CN210307891U

CN210307891U - Multi-degree-of-freedom manipulator

Info

Publication number: CN210307891U
Application number: CN201920227313.9U
Authority: CN
Inventors: 牛雪梅; 朱其新; 牛福洲; 沈晔湖
Original assignee: Suzhou University of Science and Technology
Current assignee: Suzhou University of Science and Technology
Priority date: 2019-02-20
Filing date: 2019-02-20
Publication date: 2020-04-14
Anticipated expiration: 2029-02-20

Abstract

The utility model provides a multi freedom manipulator, it includes the arm, and the arm includes a plurality of arm units, connects through the rotary joint part between every two adjacent arm units, and the rotary joint part has the pivot, and the motor shaft of motor is connected in the pivot, still is provided with the shaft coupling between motor shaft and the pivot. The utility model discloses compare in prior art and have following advantage: the operation is simple and convenient, various motion tracks can be flexibly preset according to requirements, the visualization is strong and intuitive, and the method can be directly applied to a multi-degree-of-freedom manipulator.

Description

Multi-degree-of-freedom manipulator

Technical Field

The utility model relates to a manipulator field particularly, relates to a multi freedom manipulator.

Background

The multi-degree-of-freedom mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and can be seen in the fields of industrial manufacturing, medicine, consumption service, semiconductor manufacturing and the like. The manipulator receives an external command and accurately positions to a certain point on a three-dimensional (or two-dimensional) space to perform operation.

The current multi-degree-of-freedom manipulator control scheme needs complex hardware and software to realize. Hardware requires high performance computers, motor motion controllers, binocular cameras, various cables, and the like. The software needs computer application programs based on various control and recognition algorithms, user interaction programs and the like. In addition, specialized field installation and commissioning and routine maintenance personnel are required.

Therefore, short plates with high hardware cost, high installation and debugging cost, high daily maintenance cost and the like are not beneficial to the popularization and application of the robot; meanwhile, the problems of complex software debugging, long updating period and the like cannot adapt to variable application requirements; particularly, under the scene that the motion track of the manipulator is predicted and determined and the requirement on the control precision is not high, the traditional control mode brings about great resource waste and sharp rise of cost.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a multi freedom manipulator can solve the complicated, with high costs and the inconvenient problem of operation of hardware among the control of current multi freedom manipulator effectively.

Therefore, on the one hand, the utility model provides a multi freedom manipulator, it includes the arm, and the arm includes a plurality of arm units, connects through the revolute joint part between every two adjacent arm units, and the revolute joint part has the pivot, and the motor shaft of motor is connected in the pivot, still is provided with the shaft coupling between motor shaft and the pivot.

Further, an absolute value encoder is arranged between the coupler and the rotating shaft.

Further, a first end of the robot arm is rotatably mounted on the base, and a second end of the robot arm opposite to the first end is provided with a robot hand.

Further, the first end portion and the base are connected by a rotary joint.

Furthermore, a circuit board is arranged in the base platform and is electrically connected with the motor through a motor control line.

Further, the circuit board is electrically connected with the absolute value encoder through an encoder signal wire.

The utility model provides an among the multi freedom manipulator, it compares in prior art has following advantage: the method has the advantages of simple and convenient operation, strong visualization, intuition, simple hardware and low manufacturing cost, and can be directly applied to the multi-degree-of-freedom manipulator.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a multi-degree-of-freedom manipulator according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a rotary joint component in a multi-degree-of-freedom manipulator according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

An embodiment of a multi-degree-of-freedom manipulator:

referring to fig. 1 to 2, a multi-degree-of-freedom manipulator provided by an embodiment of the present invention is shown, which includes a manipulator 1, the manipulator 1 includes a plurality of manipulator units 11, each two adjacent manipulator units 11 are connected through a rotary joint part 12, the rotary joint part 12 has a rotating shaft 121, the rotating shaft 121 is connected to a motor shaft 131 of a motor 13, a coupler 132 is further provided between the motor shaft 131 and the rotating shaft 121, and an absolute value encoder 133 is further provided between the coupler 132 and the rotating shaft 121. When the synchronous joint is used, each joint is driven by a corresponding motor, synchronous rotation of a plurality of joints can be formed, the structure is compact, and the synchronism is strong.

Referring to fig. 1, a first end 14 of the robot arm 1 is rotatably mounted on a base table 15, and a robot arm 17 is provided on a second end 16 of the robot arm 1 opposite the first end 14.

With continued reference to FIG. 1, the rotatable articulation between the first end 14 and the base platform 15 may provide a rotational effect of the bottom of the robotic arm.

With continued reference to fig. 1, a circuit board is provided within the base station 15 and is electrically connected to the motor 13 via a motor control line 134 to ensure a compact overall structure. The circuit board is also connected to the absolute value encoder 133 through an encoder signal line 1331.

In summary, the multi-degree-of-freedom manipulator provided in this embodiment has the following advantages compared with the prior art: the method has the advantages of simple and convenient operation, strong visualization, intuition, simple hardware and low manufacturing cost, and can be directly applied to the multi-degree-of-freedom manipulator.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The multi-degree-of-freedom manipulator is characterized by comprising a manipulator (1), wherein the manipulator (1) comprises a plurality of manipulator units (11), every two adjacent manipulator units (11) are connected through a rotary joint part (12), the rotary joint part (12) is provided with a rotary shaft (121), the rotary shaft (121) is connected with a motor shaft (131) of a motor (13), a coupler (132) is further arranged between the motor shaft (131) and the rotary shaft (121), an absolute value encoder (133) is further arranged between the coupler (132) and the rotary shaft (121), a first end part (14) of the manipulator (1) is rotatably arranged on a base platform (15), a manipulator (17) is arranged on a second end part (16) of the manipulator (1) opposite to the first end part (14), and the first end part (14) is connected with the base platform (15) through a rotary joint, a circuit board is arranged in the base table (15), the circuit board is electrically connected with the motor (13) through a motor control line (134), and the circuit board is electrically connected with the absolute value encoder (133) through an encoder signal line (1331).