CN107160371A - Novel rhombus flexible manipulator - Google Patents
Novel rhombus flexible manipulator Download PDFInfo
- Publication number
- CN107160371A CN107160371A CN201710576673.5A CN201710576673A CN107160371A CN 107160371 A CN107160371 A CN 107160371A CN 201710576673 A CN201710576673 A CN 201710576673A CN 107160371 A CN107160371 A CN 107160371A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- flexible manipulator
- mounting body
- arm
- manipulator according
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses and provides a kind of flexible, motion novel rhombus flexible manipulator that blind area is small and running precision is high simple in construction, light and handy.The present invention includes mounting body, first mechanical arm and second mechanical arm, the equal drive device being engaged with the first mechanical arm and the second mechanical arm is provided with the mounting body, described first mechanical arm one end is hinged with three-mechanical arm, described second mechanical arm one end is hinged with the 4th mechanical arm, the other end of the other end of the three-mechanical arm and the 4th mechanical arm is hinged by clamping jaw axle point, and rotation clip claw assembly is connected with the clamping jaw axle point.The present invention can be used for the technical field of Machine Design.
Description
Technical field
The present invention relates to novel rhombus flexible manipulator.
Background technology
Manipulator is a kind of new device grown up during mechanization, automated production, and manipulator is extensive
Applied to automatic production line., it is necessary to use light and handy, flexible manipulator on miniature assembling, attachment or plug-in unit production line.But
Existing robot manipulator structure is complicated, and it is larger that manipulator operationally moves blind area, causes production efficiency relatively low；Running precision is low,
Cause production disqualification rate high.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind is simple in construction, light and handy flexible, motion blind area is small and runs essence
The high novel rhombus flexible manipulator of degree.
The technical solution adopted in the present invention is：The present invention includes mounting body, first mechanical arm and second mechanical arm, institute
State and the equal drive device being engaged with the first mechanical arm and the second mechanical arm, described first are provided with mounting body
Mechanical arm one end is hinged with three-mechanical arm, and described second mechanical arm one end is hinged with the 4th mechanical arm, the three-mechanical arm
The other end and the other end of the 4th mechanical arm be hinged by clamping jaw axle point, be connected with rotating clamp on the clamping jaw axle point
Claw assembly.
Further, the drive device includes the first drive motor and the second drive motor, first drive motor
With the first mechanical arm phase rotatable engagement, second drive motor and the second mechanical arm phase rotatable engagement.
Further, the opening and closing angular range of the first mechanical arm and the second mechanical arm is 0 degree to 180 degree, institute
State and the equal angle limitation flap being engaged with the first mechanical arm with the second mechanical arm is provided with mounting body.
Further, the angle rotatable scope of the first mechanical arm and the second mechanical arm is 0 degree to 360
Degree.
Further, the brachium of the first mechanical arm and the second mechanical arm is equal, the three-mechanical arm and institute
The brachium for stating the 4th mechanical arm is equal.
Further, the rear portion of the mounting body is provided with the mechanism that is connected, and the mechanism that is connected includes company
Female connector and arc fixed seat, the arc fixed seat are connected with the mounting body, and the adapter sleeve is fixed with the arc
The globoidal structure of seat is in mating connection.
Further, the rotation clip claw assembly includes electric rotating machine and clamping jaw, and the upper end of the clamping jaw is provided with and institute
The spill spin block that electric rotating machine is engaged is stated, the electric rotating machine can be, but not limited to by chain or timing belt with the spill spin block
It is engaged.
Further, the first mechanical arm is equal with the brachium of the three-mechanical arm.
Further, the mounting body is internally provided with the Z axis gearshift being engaged with the drive device.
Further, the first mechanical arm, the second mechanical arm, the three-mechanical arm and the 4th mechanical arm
Include arm shell, the arm enclosure is provided with storage chamber.
Beneficial effects of the present invention are：The present invention distinguishes drive control first mechanical arm and the second machinery by drive device
Arm is rotated, and then drives three-mechanical arm by first mechanical arm, and second mechanical arm drives the 4th manipulator motion so that
The manipulator clamping jaw of the present invention -- rotation clip claw assembly freely activity can arrive specific position, so that embodying the present invention has
The characteristics of simple in construction, light and handy flexible, small motion blind area and high running precision.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the upward view of the present invention.
Embodiment
As shown in Figure 1 to Figure 2, embodiment of the invention is：The present invention includes mounting body 1, first mechanical arm 2
With second mechanical arm 3, the external form of the mounting body 1 is body structure, and being internally provided with for the mounting body 1 supplies the present invention
Operating system, the cavity placed of control system and other machinery parts, circuit and control section of the invention is hidden in described
The cavity inside of mounting body 1 so that the present invention both can be suitably used for the environment of dust-free workshop or can be suitably used for rugged environment；Institute
The bottom for stating mounting body 1 is provided with bottom plate 14, and the top of the bottom plate 14 is fixedly installed drive device, the drive device
Positioned at the inside of the cavity of the mounting body 1；The drive device includes the first drive motor and the second drive motor, described
First drive motor and second drive motor are disposed in parallel on the bottom plate 14；First drive motor and described the
The top phase rotatable engagement of one mechanical arm 2, the top phase rotatable engagement of second drive motor and the second mechanical arm 3,
The first mechanical arm 2 and the second mechanical arm 3 are respectively positioned on the lower end of the bottom plate 14, the top of the first mechanical arm 2
It is hinged with the top of the second mechanical arm 3, the pin joint is located at the underface of the center of gravity of the mounting body 1；Described
One drive motor and second drive motor are existing servo motor, and they are respectively provided with, and precision is high, lightweight, response
It hurry up, the characteristics of inertia is small and torque is stable.First drive motor and second drive motor directly drive described respectively
First mechanical arm 2 is moved with second mechanical arm 3 so that two mechanical arms are not interfere with each other, cooperative cooperating, it is ensured that operation effect
Rate.
In this specific embodiment, the end of the first mechanical arm 2 is hinged with three-mechanical arm 4, second machinery
The end of arm 3 is hinged with the 4th mechanical arm 5, and the end of the end of the three-mechanical arm 4 and the 4th mechanical arm 5 passes through folder
Pawl axle point 6 is hinged, and the lower end of the clamping jaw axle point 6 is connected with rotation clip claw assembly 7.The first mechanical arm 2, described second
Mechanical arm 3, the three-mechanical arm 4 and the 4th mechanical arm 5 collectively form the mechanical arm configuration of a quadrangle, four machineries
The corresponding height of arm, width are equal；The drive device is located on a summit of quadrangle, and the clamping jaw axle point 6
In on another summit of quadrangle, and two summits are relative；According to the motion principle of quadrangle, it is recognised that when described the
When one mechanical arm 2 and the second mechanical arm 3 are controlled and moved by the drive device respectively, the three-mechanical arm 4
It is driven with the 4th mechanical arm 5 so that the clamping jaw axle point 6 can accurately move to specific position, and it is described
The lower end of clamping jaw axle point 6 is connected with manipulator clamping jaw -- rotation clip claw assembly 7, so, the rotation clip claw assembly 7 can be with
The track of the clamping jaw axle point 6 and move, it is described rotation clamping jaw 12 can range of operation it is big.On the other hand, four mechanical arms make
It is made of composite, does not have big inertia force during operation, they provides lighter weight and high for mobile part
Speed, and vibrated during manipulator motion it is small, improve the present invention running precision.By the shape that mechanical arm is designed to quadrangularly
Shape can make it that the present invention both to have had simple in construction, control that cost is low and the characteristics of simple motion process, but due to mechanical arm it
Between be completely embedded rationally, each mechanical arm is only connected in hinged place so Relative friction is small so that present invention operation is more efficient, essence
Du Genggao.
In this specific embodiment, the opening and closing angular range of the first mechanical arm 2 and the second mechanical arm 3 is 0 degree
To 180 degree, the equal angle being engaged with the first mechanical arm 2 with the second mechanical arm 3 is provided with the mounting body 1
Flap 8 is limited, the angle limitation flap 8 is hinged with the bottom plate 14 in center, is set on the angle limitation flap 8
The angled arc groove 15 for 180 degree, the top of the first mechanical arm 2 and the top of the second mechanical arm 3 are respectively provided with
There is the projection being adapted with the arc groove 15.The first mechanical arm 2 and the second mechanical arm 3 due to 0 degree extremely
The opening and closing angle of 180 degree, so four manipulator motion scopes that embodiment forms quadrangle are big；On the other hand, by setting
State angle limitation flap 8, it is ensured that the maximum subtended angle of the first mechanical arm 2 and the second mechanical arm 3 is 180 degree, is protected
Demonstrate,prove the reasonability of mechanical arm operation.
In this specific embodiment, the angle rotatable scope of the first mechanical arm 2 and the second mechanical arm 3 is
0 degree to 360 degree.The first mechanical arm 2 can carry out circumference rotation with the second mechanical arm 3 under the driving of drive device
Turn, so during the mechanical arm operation of the present invention, operation blind area is small.
In this specific embodiment, the first mechanical arm 2 is equal with the brachium of the second mechanical arm 3, and the described 3rd
Mechanical arm 4 is equal with the brachium of the 4th mechanical arm 5.It so can be designed so that the control system of the mechanical arm in the present invention
It is more simple, while can guarantee that the high efficiency of operation again.
In this specific embodiment, the rear portion of the mounting body 1 is fixedly installed the mechanism 9 that is connected, the connection
Fixed mechanism 9 is used to the mounting body 1 being fixed on external equipment, or wall；The mechanism 9 that is connected includes
Adapter sleeve 10 and arc fixed seat 11, the arc fixed seat 11 are connected with the mounting body 1 and are fixed on the installation
The rear portion of main body 1；The adapter sleeve 10 is joined directly together the parts connect for the present invention with external equipment or wall；The arc is consolidated
Be provided with arc chute on the globoidal structure of reservation 11, the adapter sleeve 10 with the globoidal structure of the arc fixed seat 11
The arc chute is slidingly fitted connection, and the connection angle of the adapter sleeve 10 can be controlled by arc chute, is adapted to not
Same environment.
In this specific embodiment, it is described rotation clip claw assembly 7 include electric rotating machine and clamping jaw 12, the clamping jaw 12 it is upper
End is provided with the spill spin block 13 being engaged with the electric rotating machine, and the electric rotating machine can be, but not limited to the spill spin block 13
It is engaged by chain or timing belt.The spill spin block 13 drives the clamping jaw 12 to carry out spinning movement, so the present invention can be with
The rotation process to gripping object is quickly realized by the clamping jaw 12.On the other hand, the rotation clip claw assembly 7 is modularization
Design, can carry out carrying out changing the model for changing clamping jaw for different gripping objects, so as to adapt to different occasions.
In this specific embodiment, in the first mechanical arm 2 feelings equal with the brachium of the second mechanical arm 3
Under condition, the first mechanical arm 2 and the three-mechanical arm 4 are designed as brachium equal, the second mechanical arm 3 and described the
The brachium of four mechanical arms 5 is equal, so, the quadrangle being made up of four mechanical arms is rhombus；The structure of rhombus is designed, it is not only outer
Shape is attractive in appearance, and uniform force so that the design and practical application of control system are more simple；In addition, four mechanical arms are set
It is calculated as brachium equal, i.e., each mechanical arm specification is identical, and this is conducive to mass production.
In this specific embodiment, the mounting body 1 is internally provided with the Z axis displacement being engaged with the drive device
Device.The Z axis gearshift is prior art, and the mechanical arm configuration of whole quadrangle can be controlled to move up and down, and realizes this
Embodiment of the Z axis motion known to those skilled in the art is planted, therefore is no longer described.
In this specific embodiment, the first mechanical arm 2, the second mechanical arm 3, the three-mechanical arm 4 and institute
Stating the 4th mechanical arm 5 includes arm shell, and the arm shell is the shell of strip square, and the arm shell can strengthen
The rigidity and intensity of each mechanical arm；In addition, the arm shell is internally provided with storage chamber, member control circuit can set
In in the arm shell, without exposing the surface external in the present invention, so as to improve the aesthetic appearance of the present invention.
Quadrangle machinery arm configuration can carry out 360 degree of circumference rotations in the first mechanical arm 2 and the second mechanical arm 3
Under the basis turned, coordinate the displacement of the Z axis axial direction of the Z axis gearshift so that the range of movement of the clamping jaw 12 is big, motion
Blind area is small, and motion blind area is only the cylindrical type region that radius is twice of mechanical arm width.
The present invention quadrangle mechanical arm there is very thin, accurate, light weight, it is simple, compact and inexpensive the characteristics of, the present invention
Without supporting bulky robot support and base, there is larger payload compared with traditional robot size.
The present invention can be used for the technical field of Machine Design.
Claims (10)
1. a kind of novel rhombus flexible manipulator, it is characterised in that：Including mounting body（1）, first mechanical arm（2）With the second machine
Tool arm（3）, the mounting body（1）On be provided with it is equal with the first mechanical arm（2）With the second mechanical arm（3）It is engaged
Drive device, the first mechanical arm（2）One end is hinged with three-mechanical arm（4）, the second mechanical arm（3）One end is hinged
There is the 4th mechanical arm（5）, the three-mechanical arm（4）The other end and the 4th mechanical arm（5）The other end pass through clamping jaw
Axle point（6）It is hinged, the clamping jaw axle point（6）On be connected with rotation clip claw assembly（7）.
2. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The drive device includes first and driven
Dynamic motor and the second drive motor, first drive motor and the first mechanical arm（2）Phase rotatable engagement, described second drives
Dynamic motor and the second mechanical arm（3）Phase rotatable engagement.
3. novel rhombus flexible manipulator according to claim 2, it is characterised in that：The first mechanical arm（2）With institute
State second mechanical arm（3）Opening and closing angular range for 0 degree to 180 degree, the mounting body（1）On be provided with it is equal with described first
Mechanical arm（2）With the second mechanical arm（3）The angle limitation flap being engaged（8）.
4. novel rhombus flexible manipulator according to claim 3, it is characterised in that：The first mechanical arm（2）With institute
State second mechanical arm（3）Angle rotatable scope be 0 degree to 360 degree.
5. novel rhombus flexible manipulator according to claim 4, it is characterised in that：The first mechanical arm（2）And institute
State second mechanical arm（3）Brachium it is equal, the three-mechanical arm（4）With the 4th mechanical arm（5）Brachium it is equal.
6. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The mounting body（1）Rear portion
It is provided with the mechanism that is connected（9）, the mechanism that is connected（9）Including adapter sleeve（10）With arc fixed seat（11）, it is described
Arc fixed seat（11）With the mounting body（1）It is connected, the adapter sleeve（10）With the arc fixed seat（11）Arc
Face structure is in mating connection.
7. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The rotation clip claw assembly（7）Bag
Include electric rotating machine and clamping jaw（12）, the clamping jaw（12）Upper end be provided with the spill spin block being engaged with the electric rotating machine
（13）, the electric rotating machine and the spill spin block（13）It can be, but not limited to be engaged by chain or timing belt.
8. novel rhombus flexible manipulator according to claim 1 or 5, it is characterised in that：The first mechanical arm（2）With
The three-mechanical arm（4）Brachium it is equal.
9. novel rhombus flexible manipulator according to claim 1, it is characterised in that：The mounting body（1）Inside is set
It is equipped with the Z axis gearshift being engaged with the drive device.
10. novel rhombus flexible manipulator according to claim 1 or 5, it is characterised in that：The first mechanical arm（2）、
The second mechanical arm（3）, the three-mechanical arm（4）With the 4th mechanical arm（5）Include arm shell, the arm
Enclosure is provided with storage chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576673.5A CN107160371A (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576673.5A CN107160371A (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160371A true CN107160371A (en) | 2017-09-15 |
Family
ID=59816817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710576673.5A Pending CN107160371A (en) | 2017-07-14 | 2017-07-14 | Novel rhombus flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160371A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021042147A1 (en) * | 2019-09-02 | 2021-03-11 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Manipulator assembly and method for bending a component |
| CN113984337A (en) * | 2021-09-14 | 2022-01-28 | 合肥联宝信息技术有限公司 | A touch screen detection device and touch screen detection method |
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| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN104198270A (en) * | 2014-06-30 | 2014-12-10 | 中国中医科学院望京医院 | Series-parallel connection spinal-column three-dimensional automatic loading apparatus aiming at traditional Chinese medicine manipulation |
| CN106272350A (en) * | 2016-09-05 | 2017-01-04 | 清华大学 | A kind of RRR parallel institution driving joint variable props up chain apparatus |
| CN207172054U (en) * | 2017-07-14 | 2018-04-03 | 申科谱自动化科技（珠海）有限公司 | Novel rhombus flexible manipulator |
-
2017
- 2017-07-14 CN CN201710576673.5A patent/CN107160371A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1903520A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN104198270A (en) * | 2014-06-30 | 2014-12-10 | 中国中医科学院望京医院 | Series-parallel connection spinal-column three-dimensional automatic loading apparatus aiming at traditional Chinese medicine manipulation |
| CN106272350A (en) * | 2016-09-05 | 2017-01-04 | 清华大学 | A kind of RRR parallel institution driving joint variable props up chain apparatus |
| CN207172054U (en) * | 2017-07-14 | 2018-04-03 | 申科谱自动化科技（珠海）有限公司 | Novel rhombus flexible manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021042147A1 (en) * | 2019-09-02 | 2021-03-11 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Manipulator assembly and method for bending a component |
| CN113984337A (en) * | 2021-09-14 | 2022-01-28 | 合肥联宝信息技术有限公司 | A touch screen detection device and touch screen detection method |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 519000 101, floor 1, No. 9 (plant 1), Keji 8th Road, Tangjiawan Town, Zhuhai City, Guangdong Province Applicant after: Zhuhai fenban Automation Co.,Ltd. Address before: 519000 No. 9, Keji 8th Road, Jinding national high tech Zone, Xiangzhou District, Zhuhai City, Guangdong Province Applicant before: SHENKEPU AUTOMATION TECHNOLOGY (ZHUHAI) CO.,LTD. |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20220527 Address after: 519000 Building 2, No.10, Yangqing street, Jingan Town, Doumen District, Zhuhai City, Guangdong Province Applicant after: Zhuhai shenkepu Industrial Technology Co.,Ltd. Address before: 519000 101, floor 1, No. 9 (plant 1), Keji 8th Road, Tangjiawan Town, Zhuhai City, Guangdong Province Applicant before: Zhuhai fenban Automation Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |