CN205497473U - Modularization manipulator - Google Patents
Modularization manipulator Download PDFInfo
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- CN205497473U CN205497473U CN201620151135.2U CN201620151135U CN205497473U CN 205497473 U CN205497473 U CN 205497473U CN 201620151135 U CN201620151135 U CN 201620151135U CN 205497473 U CN205497473 U CN 205497473U
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Abstract
The utility model discloses a modularization manipulator, including the manipulator body, the manipulator body including the installation base, rotary joint module and cable, the rotary joint module includes big arm, the forearm, six rotary joint that set gradually, a rotary joint and installation base fixed connection, the 2nd rotary joint rotates with a rotary joint and is connected, the one end of big arm is connected with the 2nd rotary joint, the 3rd rotary joint is connected to the other end of big arm, the one end and the 3rd rotary joint of forearm are connected, fourth rotary joint is connected to the other end of forearm, fourth rotary joint connects the 5th rotary joint, the 5th rotary joint connects the 6th rotary joint, the rotary joint module is inside to be hollow structure and to link up each other, the cable is worn to establish inside hollow structure. This modularization manipulator, modularized design, be convenient for installation and maintenance, rotary joint and the design of armed lever cavity, being convenient for, the cable is inside to be passed through, self light in weight, transportation simple to operate, flexible and convenient operation.
Description
Technical field
This utility model relates to mechanical hand technical field, especially relates to a kind of modular manipulator.
Background technology
Along with the development of intelligence equipment, robot advantage in industry manufactures is more and more significant.In the industries such as electronics, light industry, food and medicine, substantial amounts of robot is needed to participate in producing.Especially on food, pharmaceuticals industry production line, material is relatively light little, and needs to avoid polluting, in order to improve automaticity and ensure product quality, it usually needs operations such as light high-speed robot carries out carrying, sortings.
Chinese patent literature (the day for announcing: on June 12nd, 2013, notification number: CN103144102A) disclose a kind of mechanical arm with double freedom link module, belong to a kind of mechanical arm, including module cylinder body, described module cylinder body is provided with at least two driving means, the outfan of described first driving means and the first gear transmission connect, and described first gear and the second gear are meshed, and the input power of the second gear and the first deceleration device connects；Wherein one end of described module cylinder body is movably installed with the first module rotary shaft, and the outfan of described first deceleration device and the first module rotary shaft power connect.By arranging two driving means in module cylinder body simultaneously, multiple link modules can be overlapped mutually the mechanical arm use that can be used as six degree of freedom, when the module damage of any one link in mechanical arm, can directly be replaced, and not clashed between the module that is adjacent of module after replacing；The most identical structure makes the concordance of link module improve, and is conducive to design and industrialized production, it is easy to promote.
Chinese patent literature (the day for announcing: on April 17th, 2013, notification number: CN 202878325U) disclose a kind of small modular mechanical arm, described mechanical arm includes being sequentially connected in series the base being integrated, some rotary modules and a gripper unit, described base is connected with described rotary module by one first rotating module, being connected by one second rotating module between rotary module described in each two, described gripper unit is connected with described rotating module by another described first rotating module.This utility model feature richness, mechanism is succinct, facilitates user's secondary development, and independent assortment goes out multiple degree of freedom.Wherein, each module of described mechanical arm has different motion modes, and each module has unified machinery and circuit interface, and interchangeability is good.
Chinese patent literature (day for announcing: on December 12nd, 2012, notification number: CN202594388U) discloses a kind of modular robot arm system, comprising: a track module, a slide unit, a feed block and a mechanical arm.Slide unit is slidably incorporated on track module, and feed block and mechanical arm are then respectively arranged at the dual-side of slide unit, and mechanical arm can carry out material folding action to feed block.By enforcement of the present utility model, slide unit can slide on track module according to job requirements, when needs carry out mass-produced operation, slide unit just slides into automatic business processing district cooperative mechanical arm automatic loading/unloading, and when yield is less, slide unit then slides into artificial treatment district, changes manually to produce, and then reaches to promote the mobility of factory and effect of elastification production.
Chinese patent literature (day for announcing: on August 16th, 2006, notification number: CN 1817573C) discloses the mechanical hand of a kind of robot for space.It is an object of the invention to go the bad problem of highly difficult and existing space robot the arm-and-hand system folding characteristic of task at Space-Work station for solving to rely solely on manpower.The outer wall of the present invention the first modularized joint one end and the fixing connection of the inwall of the 7th articular shell other end, wire is arranged in the wire through-hole of modularized joint, and one end of wire is connected with single-degree-of-freedom paw.The present invention during being transmitted into space, the configuration that can be fold into, by the rotation of modularized joint during work, launch whole mechanical hand complete need task.The center of modularized joint is provided with centre bore so that the wire of this mechanical hand passes through in centre bore, it is to avoid the destruction that wire and transmission signal thereof are caused by the intense radiation in cosmic space, high temperature difference environment, it is to avoid mechanical hand occurs coiling in the course of the work.
Mechanical hand disclosed in technique scheme mostly structure is complicated, and own wt weight is applied in single industry, it is impossible to realize versatility.
Utility model content
The purpose of this utility model is that to there is range of application narrow in order to solve mechanical hand of the prior art, the general problem between industry and industry cannot be realized, and provide a kind of high speed that may apply to light-duty material to carry, feed intake, component of machine assembles, in the various industries such as electron trade gluing, and simple in construction, own wt is light, easy to operate modular manipulator.
nullThis utility model realizes its technical purpose and be the technical scheme is that a kind of modular manipulator，Including mechanical hand body，Described mechanical hand body includes mounting seat、Rotary joint module and cable，Described rotary joint module includes large arm、Forearm、Six rotary joints set gradually，First rotary joint is fixing with mounting seat to be connected，Second rotary joint and the first rotary joint are rotationally connected，One end of described large arm is connected with the second rotary joint，The other end of large arm connects the 3rd rotary joint，One end of described forearm is connected with the 3rd rotary joint、The other end of forearm connects the 4th rotary joint，The 4th described rotary joint connects the 5th rotary joint，The 5th described rotary joint connects the 6th rotary joint，Described rotary joint inside modules is hollow structure and is mutually communicated，Described cable is located in inside hollow structure.This modular manipulator, rotary joint module is set to hollow structure, the lightweight of whole mechanical hand body can be realized, six rotary joints by large arm, forearm or are directly linked together, 360 degree of this rotary joint can be realized rotate freely, to realize mechanical hand body operation needs in orientation and spatially, difference according to application industry and the difference of operating position, rotary joint module can be combined, to meet the high speed carrying of light-duty material, to feed intake, the needs of the various industries such as component of machine assembles, electron trade gluing.This modular manipulator, simple in construction, own wt is light, easy to operate.
As preferably, it is respectively arranged with independent PTO inside each rotary joint, each rotary joint is respectively arranged with output flange and mounting flange.And inside each rotary joint, it is both provided with independent PTO, on rotary joint, it is provided with mounting flange and output flange, it is possible to achieve 360 degree of this rotary joint rotate freely simultaneously.
As preferably, the output flange of the first described rotary joint is fixed in mounting seat, the output flange of the second described rotary joint and the mounting flange of the first rotary joint connect, the described mounting flange of the second rotary joint is connected with one end of large arm, the other end of described large arm and the mounting flange of the 3rd rotary joint are connected, the output flange of the 3rd described rotary joint is connected with one end of forearm by bent sub, the other end of described forearm connects the mounting flange of the 4th rotary joint, the output flange of the 4th described rotary joint and the mounting flange of the 5th rotary joint are connected, the output flange of the 5th described rotary joint and the mounting flange of the 6th rotary joint are connected, the output flange of the 6th described rotary joint can connect executor.First rotary joint is fixed in mounting seat and can be attached with operation machinery, and after six rotary joints are connected with large arm, forearm and are combined into rotary joint module, the output flange of the 6th rotary joint can connect the executors such as handgrip.
As preferably, described mounting flange and the axis of output flange are 90 degree and arrange on the base of joint.The axis of mounting flange and output flange is 90 degree and is arranged on the base of joint, such design structure facilitate rotary joint all-directional rotation and with being rotatably connected of miscellaneous part, arrange realizing the modularity of whole mechanical hand body.
As preferably, described PTO is double reduction PTO, including servomotor, realize primary speed-down power transmission the first gear and the second gear, realize double reduction power transmission harmonic speed reducer.By arranging double reduction PTO, it is possible to achieve the double reduction to output power, such structure makes dynamic turn of whole rotary joint more steady, more convenient to operate, makes whole rotary joint module to be effectively controlled.
As preferably, described servomotor is fixed on inside rotary joint by motor base, described harmonic speed reducer is fixed on output flange, and the first described gear is arranged on servomotor outfan, and the second described gear is arranged in harmonic speed reducer rotating shaft and is meshed with the first gear.Servomotor is oppositely arranged with harmonic speed reducer, the outfan of servomotor is provided with the first gear, it is provided with, on corresponding harmonic speed reducer, the second gear being meshed with the first gear, realize primary speed-down power by the first gear and the second gear to export, and realize double reduction power by harmonic speed reducer and export, such structure makes dynamic turn of whole rotary joint more steady, more convenient to operate, makes whole rotary joint module to be effectively controlled.
As preferably, described harmonic speed reducer is internally provided with through hole, and described cable passes through hole.Harmonic speed reducer is internally provided with through hole, both can realize the lightweight of rotary joint, facilitate again wearing of cable, does not interferes with 360 degree of rotary joint and rotates freely.
As preferably, each rotary joint includes that joint base, joint end cap and joint body, described joint body are arranged with joint base integral type respectively, and described joint end cap is fixed on the body of joint by securing member.Rotary joint is made up of joint base, joint end cap and joint body, and such structure fabrication is convenient, it is simple to connect, the setting of more convenient interior arrangement.
The beneficial effects of the utility model are: this modular manipulator, by the light-weighted rotary joint module of a hollow structure, it is possible to achieve arbitrarily angled omnibearing rotary operation, modularized design, it is simple to I&M；Rotary joint and armed lever hollow design, it is simple to pass through inside cable；Own wt is light, it is simple to transports and installs；Flexible and convenient operation.May apply to the high speed carrying of light-duty material, feed intake, in the various industries such as component of machine assembles, electron trade gluing.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of this utility model modular manipulator；
Fig. 2 is a kind of structural representation of rotary joint module in this utility model；
Fig. 3 is a kind of structural representation of rotary joint in this utility model；
Fig. 4 is a kind of structural representation that in this utility model, cable is located within rotary joint；
In figure: 1, mechanical hand body, 2, mounting seat, 3, large arm, 4, forearm, 5, rotary joint, 51, first rotary joint, 52, second rotary joint, 53, 3rd rotary joint, 54, 4th rotary joint, 55, 5th rotary joint, 56, 6th rotary joint, 6, cable, 7, PTO, 8, output flange, 9, mounting flange, 10, rotary joint module, 11, cavity, 12, joint base, 13, joint end cap, 14, joint body, 15, securing member, 16, servomotor, 17, first gear, 18, second gear, 19, harmonic speed reducer, 20, motor base, 21, bent sub, 22, through hole.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing the technical solution of the utility model is described in further detail.
Embodiment 1:
nullAt Fig. 1、In embodiment shown in Fig. 2，A kind of modular manipulator，Including mechanical hand body 1，Mechanical hand body 1 includes mounting seat 2、Rotary joint module 10 and cable 6，Rotary joint module 10 includes large arm 3、Forearm 4、Six rotary joints 5 set gradually，First rotary joint 51 is fixing with mounting seat 2 to be connected，Second rotary joint 52 is rotationally connected with the first rotary joint，One end of large arm 3 is connected with the second rotary joint 52，The other end of large arm 3 connects the 3rd rotary joint 53，One end of forearm 4 is connected with the 3rd rotary joint 53、The other end of forearm connects the 4th rotary joint 54，4th rotary joint connects the 5th rotary joint 55，5th rotary joint connects the 6th rotary joint 56，Rotary joint module 10 inside for hollow structure and is mutually communicated，Cable 6 is located in inside hollow structure.Large arm 3, forearm 4 and rotary joint 5 are respectively hollow structure, and each rotary joint 5 is internal is respectively arranged with independent PTO 7, and rotary joint 5 inside is respectively arranged with cavity 11(and sees Fig. 3), it is internal that PTO 7 is arranged on cavity 11.Output flange 8 and mounting flange 9 it is provided with on each rotary joint 5, the output flange 8 of previous rotary joint 5 is directly connected to or passes through large arm 3 or is connected by forearm 4 with the mounting flange 9 of later rotary joint 5, multiple rotary joints 5, large arm 3, forearm 4 be mutually combined connect formed can the rotary joint module 10 of arbitrarily angled all-directional rotation, rotary joint module 10 is fixed with mounting seat 2 and is connected.
Rotary joint 5 includes that joint base 12, joint end cap 13 and joint body 14, joint body 14 are arranged with joint base 12 integral type, and joint end cap 13 is fixed on joint body 14 by securing member 15.The axis of mounting flange 9 and output flange 8 is 90 degree and arranges on the base of joint 12.
PTO 7 is double reduction PTO, PTO 7 is double reduction PTO, including servomotor 16, realize primary speed-down power transmission the first gear 17 and the second gear 18, realize double reduction power transmission harmonic speed reducer 19.PTO 7 includes servomotor the 16, first gear the 17, second gear 18 and harmonic speed reducer 19, servomotor leads to 16 motor bases 20 excessively and is fixed on joint base 12, harmonic speed reducer 19 is fixed on output flange 8, first gear 17 is arranged on servomotor outfan, second gear 18 is arranged in harmonic speed reducer rotating shaft and is meshed with the first gear 17, first gear 17 and the second gear 18 realize the transmission of primary speed-down power, and harmonic speed reducer 19 realizes the transmission of double reduction power.Harmonic speed reducer 19 is internally provided with through hole 22, and cable 6 is shown in Fig. 4 through through hole 22().
The output flange of the first rotary joint 51 is fixed in mounting seat 2, the output flange of the second rotary joint 52 and the mounting flange of the first rotary joint 51 connect, the mounting flange of the second rotary joint 52 is connected with one end of large arm 3, the other end of large arm 3 and the mounting flange of the 3rd rotary joint 53 are connected, the output flange of the 3rd rotary joint 53 is connected with one end of forearm 4 by bent sub 21, the other end of forearm 4 connects the mounting flange of the 4th rotary joint 54, the output flange of the 4th rotary joint 54 and the mounting flange of the 5th rotary joint 55 are connected, the output flange of the 5th rotary joint 55 and the mounting flange face of the 6th rotary joint 56 are connected, the output flange of the 6th rotary joint 56 can connect executor.
This modular manipulator, rotary joint, large arm, forearm are respectively set to hollow structure, the lightweight of whole mechanical hand body can be realized, and it being both provided with independent PTO inside each rotary joint, it is possible to achieve 360 degree of this rotary joint rotate freely, simultaneously by double reduction PTO, realize the double reduction to output power, make dynamic turn of whole rotary joint more steady, more convenient to operate, make whole rotary joint module to be effectively controlled.It is arranged as required to the rotary joint module of arbitrarily angled all-directional rotation, to realize mechanical hand body operation needs in orientation and spatially, difference according to application industry and the difference of operating position, rotary joint module can be combined, to meet the high speed carrying of light-duty material, to feed intake, the needs of the various industries such as component of machine assembles, electron trade gluing.This modular manipulator, modularized design, it is simple to I&M；Rotary joint and armed lever hollow design, it is simple to pass through inside cable；Own wt is light, it is simple to transports and installs；Flexible and convenient operation.
Claims (8)
- null1. a modular manipulator，Including mechanical hand body (1)，It is characterized in that，Described mechanical hand body (1) includes mounting seat (2)、Rotary joint module (10) and cable (6)，Described rotary joint module (10) includes large arm (3)、Forearm (4)、Six rotary joints (5) set gradually，First rotary joint (51) is fixing with mounting seat (2) to be connected，Second rotary joint (52) is rotationally connected with the first rotary joint，One end of described large arm is connected with the second rotary joint (52)，The other end of large arm (3) connects the 3rd rotary joint (53)，One end of described forearm is connected with the 3rd rotary joint (53)、The other end of forearm connects the 4th rotary joint (54)，The 4th described rotary joint connects the 5th rotary joint (55)，The 5th described rotary joint connects the 6th rotary joint (56)，Described rotary joint module (10) inside for hollow structure and is mutually communicated，Described cable (6) is located in inside hollow structure.
- A kind of modular manipulator the most according to claim 1, it is characterised in that: each rotary joint (5) is internal is respectively arranged with independent PTO (7), and each rotary joint is respectively arranged with output flange (8) and mounting flange (9).
- nullA kind of modular manipulator the most according to claim 2，It is characterized in that: the output flange of described the first rotary joint (51) is fixed in mounting seat (2)，The output flange of described the second rotary joint (52) and the mounting flange of the first rotary joint (51) connect，The mounting flange of described the second rotary joint (52) is connected with one end of large arm (3)，The other end of described large arm (3) and the mounting flange of the 3rd rotary joint (53) are connected，The output flange of the 3rd described rotary joint (53) is connected with one end of forearm (4) by bent sub (21)，The other end of described forearm (4) connects the mounting flange of the 4th rotary joint (54)，The output flange of the 4th described rotary joint (54) and the mounting flange of the 5th rotary joint (55) are connected，The output flange of the 5th described rotary joint (55) and the mounting flange of the 6th rotary joint (56) are connected，The output flange of the 6th described rotary joint (56) can connect executor.
- A kind of modular manipulator the most according to claim 2, it is characterised in that: described mounting flange (9) and the axis of output flange (8) are 90 degree and arrange on joint base (12).
- A kind of modular manipulator the most according to claim 2, it is characterized in that: described PTO (7) is double reduction PTO, including servomotor (16), realize primary speed-down power transmission the first gear (17) and the second gear (18), realize double reduction power transmit harmonic speed reducer (19).
- A kind of modular manipulator the most according to claim 5, it is characterized in that: described servomotor (16) is fixed on inside rotary joint by motor base (20), described harmonic speed reducer (19) is fixed on output flange (8), described the first gear (17) is arranged on servomotor (16) outfan, and described the second gear (18) is arranged in harmonic speed reducer (19) rotating shaft and is meshed with the first gear (17).
- A kind of modular manipulator the most according to claim 5, it is characterised in that: described harmonic speed reducer (19) is internally provided with through hole (22), and described cable (6) passes through hole (22).
- 8. according to a kind of modular manipulator described in claim 1 or 2 or 3 or 4 or 5 or 6 or 7, it is characterized in that: each rotary joint includes joint base (12), joint end cap (13) and joint body (14) respectively, described joint body (14) is arranged with joint base (12) integral type, and described joint end cap (13) is fixed on joint body (14) by securing member (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620151135.2U CN205497473U (en) | 2016-02-29 | 2016-02-29 | Modularization manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620151135.2U CN205497473U (en) | 2016-02-29 | 2016-02-29 | Modularization manipulator |
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| CN205497473U true CN205497473U (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620151135.2U Expired - Fee Related CN205497473U (en) | 2016-02-29 | 2016-02-29 | Modularization manipulator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN109125954A (en) * | 2018-08-23 | 2019-01-04 | 中国科学院上海应用物理研究所 | Swing arm type radiotherapy robot therapeutic bed |
| CN109760027A (en) * | 2019-03-18 | 2019-05-17 | 国网江苏省电力有限公司电力科学研究院 | A kind of archives robot |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN111300427A (en) * | 2020-03-20 | 2020-06-19 | 上海电力大学 | Mechanical arm system based on two-dimensional code recognition control and control method thereof |
| CN111347404A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | Six-axis cooperative robot capable of being quickly spliced and integrated into high integration |
| CN111419402A (en) * | 2020-03-11 | 2020-07-17 | 浙江理工大学 | Deep brain electrical stimulation auxiliary robot based on synchronous pulley |
| CN111546322A (en) * | 2020-04-14 | 2020-08-18 | 深圳市卓博机器人有限公司 | SCARA robot with high positioning precision |
| CN112317249A (en) * | 2020-12-02 | 2021-02-05 | 京山亿捷电脑有限公司 | Dispensing device for computer processing and operation method thereof |
| CN113001528A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Underwater six-degree-of-freedom high-precision mechanical arm |
| CN113084839A (en) * | 2021-04-20 | 2021-07-09 | 安徽理工大学 | All-directional mobile robot capable of automatically planning path |
-
2016
- 2016-02-29 CN CN201620151135.2U patent/CN205497473U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
| CN109125954A (en) * | 2018-08-23 | 2019-01-04 | 中国科学院上海应用物理研究所 | Swing arm type radiotherapy robot therapeutic bed |
| CN109760027A (en) * | 2019-03-18 | 2019-05-17 | 国网江苏省电力有限公司电力科学研究院 | A kind of archives robot |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN111419402A (en) * | 2020-03-11 | 2020-07-17 | 浙江理工大学 | Deep brain electrical stimulation auxiliary robot based on synchronous pulley |
| CN111300427A (en) * | 2020-03-20 | 2020-06-19 | 上海电力大学 | Mechanical arm system based on two-dimensional code recognition control and control method thereof |
| CN111347404A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | Six-axis cooperative robot capable of being quickly spliced and integrated into high integration |
| CN111546322A (en) * | 2020-04-14 | 2020-08-18 | 深圳市卓博机器人有限公司 | SCARA robot with high positioning precision |
| CN112317249B (en) * | 2020-12-02 | 2021-10-15 | 日善电脑配件(嘉善)有限公司 | Dispensing device for computer processing and operation method thereof |
| CN112317249A (en) * | 2020-12-02 | 2021-02-05 | 京山亿捷电脑有限公司 | Dispensing device for computer processing and operation method thereof |
| CN113084839A (en) * | 2021-04-20 | 2021-07-09 | 安徽理工大学 | All-directional mobile robot capable of automatically planning path |
| CN113001528A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Underwater six-degree-of-freedom high-precision mechanical arm |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20200229 |