CN209224065U - A kind of robot with Multi-freedom-degreemanipulator manipulator - Google Patents
A kind of robot with Multi-freedom-degreemanipulator manipulator Download PDFInfo
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- CN209224065U CN209224065U CN201821610649.5U CN201821610649U CN209224065U CN 209224065 U CN209224065 U CN 209224065U CN 201821610649 U CN201821610649 U CN 201821610649U CN 209224065 U CN209224065 U CN 209224065U
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Abstract
The utility model relates to robot field more particularly to a kind of robots with Multi-freedom-degreemanipulator manipulator.Its technical solution: a kind of robot with Multi-freedom-degreemanipulator manipulator, including pedestal are connected with shaft by bearing on pedestal, and the angle of revolution regulating mechanism for drive shaft rotation is equipped on pedestal；It is fixed with fixed arm in shaft, the gear that verts is connected with by bearing on fixed arm, the clamping mechanism for engaging with the gear that verts is installed on fixed arm, is fixed with the arm that verts on the gear that verts；It verts and clamping device is installed on arm.The utility model provides a kind of manipulator can adjust the angle robot to guarantee accurate grip objects from both direction, solve the problems, such as that existing robot is difficult to adjust itself inclination angle according to object space.
Description
Technical field
The utility model relates to robot field more particularly to a kind of robots with Multi-freedom-degreemanipulator manipulator.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.With the sustainable development progress of robot technology, machine
People has gradually started to start that the mankind is replaced to work in all trades and professions.But in hospital or chemical experiment room, when
Man-hour is replaced using robot, needs the manipulator in robot flexible as manpower, various sizes can be clamped
Facility will also be able to carry out pressing and touching operation, it is also necessary to which different manipulators can cooperate as the both hands of people.
In order to enable robot to complete these movements, the manipulator of existing robot usually has multiple sets of fixtures or is designed to
Imitative finger shape.
The utility model patent that number of patent application is CN201721906575.5 discloses a kind of manipulator and has the machine
The robot of tool hand, manipulator include pedestal, straight line driving mechanism and clamp assemblies, and straight line driving mechanism is arranged in pedestal,
The output end of straight line driving mechanism is provided with for installing and driving the sliding block group that each grip block moves along a straight line in clamp assemblies
Part；The shape of each grip block matches in clamp assemblies, is capable of forming between grip block when for mutually closing up between grip block
Clamp the grasping part of part to be held.It is mobile using straight line driving mechanism driving sliding block in the utility model, band when sliding block is mobile
Dynamic grip block closes up and opens, and structure is simple, is easy to position, and control program is simple, long service life.
But the manipulator of above-mentioned robot can only relative translation, mutually drawn close by two grip blocks come grip objects.
In actual use, there may be certain tilt angles for object and manipulator, and manipulator is difficult to accurately clamp object at this time.
And its, grip block can only translate, and for a long time, grip block is loosened relative to sliding slot, and grip block is difficult to clamp on object.
Utility model content
The utility model overcomes the deficiencies in the prior art, and providing a kind of manipulator can adjust the angle from both direction to protect
The robot for demonstrate,proving accurate grip objects solves the problems, such as that existing robot is difficult to adjust itself inclination angle according to object space.
In order to solve the above technical problems, the utility model uses following technical scheme:
A kind of robot with Multi-freedom-degreemanipulator manipulator, including pedestal are connected with shaft, pedestal by bearing on pedestal
On be equipped with for drive shaft rotation angle of revolution regulating mechanism；It is fixed with fixed arm in shaft, passes through axis on fixed arm
It holds and is connected with the gear that verts, the clamping mechanism for engaging with the gear that verts is installed on fixed arm, be fixed on the gear that verts
Vert arm；It verts and clamping device is installed on arm.
As a preferred embodiment of the present invention, the clamping device includes two connecting rods, and two connecting rods are articulated with and incline
On pivoted arm, the other end of two connecting rods is hinged with gripper jaw；Vert and be also equipped with pulling component on arm, two gripper jaws with
Pull member hinges.
As a preferred embodiment of the present invention, the pulling component includes pulling cylinder, and the cylinder sleeve of cylinder is pulled to fix
It on the arm that verts, pulls and is fixed with telescopic block on the piston rod of cylinder, two gripper jaws are hinged with telescopic block respectively.
As a preferred embodiment of the present invention, the angle of revolution regulating mechanism includes telescopic cylinder, telescopic cylinder peace
Loaded on rack gear on pedestal, is fixed on the piston rod of telescopic cylinder, swiveling gear is installed, rack gear is nibbled with swiveling gear in shaft
It closes.
As a preferred embodiment of the present invention, the clamping mechanism includes nut, and nut is fixed on fixed arm, nut
It is threaded with lead screw, one end of lead screw is fixed with handwheel, and the other end of lead screw is connected with rotation connection head, is rotatablely connected head
The other end is fixed with arc tooth plate, and arc tooth plate is engaged with the gear that verts.
As a preferred embodiment of the present invention, the rotation connection head includes link slot, and link slot is fixed with lead screw, even
Connector is arranged in access slot, the other end and the arc tooth plate of connector are fixed.
Compared with prior art, the utility model has the beneficial effects that
1, the angle of revolution regulating mechanism of the utility model can drive shaft turn an angle, then the opening side of manipulator
To being adjusted, convenient for adjusting the opening direction of manipulator to being aligned with the retaining part of object, guarantee accurate clamp.As general
After the arm that verts rotates certain inclination angle, it will be verted gear clamping with clamping mechanism, then the opening direction of manipulator is suitable for object
Tilt angle.Therefore, clamping device can adjust separately inclination angle in orthogonal two vertical planes, guarantee that clamping device can be quasi-
True grip objects guarantee the reliability of clamping.
2, pull component when pulling gripper jaw, connecting rod verts under gripper jaw drive, then gripper jaw pull component and
It verts under the collective effect of connecting rod, so that two gripper jaws clamp object when rotating towards each other, when two gripper jaws rotate opposite to each other
Object is decontroled.Object is clamped in such a way that two gripper jaws vert, as long as tilt angle is enough, two gripper jaws are certain
Object can be clamped, avoid two gripper jaws by translating close mode and be easy to appear the feelings of loosening when grip objects
Condition.
3, after pulling cylinder starting, the piston rod of cylinder is pulled to drive telescopic block mobile, telescopic block can be drawn when mobile
Dynamic gripper jaw verts, easy to operate, realizes the automatic gathering or relieving of gripper jaw.
4, after telescopic cylinder starting, the piston cylinder stretchy rack gear of telescopic cylinder is mobile.Since rack gear and swiveling gear are nibbled
It closes, then rack gear can drive swiveling gear to turn an angle, then shaft can drive entire manipulator to vert certain angle, facilitate folder
The opening for holding mechanism can be aligned with object, guarantee accurate clamping.
5, when rotating handwheel, lead screw rotates in nut and respective straight is mobile, then arc can be pushed by being rotatablely connected head
Tooth plate is mobile.After the gear that verts, arc tooth plate engages arc tooth plate with the gear that verts, then vert gear and the arm that verts are consolidated
Situation fixed, that avoid verting arm and clamping device can not be fixed.
6, link slot can be rotated relative to connector, then under the promotion of link slot, connector can only move linearly without
It can rotate, avoid the case where generating movement interference.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of arm and clamping device of verting；
Fig. 3 is the structural schematic diagram of angle of revolution regulating mechanism and shaft；
Fig. 4 is the structural schematic diagram of clamping mechanism.
In figure, 1- pedestal, 2- shaft, the angle of revolution 3- regulating mechanism, 4- fixed arm, 5- verts gear, 6- clamping mechanism,
7- verts arm, 8- clamping device, 31- telescopic cylinder, 32- rack gear, 33- swiveling gear, 61- nut, 62- lead screw, 63- handwheel,
64- is rotatablely connected head, 65- arc tooth plate, 81- connecting rod, 82- gripper jaw, 83- pulling component, 641- link slot, 642- connection
Head, 831- pull cylinder, 832- telescopic block.
Specific embodiment
With reference to the accompanying drawing, the utility model is described in detail.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
Embodiment one
A kind of robot with Multi-freedom-degreemanipulator manipulator, including pedestal 1 are connected with shaft 2 by bearing on pedestal 1,
The angle of revolution regulating mechanism 3 rotated for drive shaft 2 is installed on pedestal 1；Fixed arm 4, fixed arm are fixed in shaft 2
The gear 5 that verts is connected on 4 by bearing, the clamping mechanism 6 for engaging with the gear 5 that verts is installed on fixed arm 4, is verted
The arm 7 that verts is fixed on gear 5；It verts and clamping device 8 is installed on arm 7.
The angle of revolution regulating mechanism 3 of the utility model can drive shaft 2 turn an angle, then the opening side of manipulator
To being adjusted, convenient for adjusting the opening direction of manipulator to being aligned with the retaining part of object, guarantee accurate clamp.As general
After the arm 7 that verts rotates certain inclination angle, it will be verted 5 clamping of gear with clamping mechanism 6, then the opening direction of manipulator is suitable for object
Tilt angle.Therefore, clamping device 8 can adjust separately inclination angle in orthogonal two vertical planes, guarantee clamping device 8
The accurate grip objects of energy, guarantee the reliability of clamping.
Embodiment two
On the basis of example 1, the clamping device 8 includes two connecting rods 81, and two connecting rods 81 are articulated with and vert
On arm 7, the other end of two connecting rods 81 is hinged with gripper jaw 82；It verts to be also equipped on arm 7 and pulls component 83, two clampings
Pawl 82 is hinged with pulling component 83.
When component 83 being pulled to pull gripper jaw 82, connecting rod 81 verts under the drive of gripper jaw 82, then gripper jaw 82 is being drawn
It verts under the collective effect of dynamic component 83 and connecting rod 81, so that two gripper jaws 82 clamp object when rotating towards each other, two folders
It holds when pawl 82 rotates opposite to each other and decontrols object.Object is clamped in such a way that two gripper jaws 82 vert, as long as tilt angle
Enough, two gripper jaws 82 1 surely clamp object, avoid two gripper jaws 82 and are clamped by translating close mode
The case where loosening is easy to appear when object.
Embodiment three
On the basis of embodiment one or embodiment two, the pulling component 83 includes pulling cylinder 831, pulls cylinder
831 cylinder sleeve, which is fixed on, to vert on arm 7, pulls and is fixed with telescopic block 832 on the piston rod of cylinder 831, two gripper jaws 82 divide
It is not hinged with telescopic block 832.
After pulling cylinder 831 to start, the piston rod of cylinder 831 is pulled to drive telescopic block 832 mobile, telescopic block 832 is moved
Gripper jaw 82 can be pulled to vert when dynamic, it is easy to operate, realize the automatic gathering or relieving of gripper jaw 82.
Example IV
On the basis of above-mentioned any one embodiment, the angle of revolution regulating mechanism 3 includes telescopic cylinder 31, is stretched
Cylinder 31 is installed on pedestal 1, and rack gear 32 is fixed on the piston rod of telescopic cylinder 31, swiveling gear 33 is equipped in shaft 2,
Rack gear 32 is engaged with swiveling gear 33.
After telescopic cylinder 31 starts, the piston cylinder stretchy rack gear 32 of telescopic cylinder 31 is mobile.Due to rack gear 32 and revolution
Gear 33 engages, then rack gear 32 can drive swiveling gear 33 to turn an angle, then shaft 2 can drive entire manipulator to vert one
Determine angle, facilitates the opening of clamping device 8 that can be aligned with object, guarantee accurate clamping.
Embodiment five
On the basis of above-mentioned any one embodiment, the clamping mechanism 6 includes nut 61, and nut 61 is fixed on fixation
On arm 4, nut 61 is threaded with lead screw 62, and one end of lead screw 62 is fixed with handwheel 63, and the other end of lead screw 62, which is connected with, to be turned
The other end of dynamic connector 64, rotation connection head 64 is fixed with arc tooth plate 65, and arc tooth plate 65 is engaged with the gear 5 that verts.
When rotating handwheel 63, lead screw 62 rotates in nut 61 and respective straight is mobile, then being rotatablely connected first 64 can push away
Dynamic arc tooth plate 65 is mobile.Arc tooth plate 65 is after the gear 5 that verts, and arc tooth plate 65 is engaged with the gear 5 that verts, then vert tooth
Wheel 5 and the arm 7 that verts are fixed, the situation that avoid verting arm 7 and clamping device 8 can not be fixed.
Embodiment six
On the basis of above-mentioned any one embodiment, the rotation connection head 64 includes link slot 641, link slot 641
It is fixed with lead screw 62, connector 642 is arranged in link slot 641, the other end and arc tooth plate 65 of connector 642 are fixed.
Link slot 641 can be rotated relative to connector 642, then under the promotion of link slot 641,642 meetings of connector are straight
Line is mobile without can rotate, and avoids the case where generating movement interference.
Claims (6)
1. a kind of robot with Multi-freedom-degreemanipulator manipulator, which is characterized in that including pedestal (1), pedestal passes through bearing on (1)
It is connected with shaft (2), the angle of revolution regulating mechanism (3) for drive shaft (2) rotation is installed on pedestal (1)；Shaft (2)
On be fixed with fixed arm (4), be connected on fixed arm (4) by bearing the gear that verts (5), be equipped with and be used on fixed arm (4)
The clamping mechanism (6) engaged with the gear that verts (5) is fixed with the arm that verts (7) on the gear that verts (5)；It verts and is equipped on arm (7)
Clamping device (8).
2. a kind of robot with Multi-freedom-degreemanipulator manipulator according to claim 1, which is characterized in that the clamping machine
Structure (8) includes two connecting rods (81), and two connecting rods (81) are articulated on the arm that verts (7), and the other end of two connecting rods (81) is equal
It is hinged with gripper jaw (82)；Vert to be also equipped on arm (7) and pull component (83), two gripper jaws (82) with pull component
(83) hinged.
3. a kind of robot with Multi-freedom-degreemanipulator manipulator according to claim 2, which is characterized in that the pulling group
Part (83) includes pulling cylinder (831), and the cylinder sleeve of cylinder (831) is pulled to be fixed on the arm that verts (7), pulls cylinder (831)
It is fixed on piston rod telescopic block (832), two gripper jaws (82) are hinged with telescopic block (832) respectively.
4. a kind of robot with Multi-freedom-degreemanipulator manipulator according to claim 1, which is characterized in that the angle of revolution
Spending regulating mechanism (3) includes telescopic cylinder (31), and telescopic cylinder (31) is installed on pedestal (1), the piston of telescopic cylinder (31)
It is fixed with rack gear (32), is equipped in shaft (2) swiveling gear (33) on bar, rack gear (32) is engaged with swiveling gear (33).
5. a kind of robot with Multi-freedom-degreemanipulator manipulator, feature described in any one exist according to claim 1~4
In the clamping mechanism (6) includes nut (61), and nut (61) is fixed on fixed arm (4), and nut (61) is threaded with silk
Thick stick (62), one end of lead screw (62) are fixed with handwheel (63), and the other end of lead screw (62) is connected with rotation connection head (64), rotation
The other end of connector (64) is fixed with arc tooth plate (65), and arc tooth plate (65) is engaged with the gear that verts (5).
6. a kind of robot with Multi-freedom-degreemanipulator manipulator according to claim 5, which is characterized in that the rotation connects
Connector (64) includes link slot (641), and link slot (641) and lead screw (62) are fixed, is arranged with connector in link slot (641)
(642), the other end of connector (642) and arc tooth plate (65) are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610649.5U CN209224065U (en) | 2018-09-30 | 2018-09-30 | A kind of robot with Multi-freedom-degreemanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610649.5U CN209224065U (en) | 2018-09-30 | 2018-09-30 | A kind of robot with Multi-freedom-degreemanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209224065U true CN209224065U (en) | 2019-08-09 |
Family
ID=67499500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821610649.5U Expired - Fee Related CN209224065U (en) | 2018-09-30 | 2018-09-30 | A kind of robot with Multi-freedom-degreemanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209224065U (en) |
-
2018
- 2018-09-30 CN CN201821610649.5U patent/CN209224065U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190809 Termination date: 20210930 |