CN203542622U - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN203542622U
CN203542622U CN201320567087.1U CN201320567087U CN203542622U CN 203542622 U CN203542622 U CN 203542622U CN 201320567087 U CN201320567087 U CN 201320567087U CN 203542622 U CN203542622 U CN 203542622U
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CN
China
Prior art keywords
arm
joint
pull rope
seat
power source
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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.)
Expired - Fee Related
Application number
CN201320567087.1U
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Chinese (zh)
Inventor
黄但理
黄毅翀
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黄但理
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Priority to CN201320567087.1U priority Critical patent/CN203542622U/en
Application granted granted Critical
Publication of CN203542622U publication Critical patent/CN203542622U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a manipulator comprising a manipulator base, a manipulator body and driving devices. The manipulator body is provided with a plurality of manipulator sections which are sequentially connected in series. The manipulator section at undermost end of the manipulator body is connected to the manipulator base through a cross universal joint. Every two adjacent manipulator sections are connected with each other through a spherical-hinge universal joint. The driving devices are in one-to-one correspondence with the manipulator sections, are used for driving the corresponding manipulator sections to rotate, and are connected with the corresponding manipulator sections through pulling ropes. The driving device corresponding to the manipulator section at the undermost end of the manipulator body is mounted on the manipulator base, and other driving devices are mounted on the manipulator sections connected to the lower ends of the corresponding manipulator sections respectively. The manipulator has the advantages of good flexibility, capability of accurately positioning to work, simple structure and high practicability.

Description

A kind of mechanical arm
Technical field
The utility model relates to robot field, particularly a kind of mechanical arm.
Background technology
Mechanical arm is the automated machine device that obtains at present broad practice in robot technical field.In order to improve the flexibility of mechanical arm, can accurately locate and carry out operation, there are some multiarticulate mechanical arms in prior art, for example publication number is open day of 102744732A(: the disclosed a kind of snakelike mechanical arm of Chinese patent 2012-06-20), exactly arm body is made as by a plurality of arm joints that can relatively realize up and down, swing and forms, by being provided with driver element, can drive each joint arm joint to swing, realize whole arm body and there is larger pendulum angle, and then realize mechanical arm and can form larger bending, improve thus the flexibility of mechanical arm.But because its arm internode is to connect by cross axle, alternate arm internode has two frees degree, arm joint be can only realize and left and right, swing carried out, the very flexible of whole mechanical arm, positioning precision is lower.
Utility model content
The purpose of this utility model is to provide a kind of flexibility better, and can accurately locate and carry out operation, and simple in structure, the good mechanical arm of practicality.
According to an aspect of the present utility model, a kind of mechanical arm is provided, comprise arm seat and there is the arm body that a plurality of successively arms that series connection arranges save, arm body arm joint is bottom connected on arm seat, arm body arm joint is bottom connected by candan universal joint with arm seat, adjacent two arm internodes save connection by spherical hinge universal, also comprise the corresponding setting one by one of a plurality of and a plurality of arm joint, for driving counterpart arm joint, realize the drive unit rotating, drive unit connects with corresponding arm joint by pull rope, saving corresponding drive unit with the arm bottom of arm body is arranged on arm seat, remaining drive unit is installed on respectively on the arm joint that is connected in this counterpart arm joint lower end.
In some embodiments, drive unit can comprise the multipair corresponding power source arranging, and every pair of power source is connected with counterpart arm joint by pull rope, and tie point is symmetrical with respect to the hinged support of this counterpart arm joint.
In some embodiments, drive unit can comprise and be two pairs of power sources that diagonal angle arranges, and the tie point that these two pairs of power sources save by pull rope and the counterpart arm diagonal angle that meets at right angles is arranged.
In some embodiments, power source can be cylinder or hydraulic cylinder, and its piston rod connects corresponding with it arm by pull rope and saves, and its cylinder body is fixedly installed on the arm joint that is connected in this counterpart arm joint lower end, save corresponding power source with arm body arm bottom, its cylinder body is fixedly mounted on arm seat.
In some embodiments, arm joint can be provided with and the pull rope that connects this arm joint fixed pulley of corresponding setting one by one, pull rope connects this arm around corresponding fixed pulley and saves by wearing, the piston rod of power source is provided with for the installing rack of connected pull rope is installed, and the two ends of pull rope are fixedly installed on installing rack.
In some embodiments, arm joint can be provided with fixed pulley corresponding setting one by one, for the ball-and-socket hinge style installing rack of corresponding fixed pulley is installed, ball-and-socket hinge style installing rack comprises the hinged seat that is located on arm joint and the flexural pivot hinged with this hinged seat, and fixed pulley is installed on flexural pivot.
In some embodiments, the corresponding setting one by one of the pull rope of the power source connection that arm can be provided with and be mounted thereon on saving, the first leading block group for preventing that corresponding pull rope generation is wound around self, can be provided with on arm seat with the pull rope corresponding setting one by one of the power source connection being mounted thereon, for preventing the second guiding wheels of corresponding pull rope generation self winding.
In some embodiments, pull rope can be haulage cable.
A kind of mechanical arm of the utility model, arm body arm joint is bottom connected by candan universal joint with arm seat, make arm body there is larger bending range, adjacent two arm internodes save connection by spherical hinge universal, except arm body arm joint bottom, all the other arm joints have three rotational freedoms, can realize multiple spot and rotate, the flexibility of arm body is good, can accurately locate and carry out operation.In addition, each arm joint is provided with it the corresponding drive unit arranging one by one, makes each arm joint independent driven, is convenient to control its rotation.Save corresponding drive unit with the arm bottom of arm body and be arranged on arm seat, remaining drive unit is installed on respectively on the arm joint that is connected in this counterpart arm joint lower end, and simple in structure, the control of arm body can be more flexible, and practicality is better.In addition, because pull rope can be shorter, strengthened the intensity of pull rope, the stability of draw is better.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mechanical arm of a kind of embodiment of the utility model.
Fig. 2 is the structural representation of the joint of arm shown in Fig. 1.
Fig. 3 is the structural representation of ball-and-socket hinge style installing rack shown in Fig. 2.
Wherein: 1-arm seat; 2-arm body; 3-drive unit; 4-candan universal joint; 5-spherical hinge universal joint; 6-pull rope; 101-the second guiding wheels; 201-arm joint; 202-fixed pulley; 203-ball-and-socket hinge style installing rack; 204-hinged seat; 205-flexural pivot; 206-the first guiding wheels; 301-power source; 302-piston rod; 303-cylinder body; 304-installing rack; 501-hinged seat; 502-flexural pivot.
The specific embodiment
Below in conjunction with accompanying drawing, utility model is described in further detail.
Fig. 1 has schematically shown a kind of mechanical arm according to a kind of embodiment of the present utility model.
As illustrated in fig. 1 and 2, this mechanical arm comprises arm seat 1, arm body 2 and drive unit 3.
Arm body 2 is installed on arm seat 1.Drive unit 3 is connected with arm body 2.
Arm body 2 has a plurality of successively arm joints 201 that series connection arranges.Specifically, a plurality of exactly arm joints 201 are connected formation linear structure are set successively from the bottom to top.Arm body 2 arm joint 201 is bottom connected on arm seat 1.
Arm body 2 arm joint 201 is bottom connected by candan universal joint 4 with arm seat 1.201, adjacent two arms joint saves 5 by spherical hinge universal and connects.
Spherical hinge universal joint 5 comprises hinged seat 501 and the flexural pivot 502 of being located at 201, alternate arm joint.In the present embodiment, between alternate arm joint 201, hinged seat 501 is fixedly installed in the bottom of the arm joint 201 that is positioned at upper end, and flexural pivot 502 is installed on the top of the arm joint 201 that is positioned at lower end.
Drive unit 3 is a plurality of, with the 201 corresponding settings one by one of a plurality of arm joint, for driving counterpart arm joint 201 to realize, rotates.Specifically, the quantity that is exactly drive unit 3 is identical with the quantity of arm joint 201, and arm joint 201 of a corresponding driving of drive unit 3 rotates.
Drive unit 3 connects with corresponding arm joint 201 by pull rope 6.Saving 201 corresponding drive units 3 with the arm bottom of arm body 2 is arranged on arm seat 1.Remaining drive unit 3 is installed on respectively and is connected on the arm joint 201 that this counterpart arm saves 201 lower ends.
Drive unit 3 comprises the multipair corresponding power source 301 arranging.Every pair of power source 301 is connected in counterpart arm joint 201 with it by pull rope 6 and connects, and tie point is symmetrical with respect to the hinged support of this counterpart arm joint 201.Specifically, it is exactly the every pair of power source 301 corresponding to arm body 2 arm joint 201 bottom, these both and arm body 2 arm joint 201 two tie points that are connected bottom, symmetrical around the hinged support (being the cross axle intersection point of candan universal joint 4) of arm body 2 arm joint 201 bottom.Two tie points of remaining arm joint 201 and corresponding with it every pair of power source 301, save 201 hinged support (be positioned at and be connected in the centre of sphere that arm that this arm saves 201 lower ends saves the flexural pivot 502 on 201) around this arm symmetrical.
Every pair of power source 301 comprises two power sources 301, a power source 301 in arranging in pairs drives corresponding pull rope 6 tension counterpart arm joints 201,301 of another power sources drive corresponding pull rope 6 to loosen, and 201, counterpart arm joint tilts to the direction being tightened up, and vice versa.By controlling the cooperation of multipair power source 301, operate, the joint of arm bottom 201 hinged supports around candan universal joint 4 that can realize actuating arm body 2 carry out all around rotation, drive all the other arm bodies 201 to rotate around the hinged support of corresponding with it spherical hinge universal joint 5.Can effectively, stably drive thus 201 rotations around hinged support of arm joint, realize multiple spot and rotate, guarantee the flexibility of arm body 2.
Drive unit 3 can comprise two pairs, four pairs, six pairs or eight pairs of power sources 301.In the present embodiment, drive unit 3 comprises two pairs of power sources 301, and these two pairs of power sources 301 are diagonal angle setting.The tie point of these two pairs of power sources 301 by pull rope 6 and counterpart arm joint 201 diagonal angle that meets at right angles is arranged.Specifically, the line of a pair of tie point and another are right angle to the angle of cut of the line of tie point.Can more stablize thus and effectively actuating arm joint 201 around hinged support, rotate, the flexibility that has improved a kind of mechanical arm of the utility model.
Power source 301 can be hydraulic cylinder, and its piston rod 302 connects corresponding with it arm joint 201 by pull rope 6, and its cylinder body 303 is fixedly installed in and is connected on the arm joint 201 that this counterpart arm saves 201 lower ends.Save 201 corresponding power sources 301 with arm body 2 arm bottom, its cylinder body 303 is fixedly mounted on arm seat 1.Hydraulic cylinder has that power is large, power or moment respond fast high and are easy to realize the advantages such as direct driving with ratio of inertias is large, has improved the stability of a kind of mechanical arm work of the utility model.
In other embodiments, power source 301 can be cylinder.
As shown in Figure 2, arm joint 201 has and the pull rope 6 that connects this arm joint 201 fixed pulley 202 of corresponding settings one by one, and pull rope 6 saves 201 by wearing around corresponding fixed pulley 202 this arms of connection.The piston rod 302 of power source 301 has for the installing rack 304 of connected pull rope 6 is installed, and the two ends of pull rope 6 are fixedly installed on installing rack 304.Pull rope 6 is worn around fixed pulley 202, and its two ends are fixedly installed on installing rack 304.Pull rope 6 is connected with arm joint 201 by fixed pulley 202, has strengthened the active force of 301 pairs of arm joints 201 of power source, has improved the operating efficiency of power source 301, energy-conserving and environment-protective.Meanwhile, pull rope 6 is connected with arm joint 201 by wearing around fixed pulley 202, while making pull rope 6 work, is not subject to excessive sliding friction effect, thereby has protected pull rope 6, has improved the durability of pull rope 6, has extended service life.
As shown in Figures 2 and 3, arm joint 201 has ball-and-socket hinge style installing rack 203.Ball-and-socket hinge style installing rack 203 and fixed pulley 202 corresponding setting one by one, for installing corresponding fixed pulley 202.
Ball-and-socket hinge style installing rack 203 comprises hinged seat 204 and flexural pivot 205.
Hinged seat 204 is located on arm joint 201, and flexural pivot 205 is articulated with hinged seat 204.Fixed pulley 202 is installed on flexural pivot 205.While making thus arm joint 201 rotate, between adjacent pull rope 6, can there is not knot and be wound around.Therefore, the rotation meeting of arm joint 201 is more flexible, and stubborn sled can not occur, and has improved the stability of work.
Because pull rope 6 is worn around fixed pulley 202, its two ends are all fixedly connected on installing rack 304, make a pull rope 6 be divided into two strands, for preventing that pull rope 6 from self kinking, guarantee that pull rope 6 can pull arm joint 201 swimmingly, on arm joint 201, there are the first guiding wheels 206, the pull rope 6 that is divided into two strands is separated, prevent and kink.The pull rope 6 corresponding setting one by one that the quantity of the first guiding wheels 206 connects with the power source 301 being installed on arm joint 201.In the present embodiment, it is four groups.
Similarly, on arm seat 1, there are the second guiding wheels 101, there are the second guiding wheels 101, the pull rope 6 being connected for the power source 301 that leads and be mounted thereon.The pull rope 6 corresponding setting one by one that the quantity of the second guiding wheels 101 connects with the power source 301 being installed on arm seat 1.Individual in the present embodiment, be four groups.
While effectively having prevented that thus arm joint 201 from rotating, connected pull rope 6 occurs self to kink, and has guaranteed the stability of pull rope 6 work, and then has guaranteed that the rotation of arm joint 201 is more stable, and rigidity is better.
In the present embodiment, the first guiding wheels 206 and the second guiding wheels 101 comprise respectively four directive wheels.
Pull rope 6 can be plastic ties, the rope made of hemp or metallic cable.In the present embodiment, be metallic cable, be specially steel wire rope, steel wire rope has advantages of that intensity is high, good toughness, noiselessness, easy to use, improved thus the practicality of a kind of mechanical arm of the utility model, in other embodiment, pull rope 6 can be also copper rope, steel wire rope etc.
When a kind of mechanical arm of the utility model is used, arm seat 1 is fixedly mounted on the mount pad of manipulator, and the Bei Jie201Yu executing agency of top (as fixture, mechanical palm or finger part) connects.By outside control system (as PL C), drive unit 3 is controlled, drive a plurality of arm joints 201 to rotate with respect to corresponding hinged support, the rotational angle of a plurality of arm joints 201 stacks up and is the rotational angle of whole mechanical arm, make a kind of mechanical arm of the utility model there is larger convolution angle and the flexibility of Geng Gao, can accurately locate and carry out operation.
Above-described is only embodiments more of the present utility model.For the person of ordinary skill of the art, not departing under the prerequisite of the utility model creation design, can also make some distortion and improvement, these all belong to protection domain of the present utility model.

Claims (8)

1. a mechanical arm, comprise arm seat and there is the arm body that a plurality of successively arms that series connection arranges save, described arm body arm joint is bottom connected on described arm seat, it is characterized in that, described arm body arm joint is bottom connected by candan universal joint with arm seat, described adjacent two arm internodes save connection by spherical hinge universal, also comprise the corresponding setting one by one of a plurality of and described a plurality of arm joint, for driving counterpart arm joint, realize the drive unit rotating, described drive unit connects with corresponding arm joint by pull rope, saving corresponding drive unit with the arm bottom of arm body is arranged on described arm seat, remaining drive unit is installed on respectively on the arm joint that is connected in this counterpart arm joint lower end.
2. a kind of mechanical arm according to claim 1, is characterized in that, described drive unit comprises the multipair corresponding power source arranging, and every pair of power source is connected with counterpart arm joint by pull rope, and tie point is symmetrical with respect to the hinged support of this counterpart arm joint.
3. a kind of mechanical arm according to claim 2, is characterized in that, described drive unit comprises and be two pairs of power sources that diagonal angle arranges, and the tie point that these two pairs of power sources save by pull rope and the counterpart arm diagonal angle that meets at right angles is arranged.
4. a kind of mechanical arm according to claim 2, it is characterized in that, described power source is cylinder or hydraulic cylinder, its piston rod connects corresponding with it arm by pull rope and saves, its cylinder body is fixedly installed on the arm joint that is connected in this counterpart arm joint lower end, save corresponding power source with arm body arm bottom, its cylinder body is fixedly mounted on described arm seat.
5. a kind of mechanical arm according to claim 4, it is characterized in that, described arm joint is provided with and the pull rope that connects this arm joint fixed pulley of corresponding setting one by one, described pull rope connects this arm around described corresponding fixed pulley and saves by wearing, the piston rod of described power source is provided with for the installing rack of connected pull rope is installed, and the two ends of described pull rope are fixedly installed on described installing rack.
6. a kind of mechanical arm according to claim 5, it is characterized in that, described arm joint is provided with the corresponding setting one by one of described fixed pulley, for the ball-and-socket hinge style installing rack of corresponding fixed pulley is installed, described ball-and-socket hinge style installing rack comprises the hinged seat that is located on described arm joint and the flexural pivot hinged with this hinged seat, and described fixed pulley is installed on described flexural pivot.
7. a kind of mechanical arm according to claim 5, it is characterized in that, described arm saves pull rope corresponding setting one by one, the first leading block group for preventing that corresponding pull rope generation is wound around self of the power source connection that is provided with and is mounted thereon, and described arm seat is provided with the pull rope corresponding setting one by one of the power source connection being mounted thereon, for preventing the second guiding wheels of corresponding pull rope generation self winding.
8. according to a kind of mechanical arm described in claim 1-7 any one, it is characterized in that, described pull rope is haulage cable.
CN201320567087.1U 2013-09-12 2013-09-12 Manipulator Expired - Fee Related CN203542622U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320567087.1U CN203542622U (en) 2013-09-12 2013-09-12 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320567087.1U CN203542622U (en) 2013-09-12 2013-09-12 Manipulator

Publications (1)

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CN203542622U true CN203542622U (en) 2014-04-16

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CN201320567087.1U Expired - Fee Related CN203542622U (en) 2013-09-12 2013-09-12 Manipulator

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107783556A (en) * 2016-08-31 2018-03-09 天津市泓金泰特种机械有限公司 A kind of reaction arm for Mechanical course

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107783556A (en) * 2016-08-31 2018-03-09 天津市泓金泰特种机械有限公司 A kind of reaction arm for Mechanical course

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140416

Termination date: 20150912

EXPY Termination of patent right or utility model