CN109605361A

CN109605361A - manipulator

Info

Publication number: CN109605361A
Application number: CN201811622010.3A
Authority: CN
Inventors: 赵云超; 吉金东; 靳祖军; 杨占峰; 高立宏; 王利新; 张际成
Original assignee: State Grid Corp of China SGCC; State Grid Hebei Electric Power Co Ltd; Xingtai Power Supply Co of State Grid Hebei Electric Power Co Ltd; Nangong Power Supply Co of State Grid Hebei Electric Power Co Ltd
Current assignee: State Grid Corp of China SGCC; State Grid Hebei Electric Power Co Ltd; Xingtai Power Supply Co of State Grid Hebei Electric Power Co Ltd; Nangong Power Supply Co of State Grid Hebei Electric Power Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2019-04-12
Anticipated expiration: 2038-12-28
Also published as: CN109605361B

Abstract

The invention provides a manipulator, belonging to the technical field of electric machinery, comprising a base, a manipulator rotatably connected to the base, a manipulator rotatably connected to the free end of the manipulator, and a manipulator rotatably connected to the manipulator The mechanical claw provided by the invention can replace the staff to grasp and transfer materials in a high-risk environment, ensure the health of the staff, reduce labor intensity, and improve work efficiency.

Description

Manipulator

Technical field

The invention belongs to electric machinery technical fields, are to be related to a kind of manipulator more specifically.

Background technique

In electric machinery field, high temperature, corrosion or the working environment with toxic and harmful gas etc. can be related to, such as Fruit staff works in this environment can endanger the human health of staff.If staff needs in this height Clamping handling material just needs to wear the safeguard procedures such as vest, anti-dust mask or heat-resistant clothing, labor intensity in the environment of position Greatly, low efficiency.

Summary of the invention

The purpose of the present invention is to provide a kind of manipulators, it is intended to solve manually to clamp handling material labor in high-risk environment The problem of fatigue resistance is big, low efficiency.

To achieve the above object, the technical solution adopted by the present invention is that: a kind of manipulator is provided, including pedestal, with it is described The wrist and rotated with the wrist that the free end of mechanical arm and the mechanical arm that pedestal is rotatedly connected is rotatedly connected Connected gripper.

Further, the mechanical arm includes articulated arm, the first linking arm, the second linking arm and the first driving assembly；

One end of the articulated arm is rotatedly connected with the pedestal, the other end of the articulated arm and first linking arm One end be rotatedly connected, the other end of first linking arm and one end of second linking arm are rotatedly connected, described second The other end of linking arm is rotatedly connected with the wrist.

Further, the shaft axis of the articulated arm and the pedestal is along first direction, first linking arm and institute The shaft axis of the shaft axis and second linking arm and first linking arm of stating articulated arm in a second direction, institute State that first direction is vertical with the second direction, the connecting shaft and the second direction of the wrist and second linking arm Vertically.

Further, the first direction is perpendicular to horizontal plane, and the articulated arm is perpendicular to horizontal plane.

Further, the wrist includes the connection wrist being rotatedly connected with second linking arm and for driving State the second driving assembly of connection wrist rotation, the connection wrist and the second linking arm connecting shaft perpendicular to the connection wrist and The connecting shaft of the gripper.

Further, the gripper includes the base station being rotatedly connected with the wrist, is connected with the base station and phase Two clamping bars to setting and the third driving assembly for driving two clamping bars, the base station and the connection wrist rotate It is connected；

The gripper further includes the 4th driving assembly for driving the base station around the connection wrist rotation.

Further, the clamping bar includes the interconnecting piece being connected with the base station and the clamping part for clamping material, institute Clamping part is stated equipped with the holding tank for accommodating material.

Further, the third driving assembly includes third motor, is coaxially connected with the output shaft of the third motor Third worm screw and two third worm gears being meshed with the third worm screw, two third worm gears be separately positioned on described The two sides of third worm screw, two third worm gears are coaxially fixed with the interconnecting piece of the clamping bar respectively.

Further, the base station includes the pedestal being rotatedly connected with the connection wrist and is used to that two clamping bars to be arranged Clamping jaw platform；

The third driving assembly further includes the revolution for driving the clamping jaw platform to rotate around the third worm axis Driving assembly.

Further, the rotary drive assembly includes the first driving motor, the output shaft with first driving motor The first connected reduction gearing and the second reduction gearing being meshed with first reduction gearing；

Second reduction gearing is fixedly linked with first drive motor, the axis of second reduction gearing with The output shaft axis of the third motor is overlapped.

The beneficial effect of manipulator provided by the invention is: compared with prior art, the present invention passes through mechanical arm and machine Gripper is connected on pedestal by tool wrist, realizes that the clamping of material is transported by gripper, the present apparatus is avoided that staff is sudden and violent It is exposed in high-risk environment, the health of safeguard work personnel, reduces labor intensity, improve working efficiency.

Detailed description of the invention

Fig. 1 is the structural schematic diagram one of manipulator provided in an embodiment of the present invention；

Fig. 2 is the structural schematic diagram two of manipulator provided in an embodiment of the present invention；

Fig. 3 is the structural schematic diagram one of gripper in Fig. 1 and Fig. 2；

Fig. 4 is the structural schematic diagram two of gripper in Fig. 1 and Fig. 2；

The schematic cross-sectional view one of the position Fig. 5 gripper；

The schematic cross-sectional view two of the position Fig. 6 gripper.

In figure: 1, pedestal；21, articulated arm；22, the first linking arm；23, the second linking arm；3, wrist is connected；41, base station； 411, pedestal；412, clamping jaw platform；42, clamping bar；421, interconnecting piece；422, clamping part；4221, holding tank；423, stiffener plate； 51, third motor；52, third worm screw；53, third worm gear；54, motor fixing sleeve；61, the first driving motor；62, first slows down Gear；63, the second reduction gearing.

Specific embodiment

In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used To explain the present invention, it is not intended to limit the present invention.

Fig. 1 and Fig. 2 are please referred to, now manipulator provided by the invention is illustrated.Manipulator, including pedestal 1, with it is described The wrist and turn with the wrist that the free end of mechanical arm and the mechanical arm that pedestal 1 is rotatedly connected is rotatedly connected Move connected gripper.

Compared with prior art, gripper is connected on pedestal 1 by the present invention by mechanical arm and wrist, passes through machinery Pawl realizes the clamping transhipment of material, and the present apparatus is avoided that staff is exposed in high-risk environment, the body of safeguard work personnel Body health, reduces labor intensity, improves working efficiency.

It is connected it should be understood that pedestal 1 can be set with movable operating platform, on-vehicle machines people's platform etc., movable operating platform, On-vehicle machines people's platform etc. is connected with computer, on computer can real-time display manipulator health data etc., thus The operation of staff's remote control manipulator may be implemented, to achieve the purpose that staff is avoided to be exposed to high-risk environment.

Fig. 1 and Fig. 2 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the mechanical arm packet Include articulated arm 21, the first linking arm 22, the second linking arm 23 and the first driving assembly；

One end of the articulated arm 21 is rotatedly connected with the pedestal 1, the other end of the articulated arm 21 and described first One end of linking arm 22 is rotatedly connected, and the other end of first linking arm 22 and one end of second linking arm 23 rotate phase Even, the other end and the wrist of second linking arm 23 are rotatedly connected.

Articulated arm 21 and pedestal 1 are rotatedly connected and energy band motivation machinery claw and mechanical arm are revolved around the axis of rotation of articulated arm 21 Turn, the first linking arm 22 and the second linking arm 23 are two hinged connecting rods, are able to achieve gripper around 22 rotating shaft of the first linking arm The rotation and lifting of line, mechanical arm improve the flexibility ratio of gripper；

First driving assembly includes being respectively used to that articulated arm 21, the first linking arm 22 is driven to be connected with the second linking arm 23 5th driving assembly, the 6th driving assembly and the 7th driving assembly.5th driving assembly, the 6th driving assembly and the 7th driving group Part drive form is identical, is all made of the drive form of worm and gear, is illustrated by taking the 5th driving assembly as an example, the driving system System includes the 5th motor, the 5th worm screw being connected with the output shaft of the 5th motor and the 5th worm gear engaged with the 5th worm screw, the Five worm gears are fixedly linked with articulated arm 21.

Fig. 1 and Fig. 2 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the articulated arm 21 With the shaft axis of the pedestal 1 along first direction, the shaft axis of first linking arm 22 and the articulated arm 21 and The shaft axis of second linking arm 23 and first linking arm 22 in a second direction, the first direction and described the Two directions are vertical, and the wrist and the connecting shaft of second linking arm 23 are vertical with the second direction；The first party To perpendicular to horizontal plane, the articulated arm 21 is perpendicular to horizontal plane.For the freedom degree for increasing the present apparatus, the flexible of gripper is improved Property, gripper should be enable to move in required all directions, articulated arm 21 is arranged the present embodiment along the vertical direction, articulated arm 21 around own axes rotation, and the shaft axis of the first linking arm 22 and the second linking arm 23 in the horizontal direction, is able to achieve gripper While being rotated around vertical direction, goes up and down and adjustable at a distance from articulated arm 21, realized in certain area in the vertical direction Crawl handling material in domain, it is easy to use.

Fig. 1 and Fig. 2 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the wrist packet Include the connection wrist 3 being rotatedly connected with second linking arm 23 and the second driving group for driving the connection wrist 3 to rotate The connecting shaft of part, the connection wrist 3 and 23 connecting shaft of the second linking arm perpendicular to the connection wrist 3 and the gripper. Gripper is directly connected with mechanical arm compared to the prior art, machinery is arranged in the present embodiment between gripper and mechanical arm The length of wrist, connection wrist 3 is less than the length of articulated arm 21, the first linking arm 22, the second linking arm 23, when articulated arm 21, first After linking arm 22 and the movement in place of the second linking arm 23, it can pass through and adjust the position that wrist realizes accurate adjustment gripper；Second Driving assembly includes the second motor, the second worm screw being connected with the output shaft of the second motor and engage with second worm screw the Two worm gears, the shaft and connection wrist 3 and the connecting shaft of the second linking arm 23 of the second worm gear coaxially fix, realize and pass through the second motor It is drivingly connected rotation of the wrist 3 relative to the second linking arm 23.

Fig. 3 and Fig. 4 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the gripper packet Include the base station 41 being rotatedly connected with the wrist, two clamping bars 42 being connected and be oppositely arranged with the base station 41 and for driving The third driving assembly of dynamic two clamping bars 42, the base station 41 are rotatedly connected with the connection wrist 3；

The gripper further includes the 4th driving assembly for driving the base station 41 to rotate around the connection wrist 3.The Three driving assemblies drive two clamping bars 42, and the 4th driving assembly controls gripper entirety relative to connection wrist rotation, improves this dress The flexibility set；4th driving assembly include the 4th motor, the 4th worm screw being connected with the output shaft of the 4th motor and with it is described 4th worm gear of the 4th worm screw engagement, the shaft and base station 41 of the 4th worm gear are coaxially fixed with the connecting shaft for connecting wrist 3.

Fig. 3 and Fig. 4 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the clamping bar 42 is wrapped The interconnecting piece 421 being connected with the base station 41 and the clamping part 422 for clamping material are included, the clamping part 422, which is equipped with, to be used In the holding tank 4221 for accommodating material.Holding tank 4221 is set on the clamping part 422 of clamping bar 42, two common structures of holding tank 4221 At the cavity for clamping material, which can be set to the free end of clamping bar 42, can also be set to clamping part as shown in this embodiment The material of clamping small size is realized in this way, the free end of two clamping bars 42 remains to be closed in 422 middle part, and structure is simple, uses It is convenient.

Optionally, anti-skidding glue-line is set on the inner wall of holding tank 4221, prevents two clamping bars 42 when clamping material, material It slides.

Optionally, the electricity of the cover board and control cover board rotation hinged with clamping bar 21 can be respectively set in the two sides of clamping bar 21 Two clamping bars 21 can be locked by power mechanisms such as motors after two clamping bars 21 clamp material, be prevented by the power mechanisms such as machine Material is fallen.

Optionally, the quantity of holding tank 4221 is multiple, and the reception space of each holding tank 4221 is all different, and is arranged more The holding tank 4221 of the different reception spaces of kind, allows two clamping bars 42 to clamp the material of different volumes, length, to improve the machine The use scope of machinery claw, while the reception space of settable each holding tank 4221 gradually reduces from front to back, positioned at front end Biggish reception space is matched with the opening maximum of two clamping bars 42, keeps the clamping range of the gripper bigger.

Optionally, the outside of two clamping bars 42 is equipped with the stiffener plate 423 for reinforcing 42 intensity of clamping bar, and setting is reinforced Gusset 423 improves the intensity of clamping bar 42, and two clamping bars 42 is allow firmly to clamp material, clamping bar 42 be not in disconnect, The phenomenon that crack, improves the job stability of entire gripper.

Fig. 4, Fig. 5 and Fig. 6 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the third Driving assembly includes third motor 51, the third worm screw 52 being coaxially connected with the output shaft of the third motor 51 and with described Two third worm gears 53 that three worm screws 52 are meshed, two third worm gears 53 are separately positioned on the two of the third worm screw 52 Side, interconnecting piece of two third worm gears 53 respectively with the clamping bar 42 are coaxially fixed.Two third worm gears 53 are respectively with two The fixing end i.e. interconnecting piece 421 of a clamping bar 42 are coaxially fixed, and third worm gear 53 drives the fixing end rotation of clamping bar 42, in this way The free end of clamping bar 42 i.e. clamping part 422 realize that two folding clampings of clamping bar 42 turn around 53 center axis rotation of third worm gear Move material.

Fig. 3, Fig. 5 and Fig. 6 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the base station 41 include the pedestal 411 being rotatedly connected with the connection wrist 3 and the clamping jaw platform 412 for two clamping bars 42 to be arranged；

The third driving assembly further includes for driving the clamping jaw platform 412 to rotate around 52 axis of third worm screw Rotary drive assembly.

Optionally, clamping jaw platform 412 is equipped with a U-shaped mounting groove, and third worm screw 52 extends vertically through the bottom of the U-type groove Wall, two third worm gears 53 are hinged with the two side walls of U-shaped mounting groove respectively, and the shaft of each third worm gear 53 is each perpendicular to U The side wall of type mounting groove, two such clamping bar 42 are respectively hinged on the side wall of U-shaped mounting groove, and the driving by third motor 51 is real Now folding clamping material.

Third driving assembly is other than being able to achieve two folding clamping materials of clamping bar 42, moreover it is possible to realize the whole of two clamping bars 42 Body rotation, gripper entire in this way are able to achieve the rotation around connection 3 articulated shaft of wrist, around the revolution and two of 52 axis of third worm screw A clamping jaw itself opens and closes three degree of freedom.

Fig. 5 and Fig. 6 are please referred to, as a kind of specific embodiment of manipulator provided by the invention, the revolution driving Component include the first driving motor 61, the first reduction gearing 62 being connected with the output shaft of first driving motor 61 and with The second reduction gearing 63 that first reduction gearing is meshed；

Second reduction gearing 63 is fixedly linked with the third motor 51, the axis of second reduction gearing 63 with The output shaft axis of the third motor 51 is overlapped.In the present embodiment, the first driving motor 61 is fixed on pedestal 411, and is led to It crosses the first reduction gearing 62 to be connected with the second reduction gearing 63 with third motor 51, third motor 51 and clamping jaw platform 412 are used as one A entirety receives the driving of the first driving motor 61, realizes two clamping bars 42 around the rotation of own axes.

Second reduction gearing 63 is equipped with the centre bore for accommodating third motor 51 in the axial direction, is provided in centre bore Spline, third motor 51, which is fixed in the spline of centre bore by the external splines of motor fixing sleeve 54, to be realized and the second deceleration Gear 63 is fixedly linked, and such rotation of first driving motor 61 can drive 412, two third motor 51, clamping jaw platform clamping bars 42 and the whole revolution around 52 axis of third worm screw of third driving assembly；Meanwhile in order to consolidate third motor 51, third motor 51 are supported in pedestal 411 by ball bearing.

Fig. 1 and Fig. 2 are please referred to, to avoid the driving part in the present apparatus from being exposed to high temperature and humidity or the gas-liquid that is corrosive etc. Environment in, articulated arm 21, the first linking arm 22, the second linking arm 23, wrist and gripper are box-structure, with return Pivoted arm 21, the first linking arm 22, the second linking arm 23, wrist and corresponding 5th driving assembly of gripper, the 6th drive Dynamic component, the 7th driving assembly, the second driving assembly, the 4th driving assembly of third driving assembly are enclosed in box-structure, As shown in Figure 1, the 5th driving assembly is set in pedestal 1, the 6th driving assembly is set in articulated arm 21, the 7th driving assembly It is set in the first linking arm 21, the second driving assembly is set in the second linking arm 23, and third driving assembly is set to base station In 41, the 4th driving assembly is set in connection wrist 3.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims

1. A manipulator, characterized in that it comprises a base (1), a mechanical arm rotatably connected with the base (1), a mechanical wrist rotatably connected with the free end of the mechanical arm, and a mechanical wrist rotatably connected with the mechanical wrist mechanical claw.

2. The manipulator according to claim 1, characterized in that: the manipulator comprises a slewing arm (21), a first connecting arm (22), a second connecting arm (23) and a first driving component;

One end of the swivel arm (21) is rotatably connected to the base (1), the other end of the swivel arm (21) is rotatably connected to one end of the first connecting arm (22), and the first connection The other end of the arm (22) is rotatably connected to one end of the second connecting arm (23), and the other end of the second connecting arm (23) is rotatably connected to the mechanical wrist.

3. The manipulator according to claim 2, characterized in that: the axis of rotation of the rotating arm (21) and the base (1) is along a first direction, and the first connecting arm (22) is connected to the The axis of the rotating shaft of the swivel arm (21) and the axes of the rotating shafts of the second connecting arm (23) and the first connecting arm (22) are all along a second direction, and the first direction is perpendicular to the second direction, The connecting axis of the mechanical wrist and the second connecting arm (23) is perpendicular to the second direction.

4. The manipulator according to claim 3, wherein the first direction is perpendicular to the horizontal plane, and the rotating arm (21) is perpendicular to the horizontal plane.

5. The manipulator according to claim 2, characterized in that: the mechanical wrist comprises a connecting wrist (3) rotatably connected with the second connecting arm (23) and a connecting wrist (3) for driving the connecting wrist (3) to rotate The second drive assembly of the connecting wrist (3) and the second connecting arm (23) is perpendicular to the connecting axis of the connecting wrist (3) and the mechanical claw.

6. The manipulator according to claim 5, characterized in that: the mechanical claw comprises a base (41) rotatably connected to the mechanical wrist, and two clamps connected to the base (41) and arranged opposite to each other a rod (42) and a third drive assembly for driving the two clamping rods (42), the base (41) is rotatably connected to the connecting wrist (3);

The mechanical claw also includes a fourth driving component for driving the base (41) to rotate around the connecting wrist (3).

7. The manipulator according to claim 6, characterized in that: the clamping rod (42) comprises a connecting part (421) connected with the base (41) and a clamping part (422) for clamping materials ), the clamping part (422) is provided with a holding groove (4221) for holding the material.

8. The manipulator according to claim 6, wherein the third drive assembly comprises a third motor (51), a third worm (52) coaxially connected to the output shaft of the third motor (51) ) and two third worm gears (53) meshing with the third worm (52), the two third worm gears (53) are respectively arranged on both sides of the third worm (52), and the two The third worm gears (53) are respectively coaxially fixed with the connecting parts of the clamping rods (42).

9 . The manipulator according to claim 8 , wherein the base ( 41 ) comprises a base ( 411 ) rotatably connected with the connecting wrist ( 3 ), and a base ( 411 ) for arranging two of the clamping bars ( 42 ). 10 . ) of the jaw table (412);

The third drive assembly further includes a rotary drive assembly for driving the jaw table (412) to rotate around the axis of the third worm (52).

10. The manipulator according to claim 9, wherein the rotary drive assembly comprises a first drive motor (61), a first reduction gear (62) connected to the output shaft of the first drive motor (61) ) and a second reduction gear (63) meshing with the first reduction gear;

The second reduction gear (63) is fixedly connected with the first drive motor (51), and the axis of the second reduction gear (63) coincides with the axis of the output shaft of the third motor (51).