CN210819616U

CN210819616U - Bionic manipulator and production equipment

Info

Publication number: CN210819616U
Application number: CN201921248087.9U
Authority: CN
Inventors: 张阳阳; 孙立明; 高崎; 贾云献; 程中华; 冯蒙丽; 苏小波; 葛鑫
Original assignee: Army Engineering University of PLA
Current assignee: Army Engineering University of PLA
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-06-23
Anticipated expiration: 2029-08-02

Abstract

The utility model provides a bionic manipulator and production equipment comprising the same, relating to the technical field of industrial production and comprising a rotary base, a first pitching assembly, a second pitching assembly, a rotary assembly and a clamping assembly; the first pitching assembly is arranged at the upper end of the rotating shaft, and a first hinged shaft is arranged at the lower part of the first pitching assembly; the second pitching assembly is arranged at the upper end of the first pitching assembly, and a second articulated shaft is arranged at the lower part of the second pitching assembly; the clamping assembly is arranged at the upper end of the rotating assembly. The utility model provides a bionic manipulator, through the circumferencial rotation of rotating base realization device on the horizontal direction, through first every single move subassembly around first articulated shaft swing and second every single move subassembly around the second articulated shaft swing realize the direction of height and to rotating base peripheral direction's extension, be convenient for correspond the operating position and adjust, the setting of gyration subassembly has realized the nimble rotation of centre gripping subassembly on the circumferencial direction, guarantees the accuracy of centre gripping angle, has improved the operating efficiency of centre gripping action.

Description

Bionic manipulator and production equipment

Technical Field

The utility model belongs to the technical field of industrial production, more specifically say, relate to a bionic manipulator and including this bionic manipulator's production facility.

Background

Along with the development of the industry in China, the automation degree is improved, and the automation of operations such as loading, unloading, conveying or operating tools such as a welding gun and a wrench to process and assemble workpieces is realized, so that more and more attention is paid to people. In this case, a manipulator is produced, which is an automatic mechanical device simulating the partial motion of a human hand, and which performs automatic gripping, handling or operation according to a given program, trajectory and requirement. The manipulator is applied in the production, so that the automation level and the labor productivity of the production can be improved; the labor intensity can be reduced, the product quality can be ensured, and the safe production can be realized; in particular, the alloy is widely used in severe environments such as high temperature environments including mechanical processing, stamping, welding, heat treatment, electroplating and the like. In addition, various automatic devices based on the mechanical arm have great functions in the military field, and fields such as battlefield reconnaissance, dangerous environment operation, explosive disposal and the like can be completed by the automatic devices based on the mechanical arm.

The existing manipulator is complex in structure, strong in specificity, special in requirement, high in price, not enough to be popularized and used when mainly applied to a factory assembly line, and poor in flexibility, so that the current situation that only simple pitching actions can be realized is difficult to adapt to actual production requirements.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bionic manipulator to solve the technical problem that the manipulator structure that exists is complicated, the flexibility ratio is poor among the prior art.

In order to achieve the above object, the utility model adopts the following technical scheme: providing a bionic manipulator which comprises a rotary base, a first pitching assembly, a second pitching assembly, a rotary assembly and a clamping assembly; the rotary base is provided with a rotary shaft arranged along the up-down direction, and the lower end of the rotary shaft is also provided with a first rotary steering engine; the first pitching assembly is arranged at the upper end of the rotating shaft, and a first articulated shaft with a main shaft perpendicular to the main shaft of the rotating shaft is arranged between the first pitching assembly and the rotating base; the second pitching assembly is arranged at the upper end of the first pitching assembly, and a second hinge shaft parallel to the first hinge shaft is arranged between the second pitching assembly and the first pitching assembly; the rotating component is arranged above the second pitching component, and a rotating shaft with a main shaft perpendicular to the second hinge shaft is arranged between the rotating component and the second pitching component; the clamping assembly is arranged at the upper end of the rotating assembly and used for clamping objects.

As a further optimization, a first rotary seat is arranged below the rotary shaft, the first rotary seat comprises a rotary disc connected with the output end of the first rotary steering engine and a rotary cylinder fixedly arranged on the rotary disc, and the rotary cylinder is sleeved on the periphery of the rotary shaft and connected with the rotary shaft through a pin shaft.

As a further optimization, a gear connector is further arranged below the first rotary seat, and an output gear meshed with the gear connector is arranged on an output shaft of the first rotary steering engine.

As a further optimization, the first pitching assembly comprises a first seat body, a first pitching steering engine and a first door-shaped frame, wherein the lower end of the first seat body is connected with the rotating shaft, the first pitching steering engine is arranged on the first seat body, the first door-shaped frame is arranged on the first seat body in a spanning mode, a supporting leg on one side of the first door-shaped frame is connected with an output shaft of the first pitching steering engine, and a supporting leg on the other side of the first door-shaped frame is connected with the first seat body through a first hinged shaft; the second pitching assembly comprises a second seat body, a second pitching steering engine and a second door-shaped frame, wherein the lower end of the second seat body is arranged at the top of the first door-shaped frame, the second pitching steering engine is arranged on the second seat body, the second door-shaped frame is arranged on the second seat body in a crossing mode, one side supporting leg of the second door-shaped frame is connected with an output shaft of the second pitching steering engine, and the other side supporting leg of the second door-shaped frame is connected with the second seat body through a second hinged.

As further optimization, the first seat body comprises a connecting plate fixedly connected with the upper end of the rotating shaft and two vertical plates, the two vertical plates are perpendicular to the connecting plate and are arranged on the connecting plate, and the first pitching steering engine is arranged between the two vertical plates.

As further optimization, the rotation assembly comprises a second rotation seat arranged on the second portal frame and a second rotation steering engine arranged on the second rotation seat and provided with an output shaft perpendicular to the main shaft of the second hinge shaft.

As a further optimization, the clamping assembly comprises a mounting seat connected with an output shaft of the second rotary steering engine, a clamping steering engine arranged on one side of the mounting seat, a first gear swing rod connected with an output end of the clamping steering engine, a second gear swing rod meshed with the first gear swing rod and rotatably connected with the mounting seat, a first clamping arm hinged to the outer end of the first gear swing rod, and a second clamping arm hinged to the outer end of the second gear swing rod and used for enclosing a clamping space with the first clamping arm, and the middle part of the first clamping arm and the middle part of the second clamping arm are rotatably connected with the mounting seat respectively.

As further optimization, a first outer extension rod and a second outer extension rod are respectively arranged on the mounting seat, the outer end of the first outer extension rod is rotatably connected with the middle part of the first clamping arm, and the outer end of the second outer extension rod is rotatably connected with the middle part of the second clamping arm.

As further optimization, the front end of the first clamping arm is provided with a first arc-shaped opening with an opening facing one side of the second clamping arm, and the front end of the second clamping arm is provided with a second arc-shaped opening opposite to the first arc-shaped opening.

A production device is provided with a bionic manipulator.

The utility model provides a bionic manipulator's beneficial effect lies in: the utility model provides a bionic manipulator, through the circumferencial rotation of rotating base realization device on the horizontal direction, through first every single move subassembly around first articulated shaft swing and second every single move subassembly around the second articulated shaft swing realize the direction of height and to rotating base peripheral direction's extension, be convenient for correspond the operating position and adjust, the setting of gyration subassembly has realized the nimble rotation of centre gripping subassembly on the circumferencial direction, guarantees the accuracy of centre gripping angle, has improved the operating efficiency of centre gripping action.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a bionic manipulator provided by an embodiment of the present invention;

FIG. 2 is a schematic view of a partial enlarged structure of I in FIG. 1;

FIG. 3 is a schematic front view of the rotary base shown in FIG. 1;

FIG. 4 is a schematic cross-sectional view of A-A of FIG. 3;

FIG. 5 is a schematic structural view of the first pitch assembly of FIG. 1;

fig. 6 is a schematic structural diagram of the second pitch assembly in fig. 1.

In the figure: 100. a rotating base; 111. a rotating shaft; 112. a first rotary steering engine; 113. an output gear; 140. a first rotary base; 141. a rotary disk; 142. a rotary drum; 150. a gear connector; 200. a first pitch assembly; 210. a first seat body; 211. a connecting plate; 212. a vertical plate; 220. a first pitch actuator; 230. a first gantry; 300. a second pitch assembly; 310. a second seat body; 320. a second pitch actuator; 330. a second portal frame; 400. a clamping assembly; 410. a mounting seat; 411. a first outwardly extending rod; 412. a second outer extension bar; 420. clamping a steering engine; 430. a first gear swing link; 440. a second gear swing rod; 450. a first clamp arm; 451. a first arcuate port; 460. a second clamp arm; 461. a second arcuate mouth; 500. a swivel assembly; 510. a second rotary base; 520. and a second rotary steering engine.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to fig. 6, the bionic manipulator provided by the present invention will now be described. The bionic manipulator comprises a rotary base 100, a first pitching assembly 200, a second pitching assembly 300, a rotary assembly 500 and a clamping assembly 400; the rotary base 100 is provided with a rotary shaft 111 arranged along the up-down direction, and the lower end of the rotary shaft 111 is also provided with a first rotary steering engine 112; the first pitching assembly 200 is arranged at the upper end of the rotating shaft 111, and a first hinge shaft with a main shaft perpendicular to the main shaft of the rotating shaft 111 is arranged between the first pitching assembly and the rotating base 100; the second pitching assembly 300 is arranged at the upper end of the first pitching assembly 200, and a second hinge shaft parallel to the first hinge shaft is arranged between the second pitching assembly 200 and the second pitching assembly; the rotation component 500 is disposed above the second pitching component 300, and a rotating shaft with a main shaft perpendicular to the second hinge shaft is disposed between the rotation component 500 and the second pitching component 300; the clamping assembly 400 is disposed at an upper end of the swiveling assembly 500 and is used for clamping an object. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or be indirectly on the other element. The terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present invention. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

The utility model provides a bionic manipulator, compared with the prior art, the utility model provides a bionic manipulator, through the circumferencial rotation of rotary base 100 realization device on the horizontal direction, through first every single move subassembly 200 around first articulated shaft swing and second every single move subassembly 300 around the second articulated shaft swing realize the direction of height and to the extension of rotary base 100 periphery direction, be convenient for correspond operating position and adjust, rotary assembly 500 set up and realized centre gripping subassembly 400 at the ascending nimble rotation of circumferencial direction, guarantee centre gripping angle's accuracy, improved the operating efficiency of centre gripping action.

Referring to fig. 1 and 3 together, as a specific embodiment of the bionic manipulator provided by the present invention, a first rotary base 140 is disposed below the rotary shaft 111, the first rotary base 140 includes a rotary disc 141 connected to an output end of the first rotary steering engine 112 and a rotary cylinder 142 fixedly disposed on the rotary disc 141, and the rotary cylinder 142 is sleeved on the periphery of the rotary shaft 111 and connected to the rotary shaft 111 through a pin. A gear connector 150 is further arranged below the first rotary seat 140, and an output gear 113 which is used for being meshed with the gear connector 150 is arranged on an output shaft of the first rotary steering engine 112. The first rotary seat 140 is arranged to ensure that an output shaft of the rotary steering engine can be effectively transmitted to the rotary shaft 111, and the stability of force and torque transmission is ensured, the output gear 113 is arranged at the outer end of the rotary shaft 111, the first rotary steering engine 112 drives the gear connector 150 to rotate through the engagement of the output gear 113 and the gear connector 150, and then the rotary disc 141 and the rotary drum 142 arranged on the rotary disc 141 are driven to rotate through the gear connector 150, so that the rotary shaft 111 connected with the rotary drum 142 is driven to rotate, and the reliable output of rotation is realized.

Referring to fig. 1 and 5 together, as a specific embodiment of the bionic manipulator provided by the present invention, the first pitching assembly 200 includes a first base 210 having a lower end connected to the revolving shaft 111, a first pitching actuator 220 disposed on the first base 210, and a first gate frame 230 spanning the first base 210, wherein a leg on one side of the first gate frame 230 is connected to an output shaft of the first pitching actuator 220, and a leg on the other side of the first gate frame 230 is connected to the first base 210 through a first hinge shaft; the second pitching assembly 300 comprises a second seat body 310 with a lower end arranged on the top of the first door-shaped frame 230, a second pitching steering engine 320 arranged on the second seat body 310, and a second door-shaped frame 330 arranged on the second seat body 310 in a spanning manner, wherein a leg on one side of the second door-shaped frame 330 is connected with an output shaft of the second pitching steering engine 320, and a leg on the other side of the second door-shaped frame 330 is connected with the second seat body 310 through a second hinge shaft. The two side supporting legs of the first door-shaped frame 230 are respectively hinged with the output end of the first pitching steering engine 220 and the first hinge shaft, the axes of the first hinge shaft and the output end of the first pitching steering engine 220 are overlapped, the first hinge shaft and the first pitching steering engine 220 are coaxially arranged, the first door-shaped frame 230 swings around the first hinge shaft under the driving of the first pitching steering engine 220, and is connected with the second seat body 310 through the top part in addition, so as to fix the second pitching steering engine 320 above, the second door-shaped frame 330 and other components, the integrity of the first door-shaped frame 230 in the rotating process is ensured, and the accuracy of the movement and the displacement of the second pitching assembly 300 above is further ensured. The output shafts of the second hinge shaft and the second pitch steering engine 320 are coaxially arranged, so that the accurate swing of the second portal frame 330 above the second portal frame can be realized.

Referring to fig. 1 and 5, as a specific embodiment of the bionic manipulator provided by the present invention, the first base 210 includes a connecting plate 211 fixedly connected to the upper end of the rotating shaft 111, and two vertical plates 212 disposed on the connecting plate 211 and having two surfaces perpendicular to the connecting plate 211, and the first pitch actuator 220 is disposed between the two vertical plates 212. Connecting plate 211 of first pedestal 210 upper end provides stable basis for two risers 212 of top, and two risers 212 are parallel to each other and set up in connecting plate 211 top, and the center department of the two reserves accommodation space for first every single move steering wheel 220, and the output of first every single move steering wheel 220 links to each other with the lower extreme one side of first door type frame 230, can drive first door type frame 230 and produce the rotation around first every single move steering wheel 220 output shaft.

Referring to fig. 1 to 2, as an embodiment of the bionic manipulator provided by the present invention, the rotation assembly 500 includes a second rotation seat 510 disposed on the second portal frame 330 and a second rotation steering engine 520 disposed on the second rotation seat 510 and having an output shaft perpendicular to a main axis of the second hinge shaft. Gyration subassembly 500 is used for realizing the rotation of centre gripping subassembly 400 on the circumferencial direction, is convenient for more accurate regulation centre gripping angle, guarantees accurate centre gripping effect, is convenient for realize follow-up accuracy of placing and installing.

Referring to fig. 1 to 2, as an embodiment of the bionic manipulator provided by the present invention, the clamping assembly 400 includes a mounting base 410 connected to an output shaft of the second rotary steering engine 520, a clamping steering engine 420 disposed on one side of the mounting base 410, a first gear swing link 430 connected to an output end of the clamping steering engine 420, a second gear swing link 440 engaged with the first gear swing link 430 and rotatably connected to the mounting base 410, a first clamping arm 450 hinged to an outer end of the first gear swing link 430, and a second clamping arm 460 hinged to an outer end of the second gear swing link 440 and used to surround a clamping space with the first clamping arm 450, wherein a middle portion of the first clamping arm 450 and a middle portion of the second clamping arm 460 are rotatably connected to the mounting base 410, respectively. The clamping assembly 400 realizes the rotation of the outer ends of the first gear swing rod 430 and the second gear swing rod 440 around the hinge point of the first gear swing rod and the second gear swing rod respectively with the mounting seat 410 through the meshing action of the end parts of the first gear swing rod 430 and the second gear swing rod 440 symmetrically arranged on the mounting seat 410, and further drives the outer ends of the first clamping arm 450 and the second clamping arm 460 to rotate around the hinge point of the middle part of the outer ends of the first clamping arm 450 and the second clamping arm 460 and the hinge point of the mounting seat 410 respectively, so that the clamping and opening actions of the outer ends of the first clamping arm 450 and the. The first gear swing link 430 includes a first gear portion and a first rod body disposed at the periphery of the first gear portion and extending outward and used for being hinged to the first clamping arm 450, and the width of the outer end of the first rod body is smaller than the width of the inner end of the first rod body; the structure of the second gear swing link 440 is identical to that of the first gear swing link 430, and the two are symmetrically arranged.

Referring to fig. 1 to 2, as an embodiment of the bionic manipulator provided by the present invention, a first outward extending rod 411 and a second outward extending rod 412 are respectively disposed on the mounting base 410, an outer end of the first outward extending rod 411 is rotatably connected to a middle portion of the first clamping arm 450, and an outer end of the second outward extending rod 412 is rotatably connected to a middle portion of the second clamping arm 460. In order to ensure that the outer ends of the first clamping arm 450 and the second clamping arm 460 can extend out of the mounting base 410 for a long time and ensure effective clamping length, the mounting base 410 is provided with a first extending rod 411, the outer end of the first extending rod 411 is used for realizing hinging with the middle part of the second clamping arm 460, and when the first gear swing rod 430 swings, the first clamping arm 450 is driven to rotate around the hinge point of the first clamping arm 450 and the first extending rod 411, so that the folding and opening actions of the first clamping arm 450 and the second clamping are realized.

Referring to fig. 1 to 2, as an embodiment of the bionic manipulator provided by the present invention, a first arc-shaped opening 451 with an opening facing one side of the second clamping arm 460 is disposed at the front end of the first clamping arm 450, and a second arc-shaped opening 461 disposed opposite to the first arc-shaped opening 451 is disposed at the front end of the second clamping arm 460. The first arc-shaped opening 451 and the second arc-shaped opening 461 which are oppositely arranged provide enough accommodating space for clamping articles, and avoid the clamping inconvenience caused by direct clamping through the straight rod section and the danger that the articles are easy to slip and fall. The first arcuate aperture 451 and the second arcuate aperture 461 are sized and curved to conform to the outer shape to be clamped.

A production device is provided with a bionic manipulator. In the production and processing process, the equipment can utilize the bionic manipulator to grab and place corresponding parts or products so as to adapt to the requirements of the production process.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Bionic manipulator, its characterized in that includes:

the rotary base (100) is provided with a rotary shaft (111) arranged along the vertical direction, and the lower end of the rotary shaft (111) is also provided with a first rotary steering engine (112);

the first pitching assembly (200) is arranged at the upper end of the rotating shaft (111), and a first hinge shaft with a main shaft perpendicular to the main shaft of the rotating shaft (111) is arranged between the first pitching assembly and the rotating base (100);

the second pitching assembly (300) is arranged at the upper end of the first pitching assembly (200), and a second hinging shaft parallel to the first hinging shaft is arranged between the second pitching assembly (200) and the second pitching assembly;

the rotation component (500) is arranged above the second pitching component (300), and a rotating shaft with a main shaft perpendicular to the second hinge shaft is arranged between the rotation component and the second pitching component (300);

and the clamping assembly (400) is arranged at the upper end of the rotating assembly (500) and is used for clamping an object.

2. The bionic manipulator according to claim 1, wherein a first rotating seat (140) is arranged between the rotating shaft (111) and the first rotating steering engine (112), the first rotating seat (140) comprises a rotating disc (141) connected with the output end of the first rotating steering engine (112) and a rotating cylinder (142) fixedly arranged on the rotating disc (141), and the rotating cylinder (142) is sleeved on the periphery of the rotating shaft (111) and connected with the rotating shaft (111) through a pin shaft.

3. The bionic manipulator as claimed in claim 2, wherein a gear connector (150) is further arranged below the first rotary base (140), and an output gear (113) meshed with the gear connector (150) is arranged on an output shaft of the first rotary steering engine (112).

4. The bionic manipulator according to claim 1, wherein the first pitching assembly (200) comprises a first base body (210) with a lower end connected with the rotating shaft (111), a first pitching actuator (220) arranged on the first base body (210), and a first gate-shaped frame (230) arranged on the first base body (210) in a spanning manner, wherein one side of the first gate-shaped frame (230) is connected with an output shaft of the first pitching actuator (220), and the other side of the first gate-shaped frame (230) is connected with the first base body (210) through a first hinge shaft; the second pitching assembly (300) comprises a second seat body (310) with the lower end arranged at the top of the first door-shaped frame (230), a second pitching steering engine (320) arranged on the second seat body (310) and a second door-shaped frame (330) arranged on the second seat body (310) in a crossing mode, supporting legs on one side of the second door-shaped frame (330) are connected with an output shaft of the second pitching steering engine (320), and supporting legs on the other side of the second door-shaped frame (330) are connected with the second seat body (310) through a second hinge shaft.

5. The bionic manipulator as claimed in claim 4, wherein the first seat (210) comprises a connecting plate (211) fixedly connected to the upper end of the rotating shaft (111) and two vertical plates (212) with plate surfaces perpendicular to the connecting plate (211) and arranged on the connecting plate (211), and the first pitching actuator (220) is arranged between the two vertical plates (212).

6. The bionic manipulator according to claim 5, wherein the rotating assembly (500) comprises a second rotating seat (510) arranged on the second portal frame (330) and a second rotating steering engine (520) arranged on the second rotating seat (510) and having an output shaft perpendicular to the main axis of the second hinge shaft.

7. The bionic manipulator as claimed in claim 6, wherein the clamping assembly (400) comprises a mounting base (410) connected with an output shaft of the second rotary steering engine (520), a clamping steering engine (420) arranged on one side of the mounting base (410), a first gear swing rod (430) connected with an output end of the clamping steering engine (420), a second gear swing rod (440) engaged with the first gear swing rod (430) and rotatably connected with the mounting base (410), a first clamping arm (450) hinged with an outer end of the first gear swing rod (430), and a second clamping arm (460) hinged with an outer end of the second gear swing rod (440) and used for enclosing a clamping space with the first clamping arm (450), the middle part of the first clamping arm (450) and the middle part of the second clamping arm (460) are respectively connected with the mounting seat (410) in a rotating way.

8. The bionic manipulator as claimed in claim 7, wherein the mounting seat (410) is provided with a first external extension rod (411) and a second external extension rod (412), respectively, the outer end of the first external extension rod (411) is rotatably connected with the middle part of the first clamping arm (450), and the outer end of the second external extension rod (412) is rotatably connected with the middle part of the second clamping arm (460).

9. The bionic manipulator as claimed in claim 7 or 8, wherein the front end of the first clamping arm (450) is provided with a first arc-shaped opening (451) which is opened towards one side of the second clamping arm (460), and the front end of the second clamping arm (460) is provided with a second arc-shaped opening (461) which is arranged opposite to the first arc-shaped opening (451).

10. A production facility, characterized in that the production facility is provided with a biomimetic manipulator according to any of claims 1-8.