worm screw (28); One end of this two arm (23) is fixed with worm-wheel shaft (29) by hexagon socket cap head screw, and worm gear (27) is fixed on the worm-wheel shaft (29) by hexagon socket cap head screw, and worm gear (27) is meshed with worm screw (28); The other end of two arms (23) is fixed with rotary head electric machine support (51) by hexagon socket cap head screw, is fixed with rotary head motor (24) in this rotary head electric machine support (51).

6. manipulator according to claim 5, it is characterized in that: described worm screw (28) is positioned at worm gear frame (53) by the 3rd deep groove ball bearing (52), worm gear frame (53) is fixed on the big arm (21) by hexagon socket cap head screw, worm screw (28) is fixedly connected by worm gear motor coupler (54) and the driving shaft that is fixed on two arm motors (26) on the two arm electric machine supports (25), and two arm electric machine supports (25) are fixed on the big arm (21) by hexagon socket cap head screw.

7. manipulator according to claim 1 is characterized in that: described gripper device (3) comprises pincers bracing frame (31), is connected with two pincers connecting rods on this pincers bracing frame (31), i.e. the first pincers connecting rod (32), the second pincers connecting rod (33); Mesh by the tooth mouth between this first pincers connecting rod (32) and the second pincers connecting rods (33), the both sides of the first pincers connecting rod (32), the second pincers connecting rods (33) are connected with pincers (34) by hexagon socket cap head screw respectively, the claw beam (35) of these pincers (34) is gone up by hexagon socket cap head screw and is connected with the 3rd pincers connecting rod (36), the 4th pincers connecting rod (37) respectively, and the 3rd pincers connecting rod (36), the 4th pincers connecting rods (37) are connected on the pincers bracing frames (31).