CN206764783U - A kind of Multi-freedom-degreemanipulator manipulator - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator Download PDFInfo
- Publication number
- CN206764783U CN206764783U CN201720260815.2U CN201720260815U CN206764783U CN 206764783 U CN206764783 U CN 206764783U CN 201720260815 U CN201720260815 U CN 201720260815U CN 206764783 U CN206764783 U CN 206764783U
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- China
- Prior art keywords
- rotation seat
- rotation
- connecting rod
- seat
- freedom
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- Expired - Fee Related
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Abstract
The utility model discloses a kind of Multi-freedom-degreemanipulator manipulator, including at least two rotation seats, at least one connecting rod and mechanical arm assembly, rotation seat is arranged on the both ends of connecting rod, one of rotation seat drive link is rotated, and another rotation seat driving manipulator component rotates, and mechanical arm assembly is detachably connected relative to rotation seat, the rotation seat being connected with mechanical arm assembly is provided with lighting device, the precision of manipulator is improved, the working environment of complexity with multi-angle rotary, can be adapted to.
Description
Technical field
Manipulator field is the utility model is related to, more particularly to a kind of Multi-freedom-degreemanipulator manipulator.
Background technology
Manipulator is a kind of new device to grow up during mechanization, automated production in the prior art.
In present-day procedure, manipulator is widely applied in automatic assembly line, and the development and production of robot turn into high skill
In art neighborhood, an emerging technology developing rapidly, it more promotes the development of manipulator so that manipulator can be more
The combination with mechanization and automation is realized well.Although manipulator is flexible like that not as good as human hand, it has can not
Not the characteristics of disconnected repeated work and work, do not know fatigue, are fearless of danger, and the strength of snatch weight is bigger than people hand-power, therefore, manipulator
Paid attention to by many departments, and applied more and more widely.
With the lifting of production requirement, also more and more higher, conventional robot are more for service behaviour requirement of the people to manipulator
Using tandem or parallel structure, although serial mechanism has preferable kinematics performance, dynamic performance is relatively low, precision
It is low, the working environment of complexity can not be adapted to.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Multi-freedom-degreemanipulator manipulator, improves the essence of manipulator
Degree, the working environment of complexity with multi-angle rotary, can be adapted to, equipped with lighting device, its handling situations of personnel control easy to operation,
To solve caused above-mentioned multinomial defect in the prior art.
To achieve the above object, the utility model provides following technical scheme：A kind of Multi-freedom-degreemanipulator manipulator, including extremely
Few two rotation seats, at least one connecting rod and mechanical arm assembly, rotation seat are arranged on the both ends of connecting rod, and one of rotation seat drives
Dynamic link rotatable, another rotation seat driving manipulator component are rotated, and mechanical arm assembly is detachably connected relative to rotation seat, with
The rotation seat that mechanical arm assembly is connected is provided with lighting device.
Preferably, the connecting rod includes first connecting rod and second connecting rod, the rotation seat include the first rotation seat, second turn
Dynamic seat, the 3rd rotation seat, the 4th rotation seat, the 5th rotation seat and the 6th rotation seat, the 6th rotation seat drive the 5th rotation seat to turn
Dynamic, the 5th rotation seat driving second connecting rod axial rotation, the 4th rotation seat is arranged on the end of second connecting rod, and the 4th rotation seat drives
Dynamic first connecting rod Plane Rotation, the 3rd rotation seat are arranged on the end of first connecting rod, and the 3rd rotation seat drives the second rotation seat to turn
Dynamic, the second rotation seat drives the first rotation seat to rotate, and the mechanical arm assembly is detachably connected relative to the first rotation seat, illuminates
Device is arranged on the first rotation seat.
Preferably, it is connected between the mechanical arm assembly and the first rotation seat by quick connector.
Preferably, the lighting device is straight barrel type LED.
Preferably, the straight barrel type LED is rotation connection relative to rotation seat, and rotation seat is provided with angle demodulator,
The angle demodulator includes rotating disk and locating rod, and the edge of the rotating disk is equidistantly provided with locating slot, and rotating disk turns relative to rotation seat
Dynamic, straight barrel type LED is arranged on rotating disk, and locating rod is hinged relative to rotation seat, and the both sides inwall of locating slot is provided with half ball groove,
Corresponding half ball groove in the both sides of locating rod is provided with spherical protrusions, and spherical protrusions are stuck in half ball groove.
Beneficial effect using above technical scheme is：The Multi-freedom-degreemanipulator manipulator of the utility model structure, it can complete
Clamping, rotation, pitching, wave and the action such as turn round, mechanical arm assembly is detachable relative to rotation seat, is convenient for changing different
Mechanical arm assembly, adapt to different processing environments.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of angle demodulator；
The structural representation of Fig. 3 rotating disks.
Wherein, 1-- first connecting rods, 2-- second connecting rods, the rotation seats of 3-- first, the rotation seats of 4-- second, 5-- the 3rd are rotated
Seat, the rotation seats of 6-- the 4th, the rotation seats of 7-- the 5th, the rotation seats of 8-- the 6th, 9-- mechanical arm assemblies, 10-- straight barrel types LED,
11-- rotating disks, 12-- locating rods, 13-- locating slots, the ball grooves of 14-- half, 15-- spherical protrusions.
Embodiment
Describe preferred embodiment of the present utility model in detail below in conjunction with the accompanying drawings.
A kind of Multi-freedom-degreemanipulator manipulator, including at least two rotation seats, at least one connecting rod and mechanical arm assembly, rotation seat
The both ends of connecting rod are arranged on, one of rotation seat drive link rotates, and another rotation seat driving manipulator component rotates, machine
Tool hand component is detachably connected relative to rotation seat, and the rotation seat being connected with mechanical arm assembly is provided with lighting device.
Fig. 1 shows specific embodiment of the present utility model：Connecting rod includes first connecting rod and second connecting rod, the rotation seat
Including the first rotation seat, the second rotation seat, the 3rd rotation seat, the 4th rotation seat, the 5th rotation seat and the 6th rotation seat, the 6th turn
Dynamic seat drives the 5th rotation seat to rotate, and the 5th rotation seat driving second connecting rod axial rotation, the 4th rotation seat is arranged on the second company
The end of bar, the 4th rotation seat driving first connecting rod Plane Rotation, the 3rd rotation seat are arranged on the end of first connecting rod, the 3rd turn
Dynamic seat drives the second rotation seat to rotate, and the second rotation seat drives the first rotation seat to rotate, and the mechanical arm assembly is relative to first
Rotation seat is detachably connected, and lighting device is arranged on the first rotation seat；By fast between mechanical arm assembly and the first rotation seat
Fast connector is connected.
It is straight barrel type LED with reference to Fig. 2 and Fig. 3 lighting devices, straight barrel type LED is rotation connection relative to rotation seat,
Rotation seat is provided with angle demodulator, and the angle demodulator includes rotating disk and locating rod, and the edge of the rotating disk, which is equidistantly provided with, determines
Position groove, rotating disk are rotated relative to rotation seat, and straight barrel type LED is arranged on rotating disk, and locating rod is hinged relative to rotation seat, positioning
The both sides inwall of groove is provided with half ball groove, and corresponding half ball groove in both sides of locating rod is provided with spherical protrusions, and spherical protrusions are stuck in half ball groove
It is interior.
Equipped with lighting device, its handling situations of personnel control easy to operation, during doing one's assignment, with reference to actual conditions, lead to
The rotation regulation straight barrel type LED of rotating disk is crossed relative to the position of rotation seat, is fixed by locating rod so that straight barrel type
LED is more preferable to be illuminated to workpiece.
The Multi-freedom-degreemanipulator manipulator of the utility model structure, it can complete to clamp, rotate, pitching, waving and turn round
Action, mechanical arm assembly is detachable relative to rotation seat, is convenient for changing different mechanical arm assemblies, adapts to different processing rings
Border.
Above-described is only preferred embodiment of the present utility model, it is noted that for the ordinary skill of this area
For personnel, on the premise of not departing from the utility model and creating design, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.
Claims (5)
1. a kind of Multi-freedom-degreemanipulator manipulator, it is characterised in that including at least two rotation seats, at least one connecting rod and manipulator group
Part, rotation seat are arranged on the both ends of connecting rod, and one of rotation seat drive link rotates, another rotation seat driving manipulator group
Part is rotated, and mechanical arm assembly is detachably connected relative to rotation seat, and the rotation seat being connected with mechanical arm assembly is provided with illumination
Device.
2. Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that the connecting rod includes first connecting rod and second
Connecting rod, the rotation seat include the first rotation seat, the second rotation seat, the 3rd rotation seat, the 4th rotation seat, the 5th rotation seat and the
Six rotation seats, the 6th rotation seat drive the 5th rotation seat to rotate, and the 5th rotation seat driving second connecting rod axial rotation, the 4th rotates
Seat is arranged on the end of second connecting rod, the 4th rotation seat driving first connecting rod Plane Rotation, and the 3rd rotation seat is arranged on the first company
The end of bar, the 3rd rotation seat drive the second rotation seat to rotate, and the second rotation seat drives the first rotation seat to rotate, the manipulator
Component is detachably connected relative to the first rotation seat, and lighting device is arranged on the first rotation seat.
3. Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that the mechanical arm assembly and the first rotation seat
Between be connected by quick connector.
4. Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, it is characterised in that the lighting device is straight barrel type LED
Lamp.
5. Multi-freedom-degreemanipulator manipulator according to claim 4, it is characterised in that the straight barrel type LED is relative to rotation
Seat is rotation connection, and rotation seat is provided with angle demodulator, and the angle demodulator includes rotating disk and locating rod, the edge of the rotating disk
Equidistantly be provided with locating slot, rotating disk is rotated relative to rotation seat, and straight barrel type LED is arranged on rotating disk, locating rod relative to turn
Dynamic seat is hinged, and the both sides inwall of locating slot is provided with half ball groove, and corresponding half ball groove in both sides of locating rod is provided with spherical protrusions, spherical male
Block is stuck in half ball groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720260815.2U CN206764783U (en) | 2017-03-17 | 2017-03-17 | A kind of Multi-freedom-degreemanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720260815.2U CN206764783U (en) | 2017-03-17 | 2017-03-17 | A kind of Multi-freedom-degreemanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764783U true CN206764783U (en) | 2017-12-19 |
Family
ID=60631899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720260815.2U Expired - Fee Related CN206764783U (en) | 2017-03-17 | 2017-03-17 | A kind of Multi-freedom-degreemanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764783U (en) |
-
2017
- 2017-03-17 CN CN201720260815.2U patent/CN206764783U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20190317 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |