CN208826635U - A kind of Multi-freedom-degreemanipulator manipulator - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator Download PDFInfo
- Publication number
- CN208826635U CN208826635U CN201821248090.6U CN201821248090U CN208826635U CN 208826635 U CN208826635 U CN 208826635U CN 201821248090 U CN201821248090 U CN 201821248090U CN 208826635 U CN208826635 U CN 208826635U
- Authority
- CN
- China
- Prior art keywords
- freedom
- degreemanipulator manipulator
- manipulator according
- outer bar
- mechanical arm
- 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.)
- Active
Links
Abstract
The utility model relates to field of mechanical technique, in particular a kind of Multi-freedom-degreemanipulator manipulator, including pedestal, the mechanical arm that the support frame of base top is set and is mounted on inside support frame, one end of interior bar is equipped with fixture, the surface annular of winding post is wound with steel strand rope, transmission belt is provided between driving wheel and driven wheel, screwed ring is internally provided with threaded post, the bottom of follow block is provided with stripper plate, the Multi-freedom-degreemanipulator manipulator, the output shaft of work drive motor drives gripper frame rotation, so that mechanical arm integrally rotates in groove, can the clamping radian to mechanical arm be adjusted, to realize that multiple degrees of freedom rotates, itself of steel strand rope and grip block have certain elasticity, so that two pieces of grip blocks have certain reaction force in clamping process, to avoid fixture from clamping tension, the phenomenon that causing product to damage production Raw, dummy block and outer bar interference fit can effectively prevent outer bar to fall off, so that overall operation is steady.
Description
Technical field
The utility model relates to field of mechanical technique, specially a kind of Multi-freedom-degreemanipulator manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently, manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Existing manipulator is able to achieve height, length and the adjusting in direction, but radian direction can not be adjusted,
Cause manipulator more stiff in use, while in clamping, the flexibility ratio of manipulator is poor, is easy to appear manipulator
Product is crushed into phenomenon.In consideration of it, it is proposed that a kind of Multi-freedom-degreemanipulator manipulator.
Utility model content
The purpose of this utility model is to provide a kind of Multi-freedom-degreemanipulator manipulators, mentioned above in the background art to solve
Manipulator is more stiff in use and is easy to appear the problem of product is crushed phenomenon by manipulator.
To achieve the above object, the utility model provides the following technical solutions:
A kind of Multi-freedom-degreemanipulator manipulator including pedestal, is arranged in the support frame of the base top and is mounted on described
Mechanical arm inside support frame, the mechanical arm include outer bar and interior bar, and one end of the interior bar is equipped with fixture, described outer
Inner wall one end of bar is provided with hydraulic cylinder, and the surface of the hydraulic cylinder is provided with piston rod, and the interior bar is close to the piston rod
One end is provided with block；
The fixture includes mandril, and one end of the mandril is provided with straight panel, and the both ends of the straight panel are respectively arranged with folder
Plate is held, one end of the grip block is provided with winding post, and the surface annular of the winding post is wound with steel strand rope, the straight panel
Surface is provided with Rotational Cylindrical, and the surface of the Rotational Cylindrical is provided with driven wheel, and the straight panel is set at the top of the driven wheel
It is equipped with driving wheel, transmission belt is provided between the driving wheel and the driven wheel, the surface of the driving wheel is provided with small-sized
Motor.
Preferably, the inside of the outer bar is hollow structure, the interior bar and the outer bar are slidably matched.
Preferably, the other end ring-wound of the steel strand rope is on the Rotational Cylindrical surface.
Preferably, the driven wheel and Rotational Cylindrical coaxial arrangement.
Preferably, the driving wheel is sequentially connected by the transmission belt and the driven wheel.
Preferably, the inside of the pedestal is equipped with rotating electric machine, rotating disc is provided at the top of the pedestal, it is described
Support frame is internally provided with groove, and the side inner wall of the groove is equipped with bearing gasket, and the bearing gasket is internally provided with
Connecting shaft, the side outer wall of the groove are provided with work drive motor, and the two sides of the work drive motor are equipped with connection frame, described recessed
Slot is internally provided with gripper frame；
The gripper frame includes holding tank, and gripper frame side outer wall is provided with mounting groove, the top of the gripper frame
It is provided with screwed ring, the screwed ring is internally provided with threaded post, and the bottom of the threaded post is equipped with follow block, the follow block
Bottom be provided with stripper plate.
Preferably, the output shaft of the rotating electric machine and the rotating disc are welded and fixed.
Preferably, the size of the size of the holding tank and the outer bar is adapted.
Preferably, the threaded post and the screwed ring are threadedly coupled.
Compared with prior art, the utility model has the beneficial effects that
1, the Multi-freedom-degreemanipulator manipulator, the output shaft of work drive motor drives gripper frame rotation, so that mechanical arm is whole
Rotated in groove, can the clamping radian to mechanical arm be adjusted, thus realize multiple degrees of freedom rotate.
2, the Multi-freedom-degreemanipulator manipulator, steel strand rope and grip block itself have certain elasticity, so that two pieces of clampings
Plate has certain reaction force in clamping process, thus the phenomenon that avoiding fixture from clamping tension, product is caused to damage generation.
3, the Multi-freedom-degreemanipulator manipulator, dummy block and outer bar interference fit, can effectively prevent outer bar to fall off, so that whole
It runs smoothly.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the mechanical arm external structure schematic diagram of the utility model；
Fig. 3 is the mechanical arm inner wall structure diagram of the utility model；
Fig. 4 is the clamp structure schematic diagram of the utility model；
Fig. 5 is the chassis interior structural schematic diagram of the utility model；
Fig. 6 is the support frame structure diagram of the utility model；
Fig. 7 is the gripper frame Structure explosion diagram of the utility model.
In figure: 1, pedestal；11, rotating electric machine；12, rotating disk；2, support frame；21, groove；22, bearing gasket；23, it connects
Axis；24, work drive motor；25, connection frame；26, gripper frame；261, holding tank；262, mounting groove；263, screwed ring；264, screw thread
Column；265, follow block；266, dummy block；3, mechanical arm；31, outer bar；32, interior bar；33, fixture；331, mandril；332, straight panel；
333, grip block；334, winding post；335, steel strand rope；336, Rotational Cylindrical；337, driven wheel；338, transmission belt；339, driving wheel；
3310, micro-machine；34, block；35, hydraulic cylinder；36, piston rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for
Convenient for description the utility model and simplify description, rather than the equipment of indication or suggestion meaning or element must have specifically
Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Embodiment 1
A kind of Multi-freedom-degreemanipulator manipulator, as shown in Figure 1 to Figure 3, including pedestal 1, the support frame 2 being arranged at the top of pedestal 1
And it is mounted on the mechanical arm 3 inside support frame 2, mechanical arm 3 includes outer bar 31 and interior bar 32, and one end of interior bar 32 is equipped with
Fixture 33, inner wall one end of outer bar 31 are provided with hydraulic cylinder 35, and the surface of hydraulic cylinder 35 is provided with piston rod 36, and interior bar 32 is close
36 one end of piston rod is provided with block 34, and the inside of outer bar 31 is hollow structure, and interior bar 32 and outer bar 31 are slidably matched.
In the present embodiment, the setting of the protrusion of block 34 is in 32 outer wall of interior bar, so that block 34 and the clamping of 31 inner wall of outer bar, interior bar
32 skid off out of outer bar 31.
Further, the engineering for the model HOB63 that hydraulic cylinder 35 is produced using Shanghai Jia You mechanical equipment Co., Ltd
With hydraulic cylinder, pressure limit 31.5MPA, velocity interval 3m/s, piston rod 36 is also produced by the producer, and its support circuit
It can also be provided by the producer, in addition to this, in the utility model be related to circuit and electronic component and module is existing
There is technology, those skilled in the art may be implemented completely, be not necessarily to superfluous words, and the content of the utility model protection is not related to for soft yet
The improvement of part and method.
Specifically, piston rod 36 and interior bar 32 are welded and fixed, facilitate and drive interior bar 331 to eject using piston rod 36.
In the specific implementation process, the phenomenon that being easy to produce product damage in order to avoid previous mechanical clamping, this is practical
Novel personnel make improvements the structure of fixture 33, as shown in figure 4, fixture 33 includes mandril 331, one end of mandril 331 is arranged
There is straight panel 332, the both ends of straight panel 332 are respectively arranged with grip block 333, and one end of grip block 333 is provided with winding post 334, twines
It is wound with steel strand rope 335 around the surface annular of column 334, the surface of straight panel 332 is provided with Rotational Cylindrical 336, the surface of Rotational Cylindrical 336
It is provided with driven wheel 337, straight panel 332 is provided with driving wheel 339, driving wheel 339 and driven wheel close to the top of driven wheel 337
Transmission belt 338 is provided between 337, the surface of driving wheel 339 is provided with micro-machine 3310, another end ring of steel strand rope 335
Shape is wrapped in 336 surface of Rotational Cylindrical, and driven wheel 337 and Rotational Cylindrical 336 are coaxially disposed, driving wheel 339 by transmission belt 338 with from
Driving wheel 337 is sequentially connected.
In the present embodiment, straight panel 332 is made of Nodular cast iron material, and material is hard, and stability is good, is not susceptible to
Bending and phenomenon of rupture.
Further, grip block 333 is made of aluminum alloy material, and material has good toughness, and conveniently to production
Product are clamped.
Specifically, 335 high carbon chromium wire quality of steel strand rope is made, material has good structural, is not easily broken, together
When good toughness, there is certain elasticity.
It is worth noting that micro-machine 3310 is produced using Shandong Xianghe Group Co., Ltd.'s Boshan micro machine factory
Model ZYT permanent magnet direct current motor, and its support circuit can also be provided by the producer, in addition to this, the utility model
In be related to circuit and electronic component and module is the prior art, those skilled in the art may be implemented completely, nothing
Superfluous words is needed, the content of the utility model protection is not related to the improvement for software and method yet.
Embodiment 2
In the specific implementation process, the adjusting in radian direction, the utility model personnel couple are carried out to mechanical arm 3 for convenience
The structure of support frame 2 makes improvements, and as a kind of preferred embodiment, as shown in Figure 5 and Figure 6, the inside of pedestal 1 is equipped with rotation
Motor 11, the top of pedestal 1 are provided with rotating disc 12, and support frame 2 is internally provided with groove 21, the side inner wall peace of groove 21
Equipped with bearing gasket 22, bearing gasket 22 is internally provided with connecting shaft 23, and the side outer wall of groove 21 is provided with work drive motor 24, work
The two sides for making motor 24 are equipped with connection frame 25, and groove 21 is internally provided with gripper frame 26, the output shaft of rotating electric machine 11 and turn
Moving plate 12 is welded and fixed.
In the present embodiment, connecting shaft 23 and bearing gasket 22 are rotatablely connected, and connecting shaft 23 is facilitated to rotate in bearing gasket 22, into
And it realizes the radian of mechanical arm 3 and adjusts.
Further, the other end of connecting shaft 23 is welded on 26 surface of gripper frame, so that connecting shaft 23 and gripper frame 26 connect
It connects closely, it is not easy to break.
It is worth noting that model of the rotating electric machine 11 using the forever female accurate electromechanical Co., Ltd's production in the Foshan City South Sea
The vertical gear speed reducer of NCV-3700W, complete machine power are 3700W, and its support circuit can also be provided by the producer, except this it
Outside, circuit and electronic component and module are related in the utility model is the prior art, and those skilled in the art are complete
It may be implemented entirely, be not necessarily to superfluous words, the content of the utility model protection is not related to the improvement for software and method yet.
In the specific implementation process, mechanical arm 3 is clamped for convenience, the utility model personnel are to gripper frame 26
Structure makes improvements, as shown in fig. 7, gripper frame 26 includes holding tank 261,26 side outer wall of gripper frame is provided with mounting groove 262,
The top of gripper frame 26 is provided with screwed ring 263, and screwed ring 263 is internally provided with threaded post 264, the bottom of threaded post 264
Follow block 265 is installed, the bottom of follow block 265 is provided with stripper plate 266, and the size of holding tank 261 is mutually fitted with the size of outer bar 31
Match, threaded post 264 and screwed ring 263 are threadedly coupled.
In the present embodiment, follow block 265 and threaded post 264 are welded and fixed, convenient to drive follow block 265 to transport by threaded post 264
It is dynamic.
Further, stripper plate 266 is made of nitrile rubber material, and material has good elasticity, facilitates extruding
Plate 266 is directly attached to the surface of outer bar 31.
The Multi-freedom-degreemanipulator manipulator of the utility model is put into the folder inside gripper frame 26 in use, by outer bar 31
It holds in slot 261, and is threaded into screwed ring 263 by threaded post 264, so that follow block 265 ejects, and dummy block 266 is bonded
On 31 surface of outer bar, outer bar 31 can be fixed, while dummy block 266 and outer bar 31 are interference fitted, and can be effectively prevent
Outer bar 31 falls off, so that overall operation is steady；
Rotating electric machine 11 is accessed into power supply, drives rotating disk 12 to rotate by rotating electric machine 11, and then adjusting mechanical arm 3 is whole
The direction of body clamping, and drive piston rod 36 to eject interior bar 32 using hydraulic cylinder 35, can to the whole length of mechanical arm 3 into
Row is adjusted, and is that the output shaft of work drive motor 24 drives gripper frame 26 to rotate, so that mechanical by the access power supply of work drive motor 24
Arm 3 is whole to be rotated in groove 21, can the clamping radian to mechanical arm 3 be adjusted, to realize that multiple degrees of freedom rotates；
When clamping, micro-machine 3310 is accessed into power supply, driving wheel 339 drives 337 turns of driven wheel by transmission belt 338
It is dynamic, so that steel strand rope 335 forms certain pulling force to grip block 33 at this time in the winding to Rotational Cylindrical 336 of steel strand rope 335,
By two grip blocks 33 to center curvature, clamping work is realized, while itself of steel strand rope 335 and grip block 33 have centainly
Elasticity so that two pieces of grip blocks 33 in clamping process have certain reaction force, thus avoid fixture 33 clamp tension,
The phenomenon that causing product to damage generation.
Basic principles, main features, and advantages of the present invention has been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Be only the utility model preference, be not intended to limit the utility model, do not departing from the spirit and scope of the utility model
Under the premise of, the utility model also has various changes and improvements, these changes and improvements both fall within claimed it is practical
In novel range.The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (9)
1. a kind of Multi-freedom-degreemanipulator manipulator, including pedestal (1), the support frame (2) being arranged at the top of the pedestal (1) and installation
In the internal mechanical arm (3) of support frame as described above (2), it is characterised in that: the mechanical arm (3) includes outer bar (31) and interior bar
(32), one end of the interior bar (32) is equipped with fixture (33), and inner wall one end of the outer bar (31) is provided with hydraulic cylinder (35),
The surface of the hydraulic cylinder (35) is provided with piston rod (36), and the interior bar (32) is provided with close to the piston rod (36) one end
Block (34)；
The fixture (33) includes mandril (331), and one end of the mandril (331) is provided with straight panel (332), the straight panel
(332) both ends are respectively arranged with grip block (333), and one end of the grip block (333) is provided with winding post (334), described
The surface annular of winding post (334) is wound with steel strand rope (335), and the surface of the straight panel (332) is provided with Rotational Cylindrical (336),
The surface of the Rotational Cylindrical (336) is provided with driven wheel (337), top of the straight panel (332) close to the driven wheel (337)
It is provided with driving wheel (339), is provided between the driving wheel (339) and the driven wheel (337) transmission belt (338), it is described
The surface of driving wheel (339) is provided with micro-machine (3310).
2. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that: during the inside of the outer bar (31) is
Hollow structure, the interior bar (32) and the outer bar (31) are slidably matched.
3. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that: the steel strand rope (335) it is another
End ring shape is wrapped in the Rotational Cylindrical (336) surface.
4. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that: the driven wheel (337) and described
Rotational Cylindrical (336) coaxial arrangement.
5. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that: the driving wheel (339) passes through institute
Transmission belt (338) and the driven wheel (337) are stated to be sequentially connected.
6. a kind of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that: install the inside of the pedestal (1)
Have rotating electric machine (11), is provided with rotating disc (12) at the top of the pedestal (1), being internally provided with for support frame as described above (2) is recessed
The side inner wall of slot (21), the groove (21) is equipped with bearing gasket (22), and the bearing gasket (22) is internally provided with connection
The side outer wall of axis (23), the groove (21) is provided with work drive motor (24), and the two sides of the work drive motor (24) are equipped with
Connection frame (25), the groove (21) are internally provided with gripper frame (26)；
The gripper frame (26) includes holding tank (261), and gripper frame (26) side outer wall is provided with mounting groove (262), institute
It states and is provided at the top of gripper frame (26) screwed ring (263), the screwed ring (263) is internally provided with threaded post (264), institute
The bottom for stating threaded post (264) is equipped with follow block (265), and the bottom of the follow block (265) is provided with stripper plate (266).
7. a kind of Multi-freedom-degreemanipulator manipulator according to claim 6, it is characterised in that: the output of the rotating electric machine (11)
Axis and the rotating disc (12) are welded and fixed.
8. a kind of Multi-freedom-degreemanipulator manipulator according to claim 6, it is characterised in that: the size of the holding tank (261)
It is adapted with the size of the outer bar (31).
9. a kind of Multi-freedom-degreemanipulator manipulator according to claim 6, it is characterised in that: the threaded post (264) and described
Screwed ring (263) is threadedly coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821248090.6U CN208826635U (en) | 2018-08-03 | 2018-08-03 | A kind of Multi-freedom-degreemanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821248090.6U CN208826635U (en) | 2018-08-03 | 2018-08-03 | A kind of Multi-freedom-degreemanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208826635U true CN208826635U (en) | 2019-05-07 |
Family
ID=66308332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821248090.6U Active CN208826635U (en) | 2018-08-03 | 2018-08-03 | A kind of Multi-freedom-degreemanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208826635U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772834A (en) * | 2018-08-03 | 2018-11-09 | 山东省科学院海洋仪器仪表研究所 | A kind of Multi-freedom-degreemanipulator manipulator |
-
2018
- 2018-08-03 CN CN201821248090.6U patent/CN208826635U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772834A (en) * | 2018-08-03 | 2018-11-09 | 山东省科学院海洋仪器仪表研究所 | A kind of Multi-freedom-degreemanipulator manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108772834A (en) | A kind of Multi-freedom-degreemanipulator manipulator | |
| CN102114632B (en) | Rope-driven parallel robot capable of realizing rapid reconfiguration | |
| CN107288830B (en) | A kind of energy storage electric cylinder | |
| CN106514610A (en) | Wall-climbing robot with sliding rail-type mechanical arm | |
| CN106514608A (en) | Wall-climbing robot carrying connecting rod type mechanical arm | |
| CN102672450B (en) | Device for dismounting and carrying end cover of deep sea ultrahigh-pressure sealing cabin | |
| CN107127778B (en) | New forms of energy motor casing location gripping apparatus | |
| CN208826635U (en) | A kind of Multi-freedom-degreemanipulator manipulator | |
| CN107511844B (en) | A kind of modularization aero tyre grabbing device | |
| CN206436394U (en) | A kind of silicon crystal bar cutting equipment | |
| CN104551627B (en) | Using method of hydraulic multi-axis screwing device for flange bolts | |
| CN201289572Y (en) | High speed rustless steel cloud bench | |
| CN105500342A (en) | Industrial mechanical arm | |
| CN209632099U (en) | A kind of low pressure casting automation cell | |
| CN207120219U (en) | A kind of climbing robot for carrying slide rail type mechanical arm | |
| CN209113380U (en) | A kind of folding arm crane | |
| CN203765904U (en) | High-precision compact type side posture rotating device | |
| CN210710109U (en) | Wire spool brake equipment for electrical engineering | |
| CN213288778U (en) | Tapping machine for marine pipeline installation | |
| CN210998673U (en) | Transfer robot with adjustable manipulator | |
| CN211615674U (en) | Mechanical arm fixing structure | |
| CN208992426U (en) | A kind of imderwater cutting device of offshore wind farm engineering piling bar | |
| CN108482678A (en) | A kind of airflight crawl unmanned plane | |
| CN203904470U (en) | Bus lifting device and tightness operation device thereof | |
| CN219404301U (en) | Rotary telescopic industrial manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |