CN219337721U - Multi-degree-of-freedom manipulator - Google Patents
Multi-degree-of-freedom manipulator Download PDFInfo
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- CN219337721U CN219337721U CN202223296383.0U CN202223296383U CN219337721U CN 219337721 U CN219337721 U CN 219337721U CN 202223296383 U CN202223296383 U CN 202223296383U CN 219337721 U CN219337721 U CN 219337721U
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- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 210000000078 claw Anatomy 0.000 claims description 16
- 230000000694 effects Effects 0.000 abstract description 6
- 239000011521 glass Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model provides a multi-degree-of-freedom manipulator, which relates to the technical field of manipulators and comprises clamping jaws and at least two groups of first connecting rod mechanisms connected with the clamping jaws in a hinged mode, wherein each first connecting rod mechanism comprises a first driving part, a first supporting arm and a second supporting arm, one end of each first supporting arm is driven to rotate by the first driving part, the other end of each first supporting arm is hinged with one end of the second supporting arm, and the other end of each second supporting arm is hinged with the clamping jaw. The clamping device further comprises a second connecting rod mechanism and a third connecting rod mechanism, wherein the second connecting rod mechanism is used for further adjusting the clamping angle of the clamping jaw, and the third connecting rod mechanism is used for controlling the clamping jaw to open and close. The clamping device solves the problems that the traditional manipulator is single in clamping effect, and meanwhile, the cost of the high-performance manipulator is high.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator.
Background
The manipulator is a very important processing tool in modern production, and because enterprises and factories begin to use an automatic production line, the manipulator is needed to replace personnel in a plurality of processing steps, so that the labor cost is reduced, and meanwhile, the production efficiency is improved.
The existing feeding and discharging manipulators can only singly finish clamping and feeding, more auxiliary devices are required to be arranged or higher-performance manipulators are adopted to realize the feeding, but the high-performance manipulators are high in cost and not cost-effective to use as simpler feeding.
Disclosure of Invention
The utility model aims to provide a multi-degree-of-freedom manipulator which solves the problems that the traditional manipulator is single in clamping effect, and meanwhile, the cost is high due to the adoption of a high-performance manipulator.
The embodiment of the utility model is realized by the following technical scheme: the mechanical arm comprises a clamping jaw and at least two groups of first connecting rod mechanisms which are connected with the clamping jaw in a hinged mode, wherein each first connecting rod mechanism comprises a first driving part, a first supporting arm and a second supporting arm, the first driving part drives one end of each first supporting arm to rotate, the other end of each first supporting arm is hinged with one end of the corresponding second supporting arm, and the other end of each second supporting arm is hinged with the clamping jaw.
Further, the device also comprises a second link mechanism, wherein the second link mechanism comprises a second driving part, a fluted disc, a first driving rod, a second driving rod, a first right-angle connecting rod and a second right-angle connecting rod, the second driving part drives the fluted disc to rotate, and one end of the first driving rod is hinged with the middle part of the fluted disc;
the first driving rod other end with first right angle connecting rod one end articulates, the first right angle connecting rod other end with second driving rod one end articulates, the second driving rod other end with the second right angle connecting rod articulates, the second right angle connecting rod other end with clamping jaw fixed connection.
Further, the right angle part of the first right angle connecting rod is coaxially and rotatably connected with the hinge joint part of the first supporting arm and the second supporting arm;
and the right angle part of the second right angle connecting rod is coaxially and rotatably connected with the hinge joint part of the second supporting arm and the clamping jaw.
The gear plate is characterized by further comprising a third connecting rod mechanism, wherein the third connecting rod mechanism comprises a third driving part, a limiting rod, a third driving rod, a fourth driving rod, a third right-angle connecting rod, a fourth right-angle connecting rod, a fifth driving rod and a fifth right-angle connecting rod, the third driving part is used for driving one end of the limiting rod to rotate, one end of the limiting rod is coaxially arranged in a rotating manner with the fluted disc, and the other end of the limiting rod is hinged with one end of the third driving rod;
the one end that the third actuating lever kept away from the gag lever post with third right angle connecting rod one end articulates, the third right angle connecting rod other end with fourth actuating lever one end articulates, the fourth actuating lever other end with fourth right angle connecting rod one end articulates, the fourth right angle connecting rod other end with fifth actuating lever one end articulates, the fifth actuating lever other end with fifth right angle connecting rod one end articulates, the fifth right angle connecting rod other end with the clamping jaw rotates to be connected, is used for controlling the clamping jaw opens and shuts.
Further, the third right-angle connecting rod and the first right-angle connecting rod are coaxially and rotatably arranged;
the fourth right-angle connecting rod and the second right-angle connecting rod are coaxially and rotatably arranged;
the rotating shaft of the fifth right-angle connecting rod is perpendicular to the rotating shaft of the fourth right-angle connecting rod.
Further, the fifth driving rod comprises a universal joint and two sub-rods, two ends of the universal joint are respectively connected with the two sub-rods, one sub-rod is hinged with the fourth right-angle connecting rod, and the other sub-rod is hinged with the fifth right-angle connecting rod.
Further, the clamping jaw comprises a connecting seat, a left branch claw and a right branch claw, wherein the connecting seat is hinged with the second supporting arm, and the connecting seat is fixed with the second right-angle connecting rod;
the left branch claw and the right branch claw are symmetrically hinged on the connecting seat, semi-gears are respectively arranged on the left branch claw and the right branch claw, and the two semi-gears are meshed with each other;
the fifth right-angle connecting rod is fixed with the left separating claw.
Further, the third driving part is an air cylinder, the air cylinder is rotationally connected with the fluted disc, and the telescopic end of the air cylinder is hinged with the hinge joint of the limiting rod and the third driving rod.
Further, the first driving part and the second driving part are servo motors, a driving gear is arranged at the output end of the second driving part, and the driving gear is meshed with the fluted disc.
Further, the first link mechanism is provided with two groups, and the second support arms of the two groups of first link mechanisms are hinged to one end, close to the clamping jaw, of the first link mechanism.
The technical scheme of the embodiment of the utility model has at least the following advantages and beneficial effects:
only control the rotation of two first support arms in two sets of first link mechanisms, just can cooperate the clamping jaw realization to transport the thing that gets away to near, otherwise, also can move the thing that gets away to far away, can also preliminary control the inclination of clamping jaw, combine second link mechanism again, further control the clamping angle of clamping jaw, cooperate the space removal of two sets of first link mechanisms simultaneously, can not only control the angle of elevation of clamping jaw for the article of centre gripping different angles, still can adjust the clamp simultaneously to certain angle, the pivoted angle scope of clamping jaw on first support arm is generally not more than one hundred eighty degrees, but cooperate two sets of first link mechanisms syntropy rotation, and then can realize bigger clamping angle. Not only has high precision and high moving speed, but also has low cost and excellent use effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a multi-degree-of-freedom manipulator according to the present utility model;
fig. 2 is a schematic perspective view of a multi-degree-of-freedom manipulator according to the present utility model;
FIG. 3 is an enlarged schematic view of FIG. 2 at A;
fig. 4 is a schematic structural diagram of a clamping jaw in a multi-degree-of-freedom manipulator according to the present utility model;
icon: 1. clamping jaw, 11, connecting seat, 12, left branch claw, 13, right branch claw, 14, half gear, 15, servo motor, 2, first link mechanism, 21, first support arm, 22, second support arm, 3, second link mechanism, 31, fluted disc, 32, first actuating lever, 33, second actuating lever, 34, first right angle link, 35, second right angle link, 36, driving gear, 4, third link mechanism, 41, limiting lever, 42, third actuating lever, 43, fourth actuating lever, 44, third right angle link, 45, fourth right angle link, 46, fifth actuating lever, 461, universal joint, 462, sub lever, 47, fifth right angle link, 48, cylinder.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 4, the present embodiment provides a multi-degree-of-freedom manipulator, which includes a clamping jaw 1 and at least two groups of first link mechanisms 2 hinged to the clamping jaw 1, wherein each first link mechanism 2 includes a first driving component, a first supporting arm 21 and a second supporting arm 22, the first driving component is a servo motor 15, one end of the first supporting arm 21 is driven to rotate by the servo motor, the other end of the first supporting arm 21 is hinged to one end of the second supporting arm 22, and the other end of the second supporting arm 22 is hinged to the clamping jaw 1.
More specifically, the first linkage 2 has two sets, and the second support arms 22 of the two sets of first linkages 2 are hinged near one end of the clamping jaw 1. The two groups of first link mechanisms 2 are mainly used for adjusting the space position of the clamping jaw 1, and specifically are as follows:
1) When the rotation directions of the two first support arms 21 are the same, they are used to rotate the clamping jaw 1 substantially, thereby realizing a large displacement.
2) When the two first support arms 21 are turned towards each other, the two second support arms 22 are brought towards each other for extending the jaws. The combination 1) allows a large spatial movement while achieving elongation.
3) When the two first support arms 21 rotate oppositely, the ends of the two second support arms 22 connected with the respective first support arms 21 are far away from each other, so that the clamping jaw is contracted. The combination 1) can realize shrinkage and simultaneously realize large-amplitude rotation.
4) When one first supporting arm 21 is fixed and the other first supporting arm 21 rotates in the forward direction or the reverse direction, the clamping jaw 1 rotates around the hinge position of the fixed first supporting arm 21 and the hinged second supporting arm, and then the position and the inclination angle of the clamping jaw can be controlled within a certain angle range.
In conclusion, the object at the far position can be transported to the near position, otherwise, the object at the near position can be moved to the far position, and the inclination angle of the clamping jaw can be primarily controlled.
As shown in fig. 2-4, the first driving part and the second driving part are both servo motors 15, and further comprise a second link mechanism 3, wherein the second link mechanism 3 comprises a second driving part, a fluted disc 31, a first driving rod 32, a second driving rod 33, a first right-angle connecting rod 34 and a second right-angle connecting rod 35, the second driving part is a servo motor 15, the servo motors drive the fluted disc 31 to rotate positively and negatively, the output end of the second driving part is provided with a driving gear 36, the driving gear 36 is meshed with the fluted disc 31, the rotation range of the fluted disc 31 is 0-45 degrees, and the fluted disc 31 is directly set as a quarter of a toothed ring for simplicity. One end of the first driving rod 32 is hinged with the middle part of the fluted disc 31; when the fluted disc 31 rotates, the first driving rod 32 is driven to move.
Meanwhile, the other end of the first driving rod 32 is hinged with one end of a first right-angle connecting rod 34, and the right-angle part of the first right-angle connecting rod 34 is coaxially and rotatably connected with the hinged part of the first supporting arm 21 and the second supporting arm 22; the other end of the first right-angle connecting rod 34 is hinged with one end of a second driving rod 33, the other end of the second driving rod 33 is hinged with a second right-angle connecting rod 35, the right-angle position of the second right-angle connecting rod 35 is coaxially and rotatably connected with the hinged position of the second supporting arm 22 and the clamping jaw 1, and the other end of the second right-angle connecting rod 35 is fixedly connected with the clamping jaw 1.
In specific implementation, the fluted disc 31 drives the first driving rod 32 to reciprocate, the first driving rod 32 drives the first right-angle connecting rod 34 to rotate positively and negatively, the first right-angle connecting rod 34 drives the second driving rod 33 to reciprocate, the second driving rod 33 drives the second right-angle connecting rod 35 to rotate positively and negatively, when the second right-angle connecting rod 35 rotates positively and negatively, the clamping jaw 1 is driven to rotate positively and negatively, and then the clamping angle of the clamping jaw 1 is controlled, and simultaneously, the two groups of first connecting rod mechanisms 2 are matched to move in space, so that the elevation angle of the clamping jaw 1 can be controlled to clamp articles with different angles, meanwhile, the clamping object can be adjusted to a certain angle, the rotating angle range of the clamping jaw 1 on the first supporting arm 22 is generally not more than one hundred eighty degrees, but the two groups of first connecting rod mechanisms 2 are matched to rotate in the same direction, and further, the larger clamping angle can be realized.
If the horizontal rotation is matched, or more degrees of freedom are added, more clamping effects can be achieved, and the clamping effect is specific to the actual situation. The glass bottle is placed down from a vertical state, and is placed down from a placing down state to be vertical and moves in a certain range, so that the glass bottle lifting device is high in precision, high in moving speed, low in cost and excellent in using effect.
As shown in fig. 2-4, the device further comprises a third link mechanism 4, wherein the third link mechanism 4 comprises a third driving component, a limiting rod 41, a third driving rod 42, a fourth driving rod 43, a third right-angle connecting rod 44, a fourth right-angle connecting rod 45, a fifth driving rod 46 and a fifth right-angle connecting rod 47, the third driving component is used for driving one end of the limiting rod 41 to rotate, the third driving component is an air cylinder 48, the air cylinder 48 is rotationally connected with the fluted disc 31 through a mounting seat, and the telescopic end of the air cylinder 48 is hinged with the hinged position of the limiting rod 41 and the third driving rod 42. One end of the limiting rod 41 is coaxially and rotatably arranged with the fluted disc 31, and the other end of the limiting rod 41 is hinged with one end of the third driving rod 42; and when the cylinder 48 expands and contracts, the third driving rod 42 is driven to reciprocate.
More specifically, the end of the third driving rod 42 away from the limiting rod 41 is hinged with one end of a third right-angle connecting rod 44, and the third right-angle connecting rod 44 and the first right-angle connecting rod 34 are coaxially and rotatably arranged; the other end of the third right-angle connecting rod 44 is hinged with one end of a fourth driving rod 43, the other end of the fourth driving rod 43 is hinged with one end of a fourth right-angle connecting rod 45, and the fourth right-angle connecting rod 45 and the second right-angle connecting rod 35 are coaxially and rotatably arranged; the other end of the fourth right-angle connecting rod 45 is hinged with one end of a fifth driving rod 46, the other end of the fifth driving rod 46 is hinged with one end of a fifth right-angle connecting rod 47, the rotating shaft of the fifth right-angle connecting rod 47 is perpendicular to the rotating shaft of the fourth right-angle connecting rod 45, and the other end of the fifth right-angle connecting rod 47 is rotationally connected with the clamping jaw 1 so as to control the clamping jaw 1 to open and close.
As shown in fig. 3 and 4, the fifth driving lever 46 includes a universal joint 461 and two sub-levers 462, both ends of the universal joint 461 are respectively connected to the two sub-levers 462, one sub-lever 462 is hinged to the fourth right angle link 45, and the other sub-lever 462 is hinged to the fifth right angle link 47. Since the rotation axis of the fifth right angle link 47 is perpendicular to the rotation axis of the fourth right angle link 45, it is necessary to provide a universal joint 461 to realize the driving from the vertical rotation to the lateral rotation.
The clamping jaw 1 comprises a connecting seat 11, a left separating jaw 12 and a right separating jaw 13, wherein the connecting seat 11 is hinged with a second supporting arm 22, and the connecting seat 11 is fixed with a second right-angle connecting rod 35; and when the second right-angle connecting rod 35 rotates, the whole clamping jaw 1 is driven to rotate.
Simultaneously, the left branch claw 12 and the right branch claw 13 are symmetrically hinged on the connecting seat 11, the left branch claw 12 and the right branch claw 13 are respectively provided with a half gear 14, and the two half gears 14 are meshed with each other; the fifth right angle link 47 is fixed to the left split jaw 12. When the fifth right-angle connecting rod rotates positively and negatively, the left branch claw 12 and the right branch claw 13 are driven to be meshed or opened, so that the object can be clamped and loosened.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. A multi-freedom-degree manipulator is characterized in that: the clamping jaw mechanism comprises a clamping jaw (1) and at least two groups of first connecting rod mechanisms (2) which are connected with the clamping jaw (1) in a hinged mode, wherein each first connecting rod mechanism (2) comprises a first driving part, a first supporting arm (21) and a second supporting arm (22), one end of each first supporting arm (21) is driven to rotate by the first driving part, the other end of each first supporting arm (21) is hinged with one end of the corresponding second supporting arm (22), and the other end of the corresponding second supporting arm (22) is hinged with the clamping jaw (1).
2. The multi-degree-of-freedom manipulator according to claim 1, further comprising a second link mechanism (3), wherein the second link mechanism (3) comprises a second driving component, a fluted disc (31), a first driving rod (32), a second driving rod (33), a first right-angle connecting rod (34) and a second right-angle connecting rod (35), the second driving component drives the fluted disc (31) to rotate, and one end of the first driving rod (32) is hinged with the middle part of the fluted disc (31);
the other end of the first driving rod (32) is hinged with one end of the first right-angle connecting rod (34), the other end of the first right-angle connecting rod (34) is hinged with one end of the second driving rod (33), the other end of the second driving rod (33) is hinged with the second right-angle connecting rod (35), and the other end of the second right-angle connecting rod (35) is fixedly connected with the clamping jaw (1).
3. A multi-degree of freedom manipulator according to claim 2, wherein the first right angle link (34) is coaxially and rotatably connected to the hinge of the first support arm (21) and the second support arm (22);
the right angle position of the second right angle connecting rod (35) is coaxially and rotatably connected with the hinge position of the second supporting arm (22) and the clamping jaw (1).
4. A multi-degree-of-freedom manipulator according to claim 3, further comprising a third link mechanism (4), wherein the third link mechanism (4) comprises a third driving component, a limiting rod (41), a third driving rod (42), a fourth driving rod (43), a third right angle connecting rod (44), a fourth right angle connecting rod (45), a fifth driving rod (46) and a fifth right angle connecting rod (47), the third driving component is used for driving one end of the limiting rod (41) to rotate, one end of the limiting rod (41) is coaxially and rotatably arranged with the fluted disc (31), and the other end of the limiting rod (41) is hinged with one end of the third driving rod (42);
the one end that gag lever post (41) was kept away from to third actuating lever (42) with third right angle connecting rod (44) one end articulates, third right angle connecting rod (44) other end with fourth actuating lever (43) one end articulates, fourth actuating lever (43) other end with fourth right angle connecting rod (45) one end articulates, fourth right angle connecting rod (45) other end with fifth actuating lever (46) one end articulates, fifth actuating lever (46) other end with fifth right angle connecting rod (47) one end articulates, the fifth right angle connecting rod (47) other end with clamping jaw (1) rotation is connected, is used for controlling clamping jaw (1) open and shut.
5. The multiple degree of freedom manipulator of claim 4 wherein the third right angle link (44) is coaxially rotatably disposed with the first right angle link (34);
the fourth right-angle connecting rod (45) and the second right-angle connecting rod (35) are coaxially and rotatably arranged;
the rotating shaft of the fifth right-angle connecting rod (47) is perpendicular to the rotating shaft of the fourth right-angle connecting rod (45).
6. The manipulator according to claim 5, wherein the fifth driving rod (46) comprises a universal joint (461) and two sub-rods (462), wherein two ends of the universal joint (461) are respectively connected with the two sub-rods (462), one sub-rod (462) is hinged with the fourth right-angle connecting rod (45), and the other sub-rod (462) is hinged with the fifth right-angle connecting rod (47).
7. The multi-degree of freedom manipulator of claim 6 wherein the jaw (1) comprises a connecting seat (11), a left split jaw (12) and a right split jaw (13), the connecting seat (11) being hinged to the second support arm (22), the connecting seat (11) being fixed to the second right angle link (35);
the left sub-claw (12) and the right sub-claw (13) are symmetrically hinged on the connecting seat (11), the left sub-claw (12) and the right sub-claw (13) are respectively provided with a half gear (14), and the two half gears (14) are meshed with each other;
the fifth right-angle connecting rod (47) is fixed with the left sub claw (12).
8. The multi-degree of freedom manipulator of claim 4 wherein the third driving means is a cylinder (48), the cylinder (48) is rotatably connected to the toothed disc (31), and the telescopic end of the cylinder (48) is hinged to the hinge of the limit lever (41) and the third driving lever (42).
9. A multi-degree of freedom manipulator according to claim 2, wherein the first and second drive members are servo motors (15), the output end of the second drive member is provided with a drive gear (36), and the drive gear (36) is meshed with the toothed disc (31).
10. A multi-degree of freedom manipulator according to claim 9, wherein the first linkage (2) has two sets, and the second support arms (22) of the two sets of first linkages (2) are hinged near one end of the jaw (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223296383.0U CN219337721U (en) | 2022-12-08 | 2022-12-08 | Multi-degree-of-freedom manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223296383.0U CN219337721U (en) | 2022-12-08 | 2022-12-08 | Multi-degree-of-freedom manipulator |
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| Publication Number | Publication Date |
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| CN219337721U true CN219337721U (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223296383.0U Active CN219337721U (en) | 2022-12-08 | 2022-12-08 | Multi-degree-of-freedom manipulator |
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| Country | Link |
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| CN (1) | CN219337721U (en) |
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2022
- 2022-12-08 CN CN202223296383.0U patent/CN219337721U/en active Active
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Denomination of utility model: A multi degree of freedom robotic arm Granted publication date: 20230714 Pledgee: Sichuan Shehong Rural Commercial Bank Co.,Ltd. Pledgor: Sichuan de AI Xinma Machinery Co.,Ltd. Registration number: Y2024980006430 |
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