CN114102566B - Multi-degree-of-freedom manipulator - Google Patents

Abstract

The present invention discloses a multi-degree-of-freedom type manipulator, comprising a mounting seat, a first movable arm and a second movable arm, a turntable is movably mounted on the top of the mounting seat, a first movable arm is movably mounted on the top of the turntable through a fixed seat, a buffer seat is movably mounted on the top and one side of the fixed seat, and a second movable arm is movably mounted on the front end of the first movable arm. The present invention can carry out multi-degree-of-freedom activities, and the flexibility is effectively improved through the mutual cooperation between the turntable, the first movable arm, the second movable arm, the limit frame and the movable frame. The limit frame synchronously drives the movable ring to move on the outside of the protective cylinder, and the cleaning brush is used to facilitate the cleaning of the adhered dust. The movable column can reduce the grasping force to prevent the excessive clamping force from causing damage to the drum-shaped cleaning basket. At the same time, it can be stably fitted with the drum-shaped cleaning basket, and it is not easy to fall off, thereby improving the grasping effect.

Description

Multi-degree-of-freedom manipulator

Technical Field

The invention relates to the technical field of mechanical processing, in particular to a multi-degree-of-freedom manipulator.

Background Art

A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the production and processing of workpieces, it is usually necessary to place the workpiece in a drum-shaped cleaning basket, and use the manipulator to grab the drum-shaped cleaning basket, and grab the drum-shaped cleaning basket and place it in an industrial cleaning machine to clean the workpiece in the basket. Cleaning is mainly to remove grease and dust, so a multi-degree-of-freedom manipulator is needed to improve the use effect.

Although the existing patent (Announcement No.: CN108742158A) has a multi-degree-of-freedom manipulator, the multi-degree-of-freedom manipulator includes: a universal wheel base; a vertical motion assembly, the vertical motion assembly includes a bracket shell, a ball screw assembly and a stepper motor, the bracket shell is fixed on the universal wheel base, the ball screw assembly and the stepper motor are fixed on the bracket shell, and the stepper motor provides the power for the vertical movement of the slider seat in the ball screw assembly; a rotary clamping assembly, the rotary clamping assembly includes a rotary cylinder and a clamping device, the rotary cylinder is fixed on the slider seat, and the output end of the rotary cylinder is connected to the clamping device, and the clamping device is used to retract and clamp heavy objects. However, in the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art that have not been solved:

1. It can only move up and down, and it is not convenient to adjust the position according to the grasped object. It is necessary to manually move the entire device to adjust the position. The flexibility is general, and it is more troublesome to use, which reduces the scope of use and brings more troubles to production and processing.

2. After long-term use, a lot of dust will adhere to the outside, which can easily shorten the service life. It usually requires manual wiping and cleaning with cleaning tools, which reduces convenience.

3. In the process of clamping the material, there is no better protective device, which makes it easy for the clamping force to be too strong and cause damage to the material, resulting in damage to the material, increasing the cost of use and making the operation more troublesome.

Summary of the invention

The purpose of the present invention is to solve the shortcomings existing in the prior art, such as: the existing multi-degree-of-freedom manipulator has relatively general flexibility, relatively single function, and relatively general protection effect.

To achieve the above object, the present invention provides the following technical solutions:

A multi-degree-of-freedom manipulator comprises a mounting seat, a first movable arm and a second movable arm, a turntable is movably mounted on the top of the mounting seat, a first movable arm is movably mounted on the top of the turntable through a fixed seat, a buffer seat is movably mounted on the top and one side of the fixed seat, a second movable arm is movably mounted on the front end of the first movable arm, a protective cylinder is fixedly mounted on one side of the second movable arm, a first electric push rod is fixedly mounted inside the protective cylinder, and a movable frame is movably mounted on one side of the first electric push rod through a limiting frame;

A movable ring corresponding to the protective tube is fixedly installed on one side of the limit frame, a fixed frame is movably installed on the bottom of the movable frame, a movable column is movably installed on the bottom of the fixed frame through a sliding rod, and a chuck is movably installed on the inner side of the movable column.

Preferably, the mounting seat and the rotating disk are movably mounted via a rotating shaft, and the buffer seat and the fixing seat are movably mounted via a first spring.

Preferably, an annular rack is fixedly mounted on the mounting seat at the bottom of the turntable, a first motor is fixedly mounted on the turntable at the front end of the fixed seat, and the output end of the first motor is installed with the annular rack via a transmission gear.

Preferably, a second motor cooperating with the first movable arm is fixedly mounted on the front end of the fixed seat, and a limiting pile corresponding to the buffer seat is fixedly mounted on the front end of the first movable arm.

Preferably, a third motor cooperating with the second movable arm is fixedly mounted on the rear end of the first movable arm, and a cleaning brush corresponding to the protective tube is fixedly mounted on the inner side of the movable ring.

Preferably, a fourth motor is fixedly mounted on the rear end of the movable frame, and an output end of the fourth motor is fixedly mounted between the movable frame.

Preferably, a second electric push rod is fixedly mounted on the top of the fixing frame, and an output end of the second electric push rod is movably mounted to the sliding rod via a movable rod.

Preferably, the movable column and the movable rod are movably mounted via a second spring, and a fifth motor cooperating with the fixed frame is fixedly mounted on the inner side of the movable frame.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention realizes the ability to carry out multi-degree-of-freedom activities. Through the mutual cooperation among the turntable, the first movable arm, the second movable arm, the limit frame and the movable frame, the grasping position can be adjusted more conveniently according to the position of the material, which effectively improves the flexibility. In conjunction with the protective tube, the first electric push rod can be protected more conveniently to reduce the damage caused by collision with external objects, which effectively improves the safety. At the same time, by using the buffer seat, when the first movable arm is rotated to the maximum angle, the limit pile can be brought into contact with the buffer seat to buffer the first movable arm, which can effectively reduce the damage caused to the first movable arm and improve the safety.

2. The present invention realizes that the surface of the protective tube can be cleaned more conveniently. The limit frame can synchronously drive the movable ring to move on the outside of the protective tube during the movement. The cleaning brush can be used to conveniently clean the dust adhered to the surface of the protective tube, so that the protective tube can maintain a good protective effect, increase its service life, reduce the trouble of manual cleaning, improve work efficiency, and facilitate and quick operation.

3. The present invention realizes protection when grabbing materials. Through the cooperation of the sliding rod, the movable column and the chuck, when grabbing the drum-shaped cleaning basket, the movement of the movable column can effectively reduce the grabbing force, and can effectively prevent the drum-shaped cleaning basket from being damaged by excessive clamping force. It is convenient and practical, and can also drive the chuck and the drum-shaped cleaning basket to fit stably, making the drum-shaped cleaning basket less likely to fall off, thereby improving the grabbing effect and bringing more convenience to production and processing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of the main body of the present invention;

FIG2 is a schematic diagram of the front structure of the main body of the present invention;

FIG3 is a schematic diagram of the back structure of the main body of the present invention;

FIG4 is a schematic diagram of a partial three-dimensional structure of a movable frame of the present invention;

FIG5 is a schematic diagram of a partial three-dimensional structure of a movable column of the present invention;

FIG6 is a schematic diagram of the internal structure of the protective tube of the present invention;

FIG. 7 is a schematic diagram of a partial three-dimensional structure of an annular rack according to the present invention.

In the figure: 1, mounting seat; 101, annular rack; 102, rotating shaft; 2, turntable; 201, first motor; 202, fixed seat; 203, second motor; 204, buffer seat; 205, first spring; 206, transmission gear; 3, first movable arm; 301, limit pile; 302, third motor; 4, second movable arm; 401, protective tube; 402, first electric push rod; 5, movable ring; 501, cleaning brush; 6, limit frame; 7, movable frame; 701, fourth motor; 702, fifth motor; 8, fixed frame; 801, second electric push rod; 802, movable column; 803, chuck; 804, second spring; 805, movable rod; 806, sliding rod.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Embodiment 1

As shown in Fig. 1-7, the multi-degree-of-freedom manipulator proposed in the present invention includes a mounting seat 1, a first movable arm 3 and a second movable arm 4. A turntable 2 is movably mounted on the top of the mounting seat 1. The mounting seat 1 and the turntable 2 are movably mounted via a rotating shaft 102, so that the turntable 2 can rotate. The first movable arm 3 is movably mounted on the top of the turntable 2 via a fixed seat 202. An annular rack 101 is fixedly mounted on the mounting seat 1 at the bottom of the turntable 2. A first motor 201 is fixedly mounted on the turntable 2 at the front end of the fixed seat 202 via bolts. A transmission is provided between the output end of the first motor 201 and the annular rack 101. The driving gear 206 is installed for transmission, and the driving gear 206 can be driven to rotate by the first motor 201. In cooperation with the annular rack 101, the turntable 2 can be driven to rotate more conveniently, so as to adjust the grasping position conveniently. The top and one side of the fixed seat 202 are movably installed with a buffer seat 204, and the buffer seat 204 and the fixed seat 202 are movably installed through a first spring 205. The front end of the fixed seat 202 is fixedly installed with a second motor 203 that cooperates with the first movable arm 3 by bolts, and the output end of the second motor 203 is fixedly installed with the first movable arm 3, so that the second motor 203 can be used to drive the first movable arm 3 to move forward. The first movable arm 3 can be flipped to facilitate adjusting the position according to the grasping requirements. The front end of the first movable arm 3 is fixedly installed with a limit pile 301 corresponding to the buffer seat 204 by bolts, so that when the first movable arm 3 is rotated to the maximum angle, the limit pile 301 can be contacted and engaged with the buffer seat 204. By utilizing the effect of the first spring 205, the first movable arm 3 can be buffered more conveniently to prevent damage. The front end of the first movable arm 3 is movably installed with the second movable arm 4 through a movable shaft, and the rear end of the first movable arm 3 is fixedly installed with a third motor 302 cooperating with the second movable arm 4 by bolts. The machine 302 can conveniently drive the second movable arm 4 to move up and down, and a protective cylinder 401 is fixedly installed on one side of the second movable arm 4 by bolts, and a first electric push rod 402 is fixedly installed inside the protective cylinder 401. The first electric push rod 402 can be more conveniently protected by the protective cylinder 401 to reduce the damage caused by collision with external objects. A movable frame 7 is movably installed on one side of the first electric push rod 402 through a limiting frame 6. The distance of the movable frame 7 can be adjusted by the extension and retraction of the first electric push rod 402, and the use length can be conveniently adjusted according to the use requirements, which is convenient and practical.

Embodiment 2

As shown in FIGS. 1-7 , the multi-degree-of-freedom manipulator proposed in the present invention, compared with the first embodiment, includes a movable ring 5 corresponding to the protective cylinder 401 fixedly installed on one side of the limit frame 6, the movable ring 5 is located on the outside of the protective cylinder 401, and a cleaning brush 501 corresponding to the protective cylinder 401 is fixedly installed on the inside of the movable ring 5, which can enable the first electric push rod 402 to synchronously drive the movable ring 5 to move while extending and retracting, and cooperate with the cleaning brush 501 to more conveniently clean the dust adhering to the surface of the protective cylinder 401, so that the protective cylinder 401 can be The invention can maintain a good protective effect, reduce the trouble of manual cleaning, and reduce the work intensity. The rear end of the movable frame 7 is fixedly installed with a fourth motor 701 by bolts, and the output end of the fourth motor 701 is fixedly installed between the movable frame 7. The fourth motor 701 can be used to conveniently drive the movable frame 7 to perform flipping activities, which effectively improves the flexibility of the device. The bottom of the movable frame 7 is movably installed with a fixed frame 8, and the inner side of the movable frame 7 is fixedly installed with a fifth motor 702 that cooperates with the fixed frame 8 by bolts. The fifth motor 702 can conveniently drive the fixed frame 8 to perform flipping activities. The frame 8 can be rotated to facilitate adjustment according to the grasping position, which improves convenience. The bottom of the fixed frame 8 is movably installed with a movable column 802 through a sliding rod 806, and the inner side of the movable column 802 is movably installed with a clamping plate 803. The top of the fixed frame 8 is fixedly installed with a second electric push rod 801, and the output end of the second electric push rod 801 is movably installed with the sliding rod 806 through a movable rod 805, and the movable column 802 and the movable rod 805 are movably installed through a second spring 804. Through the telescopic movement of the second electric push rod 801, the movable rod 805 can be driven to move upward. The movable rod 805 and the sliding rod 806 are slidably installed through the slide groove, which can drive the sliding rod 806 to close and expand, and can more conveniently drive the chuck 803 to clamp and grab the material. Through the action of the second spring 804, the movable column 802 can reduce the clamping force of the chuck 803, which can effectively prevent the material from being damaged by excessive clamping force. At the same time, the movable column 802 can be used to drive the chuck 803 to fit stably with the material, making it less likely for the material to fall off, effectively improving the use effect and being convenient and quick.

Working principle: Before using the device, the user should first test the device and use it after confirming that there is no problem. First, fix the device in a suitable position through the mounting base 1, drive the transmission gear 206 to rotate through the first motor 201, drive the turntable 2 to rotate through the annular rack 101, drive the first movable arm 3 to flip through the second motor 203, and make the limit pile 301 engage with the buffer seat 204 to buffer the first movable arm 3. Drive the second movable arm 4 to flip through the third motor 302, adjust the use length by telescoping the first electric push rod 402, and synchronously drive the movable ring 5 to move. Cooperate with the cleaning brush 501 to clean the dust on the protective tube 401, drive the movable frame 7 to flip through the fourth motor 701, cooperate with the fifth motor 702 to drive the fixed frame 8 to rotate, adjust the grabbing position, utilize the extension and retraction of the second electric push rod 801 to drive the movable rod 805 to move up and down, make the sliding rod 806 close and expand, drive the chuck 803 to clamp and grab the material, through the movement of the movable column 802 and the mutual cooperation of the second spring 804, the clamping force of the chuck 803 is reduced, and at the same time, the chuck 803 is stably fitted with the material to avoid falling off, and the above completes a series of operations of the device.

It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims (5)

1. A multi-degree-of-freedom manipulator, comprising a mounting seat (1), a first movable arm (3) and a second movable arm (4), characterized in that: a turntable (2) is movably mounted on the top of the mounting seat (1), a first movable arm (3) is movably mounted on the top of the turntable (2) through a fixed seat (202), a buffer seat (204) is movably mounted on the top and one side of the fixed seat (202), the buffer seat (204) and the fixed seat (202) are movably mounted via a first spring (205), and a first movable arm (3) is fixedly mounted on the front end of the fixed seat (202) ) is provided, and a limiting pile (301) corresponding to the buffer seat (204) is fixedly installed at the front end of the first movable arm (3), a second movable arm (4) is movably installed at the front end of the first movable arm (3), a protective tube (401) is fixedly installed on one side of the second movable arm (4), a first electric push rod (402) is fixedly installed inside the protective tube (401), a movable frame (7) is movably installed on one side of the first electric push rod (402) through a limiting frame (6), and a fixed frame (8) is movably installed at the bottom of the movable frame (7); A movable ring (5) corresponding to the protective tube (401) is fixedly installed on one side of the limit frame (6); a movable column (802) is movably installed on the bottom of the fixed frame (8) via a sliding rod (806); a second electric push rod (801) is fixedly installed on the top of the fixed frame (8), and an output end of the second electric push rod (801) and the sliding rod (806) are movably installed via a movable rod (805); the movable column (802) and the movable rod (805) are movably installed via a second spring (804); a fifth motor (702) cooperating with the fixed frame (8) is fixedly installed on the inner side of the movable frame (7); and a chuck (803) is movably installed on the inner side of the movable column (802). 2. The multi-degree-of-freedom manipulator according to claim 1, characterized in that the mounting seat (1) and the turntable (2) are movably mounted via a rotating shaft (102). 3. The multi-degree-of-freedom manipulator according to claim 1 or 2, characterized in that: an annular rack (101) is fixedly mounted on the mounting seat (1) at the bottom of the turntable (2), a first motor (201) is fixedly mounted on the turntable (2) at the front end of the fixed seat (202), and an output end of the first motor (201) is installed with the annular rack (101) via a transmission gear (206). 4. The multi-degree-of-freedom manipulator according to claim 1 is characterized in that a third motor (302) cooperating with the second movable arm (4) is fixedly installed at the rear end of the first movable arm (3), and a cleaning brush (501) corresponding to the protective tube (401) is fixedly installed on the inner side of the movable ring (5). 5. The multi-degree-of-freedom manipulator according to claim 1, characterized in that a fourth motor (701) is fixedly mounted at the rear end of the movable frame (7), and an output end of the fourth motor (701) is fixedly mounted between the movable frame (7).