CN219426795U - Manipulator capable of rotating in multiple directions - Google Patents
Manipulator capable of rotating in multiple directions Download PDFInfo
- Publication number
- CN219426795U CN219426795U CN202321488641.7U CN202321488641U CN219426795U CN 219426795 U CN219426795 U CN 219426795U CN 202321488641 U CN202321488641 U CN 202321488641U CN 219426795 U CN219426795 U CN 219426795U
- Authority
- CN
- China
- Prior art keywords
- seat
- swing
- manipulator
- arm
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the field of manipulators, and in particular relates to a manipulator capable of rotating in multiple directions, which comprises a fixed seat, a swinging seat, a plurality of swinging arm assemblies, a telescopic adjusting piece and two universal couplings, wherein the swinging seat is movably arranged below the fixed seat; the plurality of swing arm assemblies are circumferentially distributed between the fixed seat and the swing seat; the telescopic adjusting piece is connected between the fixed seat and the swinging seat; two universal couplings are connected between flexible regulating part and fixing base and flexible regulating part and swing seat respectively, and universal couplings include cross and two rotation joints, and two rotation joints rotate with the cross respectively and are connected, and rotation joints include the base and set up two linking arms that upwards extend and the cross is connected on the base relatively, and the relative both sides limit of linking arm is formed with the groove of stepping down of inwards bending, provides bigger effective rotation scope for rotation joint, cooperates flexible regulating part to realize the rotation of a plurality of directions to the manipulator rotation scope is little problem among the solution prior art.
Description
Technical Field
The utility model belongs to the field of manipulators, and particularly relates to a manipulator capable of rotating in multiple directions.
Background
In the life today, under the development of new moon in science and technology, the maximum difference between the robot arm and the human arm is the flexibility and the strength, that is, the maximum advantage of the robot arm can repeatedly perform the same action and can not feel tired under the normal condition of the machine, the application of the robot arm will be more and more extensive, the robot arm is a high-tech automatic production device developed in recent decades, the operation accuracy and the capability of completing the operation in the environment, and an important branch of the industrial robot arm.
The spider hand robot is a commonly used robot and has the characteristic of quick action, such as a spider hand high-speed robot disclosed in Chinese patent CN207327035U, and comprises a footstock, a swinging seat, a control motor arranged on the footstock, a swinging arm with the tail end connected with the control motor in a transmission manner, and a supporting arm with the tail part pivoted with the head part of the swinging arm, wherein the control motor drives the swinging arm to swing up and down, the swinging arm is uniformly distributed in a 360-degree annular array in a horizontal plane, a telescopic transmission shaft is connected between the footstock and the swinging seat, and a universal coupling is connected between the telescopic transmission shaft and the footstock and between the swinging seat; the universal coupler comprises a first joint, a second joint, a cross shaft and a needle roller bearing, wherein the first joint and the second joint are identical in structure, a connecting arm connected with the cross shaft is arranged, and two side surfaces of the connecting arm are oppositely arranged in parallel; the following problems exist in the use process: in the rotation process of the first joint relative to the second joint, the first joint rotates downwards to the limit, and when the first joint continues to rotate upwards to the left side or the right side, the first joint can be limited by the connecting arm of the second joint, so that the first joint cannot continue to rotate and cannot reach a rotation angle of 45 degrees, the effective rotation range of the first joint is further reduced, the rotation angle and the direction of the manipulator are limited, and the first joint is required to be further improved.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a manipulator capable of rotating in multiple directions.
The utility model adopts the following technical scheme:
a manipulator capable of rotating in multiple directions comprises a fixed seat, a swinging seat, a plurality of swinging arm assemblies, a telescopic adjusting piece and two universal couplings, wherein the swinging seat is movably arranged below the fixed seat; the plurality of swing arm assemblies are circumferentially distributed between the fixed seat and the swing seat, one end of each swing arm assembly is connected with the fixed seat, and the other end of each swing arm assembly is connected with the swing seat; the telescopic adjusting piece is connected between the fixed seat and the swinging seat; the universal couplings are respectively connected between the telescopic adjusting piece and the fixed seat and between the telescopic adjusting piece and the swinging seat, each universal coupling comprises a cross shaft and two rotary joints, each rotary joint is respectively connected with the cross shaft in a rotary mode, each rotary joint comprises a base and two connecting arms which are oppositely arranged on the base and extend upwards to be connected with the cross shaft, and the two opposite side edges of each connecting arm are provided with inwards bent abdicating grooves.
Further, the connecting arm comprises an extension section connected with the base and extending upwards, and a connecting section arranged at the top of the extension section and connected with the cross shaft, and the abdication groove is arranged at the side edge of the extension section and bent inwards.
Further, the connecting section is circular.
Further, the base is provided with limiting grooves which are downwards recessed and matched with the connecting arms, and two sides of each limiting groove are respectively connected with the abdicating grooves on the same side of the two connecting arms.
Further, the telescopic adjusting piece comprises an adjusting frame and a moving rod, and the upper end of the adjusting frame is connected with the fixed seat through the universal coupling; the movable rod is movably arranged in the adjusting frame, and the lower end of the movable rod is connected with the swinging seat through the universal coupling.
Further, the base is provided with a positioning groove extending upwards from the bottom of the base and a positioning screw hole arranged in the positioning groove, and the telescopic adjusting piece is arranged in the positioning groove and fixedly connected with the universal coupling through the positioning screw hole.
Further, the cross shaft is connected with the connecting arm through the bearing, and the connecting arm is provided with a connecting hole for installing the bearing.
Further, the swing arm assembly comprises a driving motor arranged on the fixing seat, a swing arm connected with an output shaft of the driving motor and a support arm with one end connected with the swing arm and the other end connected with the swing seat.
Further, the front end of the swing arm is provided with a first fixed shaft, two ends of the first fixed shaft are respectively provided with a first ball head, the support arm comprises two support rods which are arranged in parallel, and the upper end of each support rod is provided with a first ball groove matched with the first ball head.
Further, a second fixed shaft opposite to the first fixed shaft is arranged on the swing seat, second ball heads are respectively arranged at two ends of the second fixed shaft, and a second ball groove matched with the second ball heads is arranged at the lower end of the support rod.
As can be seen from the above description of the present utility model, compared with the prior art, the present utility model has the following beneficial effects: this application is through inject the structure of connecting the universal joint between flexible regulating part and fixing base and flexible regulating part and swing seat, be formed with the groove of stepping down of inwards bending at the relative both sides limit of linking arm for when two rotation joints rotate, the groove of stepping down of a rotation joint can provide the rotation space for the upward rotation or the downward rotation of another rotation joint off-set right side or left side, is prevented to rotate by another rotation joint restriction when connecting to rotate, make rotation angle can reach 45, obtain bigger effective rotation scope, the rotation of a plurality of directions is realized to the cooperation flexible regulating part, make the action of manipulator more nimble.
Drawings
FIG. 1 is a schematic diagram of a manipulator;
FIG. 2 is a schematic diagram of a second embodiment of a manipulator;
FIG. 3 is an exploded view of the universal coupling;
FIG. 4 is a schematic view of the universal joint in use;
in the figure, a 1-fixed seat, a 2-swinging seat, a 3-swinging arm assembly, a 4-telescopic adjusting piece, a 5-universal coupler, a 31-driving motor, a 32-swinging arm, a 33-supporting arm, a 331-supporting rod, a 34-first fixed shaft, a 341 first ball head, a 35-second fixed shaft, a 352-second ball head, a 41-adjusting frame, a 42-moving rod, a 43-moving seat, a 51-cross shaft, a 52-rotating joint, a 53-base, a 531-limiting groove, a 532-positioning groove, 533-positioning screw holes, a 54-connecting arm, 541-extending section, 542-connecting section, 543-connecting hole, 55-yielding groove and 56-bearing.
Detailed Description
The utility model is further described below by means of specific embodiments.
Referring to fig. 1 to 4, a multi-directional rotatable manipulator includes a fixed base 1, a swing base 2, a plurality of swing arm assemblies 3, a telescopic adjuster 4, and two universal couplings 5.
The swinging seat 2 is movably arranged below the fixed seat 1.
The plurality of swing arm assemblies 3 are circumferentially distributed between the fixed seat 1 and the swing seat 2, one end of each swing arm assembly 3 is connected with the fixed seat 1, the other end of each swing arm assembly 3 is connected with the swing seat 2, each swing arm comprises a driving motor 31 arranged on the fixed seat 1, a swing arm 32 connected with an output shaft of the driving motor 31, and a support arm 33 with one end connected with the swing arm 32 and the other end connected with the swing seat 2, specifically, the front end of each swing arm 32 is provided with a first fixed shaft 34, the swing seat 2 is provided with a second fixed shaft 35 opposite to the first fixed shaft 34, two ends of each first fixed shaft 34 are respectively provided with a first ball head 341, and two ends of each second fixed shaft 35 are respectively provided with a second ball head 351; the support arm 33 comprises two support rods 331 which are arranged in parallel, a first ball groove matched with the first ball head 341 is formed in the upper end of each support rod 331, and a second ball groove matched with the second ball head 351 is formed in the lower end of each support rod 331; further, the swing arm assembly 3 is a common component in the field of manipulators, and the specific structure and working principle thereof will not be further described.
The telescopic adjusting piece 4 is connected between the fixed seat 1 and the swinging seat 2 and comprises an adjusting frame 41 and a moving rod 42, and the upper end of the adjusting frame 41 is connected with the fixed seat 1 through a universal coupling 5; the movable rod 42 is movably arranged in the adjusting frame 41, the lower end of the movable rod is connected with the swinging seat 2 through the universal coupling 5, specifically, the movable seat 43 is arranged at the upper end of the movable rod 42, the movable seat 43 can be arranged in the adjusting frame 41 in a vertical moving way, the mechanical arm can rotate in multiple directions through the cooperation of the telescopic adjusting piece 4 and the universal coupling 5, the action flexibility of the mechanical arm is improved, and the working requirement of a larger range is met.
The two universal couplings 5 are respectively connected between the telescopic adjusting piece 4 and the fixed seat 1 and between the telescopic adjusting piece 4 and the swinging seat 2, the universal couplings 5 comprise a cross shaft 51 and two rotary joints 52, the two rotary joints 52 are respectively and rotatably connected with the cross shaft 51, the rotary joints 52 comprise a base 53 and two connecting arms 54 which are oppositely arranged on the base 53 and extend upwards to be connected with the cross shaft 51, and the opposite side edges of the connecting arms 54 are provided with inward bending abdicating grooves 55; referring to fig. 4, when the two rotary joints 52 rotate, the relief groove 55 of one rotary joint 52 can provide a rotation space for the upward rotation or the downward rotation of the other rotary joint 52 toward the right or the left, preventing the rotary joint 52 from being limited by the other rotary joint 52 when rotating, so that the rotation angle can reach 45 °, and a larger effective rotation range is obtained.
The base 53 is formed with a limit groove 531 extending downwards to be matched with the connecting arms 54, two sides of the limit groove 531 are respectively connected with the giving-off grooves 55 on the same side of the two connecting arms 54, and the limit groove 531 is a downward extending arc groove; further, the base 53 is provided with a positioning groove 532 extending upward from the bottom and a positioning screw hole 533 provided in the positioning groove 532, and the upper end of the adjusting bracket 41 and the lower end of the moving lever 42 are provided in the opposite positioning screw hole 533 and fixedly coupled to the opposite universal joint 5 via bolts.
The connecting arm 54 includes an extension section 541 extending upward and connected to the base 53, and a connection section 542 connected to the cross 51 and provided on top of the extension section 541, the relief groove 55 is provided on a side of the extension section 541 to be bent inward, specifically, the cross 51 is connected to the connection section 542 via a bearing, and the connection section 542 is formed with a connection hole 543 for mounting the bearing 56; further, the connecting section 542 is circular.
This application is through inject the structure of the universal joint 5 of connection between flexible adjusting part 4 and fixing base 1 and flexible adjusting part 4 and swinging seat 2, be formed with the groove 55 of stepping down of inwards bending at the opposite both sides limit of linking arm 54 for when two rotation joints 52 rotate, the groove 55 of stepping down of one rotation joint 52 can provide the rotation space for the upward rotation or the downward rotation of another rotation joint 55 deflection right side or left side, is prevented when rotating joint 52 and is restricted by another rotation joint 52 for rotation angle can reach 45, obtains bigger effective rotation scope, cooperates flexible adjusting part 4 to realize the rotation of a plurality of directions, makes the action of manipulator more nimble.
The foregoing description is only illustrative of the preferred embodiments of the present utility model and is not to be construed as limiting the scope of the utility model, i.e., the utility model is not to be limited to the details of the claims and the description, but rather is to cover all modifications which are within the scope of the utility model.
Claims (10)
1. A but multidirectional pivoted manipulator, its characterized in that: the swing seat is movably arranged below the fixed seat; the plurality of swing arm assemblies are circumferentially distributed between the fixed seat and the swing seat, one end of each swing arm assembly is connected with the fixed seat, and the other end of each swing arm assembly is connected with the swing seat; the telescopic adjusting piece is connected between the fixed seat and the swinging seat; the universal couplings are respectively connected between the telescopic adjusting piece and the fixed seat and between the telescopic adjusting piece and the swinging seat, each universal coupling comprises a cross shaft and two rotary joints, each rotary joint is respectively connected with the cross shaft in a rotary mode, each rotary joint comprises a base and two connecting arms which are oppositely arranged on the base and extend upwards to be connected with the cross shaft, and the two opposite side edges of each connecting arm are provided with inwards bent abdicating grooves.
2. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the connecting arm comprises an extension section and a connecting section, wherein the extension section is connected with the base and extends upwards, the connecting section is arranged at the top of the extension section and connected with the cross shaft, and the yielding groove is formed in the side edge of the extension section and bends inwards.
3. A multi-directionally rotatable manipulator as claimed in claim 2, wherein: the connecting section is circular.
4. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the base is formed with limiting grooves which are concave downwards and matched with the connecting arms, and two sides of each limiting groove are respectively connected with the abdicating grooves on the same side of the two connecting arms.
5. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the telescopic adjusting piece comprises an adjusting frame and a moving rod, and the upper end of the adjusting frame is connected with the fixed seat through the universal coupling; the movable rod is movably arranged in the adjusting frame, and the lower end of the movable rod is connected with the swinging seat through the universal coupling.
6. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the base is provided with a positioning groove extending upwards from the bottom of the base and a positioning screw hole arranged in the positioning groove, and the telescopic adjusting piece is arranged in the positioning groove and fixedly connected with the universal coupling through the positioning screw hole.
7. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the cross shaft is connected with the connecting arm through the bearing, and the connecting arm is provided with a connecting hole for installing the bearing.
8. A multi-directionally rotatable manipulator as claimed in claim 1, and further comprising: the swing arm assembly comprises a driving motor arranged on the fixing seat, a swing arm connected with an output shaft of the driving motor and a support arm with one end connected with the swing arm and the other end connected with the swing seat.
9. The multi-directional rotating manipulator of claim 8, wherein: the front end of swing arm is provided with first dead axle, the both ends of first dead axle are provided with first bulb respectively, the support arm includes two bracing pieces of parallel arrangement, and the bracing piece upper end is provided with first bulb complex first ball groove.
10. The multi-directional rotating manipulator of claim 9, wherein: the swing seat is provided with a second fixed shaft opposite to the first fixed shaft, two ends of the second fixed shaft are respectively provided with a second ball head, and the lower end of the support rod is provided with a second ball groove matched with the second ball head.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202321488641.7U CN219426795U (en) | 2023-06-13 | 2023-06-13 | Manipulator capable of rotating in multiple directions |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202321488641.7U CN219426795U (en) | 2023-06-13 | 2023-06-13 | Manipulator capable of rotating in multiple directions |
Publications (1)
Publication Number | Publication Date |
---|---|
CN219426795U true CN219426795U (en) | 2023-07-28 |
Family
ID=87330918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202321488641.7U Active CN219426795U (en) | 2023-06-13 | 2023-06-13 | Manipulator capable of rotating in multiple directions |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN219426795U (en) |
-
2023
- 2023-06-13 CN CN202321488641.7U patent/CN219426795U/en active Active
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020125044A1 (en) | Four degrees of freedom parallel robot provided with dual moving platform structure | |
US10710249B2 (en) | 3 DOF parallel mechanism with 3 branched-chains | |
WO2019126919A1 (en) | Three-degree-of-freedom parallel mechanism | |
CN108972505A (en) | A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution | |
CN114571500B (en) | Centralized driving type rigid humanoid mechanical arm | |
US20210094168A1 (en) | Two-degree-of-freedom parallel robot with spatial kinematic chain | |
US11708882B2 (en) | Head mechanism and robot | |
CN102218734A (en) | Double parallel four-bar two-dimensional rotating parallel mechanism with virtual moving center | |
US11364626B2 (en) | 6-dof parallel robot with a double-gyroscopic component | |
CN219426795U (en) | Manipulator capable of rotating in multiple directions | |
CN206952412U (en) | A kind of posture of welding torch controlling organization | |
US20200230826A1 (en) | Five-degree-of-freedom parallel mechanism and its extended equipment | |
CN112847417B (en) | Mechanical arm tail end execution device | |
CN107487441A (en) | A kind of spring airplane tread governor motion | |
CN111168649A (en) | High-speed high-precision parallel robot | |
CN112917509A (en) | Three-degree-of-freedom mechanical arm driven based on spherical parallel mechanism | |
CN112454417A (en) | Desktop mechanical arm joint assembly, desktop mechanical arm and robot | |
CN210009319U (en) | Massage machine core | |
CN215037618U (en) | Two-degree-of-freedom compact tendon transmission joint module | |
CN112717438B (en) | Three-degree-of-freedom motion platform with transverse displacement | |
CN210307811U (en) | Power device and robot with same | |
CN114273128A (en) | Paint spraying apparatus for industrial robot manufacturing | |
CN208930251U (en) | Forearm and articulated robot | |
CN219911553U (en) | Cross axle type universal coupling | |
CN220145987U (en) | Vertical multi-joint robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
GR01 | Patent grant | ||
GR01 | Patent grant |