CN207548752U - A kind of Five-degree-of-freedmanipulator manipulator - Google Patents
A kind of Five-degree-of-freedmanipulator manipulator Download PDFInfo
- Publication number
- CN207548752U CN207548752U CN201721685424.1U CN201721685424U CN207548752U CN 207548752 U CN207548752 U CN 207548752U CN 201721685424 U CN201721685424 U CN 201721685424U CN 207548752 U CN207548752 U CN 207548752U
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- CN
- China
- Prior art keywords
- connecting rod
- bearing
- driving gear
- manipulator
- revolving part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of Five-degree-of-freedmanipulator manipulators,Including holder body,Bearing,Mechanical wrist,Mechanical arm,Manipulator shoulder main body,Rotating seat and pedestal,The chassis interior is equipped with motor,Motor upper end is rotatably connected to shaft,The rotating seat upper surface is vertically fixed column,The manipulator shoulder main body is rotatably connected by the 4th revolving part and column,The mechanical arm is rotatably connected by third revolving part with manipulator shoulder main body,The mechanical wrist is rotatably connected by the second revolving part with mechanical arm,The bearing is attached by the first revolving part with mechanical wrist,The holder body is arranged on bearing upper surface,Driving gear is provided in holder body,Driven gear is engaged on driving gear,Keyhole is offered on the driving gear and driven gear section,The cooperation of keyhole internal helicoid is fixed with bolt.Holder body on the utility model can carry out dismounting and change, and the volume range of holder body gripping article is wider.
Description
Technical field
The utility model is related to manipulator technical field, specially a kind of Five-degree-of-freedmanipulator manipulator.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently respectively.Manipulator is the industrial robot occurred earliest and the modern times occurred earliest
Robot, it can replace the heavy labor of people that can operate to protect under hostile environment to realize the mechanization of production and automation
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Weigh quantity facilities of the important indicator for degree of freedom of manipulator degree of flexibility, Five-degree-of-freedmanipulator manipulator
Refer to the manipulator there are five degree of freedom as its name suggests, be translatable including three translations, two rotation or three rotations two, existing five
The clamping jaw of free degree manipulator is clamped in the form of connecting rod assembly, and there are adjustable ranges in terms of clamping jaw for such manipulator
It is limited, therefore the volume for being normally applied object is all smaller.
Utility model content
The purpose of this utility model is to provide a kind of Five-degree-of-freedmanipulator manipulators, have detachable installation and replace clamping master
Body, and then can cause the wider array of advantage of volume range of holder body gripping article, solve existing connecting rod assembly clamping
Five-degree-of-freedmanipulator manipulator there are clamp distance adjustable range it is small the problem of.
To achieve the above object, the utility model provides following technical solution：A kind of Five-degree-of-freedmanipulator manipulator, including clamping
Main body, bearing, mechanical wrist, mechanical arm, manipulator shoulder main body, rotating seat and pedestal, the chassis interior are equipped with electricity
Machine, motor upper end is rotatably connected to shaft, and shaft is fixed on inside rotating seat, and the rotating seat upper surface is vertically fixed vertical
Column, the manipulator shoulder main body are rotatably connected by the 4th revolving part and column, and the mechanical arm passes through third revolving part
It is rotatably connected with manipulator shoulder main body, the mechanical wrist is rotatably connected by the second revolving part with mechanical arm, the branch
Seat is attached by the first revolving part with mechanical wrist, and the holder body is arranged on bearing upper surface, is set in holder body
Driving gear is equipped with, and driving gear is arranged on bearing upper surface, driven gear, the driving gear are engaged on driving gear
With offer keyhole on driven gear section, the cooperation of keyhole internal helicoid is fixed with bolt, and bolt is integrally disposed upon connecting rod
On.
Preferably, the motor upper end is protruded with respect to pedestal and is set.
Preferably, the driving gear is rotatablely connected with the driving motor inside bearing.
Preferably, the connecting rod is provided with 8 altogether, and 8 connecting rods are divided into two groups of settings, and only with driving gear and from
Bolt has been wholely set on the connecting rod of moving gear connection.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model is mainly from the Five-degree-of-freedmanipulator manipulator of existing connecting rod assembly clamping in terms of clamping range adjusting
The problem of Shortcomings, by opening up keyhole and by connecting rod on the driving gear for combining rotation clamping for drive link
Combination is installed to using bolt spiral in keyhole, has achieved the effect that monolithic linkage combination can carry out removing and installing replacement, can
It will be gone in the replacement to driving gear and driven gear of different size of connecting rod with reaching, can then expand the model that clamping is adjusted
It encloses.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the vertical view at the bearing in Fig. 1；
Fig. 3 is the connecting rod of the utility model and the installation connection diagram of driving gear.
In figure：1- holder bodies；2- bearings；3- driving gears；The first revolving parts of 4-；5- mechanical wrists；6- second rotates
Part；7- mechanical arms；8- third revolving parts；9- manipulator shoulder main bodys；The 4th revolving parts of 10-；11- columns；12- shafts；13-
Rotating seat；14- pedestals；15- motors；16- driving motors；17- driven gears；18- connecting rods；19- ships and resell on another market；20- bolts；21- bolts
Hole.
Specific 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
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
It please refers to Fig.1 to 3, a kind of Five-degree-of-freedmanipulator manipulator embodiment provided by the utility model：A kind of five degree of freedom machine
Tool hand, including holder body 1, bearing 2, mechanical wrist 5, mechanical arm 7, manipulator shoulder main body 9, rotating seat 13 and pedestal
14, motor 15 is installed, 15 upper end of motor is protruded with respect to pedestal 14 to be set, and 15 upper end of motor is rotatably connected to inside pedestal 14
Axis 12, and shaft 12 is fixed on inside rotating seat 13, motor 15 is using the servo motor of SGMGV-1AD3A21, the type motor
Belong to the purpose that DC servo motor can realize angle rotation, meet the work requirements of manipulator, motor 15 is mainly used for driving
Turn axis 12 rotates and then realizes that rotating seat 13 is rotated relative to pedestal 14, and 13 upper surface of rotating seat is vertically fixed column
11, manipulator shoulder main body 9 is rotatably connected by the 4th revolving part 10 and column 11, mechanical arm 7 by third revolving part 8 with
Manipulator shoulder main body 9 is rotatably connected, and mechanical wrist 5 is rotatably connected by the second revolving part 6 with mechanical arm 7, and bearing 2 passes through
First revolving part 4 is attached with mechanical wrist 5, and the first revolving part 4, the second revolving part 6, third revolving part 8 and the 4th rotate
Part 10 is used to carry out rotation company between holder body 1, mechanical wrist 5, mechanical arm 7, manipulator shoulder main body 9 and column 11
It connects, forms the agent structure of Five-degree-of-freedmanipulator manipulator, holder body 1 is arranged on 2 upper surface of bearing, is provided in holder body 1
Driving gear 3, and driving gear 3 is arranged on 2 upper surface of bearing, driving gear 3 and the driving motor 16 inside bearing 2
It is rotatablely connected, is engaged with driven gear 17 on driving gear 3, driving gear 3 and driven gear offer keyhole on 17 section
21, the cooperation of 21 internal helicoid of keyhole is fixed with bolt 20, and bolt 20 is integrally disposed upon on connecting rod 18, and connecting rod 18 is provided with 8 altogether
It is a, and 8 connecting rods 18 are divided to for two groups of settings, and are integrally set on the connecting rod 18 only being connect with driving gear 3 and driven gear 17
Bolt 20 is equipped with, driving motor 16 selects 28 planetary reduction gear stepper motors, which can increase output torque, while increase electricity
The rotary inertia of machine, improve motor start and stop rigidity, can be adapted for drive driving gear 17 carry out angular positive-negative rotation and
Combination suitable for connecting rod 18 of different size and specifications works, and driving gear 3 can be under the driving of driving motor 16
One step drives driven gear 17 to synchronize and is rotated, and the combination of each connecting rod 18 is then allowd to be clamped, due to connecting rod
It is that connecting rod 18 can then be carried out various combination by the cooperation installation of bolt 20 between 18 and driving gear 3 and driven gear 17, weight
It is newly installed on driving gear 3 and driven gear 17, so as to realize the clamping purpose of wider adjustable range.
Operation principle：In utility model works, shaft 12 is driven to rotate then realization 13 phase of rotating seat by motor 12
Pedestal 14 is rotated, the relative rotation of column 11 and manipulator shoulder main body 9 can be realized by the 4th revolving part 10, is led to
Manipulator shoulder main body 9 and the relative rotation of mechanical arm 7 can be realized by crossing third revolving part, can be with by the second revolving part 6
It realizes the relative rotation of mechanical arm 7 and mechanical wrist 5, can realize that mechanical wrist 5 and bearing 2 wrap by the first revolving part 4
The relative rotation of holder body 1 is included, driving gear 3 is driven to rotate by driving motor 16, then driving gear 3 drives driven tooth
17 rotation of wheel, due to 19 being rotatablely connected between connecting rod 18 using shipping and reselling on another market, therefore when driving gear 3 and driven gear 17 rotate,
Relative rotation between each connecting rod 18 may finally realize that clamping is adjusted when needing further increase adjustable range, pass through spiral shell
Rotation removes bolt 20, replaces longer connecting rod 18, then be installed in keyhole 21 by 20 spiral of bolt, you can be normally carried out again
Work, when clamping range at this time is not compared to replacing, adjustable range bigger.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned exemplary embodiment, and
And in the case of the spirit or essential attributes without departing substantially from the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that by containing in the equivalent requirements of the claims is fallen
All changes in justice and range are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
Claims (5)
1. a kind of Five-degree-of-freedmanipulator manipulator, including holder body (1), bearing (2), mechanical wrist (5), mechanical arm (7), machinery
Hand shoulder main body (9), rotating seat (13) and pedestal (14), it is characterised in that：Motor (15) is installed inside the pedestal (14),
Motor (15) upper end is rotatably connected to shaft (12), and shaft (12) is fixed on rotating seat (13) inside, the rotating seat (13)
Upper surface is vertically fixed column (11), and the manipulator shoulder main body (9) is revolved by the 4th revolving part (10) and column (11)
Turn connection, the mechanical arm (7) is rotatably connected by third revolving part (8) with manipulator shoulder main body (9), the manipulator
Wrist (5) is rotatably connected by the second revolving part (6) with mechanical arm (7), and the bearing (2) passes through the first revolving part (4) and machine
Tool wrist (5) is attached, and the holder body (1) is arranged on bearing (2) upper surface, is provided in holder body (1) actively
Gear (3), and driving gear (3) is arranged on bearing (2) upper surface, and driven gear (17) is engaged on driving gear (3), it is described
Keyhole (21) is offered on driving gear (3) and driven gear (17) section, the cooperation of keyhole (21) internal helicoid is fixed with spiral shell
Bolt (20), and bolt (20) is integrally disposed upon on connecting rod (18).
2. a kind of Five-degree-of-freedmanipulator manipulator according to claim 1, it is characterised in that：Motor (15) upper end is the bottom of with respect to
Seat (14) protrusion setting.
3. a kind of Five-degree-of-freedmanipulator manipulator according to claim 1, it is characterised in that：The driving gear (3) and installation
In internal driving motor (16) rotation connection of bearing (2).
4. a kind of Five-degree-of-freedmanipulator manipulator according to claim 1, it is characterised in that：The connecting rod (18) is provided with 8 altogether
It is a, and 8 connecting rods (18) are divided into two groups of settings, and the connecting rod (18) only being connect with driving gear (3) and driven gear (17)
On be wholely set bolt (20).
5. a kind of Five-degree-of-freedmanipulator manipulator according to claim 1 or 4, it is characterised in that：The connecting rod (18) is in symmetrical
Setting, and by (19) rotation connection of shipping and reselling on another market between each group of connecting rod (18) combination, and have in each group of connecting rod (18) combination
One connecting rod (18) by ship and resell on another market (19) be arranged on bearing (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685424.1U CN207548752U (en) | 2017-12-07 | 2017-12-07 | A kind of Five-degree-of-freedmanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685424.1U CN207548752U (en) | 2017-12-07 | 2017-12-07 | A kind of Five-degree-of-freedmanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207548752U true CN207548752U (en) | 2018-06-29 |
Family
ID=62665106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721685424.1U Expired - Fee Related CN207548752U (en) | 2017-12-07 | 2017-12-07 | A kind of Five-degree-of-freedmanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207548752U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895071A (en) * | 2017-12-07 | 2019-06-18 | 天津西青区瑞博生物科技有限公司 | A kind of Five-degree-of-freedmanipulator manipulator |
| CN111973223A (en) * | 2020-08-27 | 2020-11-24 | 苏州市新鸿基精密部品有限公司 | Bracket component suitable for ultrasonic diagnostic apparatus |
-
2017
- 2017-12-07 CN CN201721685424.1U patent/CN207548752U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895071A (en) * | 2017-12-07 | 2019-06-18 | 天津西青区瑞博生物科技有限公司 | A kind of Five-degree-of-freedmanipulator manipulator |
| CN111973223A (en) * | 2020-08-27 | 2020-11-24 | 苏州市新鸿基精密部品有限公司 | Bracket component suitable for ultrasonic diagnostic apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room F2-103, Saida Emerging Industrial Park, Xiqing Economic and Technological Development Zone, Xiqing District, Tianjin Patentee after: Tianjin Xinruibo Technology Co., Ltd. Address before: Room F2-103, Saida Emerging Industrial Park, Xiqing Economic and Technological Development Zone, Xiqing District, Tianjin Patentee before: TIANJIN XIQING RUIBO BIOLOGICAL TECHNOLOGY CO., LTD. |
|
| 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: 20180629 Termination date: 20201207 |