CN205021586U - Novel manipulator device - Google Patents
Novel manipulator device Download PDFInfo
- Publication number
- CN205021586U CN205021586U CN201520620021.3U CN201520620021U CN205021586U CN 205021586 U CN205021586 U CN 205021586U CN 201520620021 U CN201520620021 U CN 201520620021U CN 205021586 U CN205021586 U CN 205021586U
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- CN
- China
- Prior art keywords
- connecting rod
- mount pad
- mechanical arm
- manipulator
- connection block
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Abstract
The utility model provides a novel manipulator device is provided with actuating mechanism driving motor on its manipulator mount pad, through a link mechanism and universal joint with the power transmission to the terminal installed part of arm, the installed part is used for installing mechanical hand actuating mechanism, the arm includes and centers on three sets of link mechanism of link mechanism evenly distributed, every set of link mechanism has its driving motor. The utility model discloses a three sets of link mechanism's cooperation can enough make manipulator actuating mechanism directly carry out the slant campaign in three -dimensional orientation, shortens and moves the route, and the whole manipulator actuating mechanism operating position of fast speed adjusting, the benchmark that can make manipulator actuating mechanism again remain the working angle and the attitude stabilization of its settlement throughout, just the utility model provides a manipulator occupation space is little, intensity is high, the load is big, in three -dimensional slant adjustment, can import power to actuating mechanism and make it self also can move, can realize that intelligent article shift, and arrangement range and so on is used.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
At present, in commercial Application, to the application adopting manipulator mobile article, always expect to provide fast, structure is simple, weight is light and handy and possess the manipulator of enough proper properties.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of novel mechanical arm device, and its speed is fast, stable working state.For this reason, the utility model is by the following technical solutions:
A kind of novel mechanical arm device, comprises manipulator mount pad, mechanical arm and is in the second mount pad of mechanical arm tail end, it is characterized in that:
Described manipulator mount pad is provided with executing agency's drive motors, its by first connecting rod mechanism and universal joint by power transmission on the installed part of mechanical arm tail end, described installed part is used for installation manipulator executing agency;
Described mechanical arm comprises around the equally distributed three cover linkages of described linkage, often overlap linkage and have its drive motors, the end of described three cover bindiny mechanisms is all rotationally connected with the second mount pad, and the drive motors of each cover linkage is all arranged on manipulator mount pad; And described three cover linkages and the second mount pads be rotationally connected axis being parallel in unifying datum plane.
On the basis adopting technique scheme, the utility model also can adopt following further technical scheme:
The minor details connecting rod of described linkage adopts two bar connecting rod, the end of two connecting rods of described minor details connecting rod is rotationally connected by the first articulation structure and the second mount pad, and by elastomeric element, the connection between connecting rod and the first articulation structure is kept tight, the other end of two connecting rods of described minor details connecting rod is connected by second joint structure, and by elastomeric element, the connection between connecting rod and second joint structure is kept closely, make two connecting rods of described minor details connecting rod all can make Three dimensional rotation using articulation structure as fulcrum.
Described elastomeric element is between two connecting rods of described minor details connecting rod, they is inwardly drawn.
Described three cover linkages adopt identical joint number, often save the equal linkage of length.
Described installed part is connected with first connecting rod mechanism by the first universal joint, and described installed part is installed in rotation on the second mount pad, and described executing agency drive motors is also connected with first connecting rod mechanism by the second universal joint.
Described first connecting rod mechanism comprises the first connecting rod mediated and the second connecting rod being in first connecting rod both sides respectively side by side and third connecting rod; Second connecting rod is fixedly connected with the 3rd Connection Block with the end of third connecting rod, second connecting rod is fixedly connected with the first Connection Block with the other end of third connecting rod, there is the second Connection Block at close 3rd Connection Block place between the 3rd Connection Block and the first Connection Block, described second connecting rod and third connecting rod and the second Connection Block are slidably connected, described first connecting rod and the first Connection Block are slidably connected, and are fixedly connected with the second Connection Block; 3rd Connection Block is connected with one end of the first universal joint, and the other end of the first universal joint is connected with described installed part, and described executing agency drive motors is connected with first connecting rod by the second universal joint, and described installed part is installed in rotation on the second mount pad.
The rotatable connecting portion of described three cover linkages and the second mount pad is equally distributed around the second mount pad center; The connecting portion of described three cover linkages and drive motors is equally distributed around manipulator mount pad center.
Owing to adopting the technical solution of the utility model, the utility model is by the cooperation of three cover linkages, manipulator executing agency can either be made on three-dimensional directly to carry out oblique movement, shorten mobile route, rapid adjustment manipulator executing agency operating position, the benchmark of manipulator executing agency can be made again to remain its operating angle set and attitude stabilization, and manipulator provided by the utility model takes up room little, intensity is high, load is large, and while the oblique adjustment of three-dimensional, can make himself also can move to executing agency's input power, intelligent article displacement can be realized, arrange arrangement etc. application.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of embodiment provided by the utility model from an angle views.
Fig. 2 is the schematic diagram of embodiment provided by the utility model from another angle views.
Fig. 3 is the explosive view of embodiment provided by the utility model.
Detailed description of the invention
With reference to accompanying drawing.Novel mechanical arm device provided by the utility model, comprises manipulator mount pad 1, mechanical arm and is in the second mount pad 2 of mechanical arm tail end.
Described manipulator mount pad 1 is provided with executing agency's drive motors 200, its by first connecting rod mechanism and universal joint by power transmission on the installed part 401 of mechanical arm tail end, described installed part 401 is for installation manipulator executing agency.
Described mechanical arm comprises around the equally distributed three cover linkages of described linkage, often overlap linkage and have its drive motors, represent by drawing reference numeral 100,200,300 respectively, the end of described three cover bindiny mechanisms is all rotationally connected with the second mount pad 2, and the drive motors 100,200,300 of each cover linkage is all arranged on manipulator mount pad 1; And described three cover linkages and the second mount pads be rotationally connected axis being parallel in unifying datum plane, the plate face of such as manipulator mount pad 1.
Described three cover linkages adopt identical joint number, often save the equal linkage of length.For the linkage that drive motors 100 drives, it adopts two joint link rotatable to connect and compose, and drawing reference numeral 110 is first segment connecting rod, and drawing reference numeral 120 is minor details connecting rod.Described minor details connecting rod 120 adopts two bar connecting rod, two connecting rods 121 of described minor details connecting rod, the end of 122 is rotationally connected by the first articulation structure and the second mount pad 2, and by elastomeric element by connecting rod 121, 122 and first connections between articulation structure keep tight, the other end of two connecting rods of described minor details connecting rod is connected by second joint structure, and by elastomeric element 123 by connecting rod 121, connection between 122 and second joint structure keeps tight, make two connecting rods 121 of described minor details connecting rod, 122 all can make Three dimensional rotation using articulation structure as fulcrum.
Described first articulation structure can adopt and be in spherical joint head 124 on the second mount pad 2, and the end of two connecting rods 121,122 has draw-in groove 125 and spherical joint head 124 clamping respectively.Described second joint structure also can adopt spherical joint head 126, and the other end of two connecting rods 121,122 has draw-in groove 127 and spherical joint head 126 clamping respectively.Spherical joint head 126 can be in the end of the hinge of first segment connecting rod and minor details connecting rod.
Spherical joint head 126 can be on the axle 132 that first segment connecting rod is connected with minor details link rotatable.Spherical joint head 124 can be on the axle 131 that minor details connecting rod and the second mount pad 2 be rotationally connected.
Described elastomeric element can adopt spring, and the two ends of connecting rod 121,122 are respectively equipped with spring base 128, for the support as spring.
Described elastomeric element is between two connecting rods 121,122 of described minor details connecting rod, they is inwardly drawn.
Other two cover in described three cover linkages also can adopt said structure and adopt above-mentioned connected mode to be connected with the second mount pad 2.
The rotatable connecting portion of described three cover linkages and the second mount pad is equally distributed around the second mount pad center; The connecting portion of described three cover linkages and drive motors is equally distributed around manipulator mount pad center.
Described first connecting rod mechanism comprises the first connecting rod 411 mediated and the second connecting rod 412 being in first connecting rod both sides respectively side by side and third connecting rod 413; Second connecting rod 412 is fixedly connected with the 3rd Connection Block 423 with the end of third connecting rod 413, second connecting rod 412 is fixedly connected with the first Connection Block 421 with the other end of third connecting rod 413, there is the second Connection Block 422 at close 3rd Connection Block 423 place between the 3rd Connection Block 423 and the first Connection Block 421, described second connecting rod 412 and third connecting rod 413 and the second Connection Block 422 are slidably connected, described first connecting rod 411 and the first Connection Block 421 are slidably connected, and are fixedly connected with the second Connection Block 422; 3rd Connection Block 423 is connected with one end of the first universal joint 431, the other end of the first universal joint 431 is connected with described installed part 401, described executing agency drive motors 400 is connected with first connecting rod 411 by the second universal joint 432, and described installed part 401 is installed in rotation on the second mount pad 2.
Manipulator mount pad 1 can make whole manipulator be suspended on support or in various frame, applied range, can realize capturing arrangement arrangement etc. function, and accurately, efficiency is high.
Installed part 401 can install various grappling fixture, various sucker etc. the installation foundation such as the installing rack of the executing agency arranged or connection executing agency on demand, and range of application is large.
The foregoing is only specific embodiment of the utility model; but architectural feature of the present utility model is not limited thereto; any those skilled in the art is in field of the present utility model, and the change done or modification are all encompassed among protection domain of the present utility model.
Claims (7)
1. a novel mechanical arm device, comprises manipulator mount pad, mechanical arm and is in the second mount pad of mechanical arm tail end, it is characterized in that:
Described manipulator mount pad is provided with executing agency's drive motors, its by first connecting rod mechanism and universal joint by power transmission on the installed part of mechanical arm tail end, described installed part is used for installation manipulator executing agency;
Described mechanical arm comprises around the equally distributed three cover linkages of described linkage, often overlap linkage and have its drive motors, the end of described three cover bindiny mechanisms is all rotationally connected with the second mount pad, and the drive motors of each cover linkage is all arranged on manipulator mount pad; And described three cover linkages and the second mount pads be rotationally connected axis being parallel in unifying datum plane.
2. a kind of novel mechanical arm device as claimed in claim 1, it is characterized in that, the minor details connecting rod of described linkage adopts two bar connecting rod, the end of two connecting rods of described minor details connecting rod is rotationally connected by the first articulation structure and the second mount pad, and by elastomeric element, the connection between connecting rod and the first articulation structure is kept tight, the other end of two connecting rods of described minor details connecting rod is connected by second joint structure, and by elastomeric element, the connection between connecting rod and second joint structure is kept tight, make two connecting rods of described minor details connecting rod all can make Three dimensional rotation using articulation structure as fulcrum.
3. a kind of novel mechanical arm device as claimed in claim 2, is characterized in that, described elastomeric element is between two connecting rods of described minor details connecting rod, they is inwardly drawn.
4. a kind of novel mechanical arm device as claimed in claim 1, is characterized in that, described three cover linkages adopt identical joint number, often save the equal linkage of length.
5. a kind of novel mechanical arm device as claimed in claim 1, it is characterized in that, described installed part is connected with first connecting rod mechanism by the first universal joint, described installed part is installed in rotation on the second mount pad, and described executing agency drive motors is also connected with first connecting rod mechanism by the second universal joint.
6. a kind of novel mechanical arm device as claimed in claim 1, is characterized in that, described first connecting rod mechanism comprises the first connecting rod mediated and the second connecting rod being in first connecting rod both sides respectively side by side and third connecting rod; Second connecting rod is fixedly connected with the 3rd Connection Block with the end of third connecting rod, second connecting rod is fixedly connected with the first Connection Block with the other end of third connecting rod, there is the second Connection Block at close 3rd Connection Block place between the 3rd Connection Block and the first Connection Block, described second connecting rod and third connecting rod and the second Connection Block are slidably connected, described first connecting rod and the first Connection Block are slidably connected, and are fixedly connected with the second Connection Block; 3rd Connection Block is connected with one end of the first universal joint, and the other end of the first universal joint is connected with described installed part, and described executing agency drive motors is connected with first connecting rod by the second universal joint, and described installed part is installed in rotation on the second mount pad.
7. a kind of novel mechanical arm device as claimed in claim 1, is characterized in that, the rotatable connecting portion of described three cover linkages and the second mount pad is equally distributed around the second mount pad center; The connecting portion of described three cover linkages and drive motors is equally distributed around manipulator mount pad center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520620021.3U CN205021586U (en) | 2015-08-17 | 2015-08-17 | Novel manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520620021.3U CN205021586U (en) | 2015-08-17 | 2015-08-17 | Novel manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205021586U true CN205021586U (en) | 2016-02-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520620021.3U Active CN205021586U (en) | 2015-08-17 | 2015-08-17 | Novel manipulator device |
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|---|---|
| CN (1) | CN205021586U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381573A (en) * | 2018-05-17 | 2018-08-10 | 南京航空航天大学 | Vibrational feedback and force feedback combination human-computer interaction finger, gloves and method |
-
2015
- 2015-08-17 CN CN201520620021.3U patent/CN205021586U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381573A (en) * | 2018-05-17 | 2018-08-10 | 南京航空航天大学 | Vibrational feedback and force feedback combination human-computer interaction finger, gloves and method |
| CN108381573B (en) * | 2018-05-17 | 2023-07-21 | 南京航空航天大学 | Human-computer interaction finger, glove and method combining vibration feedback and force feedback |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |