CN213005376U

CN213005376U - Multi-degree-of-freedom manipulator

Info

Publication number: CN213005376U
Application number: CN202021272382.0U
Authority: CN
Inventors: 安琪
Original assignee: Pingdingshan Tianruiyaodian Cement Co ltd
Current assignee: Pingdingshan Tianruiyaodian Cement Co ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2021-04-20
Anticipated expiration: 2030-07-01

Abstract

The utility model relates to the technical field of multi-degree-of-freedom manipulator application, in particular to a multi-degree-of-freedom manipulator which is characterized by comprising a base, a turntable, a guide pillar, a limiting plate, a first support pillar, a grabbing mechanism and an adjusting mechanism; the top of the base is rotatably connected with a turntable; the guide post is fixedly connected to the top of the turntable; the limiting plate is fixedly connected to the end part of the guide pillar; the first support column is connected to the side wall of the guide column in a sliding manner; the grabbing mechanism is hinged with the supporting column; an adjusting mechanism is arranged between the base and the first supporting column; make whole manipulator reach omnidirectional regulation through setting up adjustment mechanism, realized the application to different occasions, set up simultaneously and snatched the mechanism and solved the insecure problem when snatching the cylinder object.

Description

Multi-degree-of-freedom manipulator

Technical Field

The utility model relates to a multi freedom manipulator application technology field specifically is a multi freedom manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

When the existing multi-degree-of-freedom manipulator is used, the direction is often only adjusted in a single mode, the existing multi-degree-of-freedom manipulator cannot adapt to application of different occasions, meanwhile, fixation cannot be achieved when objects similar to cylindrical bodies are grabbed, and loss is possibly caused due to the fact that grabbing is not firm.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi freedom manipulator to solve current multi freedom manipulator and can not reach the different occasions of all-round regulation adaptation, simultaneously can not be firm fixed when snatching grab the thing.

In order to achieve the above object, the utility model provides a following technical scheme:

a multi-degree-of-freedom manipulator comprises a base, a rotary table, a guide pillar, a limiting plate, a first support column, a grabbing mechanism and an adjusting mechanism; the top of the base is rotatably connected with a turntable; the guide post is fixedly connected to the top of the turntable; the limiting plate is fixedly connected to the end part of the guide pillar; the first support column is connected to the side wall of the guide column in a sliding manner; the grabbing mechanism is hinged with the first supporting column; an adjusting mechanism is arranged between the base and the first supporting column; the grabbing mechanism comprises a second supporting column, a U-shaped frame, a first U-shaped rod, a second U-shaped rod, a sliding plate, a pushing assembly and a fixing assembly; the second supporting column is hinged with the first supporting column; the U-shaped frame is fixedly connected to the end part of the second supporting column; the end part of the U-shaped frame is provided with a sliding chute; the sliding plate is connected with the sliding chute in a sliding manner; the pushing assembly is fixedly connected to the side wall of the U-shaped frame; the first U-shaped plate is fixedly connected to the hinge joint of the pushing assembly; the second U-shaped rod is fixedly connected to the end part of the sliding plate; the fixing assembly is arranged on the side wall of the second U-shaped plate.

Further, the adjusting mechanism comprises a motor, a first gear, a second gear, a cylinder, a fixed block and a first electric push rod; the motor is fixedly connected to the bottom of the base; the first gear is fixedly connected with the output end of the motor; the second gear is fixedly connected to the bottom of the turntable; the air cylinder is fixedly connected to the top of the rotary table, and the output end of the air cylinder is fixedly connected with the bottom of the first support column; the fixed block is fixedly connected to the side wall of the first support column; the first electric push rod is fixedly connected to the fixed block, and the output end of the first electric push rod is hinged to the second support column.

Further, the pushing assembly comprises a second electric push rod, a linkage block, a linkage rod, a first connecting rod and a second connecting rod; the second electric push rod is fixedly connected in the side wall of the U-shaped frame; the linkage block is fixedly connected to the output end of the second electric push rod; one end of the linkage rod is hinged with the linkage block, and the other end of the linkage rod is hinged with the sliding plate; one end of the first connecting rod is hinged with the linkage block, and the other end of the first connecting rod is hinged with the sliding plate; one end of the second connecting rod is hinged to the linkage block, and the other end of the second connecting rod is hinged to the U-shaped rod.

Further, the fixing assembly comprises an air bag, a rubber tube, an extrusion plate, a spring and a push plate; a groove is formed in the side wall of the second U-shaped plate; the air bag is arranged in the groove; the rubber tube is connected with the air bag; the extrusion plate is arranged in the groove and is in contact with the air bag; one end of the spring is fixedly connected to the top of the extrusion plate, and the other end of the spring is fixedly connected with the push plate.

Furthermore, the two springs are arranged in a shared manner and are symmetrically arranged relative to the center of the extrusion plate; the second U-shaped plate is provided with two and is two-thirds of a circle after being combined.

Furthermore, two guide pillars are arranged on the top of the rotary table.

The utility model has the advantages that:

the utility model discloses in, make whole manipulator reach the omnidirectional and adjusted through setting up adjustment mechanism, realized the application to different occasions, set up simultaneously and snatched the mechanism and solved the insecure problem when snatching the cylinder object.

Drawings

Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom manipulator in the present invention;

fig. 2 is a schematic structural view of a grabbing mechanism of a multi-degree-of-freedom manipulator in the present invention;

fig. 3 is a side view of a multi-degree-of-freedom manipulator according to the present invention;

FIG. 4 is a view showing the structure of the area A in FIG. 2;

illustration of the drawings: the device comprises a base 1, a rotating disc 2, a guide post 3, a limit plate 4, a first support post 5, a grabbing mechanism 6, a second support post 61, a U-shaped frame 62, a first U-shaped plate 63, a second U-shaped plate 64, a sliding plate 65, a pushing assembly 66, a second electric push rod 661, a linkage block 662, a linkage rod 663, a first connecting rod 664, a second connecting rod 665, a fixing assembly 67, an air bag 671, a rubber tube 672, an extrusion plate 673, a spring 674, a push plate 675, an adjusting mechanism 7, a motor 71, a first gear 72, a second gear 73, an air cylinder 74, a fixed block 75 and a first electric push rod 76.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, a multi-degree-of-freedom manipulator includes a base 1, a turntable 2, a guide post 3, a limit plate 4, a first support post 5, a grabbing mechanism 6 and an adjusting mechanism 7; the top of the base 1 is rotatably connected with a turntable 2; the guide post 3 is fixedly connected to the top of the turntable 2; the limiting plate 4 is fixedly connected to the end part of the guide pillar 3; the first support column 5 is connected to the side wall of the guide column 3 in a sliding manner; the grabbing mechanism 6 is hinged with the first support column 5; an adjusting mechanism 7 is arranged between the base 1 and the first support column 5; the grabbing mechanism 6 comprises a second supporting column 61, a U-shaped frame 62, a first U-shaped plate 63, a second U-shaped plate 64, a sliding plate 65, a pushing assembly 66 and a fixing assembly 67; the second support column 61 is hinged with the first support column 5; the U-shaped frame 62 is fixedly connected to the end part of the second supporting column 61; the end part of the U-shaped frame 62 is provided with a sliding chute; the sliding plate 65 is connected with the sliding groove in a sliding manner; the pushing assembly 66 is fixedly connected to the side wall of the U-shaped frame 62; the first U-shaped plate 63 is fixedly connected to the hinge joint of the pushing assembly 66; the second U-shaped plate 64 is fixedly connected to the end part of the sliding plate 65; the fixing component 67 is arranged on the side wall of the second U-shaped plate 64; when the automatic grabbing device works, the motor 71 arranged in the base 1 drives the first gear 72 to move far, the second gear 73 meshed with the first gear 72 rotates along with the first gear, the second gear 73 is fixedly connected to the bottom of the turntable 2, so the turntable 2 can move along with the first gear, the cylinder 74 fixedly connected to the top of the turntable 2 can push the first support column 5 to move up and down, so that the height is adjusted, the first electric push rod 76 fixedly connected to the side wall of the first support column 5 can push the second support column 61 hinged with the first support column 5, so that grabbing functions of different angles are realized, the grabbing mechanism 6 is provided with the second electric push rod 661 which can push the linkage block 662 fixedly connected to the output end, the linkage rod 663 hinged with the linkage block 662 and the first connecting rod 664 can move along with the linkage block 662, so as to drive the sliding plate 65 and the second connecting rod 665, so that grabbing actions are realized, when a grabbed object is extruded to the fixed component 67, the effect of further fixation is achieved.

As an embodiment of the present invention, the adjusting mechanism 7 includes a motor 71, a first gear 72, a second gear 73, a cylinder 74, a fixing block 75 and a first electric push rod 76; the motor 71 is fixedly connected to the bottom of the base 1; the first gear 72 is fixedly connected with the output end of the motor 71; the second gear 73 is fixedly connected to the bottom of the turntable 2; the air cylinder 74 is fixedly connected to the top of the turntable 2, and the output end of the air cylinder is fixedly connected to the bottom of the first support column 5; the fixed block 75 is fixedly connected to the side wall of the first support column 5; the first electric push rod 76 is fixedly connected to the fixed block 75, and the output end of the first electric push rod is hinged to the second support column 61; during operation, install and drive first gear 72 telemechanical at the inside motor 71 of base 1, second gear 73 with first gear 72 meshing can follow the rotation, because second gear 73 rigid coupling is in carousel 2 bottom, consequently carousel 2 can follow the motion, the motion of all around having realized, the cylinder 74 of rigid coupling at carousel 2 top can promote first support column 5 up-and-down motion, the regulation of height has been realized, first electric putter 76 of rigid coupling on first support column 5 lateral wall can promote and first support column 5 articulated second support column 61, the function of snatching of different angles has been realized.

As an embodiment of the present invention, the pushing assembly 66 includes a second electric pushing rod 661, a linkage block 662, a linkage rod 663, a first connecting rod 664 and a second connecting rod 665; the second electric push rod 661 is fixedly connected in the side wall of the U-shaped frame 62; the linkage block 662 is fixedly connected to the output end of the second electric push rod 661; one end of the linkage rod 663 is hinged with the linkage block 662, and the other end of the linkage rod 663 is hinged with the sliding plate 65; one end of the first connecting rod 664 is hinged with the linkage block 662, and the other end of the first connecting rod is hinged with the sliding plate 65; one end of the second connecting rod 665 is hinged with the linkage block 662, and the other end is hinged with the U-shaped rod; during operation, a second electric push rod 661 is arranged in the U-shaped frame 62 of the grabbing mechanism 6, the linkage block 662 fixedly connected to the output end can be pushed, the linkage rod 663 and the first connecting rod 664 which are hinged to the linkage block 662 can move along with the linkage rod 663, and the sliding plate 65 is hinged to the U-shaped frame 62 and the linkage rod 663, so that the sliding plate 65 and the second connecting rod 665 are driven to move, and grabbing actions are realized.

As an embodiment of the present invention, the fixing assembly 67 includes an air bag 671, a rubber tube 672, an extrusion plate 673, a spring 674 and a push plate 675; the side wall of the second U-shaped plate 64 is provided with a groove; the air bag 671 is arranged in the groove; the rubber tube 672 is connected with an air bag 671; the pressing plate 673 is disposed in the groove and is in contact with the air bag 671; one end of the spring 674 is fixedly connected to the top of the extrusion plate 673, and the other end of the spring 674 is fixedly connected with a push plate 675; in operation, when the second U-shaped plate 64 is squeezed, the spring 674 can be driven to provide a force for the squeezing plate 673 to squeeze the air bag 671, the rubber pipe 672 connected with the air bag 671 can push the second U-shaped plate 64, so that the squeezing force for grabbing objects is increased, and the effect of fixing the grabbed objects is achieved.

As an embodiment of the present invention, two springs 674 are arranged in common, and are symmetrically arranged about the center of the extrusion plate 673; two second U-shaped plates 64 are arranged and are combined to form a two-thirds circle; during operation, when carrying out the action of snatching, two opposite second U template 64 draw close each other, have realized the effect of two-thirds circle, in addition with the articulated first U template 63 of department of second connecting rod 665, have realized the omnidirectional and have pressed from both sides tight effect.

As an embodiment of the present invention, two guide pillars 3 are arranged on the top of the turntable 2; during operation, the two guide columns 3 arranged in the arrangement can guide the first lifting support column 5, and the lifting function can be firmly realized.

The working principle is as follows: the motor 71 installed inside the base 1 drives the first gear 72 to move far, the second gear 73 engaged with the first gear 72 rotates, the second gear 73 is fixedly connected to the bottom of the rotary disc 2, so the rotary disc 2 can move along with the rotary disc, the cylinder 74 fixedly connected to the top of the rotary disc 2 can push the first support column 5 to move up and down, the height adjustment is realized, the first electric push rod 76 fixedly connected to the side wall of the first support column 5 can push the second support column 61 hinged to the first support column 5, the grabbing function of different angles is realized, the grabbing mechanism 6 is provided with the second electric push rod 661 which can push the linkage block 662 fixedly connected to the output end, the linkage rod 663 hinged to the linkage block 662 and the first connecting rod 664 can move along with the linkage block 662, the sliding plate 65 and the second connecting rod 665 are driven, the grabbing action is realized, when the second U64 is extruded, the spring 674 is driven to give a force to the extrusion plate 673 to extrude the air bag 671, and the rubber tube 672 connected with the air bag 671 pushes the second U-shaped plate 64, so that the extrusion force to the grabbed object is increased, and the effect of fixing the grabbed object is achieved.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom manipulator is characterized by comprising a base (1), a turntable (2), a guide post (3), a limiting plate (4), a first support post (5), a grabbing mechanism (6) and an adjusting mechanism (7); the top of the base (1) is rotatably connected with a turntable (2); the guide post (3) is fixedly connected to the top of the turntable (2); the limiting plate (4) is fixedly connected to the end part of the guide pillar (3); the first supporting column (5) is connected to the side wall of the guide column (3) in a sliding manner; the grabbing mechanism (6) is hinged with the first supporting column (5); an adjusting mechanism (7) is arranged between the base (1) and the first supporting column (5); the grabbing mechanism (6) comprises a second supporting column (61), a U-shaped frame (62), a first U-shaped plate (63), a second U-shaped plate (64), a sliding plate (65), a pushing assembly (66) and a fixing assembly (67); the second supporting column (61) is hinged with the first supporting column (5); the U-shaped frame (62) is fixedly connected to the end part of the second supporting column (61); a sliding groove is formed in the end part of the U-shaped frame (62); the sliding plate (65) is connected with the sliding groove in a sliding manner; the pushing assembly (66) is fixedly connected to the side wall of the U-shaped frame (62); the first U-shaped plate (63) is fixedly connected to the hinged part of the pushing assembly (66); the second U-shaped plate (64) is fixedly connected to the end part of the sliding plate (65); the fixing component (67) is arranged on the side wall of the second U-shaped plate (64).

2. The multi-degree-of-freedom manipulator according to claim 1, wherein the adjusting mechanism (7) comprises a motor (71), a first gear (72), a second gear (73), a cylinder (74), a fixed block (75) and a first electric push rod (76); the motor (71) is fixedly connected to the bottom of the base (1); the first gear (72) is fixedly connected with the output end of the motor (71); the second gear (73) is fixedly connected to the bottom of the turntable (2); the air cylinder (74) is fixedly connected to the top of the turntable (2), and the output end of the air cylinder is fixedly connected with the bottom of the first support column (5); the fixed block (75) is fixedly connected to the side wall of the first support column (5); the first electric push rod (76) is fixedly connected to the fixed block (75), and the output end of the first electric push rod is hinged to the second supporting column (61).

3. The multi-degree-of-freedom robot of claim 1, wherein the pushing assembly (66) comprises a second electric push rod (661), a linkage block (662), a linkage rod (663), a first connecting rod (664), and a second connecting rod (665); the second electric push rod (661) is fixedly connected in the side wall of the U-shaped frame (62); the linkage block (662) is fixedly connected to the output end of the second electric push rod (661); one end of the linkage rod (663) is hinged with the linkage block (662), and the other end of the linkage rod is hinged with the sliding plate (65); one end of the first connecting rod (664) is hinged with the linkage block (662), and the other end of the first connecting rod is hinged with the sliding plate (65); one end of the second connecting rod (665) is hinged to the linkage block (662), and the other end of the second connecting rod is hinged to the first U-shaped plate (63).

4. The multiple degree of freedom robot of claim 3, wherein the fixed assembly (67) comprises an air bag (671), a rubber tube (672), an extrusion plate (673), a spring (674), and a push plate (675); a groove is formed in the side wall of the second U-shaped plate (64); the air bag (671) is disposed within the tank; the rubber tube (672) is connected with the air bag (671); the extrusion plate (673) is arranged in the groove and is in contact with the air bag (671); one end of the spring (674) is fixedly connected to the top of the extrusion plate (673), and the other end of the spring is fixedly connected with the push plate (675).

5. The multi-degree-of-freedom robot of claim 4, wherein the springs (674) are arranged in two rows and are symmetrically arranged about the center of the extrusion plate (673); the number of the second U-shaped plates (64) is two, and the two U-shaped plates are combined to form a two-thirds circle.

6. The multi-degree-of-freedom manipulator according to claim 2, characterized in that two guide posts (3) are arranged on the top of the turntable (2).