CN207172054U - Novel rhombus flexible manipulator - Google Patents
Novel rhombus flexible manipulator Download PDFInfo
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- CN207172054U CN207172054U CN201720856824.8U CN201720856824U CN207172054U CN 207172054 U CN207172054 U CN 207172054U CN 201720856824 U CN201720856824 U CN 201720856824U CN 207172054 U CN207172054 U CN 207172054U
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- mechanical arm
- flexible manipulator
- mounting body
- arm
- manipulator according
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Abstract
The utility model discloses and provides a kind of flexible, motion novel rhombus flexible manipulator that blind area is small and running precision is high simple in construction, light and handy.The utility model includes mounting body, first mechanical arm and second mechanical arm, the equal drive device being engaged with the first mechanical arm and the second mechanical arm is provided with the mounting body, described first mechanical arm one end is hinged with three-mechanical arm, described second mechanical arm one end is hinged with the 4th mechanical arm, the other end of the other end of the three-mechanical arm and the 4th mechanical arm is hinged by clamping jaw axle point, and rotation clip claw assembly is connected with the clamping jaw axle point.The utility model can be used for the technical field of Machine Design.
Description
Technical field
It the utility model is related to novel rhombus flexible manipulator.
Background technology
Manipulator is a kind of new device to grow up during mechanization, automated production, and manipulator is extensive
Applied to automatic production line., it is necessary to use light and handy, flexible manipulator on miniature assembling, attachment or plug-in unit production line.But
Existing robot manipulator structure is complicated, and it is larger that manipulator operationally moves blind area, causes production efficiency relatively low；Running precision is low,
Cause to produce disqualification rate height.
Utility model content
The technical problems to be solved in the utility model be to provide it is a kind of it is simple in construction, light and handy flexibly, motion blind area is small and fortune
The high novel rhombus flexible manipulator of row precision.
Technical scheme is used by the utility model：The utility model includes mounting body, first mechanical arm and second
Mechanical arm, the equal driving dress being engaged with the first mechanical arm and the second mechanical arm is provided with the mounting body
Put, described first mechanical arm one end is hinged with three-mechanical arm, and described second mechanical arm one end is hinged with the 4th mechanical arm, described
The other end of the other end of three-mechanical arm and the 4th mechanical arm is hinged by clamping jaw axle point, is connected on the clamping jaw axle point
It is connected to rotation clip claw assembly.
Further, the drive device includes the first drive motor and the second drive motor, first drive motor
With the first mechanical arm phase rotatable engagement, second drive motor and the second mechanical arm phase rotatable engagement.
Further, the opening and closing angular range of the first mechanical arm and the second mechanical arm is 0 degree to 180 degree, institute
State and the equal angle limitation flap being engaged with the first mechanical arm with the second mechanical arm is provided with mounting body.
Further, the angle rotatable scope of the first mechanical arm and the second mechanical arm is 0 degree to 360
Degree.
Further, the brachium of the first mechanical arm and the second mechanical arm is equal, the three-mechanical arm and institute
The brachium for stating the 4th mechanical arm is equal.
Further, the rear portion of the mounting body is provided with the mechanism that is connected, and the mechanism that is connected includes connecting
Female connector and arc fixed seat, the arc fixed seat are connected with the mounting body, and the adapter sleeve is fixed with the arc
The globoidal structure of seat is in mating connection.
Further, the rotation clip claw assembly includes electric rotating machine and clamping jaw, and the upper end of the clamping jaw is provided with and institute
The spill spin block that electric rotating machine is engaged is stated, the electric rotating machine can be, but not limited to by chain or timing belt with the spill spin block
It is engaged.
Further, the first mechanical arm is equal with the brachium of the three-mechanical arm.
Further, the mounting body is internally provided with the Z axis gearshift being engaged with the drive device.
Further, the first mechanical arm, the second mechanical arm, the three-mechanical arm and the 4th mechanical arm
Include arm shell, the arm enclosure is provided with storage chamber.
The beneficial effects of the utility model are：The utility model by drive device distinguish drive control first mechanical arm and
Second mechanical arm is rotated, and then drives three-mechanical arm by first mechanical arm, and second mechanical arm drives the 4th mechanical arm
Motion so that manipulator clamping jaw of the present utility model -- rotation clip claw assembly freely activity can arrive specific position, so as to body
Revealing the utility model has the characteristics of simple in construction, light and handy flexible, motion blind area is small and running precision is high.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is upward view of the present utility model.
Embodiment
As shown in Figure 1 to Figure 2, specific embodiment of the present utility model is：The utility model includes mounting body 1, the
One mechanical arm 2 and second mechanical arm 3, the external form of the mounting body 1 is body structure, and the inside of the mounting body 1 is set
There are the cavity placed for operating system of the present utility model, control system and other machinery parts, circuit of the present utility model
The cavity inside of the mounting body 1 is hidden in control section so that the utility model both can be suitably used for the environment of dust-free workshop
Also it can be suitably used for rugged environment；The bottom of the mounting body 1 is provided with bottom plate 14, the top fixed setting of the bottom plate 14
There is drive device, the drive device is located at the inside of the cavity of the mounting body 1；The drive device includes the first driving
Motor and the second drive motor, first drive motor and second drive motor are disposed in parallel on the bottom plate 14；
The top phase rotatable engagement of first drive motor and the first mechanical arm 2, second drive motor and described second
The top phase rotatable engagement of mechanical arm 3, the first mechanical arm 2 and the second mechanical arm 3 are respectively positioned under the bottom plate 14
End, the top of the first mechanical arm 2 and the top of the second mechanical arm 3 are hinged, and the pin joint is led positioned at the installation
The underface of the center of gravity of body 1；First drive motor and second drive motor are existing servo motor, and they are equal
With the characteristics of precision is high, in light weight, response is fast, inertia is small and torque is stable.First drive motor and described second is driven
Dynamic motor directly drives the first mechanical arm 2 and moved with second mechanical arm 3 respectively so that two mechanical arms are not done mutually
Disturb, cooperative cooperating, ensure operational efficiency.
In this specific embodiment, the end of the first mechanical arm 2 is hinged with three-mechanical arm 4, second machinery
The end of arm 3 is hinged with the 4th mechanical arm 5, and the end of the end of the three-mechanical arm 4 and the 4th mechanical arm 5 passes through folder
Pawl axle point 6 is hinged, and the lower end of the clamping jaw axle point 6 is connected with rotation clip claw assembly 7.The first mechanical arm 2, described second
Mechanical arm 3, the three-mechanical arm 4 and the 4th mechanical arm 5 collectively form a quadrangle machinery arm configuration, four machineries
The corresponding height of arm, width are equal；The drive device is located on a summit of quadrangle, and the clamping jaw axle point 6
In on another summit of quadrangle, and two summits are relative；According to the motion principle of quadrangle, it is recognised that when described the
When one mechanical arm 2 and the second mechanical arm 3 are controlled and moved by the drive device respectively, the three-mechanical arm 4
It is driven with the 4th mechanical arm 5 so that the clamping jaw axle point 6 can accurately move to specific position, and it is described
The lower end of clamping jaw axle point 6 is connected with manipulator clamping jaw -- rotation clip claw assembly 7, so, the rotation clip claw assembly 7 can be with
The track of the clamping jaw axle point 6 and move, it is described rotation clamping jaw 12 can range of operation it is big.On the other hand, four mechanical arms make
Be made of composite, there is no big inertia force during operation, they for the part of movement provide lighter weight with it is high
Speed, and it is with small vibration during manipulator motion, improve running precision of the present utility model.By the way that mechanical arm is designed into quadrangularly
Shape can cause the utility model both have it is simple in construction, control cost is low and motion process is simple the characteristics of, and due to
It is completely embedded between mechanical arm rationally, each mechanical arm is only connected in hinged place so Relative friction is small so that the utility model
Run more efficient, precision is higher.
In this specific embodiment, the opening and closing angular range of the first mechanical arm 2 and the second mechanical arm 3 is 0 degree
To 180 degree, the equal angle being engaged with the first mechanical arm 2 with the second mechanical arm 3 is provided with the mounting body 1
Flap 8 is limited, the angle limitation flap 8 is hinged with the bottom plate 14 in center, is set on the angle limitation flap 8
The angled arc groove 15 for 180 degree, the top of the first mechanical arm 2 and the top of the second mechanical arm 3 are respectively provided with
There is the projection being adapted with the arc groove 15.The first mechanical arm 2 and the second mechanical arm 3 due to 0 degree extremely
The opening and closing angle of 180 degree, so four manipulator motion scopes that embodiment forms quadrangle are big；On the other hand, by setting
State angle limitation flap 8, it is ensured that the maximum subtended angle of the first mechanical arm 2 and the second mechanical arm 3 is 180 degree, is protected
Demonstrate,prove the reasonability of mechanical arm operation.
In this specific embodiment, the angle rotatable scope of the first mechanical arm 2 and the second mechanical arm 3 is
0 degree to 360 degree.The first mechanical arm 2 can carry out circumference rotation with the second mechanical arm 3 under the driving of drive device
Turn, so when mechanical arm of the present utility model is run, operation blind area is small.
In this specific embodiment, the first mechanical arm 2 is equal with the brachium of the second mechanical arm 3, and the described 3rd
Mechanical arm 4 is equal with the brachium of the 4th mechanical arm 5.It so can be designed so that the control of the mechanical arm in the utility model
System is more simple, while and can ensures the high efficiency of operation.
In this specific embodiment, the rear portion of the mounting body 1 is fixedly installed the mechanism 9 that is connected, the connection
Fixed mechanism 9 is used to the mounting body 1 being fixed on external equipment, or wall；The mechanism 9 that is connected includes
Adapter sleeve 10 and arc fixed seat 11, the arc fixed seat 11 are connected with the mounting body 1 and are fixed on the installation
The rear portion of main body 1；The adapter sleeve 10 is that the utility model is joined directly together the parts connect with external equipment or wall；The arc
Arc chute, the adapter sleeve 10 and the globoidal structure of the arc fixed seat 11 are provided with the globoidal structure of shape fixed seat 11
On the arc chute be slidingly fitted connection, the connection angle of the adapter sleeve 10 can be controlled by arc chute, is fitted
Answer different environment.
In this specific embodiment, the rotation clip claw assembly 7 includes electric rotating machine and clamping jaw 12, the clamping jaw 12 it is upper
End is provided with the spill spin block 13 being engaged with the electric rotating machine, and the electric rotating machine can be, but not limited to the spill spin block 13
It is engaged by chain or timing belt.The spill spin block 13 drives the clamping jaw 12 to carry out spinning movement, so the utility model
The rotation process to gripping object can be quickly realized by the clamping jaw 12.On the other hand, the rotation clip claw assembly 7 is mould
Blockization designs, and can carry out carrying out changing the model for changing clamping jaw for different gripping objects, so as to adapt to different fields
Close.
In this specific embodiment, in the first mechanical arm 2 feelings equal with the brachium of the second mechanical arm 3
Under condition, it is equal that the first mechanical arm 2 and the three-mechanical arm 4 are designed as brachium, the second mechanical arm 3 and described the
The brachium of four mechanical arms 5 is equal, so, the quadrangle being made up of four mechanical arms is rhombus；The structure of rhombus is designed, it is not only outer
Shape is attractive in appearance, and uniform force so that the design and practical application of control system are more simple；In addition, four mechanical arms are set
It is equal to be calculated as brachium, i.e., each mechanical arm specification is identical, and this is advantageous to mass production.
In this specific embodiment, the mounting body 1 is internally provided with the Z axis displacement being engaged with the drive device
Device.The Z axis gearshift is prior art, and whole quadrangle machinery arm configuration can be controlled to move up and down, and realizes this
Embodiment of the kind Z axis motion known to those skilled in the art, therefore no longer describe.
In this specific embodiment, the first mechanical arm 2, the second mechanical arm 3, the three-mechanical arm 4 and institute
Stating the 4th mechanical arm 5 includes arm shell, and the arm shell is the shell of strip square, and the arm shell can strengthen
The rigidity and intensity of each mechanical arm；In addition, the arm shell is internally provided with storage chamber, member control circuit can be set
In in the arm shell, without exposing in surface external of the present utility model, so as to improve aesthetic appearance of the present utility model.
Quadrangle machinery arm configuration can carry out 360 degree of circumference rotations in the first mechanical arm 2 and the second mechanical arm 3
Under the basis turned, coordinate the displacement of the Z axis axial direction of the Z axis gearshift so that the range of movement of the clamping jaw 12 is big, motion
Blind area is small, and motion blind area is only cylindrical type region of the radius for twice of mechanical arm width.
Quadrangle mechanical arm of the present utility model has the characteristics of very thin, accurate, light weight, simple, compact and inexpensive, this
Utility model has larger payload without supporting bulky robot support and base compared with traditional robot size.
The utility model can be used for the technical field of Machine Design.
Claims (10)
- A kind of 1. novel rhombus flexible manipulator, it is characterised in that：Including mounting body（1）, first mechanical arm（2）With the second machine Tool arm（3）, the mounting body（1）On be provided with it is equal with the first mechanical arm（2）With the second mechanical arm（3）It is engaged Drive device, the first mechanical arm（2）One end is hinged with three-mechanical arm（4）, the second mechanical arm（3）One end is hinged There is the 4th mechanical arm（5）, the three-mechanical arm（4）The other end and the 4th mechanical arm（5）The other end pass through clamping jaw Axle point（6）It is hinged, the clamping jaw axle point（6）On be connected with rotation clip claw assembly（7）.
- 2. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The drive device includes first and driven Dynamic motor and the second drive motor, first drive motor and the first mechanical arm（2）Phase rotatable engagement, described second drives Dynamic motor and the second mechanical arm（3）Phase rotatable engagement.
- 3. novel rhombus flexible manipulator according to claim 2, it is characterised in that：The first mechanical arm（2）With institute State second mechanical arm（3）Opening and closing angular range for 0 degree to 180 degree, the mounting body（1）On be provided with it is equal with described first Mechanical arm（2）With the second mechanical arm（3）The angle limitation flap being engaged（8）.
- 4. novel rhombus flexible manipulator according to claim 3, it is characterised in that：The first mechanical arm（2）With institute State second mechanical arm（3）Angle rotatable scope be 0 degree to 360 degree.
- 5. novel rhombus flexible manipulator according to claim 4, it is characterised in that：The first mechanical arm（2）And institute State second mechanical arm（3）Brachium it is equal, the three-mechanical arm（4）With the 4th mechanical arm（5）Brachium it is equal.
- 6. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The mounting body（1）Rear portion It is provided with the mechanism that is connected（9）, the mechanism that is connected（9）Including adapter sleeve（10）With arc fixed seat（11）, it is described Arc fixed seat（11）With the mounting body（1）It is connected, the adapter sleeve（10）With the arc fixed seat（11）Arc Face structure is in mating connection.
- 7. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The rotation clip claw assembly（7）Bag Include electric rotating machine and clamping jaw（12）, the clamping jaw（12）Upper end be provided with the spill spin block being engaged with the electric rotating machine （13）, the electric rotating machine and the spill spin block（13）It can be, but not limited to be engaged by chain or timing belt.
- 8. novel rhombus flexible manipulator according to claim 1 or 5, it is characterised in that：The first mechanical arm（2）With The three-mechanical arm（4）Brachium it is equal.
- 9. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The mounting body（1）Inside is set It is equipped with the Z axis gearshift being engaged with the drive device.
- 10. novel rhombus flexible manipulator according to claim 1 or 5, it is characterised in that：The first mechanical arm（2）、 The second mechanical arm（3）, the three-mechanical arm（4）With the 4th mechanical arm（5）Include arm shell, the arm Enclosure is provided with storage chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720856824.8U CN207172054U (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720856824.8U CN207172054U (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207172054U true CN207172054U (en) | 2018-04-03 |
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ID=61736851
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720856824.8U Active CN207172054U (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207172054U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160371A (en) * | 2017-07-14 | 2017-09-15 | 申科谱自动化科技（珠海）有限公司 | Novel rhombus flexible manipulator |
-
2017
- 2017-07-14 CN CN201720856824.8U patent/CN207172054U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160371A (en) * | 2017-07-14 | 2017-09-15 | 申科谱自动化科技（珠海）有限公司 | Novel rhombus flexible manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 519000 101, floor 1, No. 9 (plant 1), Keji 8th Road, Tangjiawan Town, Zhuhai City, Guangdong Province Patentee after: Zhuhai fenban Automation Co.,Ltd. Address before: 519000 No. 9, Keji 8th Road, Jinding national high tech Zone, Xiangzhou District, Zhuhai City, Guangdong Province Patentee before: SHENKEPU AUTOMATION TECHNOLOGY (ZHUHAI) CO.,LTD. |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220810 Address after: 519000 Building 2, No.10, Yangqing street, Jingan Town, Doumen District, Zhuhai City, Guangdong Province Patentee after: Zhuhai shenkepu Industrial Technology Co.,Ltd. Address before: 519000 101, floor 1, No. 9 (plant 1), Keji 8th Road, Tangjiawan Town, Zhuhai City, Guangdong Province Patentee before: Zhuhai fenban Automation Co.,Ltd. |
|
| TR01 | Transfer of patent right |