CN203471788U - Multi-joint mechanical arm - Google Patents
Multi-joint mechanical arm Download PDFInfo
- Publication number
- CN203471788U CN203471788U CN201320604587.8U CN201320604587U CN203471788U CN 203471788 U CN203471788 U CN 203471788U CN 201320604587 U CN201320604587 U CN 201320604587U CN 203471788 U CN203471788 U CN 203471788U
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- dactylus
- pin
- shell
- root
- hinged
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Abstract
The utility model relates to a multi-joint mechanical arm. The multi-joint mechanical arm comprises a driving mechanism, a transmission mechanism connected with the driving mechanism in a transmission mode, a palm and at least two clamping fingers. Each clamping finger comprises at least two knuckles, the knuckles comprise root knuckles, middle knuckles and end portion knuckles, and each clamping finger at least comprises one root knuckle and one end portion knuckle. Each root knuckle comprises a root finger case and a root connection rod, and each middle knuckle comprises a middle finger case and a middle connection rod. According to the multi-joint mechanical arm, the cross four-connection-rod mode is adopted in the knuckle structure of the clamping fingers, and the multi-joint mechanical arm has the advantages of being simple in structure, low in assembly cost and suitable for various environments, and being driven by one motor.
Description
[technical field]
The utility model relates to Robot Control Technology, relates in particular to a kind of multi-joint manipulator.
[background technology]
Robotics has been widely used in the various fields such as military affairs, industry, building industry, agricultural, medical science at present, and the manipulator of robot or hold assembly are that robot completes one of crawl target or the most important device of clamping object required by task.
Robot mechanical arm finger part of the prior art generally consists of a plurality of mobilizable dactylus, manipulator finger structure is comparatively complicated, at the described manipulator of operation, capture in the process of object, need to control respectively the motion of each dactylus, control very inconvenience; In the course of work of manipulator, need to use a plurality of motors to drive respectively above-mentioned each dactylus, the cost of therefore processing described manipulator is higher simultaneously.
[utility model content]
The utility model is intended to solve above-mentioned problems of the prior art, proposes a kind of multi-joint manipulator.
Transmission mechanism, palm, at least two holding fingers that the multi-joint manipulator the utility model proposes comprises driving mechanism, is in transmission connection with described driving mechanism, described holding finger comprises at least two dactylus, described dactylus kind is divided into root dactylus, middle part dactylus and end dactylus, described holding finger at least comprises a described root dactylus and an end dactylus, described root dactylus comprises that root refers to shell and root connecting rod, and described middle part dactylus comprises that middle part refers to shell and mid link.Wherein, described root refers to that shell has relative first end and the second end, described first end and described palm are hinged in the first pin joint place by pin, described the second end and described middle part refer to shell or end dactylus hinged in the second pin joint place by pin, described first end also with described transmission mechanism by pin hinged; Described root connecting rod one end and described palm are hinged by pin, the other end and described middle part refer to shell or end dactylus is hinged by pin, and the line that connects described the first pin joint and the second pin joint is crossing with described root connecting rod place straight line; Described middle part refers to that shell has relative two ends, and described middle part refers to that one end of shell and described root refer to that shell or another adjacent middle part refer to that shell is hinged in the 3rd pin joint place by pin, the other end refers to that with described end dactylus or another adjacent middle part shell is hinged in the 4th pin joint place by pin; It is hinged that described mid link one end and described root refer to that shell or another adjacent middle part refer to that shell is hinged by pin, the other end and described end dactylus or another adjacent middle part refer to that shell passes through pin, and the line and the described mid link place straight line that connect described the 3rd pin joint and the 4th pin joint intersect.
The multi-joint manipulator the utility model proposes adopts intersection four connecting rod modes to design the dactylus structure of described holding finger, when root dactylus is activated the driving of power and rotates, middle part dactylus and end dactylus automatically rotate under the power conduction of described intersection four connecting rods, thereby capture object.That the multi-joint manipulator the utility model proposes has is simple in structure, only by a motor-driven advantage, its assembly cost is low, applicable to various environment.
[accompanying drawing explanation]
Fig. 1 is the multi-joint manipulator stereo appearance figure of the utility model one embodiment.
Fig. 2 is the holding finger perspective structure figure of the utility model one embodiment.
Fig. 3 is the holding finger outside drawing of the utility model one embodiment.
Fig. 4 is the intersection four connecting rod rotation pre-structure figure of the utility model one embodiment.
Fig. 5 is the rear structure chart of intersection four connecting rod rotation of the utility model one embodiment.
Fig. 6 is that the multi-joint manipulator of the utility model one embodiment is overlooked outside drawing.
[specific embodiment]
Below in conjunction with specific embodiment and accompanying drawing, the utility model is described in further detail.Describe embodiment of the present utility model below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Below by the embodiment being described with reference to the drawings, be exemplary, only for explaining the technical solution of the utility model, and do not should be understood to restriction of the present utility model.
In description of the present utility model, term " interior ", " outward ", " longitudinally ", " laterally ", " on ", orientation or the position relationship of the indication such as D score, " top ", " end " be based on orientation shown in the drawings or position relationship, it is only the utility model rather than require the utility model with specific orientation structure and operation, therefore not should be understood to restriction of the present utility model for convenience of description.
The utility model provides a kind of multi-joint manipulator, transmission mechanism, palm, at least two holding fingers that described multi-joint manipulator comprises driving mechanism, is in transmission connection with described driving mechanism.Wherein said holding finger consists of some dactylus, the kind of described dactylus is further divided into again root dactylus, middle part dactylus and end dactylus three classes, described holding finger at least comprises a described root dactylus and a described end dactylus, and described holding finger can also consist of the middle part dactylus of a described root dactylus, a described end dactylus and the described root dactylus of some connections and end dactylus.
Figure 1 shows that the multi-joint manipulator of the utility model one embodiment.The transmission mechanism 5 that described multi-joint manipulator comprises holding finger 1, holding finger 2, holding finger 3, palm 4, driving mechanism 6, is in transmission connection with driving mechanism 6.At the present embodiment, adopt the design of three holding fingers, wherein described in each holding finger by root dactylus, middle part dactylus and end dactylus totally three dactylus form.
Structure and operation principle thereof with regard to multi-joint manipulator described in this embodiment is described in further detail below.
Please with reference to Fig. 2 and Fig. 3, take holding finger 1 as example, holding finger 1 consists of root dactylus 11, middle part dactylus 12 and end dactylus 13.Wherein, root dactylus 11 comprises that root refers to shell 111 and root connecting rod 112, and described middle part dactylus 12 comprises that middle part refers to shell 121 and mid link 122.
Wherein, root refers to that shell 111 has relative first end and the second end, and root refers to that the first end of shell 111 is provided with the first pin joint A, root refer to the first end of shell 111 and palm 4 hinged in the first pin joint A place by pin; Root refers to that the second end of shell 111 and middle part refer to that shell 121 is hinged in the second pin joint B place by pin; Root refers to that the first end of shell 111 is also hinged in pin joint M place by pin with transmission mechanism 5.
Middle part refers to that shell 121 has relative two ends, middle part refer to one end of shell 121 and root refer to shell 111 by pin in the 3rd pin joint (the 3rd pin joint is root and refers to the second pin joint B on shell 111) locate hinged, the other end and end dactylus 13 hinged in the 4th pin joint C place by pin.
It is hinged that mid link 122 one end and root refer to that shell 111 is hinged by pin, the other end and end dactylus 13 pass through pin.The line and the mid link 122 place straight lines that connect described the 3rd pin joint (i.e. the second pin joint B) and the 4th pin joint C intersect.
Syndeton by above-mentioned parts can be found out, the line that connects the first pin joint A and the second pin joint B and root connecting rod 112 place straight lines, the line and the mid link 122 place straight lines that are connected described the 3rd pin joint (i.e. the second pin joint B) and the 4th pin joint C intersect the four-bar linkage structure that intersects jointly having formed as shown in Figure 4, and this intersection four-bar linkage structure has drive characteristic.With described holding finger, hold with a firm grip as example, root refers to shown in shell 111(line segment AB) under the pulling force of transmission mechanism 5, take the first pin joint A and rotate as axis of rotation towards direction a, now be equivalent to shown in root connecting rod 112(line segment DE) towards b direction, there is rectilinear motion a little, therefore under root refers to that the rotary action of shell 111 drives, middle part refers to shown in shell 121(line segment BC) take the second pin joint B and rotate as axis of rotation towards direction a.In like manner, under middle part refers to that the rotary action of shell 121 drives, be equivalent to shown in mid link 122(line segment FG) towards c direction, there is rectilinear motion a little, therefore under middle part refers to that the rotary action of shell 121 drives, end dactylus 13 be take a F and is rotated as axis of rotation towards direction a, has finally formed to intersect four-bar linkage structure after rotatablely moving shown in Fig. 5.
Preferably, please refer to Fig. 6, transmission mechanism 5 further comprises pull bar 51, connects the drive rod 52 of described holding finger, for described pull bar is carried out to spacing linear bearing 53, it is hinged that drive rod 52 one end and root refer to that shell 111 is hinged by pin, the other end and pull bar 51 pass through pin, pull bar 51 is socketed in linear bearing 53, pull bar 51 can slidably reciprocate in linear bearing 53, there is unnecessary displacement for limiting pull bar 51 in linear bearing 53, driving mechanism 6 is in transmission connection with pull bar 51 in the direction beyond glide direction.
In the preferred embodiment, palm 4 is provided with for the circular hole through it for pull bar 51, and pull bar 51 is socketed through described circular hole and with linear bearing 53.
Further preferably, transmission mechanism 5 also comprises that spring 54 is placed on pull bar 51 for cushioning the spring 54 of driving force, and one end of spring 54 props up linear bearing 53, the other end props up driving mechanism 6.Spring 54 can avoid manipulator when capturing object because driving force changes excessive impact, played the effect of protection manipulator.
Continue referring to Fig. 6, preferably, driving mechanism 6 comprises motor 61, gear 62, tooth bar 63 and drive block 64, gear 62 centers are connected with the output shaft of motor 61, tooth bar 62 is in transmission connection with gear 61, and drive block 64 is affixed with tooth bar 61, and transmission mechanism 5 is in transmission connection with drive block 64.In the present embodiment, transmission mechanism 5 is connected with pull bar 51 one end.
Preferably, multi-joint manipulator described in the utility model also comprises pedestal 7, and palm 4 is fixed on pedestal 7 with motor 61, and tooth bar 63 is slidably connected with pedestal 7, and tooth bar 63, with pedestal 7, relative displacement can occur.Tooth bar 63 drives pull bar 51 moving linearlies by drive block 64, and then drives described holding finger to capture object.
Further preferably, pedestal 7 is also provided with a stopping means 71, and stopping means 71 is positioned on the linear position at tooth bar 63 direction of motion places, and stopping means 71 is for carrying out spacing to the motion of tooth bar 63.Pedestal 7 also can be provided for the motor rack 72 of fixed electrical machinery 61.
In above-mentioned all embodiment, the quantity of described holding finger is three, and the dactylus quantity that forms described holding finger is three.The dactylus quantity that those skilled in the art will be understood that the quantity of described holding finger and form described holding finger all can be set to other numbers according to the volume of concrete clamping environment and held object.When the dactylus quantity of the described holding finger of formation is greater than three, the middle part dactylus quantity that connects described root dactylus 11 and end dactylus 13 should be at least one, and some middle parts dactylus forms interconnective intersection four-bar linkage structure, thereby transmit successively by transmission mechanism 5, transmit and next moment, and then realize holding with a firm grip and unclamping of described clamping manipulator.
The multi-joint manipulator the utility model proposes adopts intersection four connecting rod modes to design the dactylus structure of described holding finger, when root dactylus is activated the driving of power and rotates, middle part dactylus and end dactylus automatically rotate under the power conduction of described intersection four connecting rods, thereby imitate the envelope crawl object of staff.That the multi-joint manipulator the utility model proposes has is simple in structure, only by a motor-driven advantage, its assembly cost is low, applicable to various environment.
Although the utility model is described with reference to current preferred embodiments; but those skilled in the art will be understood that; above-mentioned preferred embodiments is only used for explaining and explanation the technical solution of the utility model; and be not used for limiting protection domain of the present utility model; any within spirit of the present utility model and principle scope; any modification of doing, equivalent replacement, distortion, improvement etc., within all should being included in claim protection domain of the present utility model.
Claims (7)
1. a multi-joint manipulator, comprise: driving mechanism, the transmission mechanism, the palm that are in transmission connection with described driving mechanism, it is characterized in that, also comprise at least two holding fingers, described holding finger comprises at least two dactylus, described dactylus kind is divided into root dactylus, middle part dactylus and end dactylus, described holding finger at least comprises a described root dactylus and a described end dactylus, described root dactylus comprises that root refers to shell and root connecting rod, described middle part dactylus comprises that middle part refers to shell and mid link, wherein
Described root refers to that shell has relative first end and the second end, described first end and described palm are hinged in the first pin joint place by pin, described the second end and described middle part refer to shell or end dactylus hinged in the second pin joint place by pin, described first end also with described transmission mechanism by pin hinged;
Described root connecting rod one end and described palm are hinged by pin, the other end and described middle part refer to shell or end dactylus is hinged by pin, and the line that connects described the first pin joint and the second pin joint is crossing with described root connecting rod place straight line;
Described middle part refers to that shell has relative two ends, and described middle part refers to that one end of shell and described root refer to that shell or another adjacent middle part refer to that shell is hinged in the 3rd pin joint place by pin, the other end refers to that with described end dactylus or another adjacent middle part shell is hinged in the 4th pin joint place by pin;
It is hinged that described mid link one end and described root refer to that shell or another adjacent middle part refer to that shell is hinged by pin, the other end and described end dactylus or another adjacent middle part refer to that shell passes through pin, and the line and the described mid link place straight line that connect described the 3rd pin joint and the 4th pin joint intersect.
2. multi-joint manipulator according to claim 1, it is characterized in that, described transmission mechanism comprises: pull bar, connect the drive rod of described holding finger, for described pull bar is carried out to spacing linear bearing, described drive rod one end and described root refer to that shell passes through that pin is hinged, the other end and described pull bar hinged by pin, described pull bar is socketed in described linear bearing, and described driving mechanism and described pull bar are in transmission connection.
3. multi-joint manipulator according to claim 2, it is characterized in that, described transmission mechanism also comprises that described spring is placed on described pull bar for cushioning the spring of driving force, and described spring one end props up described linear bearing, the other end props up described driving mechanism.
4. multi-joint manipulator according to claim 1, it is characterized in that, described driving mechanism comprises: motor, gear, tooth bar and drive block, described gear centre is connected with the output shaft of described motor, described tooth bar is connected with described gear drive, described drive block and described tooth bar are affixed, and described transmission mechanism and described drive block are in transmission connection.
5. multi-joint manipulator according to claim 4, is characterized in that, also comprises pedestal, and described palm and described motor are fixed on described pedestal, and described tooth bar and described pedestal are slidably connected.
6. multi-joint manipulator according to claim 5, is characterized in that, also comprises the stopping means being fixed on described pedestal, and described stopping means is positioned on the linear position at described tooth bar direction of motion place.
7. multi-joint manipulator according to claim 5, is characterized in that, also comprises the motor rack being fixed on described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320604587.8U CN203471788U (en) | 2013-09-28 | 2013-09-28 | Multi-joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320604587.8U CN203471788U (en) | 2013-09-28 | 2013-09-28 | Multi-joint mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203471788U true CN203471788U (en) | 2014-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320604587.8U Withdrawn - After Issue CN203471788U (en) | 2013-09-28 | 2013-09-28 | Multi-joint mechanical arm |
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| Country | Link |
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| CN (1) | CN203471788U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN105345838A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical finger and mechanical arm |
| CN106584490A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Multifunctional linkage dexterous hand and robot thereof |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
-
2013
- 2013-09-28 CN CN201320604587.8U patent/CN203471788U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN104511906B (en) * | 2013-09-28 | 2015-11-18 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN106584490A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Multifunctional linkage dexterous hand and robot thereof |
| CN105345838A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械（深圳）有限公司 | Mechanical finger and mechanical arm |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20151118 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140312 Effective date of abandoning: 20151118 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |