CN207240205U - A kind of robot manipulator structure - Google Patents
A kind of robot manipulator structure Download PDFInfo
- Publication number
- CN207240205U CN207240205U CN201720645200.1U CN201720645200U CN207240205U CN 207240205 U CN207240205 U CN 207240205U CN 201720645200 U CN201720645200 U CN 201720645200U CN 207240205 U CN207240205 U CN 207240205U
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- China
- Prior art keywords
- leading screw
- motor
- mechanical arm
- bevel gear
- rolling bearing
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Abstract
The utility model discloses including a kind of robot manipulator structure, four cantilever housings are uniformly fixedly connected with the mechanical arm lower end outside, each cantilever enclosure interior is equipped with fluting, the both ends of each fluting are separately installed with the first rolling bearing and the second rolling bearing, leading screw is also equipped with the fluting, the both ends of the leading screw extend through the first rolling bearing and the second rolling bearing, the mechanical arm inner homogeneous is provided with four motors, motor bevel gear is mounted on below each motor, and the output shaft of motor is set through motor bevel gear, leading screw bevel gear is engaged with below the motor bevel gear, and one end of leading screw is engaged through the second rolling bearing and leading screw bevel gear.The utility model can make the more firm gripping object of manipulator by infra-red ray detection device and pressure sensor, prevent from dropping by the combination of motor, leading screw, hydraulic telescopic rod and sucker.
Description
Technical field
It the utility model is related to high-tech technical field of automation, more particularly to a kind of robot manipulator structure.
Background technology
Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
The component of part (or instrument), has various structures shape according to by the shape of grasping object, size, weight, material and job requirements
Formula, such as clamp-type, holding type and absorbent-type.Motion, makes hand complete various rotations (swing), mobile or compound motion
To realize defined action, change by the position of grasping object and posture.Motion such as lifts, stretches, rotating at the independent fortune
Flowing mode, is known as the free degree of manipulator.In order to capture the object in optional position and orientation in space, there need to be 6 frees degree.From
It is the key parameter of manipulator design by degree.The free degree is more, and the flexibility of manipulator is bigger, and versatility is wider, its structure
It is more complicated.General special manipulator has 2~3 frees degree.Control system is by the motor to each free degree of manipulator
Control, to complete specific action.Receiving sensor feedack at the same time, forms stable closed-loop control.The core of control system
The heart is typically to be made of microcontroller chips such as microcontrollers, and function is wanted by programming realization to it.But existing manipulator leads to
Control motor is crossed to adjust the crawl of finger, rotational angle is larger, and the grasping of mechanical finger is not very firm, it is easy to makes to be grabbed
Thing is taken to slide, and grasping mechanism is inconvenient to dismantle, and certain trouble is brought for follow-up cleaning.
Utility model content
The purpose of this utility model is and a kind of manipulator knot proposed in order to solve shortcoming existing in the prior art
Structure.
To achieve these goals, the utility model employs following technical solution：
A kind of robot manipulator structure, including mechanical arm, are uniformly fixedly connected with four cantilevers on the mechanical arm lower end outside
Housing, each cantilever enclosure interior are equipped with fluting, and the both ends of each fluting are separately installed with the first rolling bearing
With the second rolling bearing, leading screw is also equipped with the fluting, the both ends of the leading screw extend through the first rolling bearing and
Two rolling bearings, the mechanical arm inner homogeneous are provided with four motors, and motor cone is mounted on below each motor
Gear, and the output shaft of motor is set through motor bevel gear, and leading screw bevel gear, and silk are engaged with below the motor bevel gear
One end of thick stick is engaged through the second rolling bearing and leading screw bevel gear, and feed screw nut, the silk are threaded with the leading screw
Thick stick nut lower end is fixedly connected with manipulator housing, and the manipulator housing is provided with groove on the side side wall of mechanical arm,
And hydraulic telescopic rod and sliding block are separately installed with groove, the hydraulic telescopic rod is arranged on the upside of sliding block and company fixed thereto
Connect, the sliding block is fixedly connected with cylinder fixture block close to the side of mechanical arm, and the cylinder fixture block inside points are not provided with pressure
Sensor and infra-red ray detection device, the cylinder fixture block have rubber suction cups close to the side card of mechanical arm.
Preferably, the cylinder fixture block is provided with slot on the side side wall of rubber suction cups, on the cell wall of the slot
End equipped with sliding slot, and sliding slot is provided with annular groove that is vertical with sliding slot and connecting, and the rubber suction cups is close to cylinder fixture block
Side be equipped with the convex block that matches with slot.
Preferably, the inside of the cylinder fixture block is also uniformly provided with some springs, and the spring top is fixedly connected with
Thin slice, the thin slice are provided with central through hole, and two small through hole are also provided with around central through hole, and the rubber suction cups is close to circle
The side of column fixture block is equipped with central cylinder and small cylinder with central through hole, small through hole size position correspondence.
Preferably, the pressure sensor, infra-red ray detection device, motor pass through conducting wire and external 80C51 monolithics
Machine is electrically connected.
Preferably, the limited block to match with sliding slot, annular groove is additionally provided with the side wall of the convex block.
Preferably, connected between mechanical arm and the cantilever housing by lock-screw.
In the utility model, crawl of the manipulator for object is to drive cantilever housing into rotation to fit by the rotation of mechanical arm
Variform object is answered, then controls each hydraulic telescopic rod to move up and down, needs to press from both sides by infra-red ray detection device detection
The position taken, then each motor drives leading screw rotation to drive feed screw nut to be moved with manipulator housing, until rubber suction cups connects
Contact the object that need to be gripped, the dynamics of gripping is then controlled by pressure sensor, prevents that object drops in handling process.And
And rubber suction cups can be with dismounting and change, it is connected with cylinder fixture block by convex block with sliding slot, and convex block sticks into corresponding sliding slot,
And the cylinder of rubber suction cups lower part just may be inserted into the corresponding through hole of thin slice, firmly by earth, then somewhat rotate
Allow convex block to move in annular groove, make rubber suction cups be unlikely to depart from, and sucker structure can also disassemble, it is convenient clear
Wash replacement.The utility model passes through infra-red ray detection device and pressure by the combination of motor, leading screw, hydraulic telescopic rod and sucker
Force snesor can make the more firm gripping object of manipulator, prevent from dropping.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of robot manipulator structure structure diagram.
Fig. 2 be the utility model proposes manipulator cylinder fixture block internal structure schematic diagram.
In figure：1 mechanical arm, 2 motors, 3 motor bevel gears, 4 leading screw bevel gears, 5 cantilever housings, 6 leading screws, 7 first roll
It is bearing, 8 feed screw nuts, 9 manipulator housings, 10 hydraulic telescopic rods, 11 sliding blocks, 12 pressure sensors, 13 cylinder fixture blocks, 14 infrared
Line detector, 15 rubber suction cups, 16 second rolling bearings, 17 sliding slots, 18 central through holes, 19 small through hole, 20 thin slices, 21 annulars
Sliding slot, 22 springs.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
With reference to Fig. 1-2, a kind of robot manipulator structure, including mechanical arm 1, is uniformly fixedly connected with 1 lower end outside of mechanical arm
Four cantilever housings 5, are equipped with fluting inside each cantilever housing 5, the both ends each slotted are separately installed with first axis of rolling
7 and second rolling bearing 16 are held, is also equipped with leading screw 6 in fluting, the both ends of leading screw 6 extend through the first rolling bearing 7 and
Two rolling bearings 16,1 inner homogeneous of mechanical arm are provided with four motors 2, and motor 2 distinguishes respective cantilevered housing 5, each motor 2
Lower section be mounted on motor bevel gear 3, and the output shaft of motor 2 is set through motor bevel gear 3, the lower section of motor bevel gear 3
Leading screw bevel gear 4 is engaged with, and one end of leading screw 6 is engaged through the second rolling bearing 16 and leading screw bevel gear 4, spiral shell on leading screw 6
Line is connected with feed screw nut 8, and 8 lower end of feed screw nut is fixedly connected with manipulator housing 9, manipulator housing 9 and 8 edge of feed screw nut
6 horizontal movement of leading screw, manipulator housing 9 is provided with groove on the side side wall of mechanical arm 1, and is separately installed with groove
Hydraulic telescopic rod 10 and sliding block 11, hydraulic telescopic rod 10 are arranged on the upside of sliding block 11 and connection fixed thereto, and sliding block 11 is close
The side of mechanical arm 1 is fixedly connected with cylinder fixture block 13, and pressure sensor 12 and infrared is separately installed with inside cylinder fixture block 13
Line detector 14, cylinder fixture block 13 have rubber suction cups 15 close to the side card of mechanical arm 1, and cylinder fixture block 13 is inhaled close to rubber
Slot is provided with the side side wall of disk 15, the cell wall of slot is equipped with sliding slot 17, and the end of sliding slot 17 is provided with and hangs down with sliding slot 17
The annular groove 21 of direct join connection, rubber suction cups 15 are equipped with the convex block to match with slot, circle close to the side of cylinder fixture block 13
The inside of column fixture block 13 is also uniformly provided with some springs 22, and 22 top of spring is fixedly connected with thin slice 20, during thin slice 20 is provided with
Heart through hole 18, and two small through hole 19 are also provided with around central through hole 18, rubber suction cups 15 is close to the side of cylinder fixture block 13
Equipped with the central cylinder and small cylinder with central through hole 18,19 size position correspondence of small through hole, make rubber suction cups 15 more
Firm, pressure sensor 12, infra-red ray detection device 14, motor 2 are electrically connected by conducting wire and external 80C51 microcontrollers
Connect, the limited block to match with sliding slot 17, annular groove 21 is additionally provided with the side wall of convex block, between mechanical arm 1 and cantilever housing 5
Connected by lock-screw.
In the utility model, crawl of the manipulator for object is to drive cantilever housing 5 to rotate by the rotation of mechanical arm 1
Variform object is adapted to, then controls each hydraulic telescopic rod 10 to move up and down, is detected by infra-red ray detection device 14
The position gripped is needed, then each motor 2 drives the rotation of leading screw 6 to drive feed screw nut 8 to be moved with manipulator housing 9, until
Rubber suction cups 15 touches the object that need to be gripped, and the dynamics of gripping is then controlled by pressure sensor 12, prevents from carrying
Object drops in journey.And rubber suction cups 15 can be with dismounting and change, it is to be connected by convex block with sliding slot 20 with cylinder fixture block 13
, convex block 23 sticks into corresponding sliding slot 17, and just to may be inserted into thin slice 20 corresponding for the cylinder of 15 lower part of rubber suction cups
In through hole, firmly by earth, then somewhat rotation allows convex block to move in annular groove 21, rubber suction cups 15 is unlikely to de-
From.
The above, is only the preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of robot manipulator structure, including mechanical arm (1), it is characterised in that uniformly fixed on mechanical arm (1) lower end outside
Four cantilever housings (5) are connected with, fluting is equipped with inside each cantilever housing (5), the both ends point of each fluting
First rolling bearing (7) and the second rolling bearing (16) are not installed, leading screw (6), the leading screw are also equipped with the fluting
(6) both ends extend through the first rolling bearing (7) and the second rolling bearing (16), mechanical arm (1) the inner homogeneous installation
There are four motors (2), be mounted on motor bevel gear (3) below each motor (2), and the output shaft of motor (2) passes through
Motor bevel gear (3) setting is worn, leading screw bevel gear (4), and one end of leading screw (6) are engaged with below the motor bevel gear (3)
Engaged through the second rolling bearing (16) and leading screw bevel gear (4), feed screw nut (8), institute are threaded with the leading screw (6)
State feed screw nut (8) lower end and be fixedly connected with manipulator housing (9), the manipulator housing (9) is close to the side of mechanical arm (1)
Groove is provided with side wall, and hydraulic telescopic rod (10) and sliding block (11) are separately installed with groove, the hydraulic telescopic rod (10)
The upside of sliding block (11) and connection fixed thereto are arranged on, the sliding block (11) is fixedly connected with close to the side of mechanical arm (1)
Cylinder fixture block (13), the cylinder fixture block (13) is internal to be separately installed with pressure sensor (12) and infra-red ray detection device
(14), the cylinder fixture block (13) has rubber suction cups (15) close to the side card of mechanical arm (1).
2. a kind of robot manipulator structure according to claim 1, it is characterised in that the cylinder fixture block (13) is inhaled close to rubber
Slot is provided with the side side wall of disk (15), the cell wall of the slot is equipped with sliding slot (17), and the end of sliding slot (17) is provided with
Annular groove (21) that is vertical with sliding slot (17) and connecting, the rubber suction cups (15) are equipped with close to the side of cylinder fixture block (13)
The convex block to match with slot.
3. a kind of robot manipulator structure according to claim 2, it is characterised in that the inside of the cylinder fixture block (13) is also equal
Even to be provided with some springs (22), spring (22) top is fixedly connected with thin slice (20), and the thin slice (20) is provided with center
Through hole (18), and two small through hole (19) are also provided with around central through hole (18), the rubber suction cups (15) is close to cylinder card
The side of block (13) is equipped with central cylinder and small cylinder with central through hole (18), small through hole (19) size position correspondence.
4. a kind of robot manipulator structure according to claim 1, it is characterised in that the pressure sensor (12), infrared ray
Detection device (14), motor (2) are electrically connected by conducting wire and external 80C51 microcontrollers.
5. a kind of robot manipulator structure according to claim 2, it is characterised in that be additionally provided with the side wall of the convex block with sliding
The limited block that groove (17), annular groove (21) match.
6. a kind of robot manipulator structure according to claim 1, it is characterised in that the mechanical arm (1) and cantilever housing (5)
Between connected by lock-screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720645200.1U CN207240205U (en) | 2017-06-05 | 2017-06-05 | A kind of robot manipulator structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720645200.1U CN207240205U (en) | 2017-06-05 | 2017-06-05 | A kind of robot manipulator structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240205U true CN207240205U (en) | 2018-04-17 |
Family
ID=61875762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720645200.1U Expired - Fee Related CN207240205U (en) | 2017-06-05 | 2017-06-05 | A kind of robot manipulator structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207240205U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312171A (en) * | 2018-05-04 | 2018-07-24 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator convenient for adjusting |
| CN108582136A (en) * | 2018-07-26 | 2018-09-28 | 芜湖市越泽机器人科技有限公司 | A kind of robot gripper device |
| CN108673541A (en) * | 2018-05-04 | 2018-10-19 | 江南大学 | A kind of electrical composite drive thickness Abnormal plate spring skeleton flexible manipulator |
| CN108908387A (en) * | 2018-08-15 | 2018-11-30 | 江西应用技术职业学院 | A kind of industrial robot fixture of anti-slip |
| CN109230275A (en) * | 2018-08-23 | 2019-01-18 | 张利娟 | A kind of electrical box assembly line cabinet transfer device |
| CN109351657A (en) * | 2018-10-18 | 2019-02-19 | 滁州市云米工业设计有限公司 | A kind of photo-electric nut collar sorting mechanism device |
| CN109449820A (en) * | 2018-11-01 | 2019-03-08 | 国网新疆电力有限公司喀什供电公司 | A kind of high voltage transmission line maintenance tool waggon and obstacle-detouring method |
| CN109826560A (en) * | 2019-01-21 | 2019-05-31 | 何一当 | It can control the tunnel boring device and application method of punching depth |
| CN110817307A (en) * | 2019-11-07 | 2020-02-21 | 徐州鑫泰镀锌设备有限公司 | Intelligent guide ferry vehicle |
| CN110980077A (en) * | 2019-12-02 | 2020-04-10 | 迟美丽 | Intelligent transfer loading and unloading robot used in transportation |
| CN112846898A (en) * | 2021-01-07 | 2021-05-28 | 安徽新美格包装发展有限公司 | Novel automatic change system jar equipment fastener and carry device |
-
2017
- 2017-06-05 CN CN201720645200.1U patent/CN207240205U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673541A (en) * | 2018-05-04 | 2018-10-19 | 江南大学 | A kind of electrical composite drive thickness Abnormal plate spring skeleton flexible manipulator |
| CN108673541B (en) * | 2018-05-04 | 2021-04-27 | 江南大学 | Electric composite drive thickness special-shaped plate spring skeleton flexible manipulator |
| CN108312171A (en) * | 2018-05-04 | 2018-07-24 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator convenient for adjusting |
| CN108582136A (en) * | 2018-07-26 | 2018-09-28 | 芜湖市越泽机器人科技有限公司 | A kind of robot gripper device |
| CN108908387B (en) * | 2018-08-15 | 2020-07-24 | 江西应用技术职业学院 | Anti-slip industrial robot clamp |
| CN108908387A (en) * | 2018-08-15 | 2018-11-30 | 江西应用技术职业学院 | A kind of industrial robot fixture of anti-slip |
| CN109230275A (en) * | 2018-08-23 | 2019-01-18 | 张利娟 | A kind of electrical box assembly line cabinet transfer device |
| CN109351657B (en) * | 2018-10-18 | 2020-12-22 | 日照三兴食品集团股份有限公司 | Photoelectric type nut and washer screening mechanism device |
| CN109351657A (en) * | 2018-10-18 | 2019-02-19 | 滁州市云米工业设计有限公司 | A kind of photo-electric nut collar sorting mechanism device |
| CN109449820B (en) * | 2018-11-01 | 2020-12-08 | 国网新疆电力有限公司喀什供电公司 | Tool conveying vehicle for high-voltage transmission line maintenance and obstacle crossing method |
| CN109449820A (en) * | 2018-11-01 | 2019-03-08 | 国网新疆电力有限公司喀什供电公司 | A kind of high voltage transmission line maintenance tool waggon and obstacle-detouring method |
| CN109826560A (en) * | 2019-01-21 | 2019-05-31 | 何一当 | It can control the tunnel boring device and application method of punching depth |
| CN110817307A (en) * | 2019-11-07 | 2020-02-21 | 徐州鑫泰镀锌设备有限公司 | Intelligent guide ferry vehicle |
| CN110980077A (en) * | 2019-12-02 | 2020-04-10 | 迟美丽 | Intelligent transfer loading and unloading robot used in transportation |
| CN110980077B (en) * | 2019-12-02 | 2022-06-21 | 青岛青知企业管理咨询有限公司 | Intelligent transfer loading and unloading robot used in transportation |
| CN112846898A (en) * | 2021-01-07 | 2021-05-28 | 安徽新美格包装发展有限公司 | Novel automatic change system jar equipment fastener and carry device |
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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: 20180417 Termination date: 20200605 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |