CN207874260U - A kind of multiple degrees of freedom grabs clamping manipulator device - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom grasping and clamping manipulator device, which comprises a dynamic platform, a static platform, a central drive shaft module, a grasping hand module, five bottom base modules with completely identical structures, and five completely identical structures. Driven telescopic shaft module; five bottom base modules are evenly distributed on the static platform; the lower end of the central driving shaft module is fixed at the center of the static platform, and the upper end of the central driving shaft module passes through the circular through hole in the center of the moving platform ; The lower ends of the five driven shaft telescopic modules are respectively connected to a bottom base module, and the upper ends of the five driven shaft telescopic modules are evenly distributed on the bottom edge of the moving platform, and the gripping hand module is arranged on the moving platform, and grasps The clamping hand module is connected to the upper end of the central driving shaft module passing through the moving platform; the utility model has reasonable design, good processing and assembly technology; five sets of bottom base modules and driven telescopic shaft modules are adopted, and the mechanism has strong bearing capacity and large working space The advantages.

Description

A multi-degree-of-freedom gripping manipulator device

technical field

The utility model relates to the technical field of claw clamping, more specifically, to a multi-degree-of-freedom gripping manipulator device.

Background technique

As an important technology in the manipulator device, the jaw clamp is a part in the chuck mainly used to clamp and clamp the workpiece in the mechanical structure, or a machine tool accessory for clamping and positioning the workpiece. Most of them are evenly distributed in a 360-degree ring on the same platform, and two or more claws approach or withdraw from the center at the same time to complete the work.

During the machining process of the jaws, there are two working modes: automatic and manual. However, the current mechanical devices and equipment can adapt to different application scenarios only by changing the composition of the mechanism or increasing or decreasing the number of jaws. The application number is 201720059335.X Chinese utility model patent discloses a pole gripper, which is clamped by the rotation of the rotary drive device arranged in the middle of the frame and the positioning device arranged on the left and right sides of the frame, so that the pole gripper Multiple objects can be grasped at one time. The application number is 201520610057.3 Chinese utility model patent discloses a rotary gripper, the power of the power device is transmitted to the disc through the gear reduction device, and the disc drives the rotation of the two grabbing arms to realize the stable rotation of the device. The application number is 201621090578.1. The Chinese utility model patent discloses a strip gripping device of a fully automatic blanking machine. Through the telescopic movement of the cylinder piston, the grippers are linked to improve the quality of electroplating products.

But above-mentioned three utility models all are to adopt the mode of linkage of driving parts, and motion mode is single, and mechanism composition form is simple. Moreover, the mechanical mechanism only affects the efficiency and effect of gripping parts through the movement of the claws. There is no innovative design for the platform and rods supporting the claw module, which results in less freedom during operation and a small working space. It is suitable for different scenarios and operating devices. Low adaptability.

In view of the above deficiencies, it is particularly necessary to design and develop a new gripping manipulator device to make up for the above shortcomings.

Utility model content

The purpose of this utility model is to solve the shortcomings of the existing grasping mechanical device that adopts the linkage of driving parts, which has a single movement mode and simple mechanism composition, and proposes a multi-degree-of-freedom grasping manipulator device, which supports the platform through claws The movement trajectory can realize the gripping action of a larger working space.

The utility model achieves the above object through the following technical solutions: a multi-degree-of-freedom gripping manipulator device, including a dynamic platform, a static platform, a central driving shaft module, a gripping hand module, and five bottom base modules with completely identical structures Five driven telescopic shaft modules with the same structure; the five bottom base modules are evenly distributed on the static platform; the lower end of the central driving shaft module is fixed at the center of the static platform, and the upper end of the central driving shaft module passes through the dynamic A circular through hole in the center of the platform; the lower ends of the five driven shaft telescopic modules are respectively connected to a bottom base module, and the upper ends of the five driven shaft telescopic modules are evenly distributed on the bottom edge of the moving platform. On the moving platform, and the gripper module is connected through the upper end of the central driving shaft module of the moving platform;

The bottom base module includes a triangular fixed bracket, a first slider, a stepping motor, a first coupling, a screw rod, a second slider base, a fixed bearing seat, a second slider base end cover, a second Two slide blocks, stepper motor fixing brackets, guide rails, guide rail fixing blocks; the triangular fixing brackets are fixed on the static platform, and the bottom of the triangular fixing brackets is provided with a vertical rectangular groove, and the rectangular groove is arranged on the The rectangular convex strips on the upper surface of the static platform match; the guide rail fixing block is fixed on the inclined top surface of the triangular fixing bracket; the stepping motor is fixed on one end of the guide rail fixing block through the stepping motor fixing bracket, and the stepping motor Connect the screw rod through the first coupling, the screw rod is installed on the guide rail fixed block through two fixed bearing seats, the guide rail fixed block is installed with a guide rail, the guide rail is arranged in parallel with the screw rod, and the first slider is set on the guide rail , the second slider is fixed on the first slider, the second slider base is fixed on the second slider, the second slider base end cover is fixed on the upper surface of the second slider base, the first A slide block is in the shape of a rectangle as a whole, the bottom surface of the first slide block is provided with a rectangular groove matching with the guide rail, and the second slide block is provided with a threaded hole matching with the screw mandrel; the first slide block , the second slider, the second slider base and the second slider base end cover integrally constitute a sliding module that moves along the screw rod and the guide rail, the second slider base is on a stepped shaft as a whole, and the second slider The bottom surface of the block base is obliquely cut to form a new bottom surface, and the new bottom surface is fixed on the second slider by bolts. The upwardly protruding part of the second slider base is provided with a spherical groove, and the spherical groove is connected with the driven The ball end of the telescopic shaft module is matched; the second slider base end cover is installed on the second slider base and limits the ball end of the driven telescopic shaft module to rotate in the spherical groove; the There are five bottom base modules;

The central drive shaft module includes a central drive motor, a second shaft coupling, a central push rod, a central motion block shaft seat, a central motion block and a central push rod rod sleeve, and the central drive motor is fixed on the upper surface of the static platform The center position of the center, the electrode head of the center drive motor is connected to the lower end of the center push rod sleeve through the second coupling, the upper end of the center push rod sleeve is provided with a central circular groove, and the center push rod is in the form of a cylinder shape, the lower end of the center push rod is set in the center circular groove of the center push rod sleeve, the lower end of the center push rod is provided with external threads, and the center circular groove of the center push rod sleeve is provided with a The external thread at the lower end of the lower end matches the internal thread; the central movement block is fixed on the upper end of the central push rod; the center movement block shaft seat is provided with four and evenly installed on the upper surface of the center movement block, Each center movement block rotating shaft shaft seat is provided with a rotating shaft for connecting one end of the claw of the gripping hand module;

The driven telescopic shaft module includes a fixed push rod lower connector, a fixed push rod, a Hooke hinge connector, a fixed push rod upper connector and a ball head, and one end of the fixed push rod is connected through a fixed push rod lower connector The ball head is installed in the spherical groove of the second slider base in the bottom base module; the other end of the fixed push rod is connected to one end of the Hooke hinge connector through the lower connection part of the fixed push rod, The other end of the Hooker hinge connector is fixed on the bottom of the moving platform; there are five driven telescopic shaft modules, and the bottom ball ends of the five driven telescopic shaft modules are correspondingly arranged on the first of the five bottom base modules. On the base of the second slider, the upper ends of the five driven telescopic shaft modules are evenly distributed on the edge of the static platform;

The gripper module includes jaws. The first belt hook spring, the second belt hook spring, the third belt hook spring and the rotating shaft seat of the moving platform. The top edge, the inner upper side arranged parallel to the outer side and the inner lower side inclined to the side away from the outer side, the outer side, top edge, inner upper side and inner lower side of the claw The sides are sequentially connected and integrally formed, and the lower end of the outer side of the jaw is fixed on the upper surface of the moving platform through the shaft seat of the moving platform shaft, and the lower end of the outer side of the jaw is hinged on the shaft seat of the moving platform shaft. The lower end of the inner lower side of the claw is hinged on the shaft seat of the central moving block; the first hook spring, the second hook spring, and the third hook spring are all arranged in parallel, and the first hook spring is arranged on the card. Between the outer side of the claw and the inner upper side, the second hook spring is arranged between the outer side of the claw and the upper end of the inner lower side, and the third hook spring is arranged between the outer side of the claw and the upper end of the inner lower side. Between the middle parts of the inner lower sides; there are four grasping hand modules, and the inner lower sides of the jaws of the four grasping hand modules are correspondingly hinged on the four central movement block shaft seats.

Further, the central moving block is in the shape of a cylinder as a whole, and a circular groove is arranged in the center of the bottom of the central moving block, and the upper end of the central push rod is inserted into the circular groove of the central moving block and fixedly connected with the central moving block by bolts; Eight countersunk holes are arranged on the upper surface of the central movement block, and the shaft seats of the four central movement blocks are fixed on the upper surface of the central movement block by bolts passing through the eight countersunk holes.

Further, the static platform is in the shape of a regular pentagon, and five bottom base modules are arranged on five lines from the center of the static platform to five vertices, and each line is provided with a The positioned rectangular convex strips match the rectangular grooves at the bottom of the bottom base module, so that the triangular fixing bracket is fixed on the static platform.

Further, the circular through hole on the moving platform is set at the center of the moving platform, the inner diameter of the circular through hole is slightly larger than the central moving block, and the central moving block passes through the circular hole on the moving platform under the pushing and pulling action of the central push rod. Shaped through hole for up and down movement.

Further, the Hooker hinge connector includes an upper hinge connector, a middle hinge connector and a lower hinge connector, the upper hinge connector is fixedly connected to the moving platform, and the lower hinge connector is fixedly connected to the upper connector of the fixed push rod, The middle hinge connector is in the shape of a cube as a whole, the upper hinge connector is hinged on the middle hinge connector, the lower hinge connector is hinged on the middle hinge connector, and the hinge axis of the upper hinge connector and the middle hinge connector and the lower hinge connector are connected with each other. The hinge axes of the hinge connectors in the middle are perpendicular to each other.

Further, the triangular fixing bracket is provided with a triangular groove running through the entire triangular fixing bracket along the side, the guide rail fixing block is fixed on the triangular fixing bracket through set screws, and the fixed bearing seat is fixed on the triangular fixing bracket through set screws, step by step The motor fixing bracket is fixed on the triangular fixing bracket by set screws.

Further, a load cell is provided on the inner upper side of each claw.

Further, semicircular grooves for spring hooking are provided on the inner side of the outer side, inner upper side and inner lower side of the claw.

The working principle of the utility model is as follows: when an object needs to be grasped, the central driving motor in the central driving shaft module is used as the driving source, and when the central driving motor rotates, the second shaft coupling drives the center push rod sleeve to move, and through One end of the center push rod sleeve is connected to one end of the center push rod, so that the center push rod moves downward along the central circular groove in the center of the center push rod sleeve. The upper end of the center push rod is connected with the center motion block, and the center motion block also moves downwards with the center push rod; the downward movement of the center motion block drives the four center motion block shaft seats connected to the upper surface of the center motion block along the The circular through hole in the middle of the moving platform moves downwards, and at the same time, the rotating shaft seats of the four central moving blocks drive one end of the connected four claws to move downwards through rotation. Since the other end of the claw is hinged on the rotating shaft seat of the moving platform and the rotating shaft seat of the moving platform is fixed on the moving platform, the other end of the claw will rotate to the position of the central moving block, thereby driving the four claws to tighten inwards .

When the object needs to be released, the central drive motor in the central driving shaft module drives the center push rod sleeve to rotate through the second coupling, and one end of the center push rod sleeve receives one end of the center push rod, so that the center push rod moves along the The central circular groove in the center of the center push rod rod sleeve moves upward; the other end of the central push rod is connected to the central moving block, and the central moving block also moves upward; when the central moving block moves upward, it drives the four central moving block shaft seats from The circular through hole in the middle of the moving platform moves upwards, and the four central moving block shaft seats drive one end of the four claws to move upward, because the other end of the claws is hinged on the shaft seat of the moving platform shaft and the shaft seat of the moving platform is fixed. On the moving platform, the other end of the jaws rotates toward the boundary of the moving platform, thereby realizing the outward release of the four jaws.

When it is necessary to realize the grasping and clamping of objects in different positions in space, the five stepping motors in the five bottom base modules on the static platform are used as the driving source, and the five stepping motors drive the screw to rotate through the first coupling when moving. Then drive the whole body composed of the second slider and the first slider to slide on the guide rail, and at the same time drive the second slider base connected to the second slider to move, the circular groove in the center of the top surface of the second slider base and the The spherical connection of the ball head in the driven telescopic shaft module drives the ball head to move, and then drives the movement of the fixed push rod. The upper end of the fixed push rod drives the combined movement of the Hooke hinge joint through the upper connection part of the fixed push rod. Through five steps The different rotation speeds of the input motors enable five groups of driven telescopic shaft modules to move at different speeds at the same time, and finally realize that the moving platform drives the claws to grasp objects at different positions in the space.

The beneficial effects of the utility model are: the utility model has reasonable design, good processing and assembly technology; five groups of bottom base modules and driven telescopic shaft modules are adopted, and the mechanism has the advantages of strong bearing capacity and large working space; the central driving shaft module adopts The central driving motor is used as the driving source, and the central driving motor set on the static platform is connected with the central push rod sleeve to drive the central moving block to move up and down to provide power and energy guarantee for the entire clamping device; the central driving shaft module, the bottom The gripping support platform composed of three parts, the base module and the driven telescopic shaft module, adopts a series-parallel hybrid structure, the mechanism is flexible in movement, and the structure is compact, which can realize the gripping of objects at any position in space; the gripping hand module adopts claws The two ends are hinged and one end moves. The central moving block drives one end of the claw to rotate to complete the gripping and releasing effect of the claw. It has the characteristics of simple and compact structure and convenient gripping; the whole device is set in the gripper module. The force sensor can control the magnitude of the gripping force, has multiple degrees of freedom of movement trajectory, and has the advantages of convenience, efficiency and intelligence.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom gripping manipulator device of the present invention.

Fig. 2 is a structural schematic diagram of the bottom base module and part of the static platform of the utility model.

Fig. 3 is a structural schematic diagram of the central driving shaft module and the static platform of the utility model.

Fig. 4 is a partial structural diagram of the driven telescopic shaft module, the bottom base module and the moving platform of the utility model.

Fig. 5 is a structural schematic view of the gripping hand module, the moving platform and the upper half of the central driving shaft module of the present invention.

In the figure, 1-triangular fixed bracket, 2-first slider, 3-stepper motor, 4-first coupling, 5-screw, 6-second slider base, 7-fixed push rod Connector, 8-fixed push rod, 9-moving platform, 10-claw, 11-first hook spring, 12-second hook spring, 13-third hook spring, 14-moving platform shaft seat , 15-Hooker hinge connector, 16-fixed push rod upper connector, 17-fixed bearing seat, 18-ball head, 19-second slider base end cover, 20-second slider, 21-step Incoming motor fixed bracket, 22- guide rail, 23- guide rail fixed block, 24- static platform, 25- second coupling, 26- center push rod, 27- center motion block shaft seat, 28- center motion block, 29 -Central push rod sleeve, 30-Load cell.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described:

As shown in Figures 1 to 5, a multi-degree-of-freedom gripping manipulator device includes a moving platform 9, a static platform 24, a central driving shaft module, a gripping hand module, five bottom base modules with completely identical structures, and five five driven telescopic shaft modules with identical structure; five bottom base modules are evenly distributed on the static platform 24; The circular through hole in the center of the platform 9; the lower ends of the five driven shaft telescopic modules are respectively connected to a bottom base module, and the upper ends of the five driven shaft telescopic modules are evenly distributed on the bottom edge of the moving platform 9, and the gripper The module is arranged on the moving platform 9, and the gripping hand module is connected through the upper end of the central driving shaft module of the moving platform 9.

The bottom base module includes a triangular fixed bracket 1, a first slider 2, a stepper motor 3, a first coupling 4, a screw 5, a second slider base 6, a fixed bearing seat 17, a second slider Block base end cover 19, second slide block 20, stepper motor fixed bracket 21, guide rail 22, guide rail fixed block 23; Described triangular fixed bracket 1 is fixed on the described static platform 24, and the bottom of triangular fixed bracket 1 is arranged There is a vertical rectangular groove, which is matched with the rectangular convex strip arranged on the upper surface of the static platform 24; the guide rail fixing block 23 is fixed on the inclined top surface of the triangular fixed bracket 1; The motor 3 is fixed on one end of the guide rail fixing block 23 through the stepping motor fixing bracket 21, the stepping motor 3 is connected to the screw mandrel 5 through the first coupling 4, and the screw mandrel 5 is installed on the guide rail fixing block 23 through two fixed bearing seats 17 Above, the guide rail 22 is installed on the guide rail fixing block 23, and the guide rail 22 is arranged in parallel with the screw mandrel 5. The first slider 2 is set on the guide rail 22, and the second slider 20 is fixed on the first slider 2. The slider base 6 is fixed on the second slider 20, and the second slider base end cover 19 is fixed on the upper surface of the second slider base 6. The first slider 2 is in the shape of a rectangle as a whole. The bottom surface of slide block 2 is provided with a rectangular groove matching with guide rail 22, and described second slide block 20 is provided with the threaded hole that matches with described screw mandrel 5; The first slide block 2, the second slide block 20. The second slider base 6 and the second slider base end cover 19 integrally constitute a sliding module that moves along the screw rod 5 and the guide rail 22. The second slider base 6 is on a stepped axis as a whole, and the second The bottom surface of the slider base 6 is obliquely cut to form a new bottom surface, and the new bottom surface is fixed on the second slider 20 by bolts, and the upwardly protruding part of the second slider base 6 is provided with a spherical groove, and the spherical concave The groove matches the ball end of the driven telescopic shaft module; the second slider base end cover 19 is installed on the second slider base 6 and limits the ball end of the driven telescopic shaft module to the spherical concave. Rotate in the groove; the bottom base module is provided with five.

The central drive shaft module includes a central drive motor 31, a second shaft coupling 25, a central push rod 26, a central motion block shaft seat 27, a central motion block 28 and a central push rod rod sleeve 29, and the central drive motor 31 Fixed on the center position of the upper surface of the static platform 24, the electrode tip of the central drive motor 31 is connected to the lower end of the central push rod sleeve 29 through the second coupling 25, and the upper end of the central push rod sleeve 29 is provided with a central circle shaped groove, the center push rod 26 is cylindrical, the lower end of the center push rod 26 is sleeved in the center circular groove of the center push rod sleeve 29, the lower end of the center push rod 26 is provided with an external thread, and the center push rod 26 is provided with an external thread. The central circular groove of the rod sleeve 29 is provided with an internal thread that matches the external thread of the lower end of the central push rod 26; the central moving block 28 is fixed on the upper end of the central pushing rod 26; the central moving block rotating shaft There are four shaft seats 27 and they are evenly installed on the upper surface of the central moving block 28, and each center moving block rotating shaft shaft seat 27 is provided with a rotating shaft for connecting one end of the claw 10 of the gripper module.

The driven telescopic shaft module includes a fixed push rod lower connector 7, a fixed push rod 8, a Hooke hinge connector 15, a fixed push rod upper connector 16 and a ball head 18, and one end of the fixed push rod 8 is fixed by The lower connecting part 7 of the push rod is connected with the ball head 18, and the ball head 18 is installed in the spherical groove of the second slider base 6 in the bottom base module; the other end of the fixed push rod 8 is lowered by the fixed push rod. Connector 7 connects one end of Hooke hinge connector 15, and the other end of Hooke hinge connector 15 is fixed on the bottom of moving platform 9; said driven telescopic shaft module is also provided with five, five driven telescopic shaft modules The bottom ball end is correspondingly arranged on the second slider base 6 of the five bottom base modules, and the upper ends of the five driven telescopic shaft modules are evenly distributed on the edge of the static platform 24 .

The gripper module includes claws 10 . The first belt hook spring 11, the second belt hook spring 12, the third belt hook spring 13 and the moving platform shaft seat 14, the overall shape of the claw 10 is n-shaped, and the claw 10 includes a vertically arranged outer side, The top edge arranged perpendicular to the outer edge, the inner upper edge arranged parallel to the outer edge, and the inner lower edge inclined to the side away from the outer edge, the outer edge, the top edge, the inner edge of the claw 10 The upper side and the inner lower side are sequentially connected and integrally formed. The lower end of the outer side of the jaw 10 is fixed on the upper surface of the moving platform 9 through the shaft seat 14 of the moving platform shaft. The lower end of the outer side of the jaw 10 Hinged on the moving platform rotating shaft shaft seat 14, the lower end of the inner lower side of the claw 10 is hinged on the central moving block rotating shaft shaft seat 27; the first hook spring 11, the second hook spring 12, the second hook spring The three hook springs 13 are all arranged in parallel, the first hook spring 11 is arranged between the outer side and the inner upper side of the claw 10, and the second hook spring 12 is arranged between the outer side and the inner lower side of the claw 10. Between the upper ends of the sides, the third hook spring 13 is arranged between the outer side of the claw 10 and the middle part of the inner lower side; The inner lower sides of the claws 10 are correspondingly hinged on the four central moving block rotating shaft seats 27 .

The central moving block 28 is in the shape of a cylinder as a whole, and the center of the bottom of the central moving block 28 is provided with a circular groove. The upper end of the central push rod 26 is inserted into the circular groove of the central moving block 28 and fixed to the central moving block 28 by bolts. Connection; the upper surface of the center movement block 28 is provided with eight countersunk holes, and the four center movement block shaft seats 27 are fixed on the upper surface of the center movement block 28 by bolts passing through the eight countersunk holes.

The static platform 24 is a regular pentagon, and five bottom base modules are arranged on five connecting lines from the center of the static platform 24 to five vertices, and each connecting line is provided with a bottom base module for positioning Rectangular shape convex line, this rectangular shape convex line matches with the rectangular groove at the bottom of the bottom base module, so that the triangular fixing bracket 1 is fixed on the static platform 24.

The circular through hole on the moving platform 9 is arranged at the center of the moving platform 9, and the inner diameter of the circular through hole is slightly larger than the central moving block 28, and the central moving block 28 passes through the moving platform 9 under the pushing and pulling effect of the central push rod 26. The circular through hole on the top moves up and down.

The Hooker hinge connector 15 includes an upper hinge connector, a middle hinge connector and a lower hinge connector, the upper hinge connector is fixedly connected to the moving platform 9, and the lower hinge connector is fixedly connected to the upper connector 16 of the fixed push rod, The middle hinge connector is in the shape of a cube as a whole, the upper hinge connector is hinged on the middle hinge connector, the lower hinge connector is hinged on the middle hinge connector, and the hinge axis of the upper hinge connector and the middle hinge connector and the lower hinge connector are connected with each other. The hinge axes of the hinge connectors in the middle are perpendicular to each other.

The triangular fixed bracket 1 is provided with a triangular groove running through the entire triangular fixed bracket 1 along the side, the guide rail fixing block 23 is fixed on the triangular fixed bracket 1 by set screws, and the fixed bearing seat 17 is fixed on the triangular fixed bracket 1 by set screws Above, the stepper motor fixing bracket 21 is fixed on the triangular fixing bracket 1 by set screws.

A load cell 30 is provided on the inner upper side of each jaw 10 .

The inside of the outer side, the inner upper side and the inner lower side of the claw 10 are all provided with semicircular grooves for spring hooking.

The working principle of the present utility model is as follows: when an object needs to be grasped, the central driving motor 31 in the central driving shaft module is used as the driving source, and when the central driving motor 31 rotates, the second shaft coupling 25 drives the central push rod rod sleeve 29 Movement, and accept one end of center push rod 26 by one end of center push rod rod cover 29, make center push rod 26 move down along the central circular groove of center push rod rod cover 29 centers. The upper end of the central push rod 26 is connected with the central moving block 28, and the central moving block 28 also moves downward with the central push rod 26; the downward movement of the central moving block 28 is to drive the four central moving blocks connected to the upper surface of the central moving block 28 The rotating shaft shaft seat 27 moves downward along the circular through hole in the middle of the moving platform 9 simultaneously, and simultaneously the four central moving block rotating shaft shaft seats 27 drive the connected four claws 10 one ends to move downward through the rotation. Because the other end of the claw 10 is hinged on the moving platform rotating shaft shaft seat 14 and the moving platform rotating shaft shaft seat 14 is fixed on the moving platform 9, the other end of the claw 10 will rotate to the position of the central moving block, and then drive the four clamps. The claws 10 are tightened inwardly.

When the object needs to be released, the central driving motor 31 in the central driving shaft module drives the center push rod sleeve 29 to rotate through the second coupling 25, and one end of the central push rod sleeve 29 receives one end of the central push rod 26, so that Center push rod 26 moves upwards along the center circular groove of center push rod rod cover 29 centers; Center push rod 26 other ends are connected with center motion block 28, and center motion block 28 also moves upwards; When center motion block 28 moves upwards, Drive the four central moving block rotating shaft shaft seats 27 to move upwards from the circular through hole in the middle of the driven platform 9, and the four central moving block rotating shaft shaft seats 27 drive one end of the four claws 10 to move upward. The other end is hinged on the moving platform rotating shaft seat 14 and the moving platform rotating shaft seat 14 is fixed on the moving platform 9, and the other end of the claw 10 rotates to the position of the boundary of the moving platform, thereby realizing the outward release of the four claws 10.

When it is necessary to realize the gripping of objects in different positions in space, the five stepping motors 3 in the five bottom base modules on the static platform 24 are used as the drive source, and the five stepping motors 3 are driven by the first coupling 4 when they move. The screw mandrel rotates, and then drives the second slider 20 and the first slider 2 to slide on the guide rail, and drives the second slider base 6 connected to the second slider 20 to move, and the second slider base 6 moves. The central circular groove on the top surface of the seat 6 is connected to the spherical surface of the ball head 18 in the driven telescopic shaft module, which drives the ball head 18 to move, and then drives the movement of the fixed push rod 8. The upper end of the fixed push rod 8 passes through the upper connecting piece of the fixed push rod 16 drives the Hooker hinge connector 15 to move in combination, through the five stepping motors 3 with different speeds, five sets of driven telescopic shaft modules move at different speeds at the same time, and finally the moving platform 6 drives the jaws 10 to different positions in the space The object gripper.

The above-described embodiments are only preferred embodiments of the present utility model, and are not limitations to the technical solutions of the present utility model. As long as the technical solutions that can be realized on the basis of the above-mentioned embodiments without creative work, all should be regarded as falling into the scope of this invention. within the protection scope of utility model patents.

Claims (8)

1. A multi-degree-of-freedom gripping manipulator device, characterized in that it includes a moving platform (9), a static platform (24), a central driving shaft module, a gripping hand module, and five bottom base modules with completely identical structures Five driven telescopic shaft modules with the same structure; the five bottom base modules are evenly distributed on the static platform (24); the lower end of the central driving shaft module is fixed at the center of the static platform (24), and the central driving shaft The upper end of the module passes through the circular through hole in the center of the moving platform (9); the lower ends of the five driven shaft telescopic modules are respectively connected to a bottom base module, and the upper ends of the five driven shaft telescopic modules are evenly distributed on the moving platform (9). ) at the bottom edge position, the gripper module is arranged on the moving platform (9), and the gripper module is connected through the upper end of the central driving shaft module of the moving platform (9); The bottom base module includes a triangular fixed bracket (1), a first slider (2), a stepper motor (3), a first coupling (4), a screw rod (5), and a second slider base (6), fixed bearing seat (17), second slider base end cover (19), second slider (20), stepping motor fixing bracket (21), guide rail (22), guide rail fixing block (23 ); the triangular fixed bracket (1) is fixed on the static platform (24), the bottom of the triangular fixed bracket (1) is provided with a vertical rectangular groove, and the rectangular groove is arranged on the static platform (24) The rectangular convex strips on the upper surface are matched; the guide rail fixing block (23) is fixed on the inclined top surface of the triangular fixing bracket (1); the stepping motor (3) is fixed by the stepping motor fixing bracket (21) At one end of the guide rail fixing block (23), the stepper motor (3) is connected to the screw rod (5) through the first coupling (4), and the screw rod (5) is fixed on the guide rail through two fixed bearing seats (17). On the block (23), a guide rail (22) is installed on the guide rail fixing block (23), the guide rail (22) is arranged in parallel with the screw mandrel (5), and the first slide block (2) is set on the guide rail (22), The second slider (20) is fixed on the first slider (2), the second slider base (6) is fixed on the second slider (20), and the second slider base end cover (19) is fixed On the upper surface of the second slider base (6), the first slider (2) has a rectangular shape as a whole, and the bottom surface of the first slider (2) is provided with a rectangular groove matching the guide rail (22), The second slider (20) is provided with a threaded hole matched with the screw rod (5); the first slider (2), the second slider (20), the second slider base (6) and the second slider base end cover (19) integrally constitute a sliding module that moves along the screw rod (5) and the guide rail (22), and the second slider base (6) is on a stepped shaft as a whole, The bottom surface of the second slider base (6) is obliquely cut to form a new bottom surface, and the new bottom surface is fixed on the second slider (20) by bolts, and the upwardly protruding part of the second slider base (6) A spherical groove is provided, and the spherical groove is matched with the ball end of the driven telescopic shaft module; the second slider base end cover (19) is installed on the second slider base (6) and will be The ball end of the dynamic telescopic shaft module is restricted to rotate in the spherical groove; the bottom base module is provided with five; The central drive shaft module includes a central drive motor (31), a second coupling (25), a central push rod (26), a central motion block shaft seat (27), a central motion block (28) and a central push rod Rod sleeve (29), the center drive motor (31) is fixed at the center of the upper surface of the static platform (24), and the electrode head of the center drive motor (31) is connected to the center push rod through the second coupling (25) The lower end of the rod sleeve (29), the upper end of the central push rod rod sleeve (29) is provided with a central circular groove, the central push rod (26) is cylindrical, and the lower end of the central push rod (26) is set In the central circular groove of the central push rod sleeve (29), the lower end of the central push rod (26) is provided with an external thread, and the central circular groove of the central push rod sleeve (29) is provided with a The external thread of the lower end of the rod (26) is matched with the internal thread; the center movement block (28) is fixed on the upper end of the center push rod (26); the center movement block shaft seat (27) is provided with four and Evenly installed on the upper surface of the central movement block (28), each center movement block shaft seat (27) is provided with a rotating shaft for connecting one end of the claw (10) of the gripper module; The driven telescopic shaft module includes a fixed push rod lower connector (7), a fixed push rod (8), a Hooke hinge connector (15), a fixed push rod upper connector (16) and a ball head (18), One end of the fixed push rod (8) is connected to the ball head (18) through the lower connection piece (7) of the fixed push rod, and the ball head (18) is installed on the second slider base (6) in the bottom base module The other end of the fixed push rod (8) is connected to one end of the Hooke hinge connector (15) through the lower connector (7) of the fixed push rod, and the other end of the Hooke hinge connector (15) It is fixed on the bottom of the moving platform (9); there are also five driven telescopic shaft modules, and the bottom ball ends of the five driven telescopic shaft modules correspond to the second slider bases of the five bottom base modules (6), the upper ends of the five driven telescopic shaft modules are evenly distributed on the edge of the static platform (24); The gripping hand module includes a claw (10); a first hook spring (11), a second hook spring (12), a third hook spring (13) and a shaft seat (14) of the moving platform. The claw (10) is n-shaped as a whole, and the claw (10) includes a vertically arranged outer side, a top side arranged perpendicular to the outer side, an inner upper side arranged parallel to the outer side, and an outer side facing away from the outer side. The inner lower side is inclined on one side, the outer side, top side, inner upper side and inner lower side of the claw (10) are sequentially connected and integrally formed, and the outer side of the claw (10) The lower end of the side is fixed on the upper surface of the moving platform (9) through the rotating platform shaft seat (14), and the lower end of the outer side of the claw (10) is hinged on the rotating platform shaft seat (14). The lower end of the inner lower side of the claw (10) is hinged on the center movement block shaft seat (27); the first hook spring (11), the second hook spring (12), the third hook spring ( 13) are set in parallel, the first hook spring (11) is set between the outer side and the inner upper side of the jaw (10), and the second hook spring (12) is set outside the jaw (10). Between the side and the upper end of the inner lower side, the third hook spring (13) is arranged between the outer side of the claw (10) and the middle part of the inner lower side; the gripper module is provided with four One, the inner lower sides of the jaws (10) of the four gripping hand modules are correspondingly hinged on the four central movement block shaft seats (27). 2. A multi-degree-of-freedom gripping manipulator device according to claim 1, characterized in that: the central moving block (28) is in the shape of a cylinder as a whole, and there is a circle at the center of the bottom of the central moving block (28). Groove, the upper end of the center push rod (26) is inserted into the circular groove of the center movement block (28) and fixedly connected with the center movement block (28) by bolts; the upper surface of the center movement block (28) is provided with eight sinks Head hole, four center motion block shaft seats (27) are fixed on the upper surface of the center motion block (28) by bolts passing through these eight countersunk holes. 3. A multi-degree-of-freedom gripping manipulator device according to claim 2, characterized in that: the static platform (24) is in the shape of a regular pentagon, and five bottom base modules are arranged between the center of the static platform (24) and On the five connecting lines of the five vertices, each connecting line is provided with a rectangular convex strip for positioning the bottom base module, and the rectangular convex strip is matched with the rectangular groove at the bottom of the bottom base module , so that the triangular fixed bracket (1) is fixed on the static platform (24). 4. A multi-degree-of-freedom gripping manipulator device according to claim 3, characterized in that: the circular through hole on the moving platform (9) is set at the center of the moving platform (9), and the circular through hole The inner diameter of the center movement block (28) is slightly larger than the center movement block (28), and the center movement block (28) moves up and down through the circular through hole on the moving platform (9) under the push-pull action of the center push rod (26). 5. A multi-degree-of-freedom gripping manipulator device according to claim 4, characterized in that: the Hooker hinge connector (15) includes an upper hinge connector, a middle hinge connector and a lower hinge connector, the upper hinge The hinge connector is fixedly connected with the moving platform (9), the lower hinge connector is fixedly connected with the upper connector (16) of the fixed push rod, the middle hinge connector is in the form of a cube as a whole, the upper hinge connector is hinged on the middle hinge connector, and the lower hinge connector is The hinge connector is hinged on the middle hinge connector, and the hinge axes of the upper hinge connector and the middle hinge connector and the hinge axes of the lower hinge connector and the middle hinge connector are perpendicular to each other. 6. A multi-degree-of-freedom grasping manipulator device according to claim 5, characterized in that: the triangular fixing bracket (1) is provided with a triangular groove running through the entire triangular fixing bracket (1) along the side, and the guide rail fixing block (23) is fixed on the triangular fixed bracket (1) by set screws, the fixed bearing seat (17) is fixed on the triangular fixed bracket (1) by set screws, and the stepper motor fixed bracket (21) is fixed by set screws on the tripod bracket (1). 7 . The multi-degree-of-freedom gripping manipulator device according to claim 6 , characterized in that: a load cell ( 30 ) is provided on the inner upper side of each jaw ( 10 ). 8. A multi-degree-of-freedom gripping manipulator device according to claim 7, characterized in that: the inner side of the outer side, the inner side of the inner upper side, and the inner side of the inner lower side of the claw (10) are all set There are semi-circular slots for spring hooks.