CN218557134U - Manipulator structure that flexibility is strong - Google Patents
Manipulator structure that flexibility is strong Download PDFInfo
- Publication number
- CN218557134U CN218557134U CN202221934526.3U CN202221934526U CN218557134U CN 218557134 U CN218557134 U CN 218557134U CN 202221934526 U CN202221934526 U CN 202221934526U CN 218557134 U CN218557134 U CN 218557134U
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- servo motor
- rotating
- fixedly connected
- base
- force arm
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Abstract
The utility model discloses a manipulator structure that flexibility is strong, including the device base, base slewing mechanism is installed to the inner wall of device base, base slewing mechanism's top one side fixedly connected with second servo motor, base slewing mechanism's top fixedly connected with and the corresponding fixed rotating shaft of second servo motor, the first rotation power arm of output fixedly connected with of second servo motor, first rotation power arm is in the one end fixedly connected with third servo motor who keeps away from fixed rotating shaft, third servo motor's output fixedly connected with second rotation power arm, second rotation power arm is installed to press from both sides in the one end of keeping away from third servo motor and is got actuating mechanism. The utility model discloses a drive of first servo motor, second servo motor, third servo motor and fourth servo motor can realize the multidirectional rotation between a plurality of arms of force, and then makes the blind area of whole device reduce greatly, has improved the flexibility of manipulator.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a manipulator structure that flexibility is strong.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
The existing manipulator has certain blind areas which can not be reached when rotating due to the fact that the length of each rotating part is limited, and then the manipulator needs to be fixed at a proper position when in use, and the application range of the manipulator is limited.
It is therefore desirable to provide a robot structure with high flexibility to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that current manipulator has certain blind area can't reach because each rotating part's self length is limited when leading to its rotation, and then need fix it in suitable position when using the manipulator, lead to its application range limited.
In order to solve the technical problem, the utility model discloses a technical scheme be: the manipulator structure with strong flexibility comprises a device base, wherein a base rotating mechanism is arranged on the inner wall of the device base, and a second servo motor is fixedly connected to one side of the top of the base rotating mechanism;
the top of the base rotating mechanism is fixedly connected with a fixed rotating shaft corresponding to a second servo motor, and the output end of the second servo motor is fixedly connected with a first rotating force arm;
the first rotating force arm is fixedly connected with a third servo motor at one end far away from the fixed rotating shaft, the output end of the third servo motor is fixedly connected with a second rotating force arm, and the second rotating force arm is installed at one end far away from the third servo motor and is clamped with a clamping driving mechanism.
The utility model further sets up to: the base rotating mechanism comprises a first servo motor, the output end of the first servo motor is fixedly connected with a rotating seat, and a plurality of rolling steel balls are arranged between the base and the rotating seat.
Through above-mentioned technical scheme, first servo motor drives and rotates the seat and rotate, rotates simultaneously between the seat can and the device base through the roll steel ball roll, greatly reduced rotate the friction between seat and the device base, also avoided rotating the pressure on the seat simultaneously and can pressing first servo motor on.
The utility model discloses further set up to: the inner wall of the device base is fixedly connected with a fixing ring, and grooves corresponding to the rolling steel balls are formed in the top of the fixing ring and the bottom of the rotating seat.
Through above-mentioned technical scheme, the recess can carry on spacingly to rotating the seat, makes it roll steadily between rotating seat and device base.
The utility model further sets up to: and the top of the rotating seat is provided with a groove corresponding to the second servo motor.
Through above-mentioned technical scheme, can realize the fixed to second servo motor.
The utility model discloses further set up to: and one end of the first rotating force arm close to the third servo motor is provided with a long strip through hole corresponding to the second rotating force arm.
Through the technical scheme, the rotation angle of the second rotating power arm can be increased as much as possible when the third servo motor drives the second rotating power arm to rotate, and then the rotation range of the whole mechanical arm is enlarged.
The utility model further sets up to: the clamping driving mechanism comprises a fourth servo motor, the output end of the fourth servo motor is fixedly connected with a rotating block, the top of the rotating block is fixedly connected with an electric telescopic rod, and the output end of the electric telescopic rod is fixedly connected with a fetching clamp.
Through above-mentioned technical scheme, fourth servo motor drives the turning block and rotates on second power of rotation arm, and then realizes the angular adjustment to electric telescopic handle.
The utility model discloses further set up to: and one end of the second rotating force arm far away from the third servo motor is provided with a rectangular through hole corresponding to the rotating block.
Through the technical scheme, the rotation angle of the rotation block can be increased as much as possible when the fourth servo motor drives the rotation block to rotate, and the rotation range of the electric telescopic rod is further improved.
The beneficial effects of the utility model are as follows:
1. the utility model discloses a drive of designing first servo motor, second servo motor, third servo motor and fourth servo motor can realize the multidirectional rotation between a plurality of arm of force, and then makes the blind area of whole device reduce greatly, has improved the flexibility of manipulator;
2. the utility model discloses a design base slewing mechanism, first servo motor can drive the whole device on the rotation seat and carry out the full angle of horizontal direction and rotate, and the rotation seat can roll through the rolling steel ball with the device base simultaneously, has greatly reduced the friction between rotation seat and the device base, has also avoided the pressure on the rotation seat to press on first servo motor simultaneously;
3. the utility model discloses an all seted up rectangular through-hole in the one end of first rotation power arm and second rotation power arm, made the turned angle of second rotation power arm and turning block improve greatly, and then improved the turned angle of integrated device.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a cross-sectional view of the device base of the present invention.
In the figure: 1. a device base; 2. a base rotation mechanism; 201. a first servo motor; 202. rolling the steel ball; 203. a rotating seat; 3. a second servo motor; 4. fixing the rotating shaft; 5. a first rotating force arm; 6. a third servo motor; 7. a second rotation power arm; 8. a gripping drive mechanism; 801. a fourth servo motor; 802. rotating the block; 803. an electric telescopic rod; 804. fetching clamp.
Detailed Description
The following description of the preferred embodiments of the present invention will be provided with reference to the accompanying drawings, so that the advantages and features of the present invention can be easily understood by those skilled in the art, and the scope of the present invention can be clearly and clearly defined.
Referring to fig. 1-3, a manipulator structure with high flexibility includes a device base 1, a base rotating mechanism 2 is installed on an inner wall of the device base 1, the base rotating mechanism 2 includes a first servo motor 201, an output end of the first servo motor 201 is fixedly connected with a rotating seat 203, a plurality of rolling steel balls 202 are arranged between the device base 1 and the rotating seat 203, the first servo motor 201 drives the rotating seat 203 to rotate, and the rotating seat 203 rolls with the device base 1 through the rolling steel balls 202, friction between the rotating seat 203 and the device base 1 is greatly reduced, meanwhile pressure on the rotating seat 203 is prevented from pressing the first servo motor 201, a fixing ring is fixedly connected with the inner wall of the device base 1, grooves corresponding to the rolling steel balls 202 are formed in the top of the fixing ring and the bottom of the rotating seat 203, the grooves can limit the rotating seat 203, so that the rotating seat 203 can stably roll between the rotating seat 203 and the device base 1, grooves corresponding to a second servo motor 3 are formed in the top of the rotating seat 203, fixing ring can fix a second servo motor 3, and one side of the top of the rotating servo mechanism 2 is fixedly connected with a second servo motor 3;
as shown in fig. 1, a fixed rotating shaft 4 corresponding to the second servo motor 3 is fixedly connected to the top of the base rotating mechanism 2, a first rotating force arm 5 is fixedly connected to an output end of the second servo motor 3, and a long through hole corresponding to the second rotating force arm 7 is formed in one end, close to the third servo motor 6, of the first rotating force arm 5, so that the rotating angle of the second rotating force arm 7 can be increased as much as possible when the third servo motor 6 drives the second rotating force arm 7 to rotate, and the rotating range of the whole mechanical arm is further increased;
as shown in fig. 1 and fig. 2, a third servo motor 6 is fixedly connected to one end of the first rotation force arm 5 away from the fixed rotation shaft 4, a second rotation force arm 7 is fixedly connected to an output end of the third servo motor 6, a clamping driving mechanism 8 is installed at one end of the second rotation force arm 7 away from the third servo motor 6, the clamping driving mechanism 8 comprises a fourth servo motor 801, a rotation block 802 is fixedly connected to an output end of the fourth servo motor 801, an electric telescopic rod 803 is fixedly connected to a top of the rotation block 802, an object taking clamp 804 is fixedly connected to an output end of the electric telescopic rod 803, the fourth servo motor 801 drives the rotation block 802 to rotate on the second rotation force arm 7, so as to adjust an angle of the electric telescopic rod 803, a rectangular through hole corresponding to the rotation block 802 is formed at one end of the second rotation force arm 7 away from the third servo motor 6, it is ensured that the rotation block 802 can be increased in rotation angle as much as possible when the fourth servo motor 801 drives the rotation block 802 to rotate, and the rotation range of the electric telescopic rod 803 is further increased.
The utility model discloses when using, first servo motor 201 drives and rotates seat 203 and rotates, rotate simultaneously seat 203 can with install and roll through rolling steel ball 202 between the base 1, second servo motor 3 can drive first rotation force arm 5 and rotate, third servo motor 6 drives second rotation force arm 7 and rotates, fourth servo motor 801 drives turning block 802 and rotates on second rotation force arm 7, and then adjust the angle of electric telescopic handle 803, through the normal running fit of a plurality of servo motor and the arm of force, can reach a plurality of positions, the flexibility of arm has been improved.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (7)
1. The utility model provides a manipulator structure that flexibility is strong, includes device base (1), its characterized in that: a base rotating mechanism (2) is installed on the inner wall of the device base (1), and a second servo motor (3) is fixedly connected to one side of the top of the base rotating mechanism (2);
the top of the base rotating mechanism (2) is fixedly connected with a fixed rotating shaft (4) corresponding to a second servo motor (3), and the output end of the second servo motor (3) is fixedly connected with a first rotating force arm (5);
first rotating force arm (5) are keeping away from one end fixedly connected with third servo motor (6) of fixed rotating shaft (4), the output fixedly connected with second rotating force arm (7) of third servo motor (6), second rotating force arm (7) are installing in the one end of keeping away from third servo motor (6) and are getting actuating mechanism (8).
2. A highly flexible robot structure according to claim 1, characterized in that: the base rotating mechanism (2) comprises a first servo motor (201), an output end of the first servo motor (201) is fixedly connected with a rotating seat (203), and a plurality of rolling steel balls (202) are arranged between the device base (1) and the rotating seat (203).
3. A flexible manipulator structure according to claim 2, further comprising: the inner wall of the device base (1) is fixedly connected with a fixing ring, and grooves corresponding to the rolling steel balls (202) are formed in the top of the fixing ring and the bottom of the rotating seat (203).
4. A flexible manipulator structure according to claim 2, further comprising: the top of the rotating seat (203) is provided with a groove corresponding to the second servo motor (3).
5. A highly flexible robot structure according to claim 1, characterized in that: and one end of the first rotating power arm (5) close to the third servo motor (6) is provided with a long-strip through hole corresponding to the second rotating power arm (7).
6. A flexible manipulator structure according to claim 1, further comprising: the clamping driving mechanism (8) comprises a fourth servo motor (801), an output end of the fourth servo motor (801) is fixedly connected with a rotating block (802), the top of the rotating block (802) is fixedly connected with an electric telescopic rod (803), and an output end of the electric telescopic rod (803) is fixedly connected with a fetching clamp (804).
7. A highly flexible robot structure according to claim 6, characterized in that: one end of the second rotating force arm (7) far away from the third servo motor (6) is provided with a rectangular through hole corresponding to the rotating block (802).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221934526.3U CN218557134U (en) | 2022-07-26 | 2022-07-26 | Manipulator structure that flexibility is strong |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221934526.3U CN218557134U (en) | 2022-07-26 | 2022-07-26 | Manipulator structure that flexibility is strong |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218557134U true CN218557134U (en) | 2023-03-03 |
Family
ID=85306420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221934526.3U Active CN218557134U (en) | 2022-07-26 | 2022-07-26 | Manipulator structure that flexibility is strong |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218557134U (en) |
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2022
- 2022-07-26 CN CN202221934526.3U patent/CN218557134U/en active Active
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