CN219726281U - Miniature multi-joint manipulator - Google Patents

Abstract

The utility model discloses a miniature multi-joint manipulator, which relates to the technical field of robot executors and comprises a miniature multi-joint manipulator body, wherein the miniature multi-joint manipulator body comprises a mounting base, a rotary holder, a swinging holder and a clamping mechanism, the rotary holder is connected with the mounting base, the swinging holder is connected with the rotary holder, the clamping mechanism is connected with the swinging holder, a bidirectional screw rod and a guide rod are arranged at the inner side of the clamping mechanism, and the miniature multi-joint manipulator body has stronger flexibility and a wider range of motion under the control of the two double-shaft holders of the rotary holder and the swinging holder, has a simple mechanical structure and a small size, and greatly improves the practicability of the miniature multi-joint manipulator body.

Description

Miniature multi-joint manipulator

Technical Field

The utility model relates to the technical field of robot executors, in particular to a miniature multi-joint manipulator.

Background

In recent years, along with the development of scientific technology and the development trend of industrial intelligence, the application requirements of various industries on automatic mechanical equipment are increasingly wide, a manipulator serving as a common actuating mechanism has the function of being capable of remotely controlling and flexibly completing the operation, and the manipulator is applied to operation robots in a plurality of fields, and currently, the research on the manipulator aiming at a miniaturized robot is focused on simplifying the mechanical structure, reducing the whole size of the manipulator and ensuring the flexibility of multiple joints.

However, the existing manipulator has larger structural size, poorer flexibility, and difficulty in meeting the requirements of the existing doctor on remote control of the manipulator, and lower practicality, and the inventor proposes a miniature multi-joint manipulator for solving the problems.

Disclosure of Invention

In order to solve the problems that the prior manipulator has larger structural size and poorer flexibility, the structural size and the flexibility requirement cannot be considered, the requirement of the prior doctor on remotely controlling the manipulator is difficult to be met, and the practicability is lower; the utility model aims to provide a miniature multi-joint manipulator.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a miniature multi-joint manipulator, including miniature multi-joint manipulator body, miniature multi-joint manipulator body is including the installation base, rotatory cloud platform, swing cloud platform and fixture, rotatory cloud platform is connected to rotatory cloud platform, swing cloud platform is connected to fixture, fixture inboard installation two-way lead screw and guide arm, the surface cover of two-way lead screw and guide arm is equipped with clamping jaw subassembly, left-hand screw tooth and right-hand screw tooth are installed respectively at two ends of two-way lead screw, clamping jaw subassembly quantity is two, install direct current motor in the fixture, open direct current motor's switch, rotate through direct current motor drive two-way lead screw, the direction of motion of the clamping jaw subassembly at both ends is opposite when two-way lead screw is rotatory, rely on direct current motor's forward, reverse drive, can realize clamping jaw subassembly's action of opening and shutting.

Preferably, the fixing base is installed to fixture's top surface, and demountable installation has the camera subassembly in the fixing base, and the camera subassembly cooperates with each other with the clamping jaw subassembly, and the camera subassembly in this device selects for use little focus, takes the small-size camera module of illumination function, can long-range accurate observation centre gripping condition, installs fixedly the camera subassembly through the fixing base, works through camera subassembly cooperation clamping jaw subassembly.

Preferably, the mounting base internal thread is installed evenly distributed's locating bolt, install the fastener subassembly in the middle of the top surface of mounting base, place the cable in the fastener subassembly, install fixedly to miniature many joints manipulator body through four locating bolt cooperation mounting base, the installation is dismantled simply, fix the cable of each part of this manipulator through the fastener subassembly, prevent that the cable from influencing the manipulator operation, the both sides internal thread card of fastener subassembly is equipped with the location knot, two location knot thread cards are established in the mounting base, install fixedly the fastener subassembly through the location knot, with fastener subassembly fixed mounting on the mounting base.

Preferably, the small stepping motor is arranged in the rotary holder and the swing holder, the rotary holder and the swing holder are driven by the small stepping motor, the rotation range of the rotary holder can reach 360 degrees, the swing range of the swing holder can reach-90 degrees to +60 degrees, the inner side of the clamping jaw assembly is provided with a spline, the stability of clamping is kept by the spline arranged in the clamping jaw assembly and is not easy to loosen, threaded holes are reserved at two ends of the clamping jaw assembly, and a rubber gasket or a magnet can be installed according to an actual clamping object to further strengthen the clamping effect.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the miniature multi-joint manipulator body, under the control of the rotary tripod head and the swinging tripod head, the miniature multi-joint manipulator body has strong flexibility and a wide range of motion, is simple in mechanical structure and small in size, and greatly improves the practicability of the miniature multi-joint manipulator body;

2. in the utility model, the clamping jaw components are connected to the clamping mechanism by the guide rod and the bidirectional screw rod, a pair of clamping jaw components of the mechanical structure move relatively, the centering is accurate, the opening and closing range is large, and the saw tooth structure and the reserved screw hole of the clamping jaw components can be expanded and provided with the rubber gasket or the magnet, so that the clamping jaw is suitable for clamping objects with various sizes and materials;

3. according to the utility model, the camera component is arranged on the miniature multi-joint manipulator clamping mechanism, the clamping jaw position and the clamping state can be accurately observed remotely by the aid of the self-illumination function, and the camera component in the miniature multi-joint manipulator clamping mechanism is a small-sized camera module with a small focal length and an illumination function, so that the clamping condition can be accurately observed remotely.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a miniature multi-joint manipulator according to the present utility model;

FIG. 2 is a schematic side view of a miniature multi-joint manipulator of the present utility model;

fig. 3 is a schematic view of a clamping mechanism of a micro multi-joint manipulator according to the present utility model.

In the figure: 1. a miniature multi-joint manipulator body; 11. a mounting base; 111. a DC motor; 1111. positioning bolts; 2. rotating the cradle head; 3. swinging the cradle head; 4. a clamping mechanism; 5. a two-way screw rod; 6. a guide rod; 7. a jaw assembly; 71. a spline; 8. a fixing seat; 9. a camera assembly; 10. a wire clamp assembly; 101. and (5) positioning buckles.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

Examples: as shown in fig. 1-3, the utility model provides a miniature multi-joint manipulator, which comprises a miniature multi-joint manipulator body 1, wherein the miniature multi-joint manipulator body 1 comprises a mounting base 11, a rotary holder 2, a swinging holder 3 and a clamping mechanism 4, the rotary holder 2 is connected with the mounting base 11, the swinging holder 3 is connected with the rotary holder 2, the clamping mechanism 4 is connected with the swinging holder 3, a bidirectional screw rod 5 and a guide rod 6 are arranged on the inner side of the clamping mechanism 4, clamping jaw assemblies 7 are sleeved on the surfaces of the bidirectional screw rod 5 and the guide rod 6, left-handed screw teeth and right-handed screw teeth are respectively arranged at two ends of the bidirectional screw rod 5, the clamping jaw assemblies 7 are arranged in two, a direct current motor 111 is arranged in the clamping mechanism 4, a switch of the direct current motor 111 is turned on, the bidirectional screw rod 5 is driven to rotate by the direct current motor 111, and the movement directions of the clamping jaw assemblies 7 connected at two ends are opposite when the bidirectional screw rod 5 rotates, and the opening and closing actions of the clamping jaw assemblies 7 can be realized by means of forward and reverse driving of the direct current motor 111.

A fixed seat 8 is arranged on the top surface of the clamping mechanism 4, a camera component 9 is detachably arranged in the fixed seat 8, and the camera component 9 is matched with the clamping jaw component 7;

through adopting above-mentioned technical scheme, camera subassembly 9 in this device select for use little focus, take lighting function's small-size camera module, but long-range accurate observation centre gripping condition installs fixedly camera subassembly 9 through fixing base 8, cooperates clamping jaw subassembly 7 to work through camera subassembly 9.

The inner threads of the mounting base 11 are provided with uniformly distributed positioning bolts 1111, the middle of the top surface of the mounting base 11 is provided with a wire clamp assembly 10, and a cable is placed in the wire clamp assembly 10;

through adopting above-mentioned technical scheme, install fixedly miniature many joints manipulator body 1 through four positioning bolts 1111 cooperation installation base 11, the installation is dismantled simply, fixes the cable of each part of this manipulator through fastener subassembly 10, prevents that the cable from influencing the manipulator operation.

The two sides of the wire clamp assembly 10 are internally provided with positioning buckles 101 in a threaded manner, and the two positioning buckles 101 are arranged in the mounting base 11 in a threaded manner;

through adopting above-mentioned technical scheme, install the fastener subassembly 10 through location knot 101 and fix, with fastener subassembly 10 fixed mounting on installation base 11.

The rotary holder 2 and the swing holder 3 are internally provided with small stepping motors, and the rotary holder 2 and the swing holder 3 are driven by the small stepping motors;

by adopting the technical scheme, the rotation range of the rotary tripod head 2 can reach 360 degrees, and the swinging range of the swinging tripod head 3 can reach-90 degrees to +60 degrees.

The inner side of the clamping jaw assembly 7 is provided with a spline 71;

through adopting above-mentioned technical scheme, the stability that keeps the centre gripping through the spline 71 of the inside seting up of clamping jaw subassembly 7 is difficult for taking off, and screw hole is reserved at clamping jaw subassembly 7 both ends, can install rubber gasket or magnet according to actual centre gripping thing, further reinforces the centre gripping effect.

Working principle: the miniature multi-joint manipulator body 1 is installed and fixed through the matching of four positioning bolts 1111 and the installation base 11, the bidirectional screw rod 5 is driven to rotate through the direct current motor 111, the movement directions of the clamping jaw assemblies 7 connected to the two ends are opposite when the bidirectional screw rod 5 rotates, the opening and closing actions of the clamping jaw assemblies 7 can be realized by virtue of the forward and reverse driving of the direct current motor 111, and the device has stronger flexibility and a wider movement range under the control of the two double-shaft holders of the rotary holder 2 and the swinging holder 3;

the camera component 9 is installed and fixed through the fixing seat 8, the camera component 9 cooperates with the clamping jaw component 7 to work, and the camera component 9 in the device selects a small-sized camera module with a small focal length and an illumination function, so that the clamping condition can be observed remotely and accurately;

the stability of the clamping is kept not easy to loosen through the spline 71 formed in the clamping jaw assembly 7, threaded holes are reserved at the two ends of the clamping jaw assembly 7, and the clamping effect can be further enhanced by installing rubber gaskets or magnets according to actual clamping objects.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (6)

1. The utility model provides a miniature multi-joint manipulator, includes miniature multi-joint manipulator body (1), its characterized in that: the miniature multi-joint manipulator body (1) comprises a mounting base (11), a rotary holder (2), a swinging holder (3) and a clamping mechanism (4), the rotary holder (2) is connected with the mounting base (11), the swinging holder (3) is connected with the rotary holder (2), the clamping mechanism (4) is connected with the swinging holder (3), a bidirectional screw rod (5) and a guide rod (6) are mounted on the inner side of the clamping mechanism (4), clamping jaw assemblies (7) are sleeved on the surfaces of the bidirectional screw rod (5) and the guide rod (6), left-handed screw teeth and right-handed screw teeth are mounted on the two ends of the bidirectional screw rod (5) respectively, the number of the clamping jaw assemblies (7) is two, and a direct-current motor (111) is mounted in the clamping mechanism (4).

2. A miniature multi-joint manipulator according to claim 1, characterized in that the top surface of the clamping mechanism (4) is provided with a fixing seat (8), a camera component (9) is detachably arranged in the fixing seat (8), and the camera component (9) is mutually matched with the clamping jaw component (7).

3. The miniature multi-joint manipulator according to claim 1, wherein the installation base (11) is internally provided with uniformly distributed positioning bolts (1111) in a threaded manner, the cable clamp assembly (10) is installed in the middle of the top surface of the installation base (11), and cables are placed in the cable clamp assembly (10).

4. A miniature multi-joint manipulator according to claim 3, characterized in that the two sides of the wire clamp assembly (10) are provided with positioning buckles (101) in a threaded manner, and the two positioning buckles (101) are arranged in the mounting base (11) in a threaded manner.

5. A miniature multi-joint manipulator according to claim 1, characterized in that the rotary holder (2) and the swinging holder (3) are internally provided with small stepper motors, and the rotary holder (2) and the swinging holder (3) are driven by the small stepper motors.

6. A miniature multi-joint manipulator according to claim 1, characterized in that the inner side of the jaw assembly (7) is provided with splines (71).