CN213381622U

CN213381622U - Multi-joint manipulator joint stabilizing structure

Info

Publication number: CN213381622U
Application number: CN202022271254.0U
Authority: CN
Inventors: 王士创; 戈冬阁; 曹丽; 盛晨原; 朱瑞志
Original assignee: Heilongjiang University of Science and Technology
Current assignee: Heilongjiang University of Science and Technology
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-06-08
Anticipated expiration: 2030-10-13

Abstract

The utility model discloses a many joints manipulator joint stable structure, including base and second pivot, the internally mounted of base has the motor, and the top of motor settles and have the cloud platform pivot, the cloud platform is installed to the top of cloud platform pivot, and the front end of cloud platform is fixed with the fixed arm, first location axle is installed to the top of cloud platform, and the outer wall connection of first location axle has first pivot, the inside of linking arm is provided with third location axle, and the below of linking arm is fixed with the manipulator, the outer wall connection of third location axle has the second pivot, and the left side of second pivot is connected with the second hydraulic stem. Among this kind of many joints manipulator joint stable structure, through the cloud platform pivot that sets up, can the person of facilitating the use adjust the manipulator position, through the first pivot that sets up, can be fixed with the joint arm, can make the joint arm reciprocate along with first hydraulic stem is flexible to promote the power of grabbing of manipulator.

Description

Multi-joint manipulator joint stabilizing structure

Technical Field

The utility model relates to a joint manipulator technical field specifically is a be applied to many joints manipulator joint stable structure.

Background

Articulated manipulators are a form of drive suitable for manipulation close to the body. The articulated manipulator has an elbow joint like a human hand, can realize multiple degrees of freedom, has flexible action, is suitable for working in a narrow space, and has a large arm and a small arm which swing as well as the motion of the elbow joint and a shoulder joint. Has an upper limb structure and can realize the function similar to the manual operation.

The existing multi-joint manipulator drives the manipulator through the cylinder, the speed of the manipulator driven by the cylinder is difficult to control when the manipulator is used, and the air pressure cannot be too high, so that the grabbing and lifting capacity is low, the equipment maintenance work is complex when the manipulator is used, the service life is also influenced, the angle adjustment is inconvenient when the manipulator rotates, the use requirements of people cannot be well met in work, and technical innovation is performed on the basis of the joint stabilizing structure of the existing multi-joint manipulator aiming at the above conditions.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a many joints manipulator joint stable structure to propose current many joints manipulator in solving above-mentioned background art, cylinder driven manipulator speed is difficult to the accuse when using, and atmospheric pressure still can not be too high, so snatch the ability lower, and the maintenance of equipment work is complicated during the use, still can influence life, and the angle is adjusted inconveniently when rotating, can not be fine satisfies people's user demand problem.

In order to achieve the above object, the utility model provides a following technical scheme: a multi-joint manipulator joint stabilizing structure comprises a base and a second rotating shaft, wherein a motor is installed inside the base, a holder rotating shaft is arranged above the motor, a holder is installed above the holder rotating shaft, a fixed arm is fixed at the front end of the holder, a first positioning shaft is installed above the holder, the outer wall of the first positioning shaft is connected with the first rotating shaft, the right side of the first rotating shaft is connected with a first hydraulic rod, a fixed arm positioning shaft is installed above the fixed arm, the right side of the fixed arm positioning shaft is connected with a joint arm, a connecting arm positioning shaft is installed on the right side of the joint arm, a connecting arm is arranged below the connecting arm positioning shaft, a second positioning shaft is installed inside the joint arm, a third positioning shaft is arranged inside the connecting arm, a manipulator is fixed below the connecting arm, and the outer wall of the third positioning shaft is connected with the second rotating shaft, and the left side of the second rotating shaft is connected with a second hydraulic rod.

Preferably, the holder forms a clamping structure between the holder rotating shaft and the base, and the holder forms a rotating structure between the holder rotating shaft and the base.

Preferably, the articulated arm and the fixed arm form a rotating structure through the fixed arm positioning shaft, and the rotating angle range of the fixed arm is 0-180 degrees.

Preferably, a rotating structure is formed between the first rotating shaft and the first positioning shaft, and the first rotating shaft is symmetrical with the first hydraulic rod center line.

Preferably, the connecting arm forms a rotating structure through the connecting arm positioning shaft and the fixing arm, and the rotating angle range of the connecting arm is 0-180 degrees.

Preferably, a rotating structure is formed between the second rotating shaft and the third positioning shaft, and the second rotating shaft is symmetrical with respect to the center line of the second hydraulic rod.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses a cloud platform pivot that sets up can drive the cloud platform pivot through the motor and rotate when rotatory, and the cloud platform rotates along with the cloud platform pivot, and the cloud platform drives the manipulator and removes together to can the person of facilitating the use adjust the manipulator position.

2. The utility model can fix one end of the joint arm on the fixed arm through the fixed arm positioning shaft, and the joint arm can also rotate 0-180 degrees through the fixed arm positioning shaft, so that the range of the up-and-down movement of the manipulator is larger, and the height of the manipulator can be adjusted by a user conveniently; through the first pivot that sets up, can be fixed with the knuckle arm, when first hydraulic stem is flexible, prevent that thrust from destroying equipment, can make the knuckle arm reciprocate along with first hydraulic stem is flexible to promote the power of grabbing of manipulator.

3. The utility model discloses a linking arm location axle that sets up can make linking arm one end fix on the articulated arm, plays the effect of fixed joint position, can also make the articulated arm have the pivoted ability, and the person of facilitating the use accurately snatchs the material, through the third location axle that sets up, can fix the second hydraulic stem on the linking arm to make the second hydraulic stem play the effect that supports the linking arm, the thrust that can also utilize the second hydraulic stem promotes the linking arm, thereby helps equipment to snatch.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of a connection structure of a second positioning shaft of the present invention;

fig. 3 is a schematic view of the structure of the cradle head of the present invention;

fig. 4 is a schematic view of the connection structure of the first positioning shaft of the present invention;

fig. 5 is the structure diagram of the hydraulic rod of the present invention.

In the figure: 1. a base; 2. a motor; 3. a tripod head rotating shaft; 4. a holder; 5. a fixed arm; 6. a first positioning shaft; 7. a first hydraulic lever; 8. a fixed arm positioning shaft; 9. an articulated arm; 10. a second positioning shaft; 11. a second hydraulic rod; 12. a connecting arm positioning shaft; 13. a connecting arm; 14. a manipulator; 15. a third positioning shaft; 16. a first rotating shaft; 17. a second rotating shaft.

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. 1-5, the present invention provides a technical solution: a multi-joint manipulator joint stabilizing structure comprises a base 1, a motor 2, a tripod head rotating shaft 3, a tripod head 4, a fixed arm 5, a first positioning shaft 6, a first hydraulic rod 7, a fixed arm positioning shaft 8, a joint arm 9, a second positioning shaft 10, a second hydraulic rod 11, a connecting arm positioning shaft 12, a connecting arm 13, a manipulator 14, a third positioning shaft 15, a first rotating shaft 16 and a second rotating shaft 17, wherein the motor 2 is installed inside the base 1, the tripod head rotating shaft 3 is arranged above the motor 2, the tripod head 4 is installed above the tripod head rotating shaft 3, the fixed arm 5 is fixed at the front end of the tripod head 4, the first positioning shaft 6 is installed above the tripod head 4, the first rotating shaft 16 is connected to the outer wall of the first positioning shaft 6, the first hydraulic rod 7 is connected to the right side of the first rotating shaft 16, the fixed arm positioning shaft 8 is installed above the fixed arm 5, and the joint arm 9 is connected to the right side of, a connecting arm positioning shaft 12 is installed on the right side of the joint arm 9, a connecting arm 13 is arranged below the connecting arm positioning shaft 12, a second positioning shaft 10 is installed inside the joint arm 9, a third positioning shaft 15 is arranged inside the connecting arm 13, a manipulator 14 is fixed below the connecting arm 13, a second rotating shaft 17 is connected to the outer wall of the third positioning shaft 15, and a second hydraulic rod 11 is connected to the left side of the second rotating shaft 17.

The utility model discloses in: cloud platform 4 constitutes the block structure through between cloud platform pivot 3 and the base 1, and cloud platform 4 constitutes revolution mechanic through between cloud platform pivot 3 and the base 1, can drive when cloud platform 4 pivot is rotatory through motor 2, and cloud platform 4 rotates along with cloud platform pivot 3 to can the person of facilitating the use adjust the manipulator 14 position.

The utility model discloses in: the joint arm 9 and the fixed arm 5 form a rotating structure through the fixed arm positioning shaft 8, the rotating angle range of the fixed arm 5 is 0-180 degrees, one end of the joint arm 9 can be fixed on the fixed arm 5, the range of the up-and-down movement of the manipulator 14 can be larger through the joint arm 9, and therefore a user can conveniently adjust the height of the manipulator 14.

The utility model discloses in: constitute revolution mechanic between first pivot 16 and the first locating shaft 6, and be symmetrical about first hydraulic stem 7 central line between the first pivot 16, can stretch out and draw back when first hydraulic stem 7, the thrust that brings promotes articulated arm 9, and first hydraulic stem 7 is still in order to play the effect of support, can be fixed articulated arm 9 to promote the power of grabbing of manipulator 14.

The utility model discloses in: the connecting arm 13 forms a rotating structure through the connecting arm positioning shaft 12 and the fixing arm 5, the rotating angle range of the connecting arm 13 is 0-180 degrees, one end of the connecting arm 13 can be fixed on the joint arm 9, the effect of fixing the joint position is achieved, the connecting arm 13 can also have rotating capacity, and a user can conveniently and accurately grab materials.

The utility model discloses in: constitute revolution mechanic between second pivot 17 and the third location axle 15, and about second hydraulic stem 11 central line symmetry between the second pivot 17, can fix second hydraulic stem 11 on linking arm 13 to make second hydraulic stem 11 play the effect of supporting linking arm 13, can also utilize the thrust of second hydraulic stem 11 to promote linking arm 13, thereby assist equipment to snatch.

The working principle of the multi-joint manipulator joint stabilizing structure is as follows: firstly, a user can open a motor 2 arranged in a base 1 to drive a tripod head rotating shaft 3 to rotate, a tripod head 4 rotates along with the tripod head rotating shaft 3, so that the front and back positions of a joint arm 9 can be adjusted, then a first rotating shaft 16 can enable a first hydraulic rod 7 to rotate on a first positioning shaft 6, the first hydraulic rod 7 can push and pull a second positioning shaft 10 through stretching, the second positioning shaft 10 can fix the first hydraulic rod 7, the joint arm 9 can rotate through a fixing arm positioning shaft 8 and a fixing arm 5, so that the up and down positions of a manipulator 14 can be adjusted, then a second rotating shaft 17 can enable a second hydraulic rod 11 to rotate on a third positioning shaft 15, the second hydraulic rod 11 can enable a connecting arm 13 to rotate through a connecting arm positioning shaft 12 and the joint arm 9, so that the manipulator 14 moves left and right, the second positioning shaft 10 can fix the second hydraulic rod 11, finally, the device drives the joint arm 9 and the manipulator 14 through the first hydraulic rod 7 and the second hydraulic rod 11, and the device is simple in structure and convenient for a user to maintain the device.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a many joints manipulator joint stable structure, includes base (1) and second pivot (17), its characterized in that: the automatic positioning device is characterized in that a motor (2) is mounted inside the base (1), a cradle head rotating shaft (3) is arranged above the motor (2), a cradle head (4) is mounted above the cradle head rotating shaft (3), a fixed arm (5) is fixed to the front end of the cradle head (4), a first positioning shaft (6) is mounted above the cradle head (4), a first rotating shaft (16) is connected to the outer wall of the first positioning shaft (6), a first hydraulic rod (7) is connected to the right side of the first rotating shaft (16), a fixed arm positioning shaft (8) is mounted above the fixed arm (5), a joint arm (9) is connected to the right side of the fixed arm positioning shaft (8), a connecting arm positioning shaft (12) is mounted on the right side of the joint arm (9), a connecting arm (13) is arranged below the connecting arm positioning shaft (12), a second positioning shaft (10) is mounted inside the joint arm (9), the inside of linking arm (13) is provided with third location axle (15), and the below of linking arm (13) is fixed has manipulator (14), the outer wall connection of third location axle (15) has second pivot (17), and the left side of second pivot (17) is connected with second hydraulic stem (11).

2. The multi-joint robot joint stabilizing structure according to claim 1, wherein: the holder (4) forms a clamping structure with the base (1) through the holder rotating shaft (3), and the holder (4) forms a rotating structure with the base (1) through the holder rotating shaft (3).

3. The multi-joint robot joint stabilizing structure according to claim 1, wherein: the joint arm (9) and the fixed arm (5) form a rotating structure through the fixed arm positioning shaft (8), and the rotating angle range of the fixed arm (5) is 0-180 degrees.

4. The multi-joint robot joint stabilizing structure according to claim 1, wherein: a rotating structure is formed between the first rotating shaft (16) and the first positioning shaft (6), and the first rotating shaft (16) is symmetrical with respect to the center line of the first hydraulic rod (7).

5. The multi-joint robot joint stabilizing structure according to claim 1, wherein: the connecting arm (13) forms a rotating structure with the fixed arm (5) through the connecting arm positioning shaft (12), and the rotating angle range of the connecting arm (13) is 0-180 degrees.

6. The multi-joint robot joint stabilizing structure according to claim 1, wherein: a rotating structure is formed between the second rotating shaft (17) and the third positioning shaft (15), and the second rotating shaft (17) is symmetrical with respect to the center line of the second hydraulic rod (11).