CN204183552U - Four joint Manipulators - Google Patents
Four joint Manipulators Download PDFInfo
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- CN204183552U CN204183552U CN201420586425.0U CN201420586425U CN204183552U CN 204183552 U CN204183552 U CN 204183552U CN 201420586425 U CN201420586425 U CN 201420586425U CN 204183552 U CN204183552 U CN 204183552U
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Abstract
The utility model relates to a kind of four joint Manipulators, can ensure that the grasping mechanism in wrist only translation occurs and rotation do not occur in moving process.One end of directed lower beam with No. five hinges and turntable hinged; The other end No. six hinges and the corner hinges of directed lower beam; One end of directed upper boom with No. seven hinges and wrist hinged; The other end No. eight hinges and the corner hinges of directed upper boom; These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped; These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped.
Description
Technical field
The utility model relates to a kind of four joint Manipulators.
Background technology
Multi-joint manipulator is widely used in various field.As application number be 201210106092.2, name is called the Chinese patent of bionical multi-joint handling machinery arm.
This manipulator of prior art, when mechanical arm rotates, due to the interlock reason of structure, its wrist also itself can rotate in the process of movement again, and the grasping mechanism energy grabbing workpiece in wrist will be made, after mechanical arm drives wrist to arrive crawl station, wrist often needs rotate and make grasping mechanism forward suitable angle to, like this in wrist, just needs a set of power set of extra arranging.And for a few thing occasion, workpiece moves another station from a station to by manipulator, workpiece just translation between these two stations, like this, manipulator is in these two stations, and the relative angle between grasping mechanism and workpiece is fixing.The grinding step of such as circular saw bit, circular saw bit be put into grinding machine before handling process in, circular saw bit moves another station from a station to by manipulator, and on these two stations, circular saw bit and grasping mechanism are all keep same angle.Such workplace, as long as ensure that the grasping mechanism in wrist only translation occurs and rotation does not occur in moving process, just not only can content with funtion, and wrist does not need again additionally to arrange a set of power set, decrease cost.
Utility model content
The purpose of this utility model is to overcome above shortcomings in prior art, and provides a kind of four joint Manipulators of reasonable in design, can ensure that the grasping mechanism in wrist only translation occurs and rotation do not occur in moving process.
The technical scheme in the invention for solving the above technical problem is: a kind of four joint Manipulators, comprises turntable, electric cylinder, large mechanical arm, gadget arm, No. two electric cylinders, wrist, frame, motors; Turntable is vertically arranged, and is rotatably connected in frame; Motor is connected with turntable, and turntable can be driven to rotate in frame; The afterbody of large mechanical arm with a hinge and turntable hinged, large mechanical arm can rotate around the hinge axes of a hinge; The head of large mechanical arm with No. two hinges and gadget arm hinged, large mechanical arm and gadget arm can relatively rotate around the hinge axes of No. two hinges; The cylinder body of an electric cylinder is hinged on large mechanical arm, its piston with No. three hinges and gadget arm hinged; Wrist is hinged with the head of No. four hinges and gadget arm, and wrist and gadget arm can relatively rotate around the hinge axes of No. four hinges; The cylinder body of No. two electric cylinders is hinged on large mechanical arm, its piston and turntable hinged; It is characterized in that: also comprise directed lower beam, directed upper boom, corner; Corner and No. two chain connections, corner can rotate around the hinge axes of No. two hinges; One end of directed lower beam with No. five hinges and turntable hinged, directed lower beam can rotate around the hinge axes of No. five hinges; The other end No. six hinges and the corner hinges of directed lower beam, directed lower beam and corner can relatively rotate around the hinge axes of No. six hinges; One end of directed upper boom with No. seven hinges and wrist hinged, directed upper boom and wrist can relatively rotate around the hinge axes of No. seven hinges; The other end No. eight hinges and the corner hinges of directed upper boom, directed upper boom and corner can relatively rotate around the hinge axes of No. eight hinges; These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped; These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped.
No. three hinges described in the utility model, No. two hinges, No. four hinges are arranged in order.
The utility model is fixed with electromagnet bottom described wrist.
The utility model compared with prior art, has the following advantages and effect: reasonable in design.These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped.These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped.By this structure, can ensure that the grasping mechanism in wrist only translation occurs and rotation does not occur in moving process, and only need a motor and two electric cylinders as dynamical system, wrist not need a set of power set of extra arranging again, decrease cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, also by embodiment, the utility model is described in further detail, and following examples are that the utility model is not limited to following examples to explanation of the present utility model.
See Fig. 1, the utility model embodiment comprises turntable 1, electric cylinder 2, large mechanical arm 3, gadget arm 4, No. two electric cylinders 5, wrist 6, directed lower beam 7, directed upper boom 8, corner 9, frame 10, motors.
Turntable 1 is vertically arranged, and is rotatably connected on the top of frame 10, and turntable 1 is axial restraint in frame 10, and circumference is rotated.This structure makes the utility model be provided with a joint.
The body of motor is arranged in frame 10, and motor shaft is connected with turntable 1 by pulley mechanism.Motor can drive turntable 1 to rotate in frame 11.
The afterbody of large mechanical arm 3 is hinged with a hinge 12 and turntable 1, and large mechanical arm 3 can rotate around the hinge axes of a hinge 12.The head of large mechanical arm 3 is hinged with No. two hinges 13 and gadget arm 4, and large mechanical arm 3 and gadget arm 4 can relatively rotate around the hinge axes of No. two hinges 13.A hinge 12 and No. two hinges 13 make the utility model be provided with a joint respectively.
The cylinder body of an electric cylinder 2 is hinged on large mechanical arm 3, and its piston is hinged with the afterbody of gadget arm 4 with No. three hinges 14.
Wrist 6 is hinged with the head of gadget arm 4 with No. four hinges 15, and wrist 6 and gadget arm 4 can relatively rotate around the hinge axes of No. four hinges 15.No. four hinges 15 make the utility model be provided with a joint.Wrist 6 can install various grasping mechanism 20 as required, and grasping mechanism 20 can adopt clamp-type, holding type and absorbent-type etc., and in this practical example, grasping mechanism 20 is electromagnet, adsorbable metal works, and cost is low, easy to use, effect is very good.
No. three hinges 14, No. two hinges 13, No. four hinges 15 are arranged in order, and such electric cylinder 2 more effectively can promote gadget arm 4 and rotate relative to the hinge axes of large mechanical arm 3 around No. two hinges 13.
The cylinder body of No. two electric cylinders 5 is hinged on large mechanical arm 3, its piston and turntable 1 hinged.
Corner 9 is connected with No. two hinges 13, and corner 9 can rotate around the hinge axes of No. two hinges 13.
Directed lower beam 7 one end is hinged with No. five hinges 16 and turntable 1, and directed lower beam 7 can rotate around the hinge axes of No. five hinges 16.Directed lower beam 7 other end is hinged with No. six hinges 17 and corner 9, and directed lower beam 7 and corner 9 can relatively rotate around the hinge axes of No. six hinges 17.
Directed upper boom 8 one end is hinged by No. seven hinges 18 and wrist 6, and directed upper boom 8 and wrist 6 can relatively rotate around the hinge axes of No. seven hinges 18; Directed upper boom 8 other end is hinged with No. eight hinges 19 and corner 9, and directed upper boom 8 and corner 9 can relatively rotate around the hinge axes of No. eight hinges 19.
Utility model works process is as follows:
Process 1: motor action, its motor shaft drives turntable 1 to rotate, and turntable 1 drives large mechanical arm 3 to rotate, and large mechanical arm 3 drives gadget arm 4 to rotate, and gadget arm 4 drives wrist 6 to rotate.
The action of process 2: No. two electric cylinders 5, its piston stretches, and No. two electric cylinders 5 promote large mechanical arm 3 and rotate around the hinge axes of a hinge 12, and large mechanical arm 3 drives gadget arm 4 to rotate, and gadget arm 4 drives wrist 6 to rotate.
The action of process 3: numbers electric cylinders 2, its piston stretches, and No. two electric cylinders 5 promote gadget arm 4 and rotate relative to the hinge axes of large mechanical arm 3 around No. two hinges 13, and gadget arm 4 drives wrist 6 to rotate.
In said process 2, directed lower beam 7 first produces interlock, and its hinge axes around No. five hinges 16 is rotated.Directed lower beam 7 other end is by No. six hinge 17 push-and-pull corners 9, and corner 9 and directed lower beam 7 relatively rotate around the hinge axes of No. six hinges 17.Corner 9 is by the directed upper boom 8 of No. eight hinge 19 push-and-pulls, and directed upper boom 8 and corner 9 relatively rotate around the hinge axes of No. eight hinges 19.Directed upper boom 8 is by No. seven hinge 18 push-and-pull wrists 6, and directed upper boom 8 and wrist 6 relatively rotate around the hinge axes of No. seven hinges 18, and wrist 6 and gadget arm 4 relatively rotate around the hinge axes of No. four hinges 15.
In said process 3, directed upper boom 8 produces interlock, and by No. seven hinge 18 push-and-pull wrists 6, and directed upper boom 8 and wrist 6 relatively rotate around the hinge axes of No. seven hinges 18, and wrist 6 and gadget arm 4 relatively rotate around the hinge axes of No. four hinges 15.Corner 9 is motionless, and by lever principle, directed upper boom 8 and corner 9 relatively rotate around the hinge axes of No. eight hinges 19.
These four straight lines of straight line at the straight line at a hinge 12 hinge axes place, the straight line at No. five hinge 16 hinge axes places, the straight line at No. six hinge 17 hinge axes places, No. two hinge 13 hinge axes places are respectively the straight line at four incline places of a parallelepiped.These four straight lines of straight line at the straight line at No. two hinge 13 hinge axes places, the straight line at No. eight hinge 19 hinge axes places, the straight line at No. seven hinge 18 hinge axes places, No. four hinge 15 hinge axes places are respectively the straight line at four incline places of another parallelepiped.As common practise, parallelepiped is defined as: bottom surface is that the quadrangular of parallelogram is called parallelepiped.Under this configuration, according to linkage principle, in said process 2 and process 3, no matter how large mechanical arm 3 and gadget arm 4 rotate, the plane (being called for short plane A) at the straight line at No. six hinge 17 hinge axes places and these two straight line places of straight line at No. two hinge 13 hinge axes places is parallel to the plane (being called for short plane B) at the straight line at a hinge 12 hinge axes place and these two straight line places of straight line at No. five hinge 16 hinge axes places all the time, and a hinge 12 and No. five hinges 16 install after position on turntable 1 can not change, therefore the position of plane B on turntable 1 is fixing, like this, corner 9 is fixing (both relative positions can change) with the angle of plane B.Same principle, the plane (being called for short plane C) at the straight line at No. seven hinge 18 hinge axes places and these two straight line places of straight line at No. four hinge 15 hinge axes places is parallel to the plane (being called for short plane D) at the straight line at No. two hinge 13 hinge axes places and these two straight line places of straight line at No. eight hinge 19 hinge axes places all the time, and due to corner 9 be fixing relative to the angle of plane B, namely the angle of plane D and plane B is fixing, the angle of plane C and plane B is also fixing (both relative positions can change), in this case, wrist 6 is also fixing (both relative positions can change) with the angle of plane B, namely in said process 2 and process 3, no matter how large mechanical arm 3 and gadget arm 4 rotate, wrist 6 is fixing (both relative positions can change) with the angle of plane B, like this, only translation is there is and rotation does not occur in the grasping mechanism in wrist 6 in moving process.
In addition, it should be noted that, the specific embodiment described in this description, the shape, institute's title of being named etc. of its parts and components can be different, and the above content described in this description is only to the explanation of the utility model structure example.
Claims (3)
1. four joint Manipulators, comprise turntable, electric cylinder, large mechanical arm, gadget arm, No. two electric cylinders, wrist, frame, motors; Turntable is vertically arranged, and is rotatably connected in frame; Motor is connected with turntable, and turntable can be driven to rotate in frame; The afterbody of large mechanical arm with a hinge and turntable hinged, large mechanical arm can rotate around the hinge axes of a hinge; The head of large mechanical arm with No. two hinges and gadget arm hinged, large mechanical arm and gadget arm can relatively rotate around the hinge axes of No. two hinges; The cylinder body of an electric cylinder is hinged on large mechanical arm, its piston with No. three hinges and gadget arm hinged; Wrist is hinged with the head of No. four hinges and gadget arm, and wrist and gadget arm can relatively rotate around the hinge axes of No. four hinges; The cylinder body of No. two electric cylinders is hinged on large mechanical arm, its piston and turntable hinged; It is characterized in that: also comprise directed lower beam, directed upper boom, corner; Corner and No. two chain connections, corner can rotate around the hinge axes of No. two hinges; One end of directed lower beam with No. five hinges and turntable hinged, directed lower beam can rotate around the hinge axes of No. five hinges; The other end No. six hinges and the corner hinges of directed lower beam, directed lower beam and corner can relatively rotate around the hinge axes of No. six hinges; One end of directed upper boom with No. seven hinges and wrist hinged, directed upper boom and wrist can relatively rotate around the hinge axes of No. seven hinges; The other end No. eight hinges and the corner hinges of directed upper boom, directed upper boom and corner can relatively rotate around the hinge axes of No. eight hinges; These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped; These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped.
2. four joint Manipulators according to claim 1, is characterized in that: No. three described hinges, No. two hinges, No. four hinges are arranged in order.
3. four joint Manipulators according to claim 1, is characterized in that: bottom described wrist, be fixed with grasping mechanism, grasping mechanism is electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420586425.0U CN204183552U (en) | 2014-10-11 | 2014-10-11 | Four joint Manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420586425.0U CN204183552U (en) | 2014-10-11 | 2014-10-11 | Four joint Manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204183552U true CN204183552U (en) | 2015-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420586425.0U Expired - Fee Related CN204183552U (en) | 2014-10-11 | 2014-10-11 | Four joint Manipulators |
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| Country | Link |
|---|---|
| CN (1) | CN204183552U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385267A (en) * | 2014-10-11 | 2015-03-04 | 浙江创龙机器人制造有限公司 | Four-joint manipulator |
-
2014
- 2014-10-11 CN CN201420586425.0U patent/CN204183552U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385267A (en) * | 2014-10-11 | 2015-03-04 | 浙江创龙机器人制造有限公司 | Four-joint manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150304 Termination date: 20161011 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |