Multi-degree-of-freedom modular manipulator

Abstract

The invention belongs to the technical field of manipulators, and discloses a multi-degree-of-freedom modular manipulator which comprises a bottom plate, a base is fixedly connected to the top of the bottom plate, a controller is fixedly connected to one side of the top of the base, a large arm is rotationally connected to the other side of the top of the base, and a small arm is rotationally connected to the end of the large arm. Through cooperation of structures such as an H-shaped rotating plate, a connecting rod, a tension spring and a right-angle rubber mat, the two ends of a long-strip-shaped object are assisted to be pressed towards the outer side to abut against the two ends of the long-strip-shaped object, in the clamping process of a clamping plate of the clamping assembly, the H-shaped rotating plate is pulled to be close to the middle through the connecting rod, and the tension spring generates reverse tension on the end of the H-shaped rotating plate; therefore, each pair of H-shaped rotating plates rotate inwards to assist the side edges to clamp the long-strip-shaped objects, the clamping force of the H-shaped rotating plates is opposite to that of the clamping plates, meanwhile, clamping point positions are increased, and even if the clamping points of the clamping plates are not completely aligned with the center points of the long-strip-shaped objects, the situation of slipping can be effectively avoided.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically a multi-degree-of-freedom modular robotic arm. Background Technology

[0002] Multiple degrees of freedom refer to the fact that a robotic arm has multiple independent motion dimensions, such as lifting, stretching, rotating, and wrist swinging. It can grasp and operate at any position and posture in space, thereby replacing manual labor in different production scenarios to complete repetitive, high-intensity or precision operations, reducing human error and improving production efficiency.

[0003] The prior art document CN115648261A discloses a flexible rotary joint, a mechanical finger, and an easily detachable modular underactuated manipulator, including a connecting flange; a support plate is fixedly connected to the connecting flange via multiple support rods, with the support plate and the connecting flange arranged parallel to each other at intervals; multiple finger assemblies are arranged around the support plate, and a fixing frame is fixed to the edge of the support plate; a lifting drive unit is mounted on the connecting flange, and the power output end of the lifting drive unit is connected to the finger body at the end of the mechanical finger via a linkage transmission unit. The finger assembly includes a fixing frame and multiple finger bodies connected sequentially to the fixing frame. The fixing frame and the finger bodies, as well as adjacent finger bodies, are connected by flexible rotary connectors. This invention, by setting flexible rotary connectors, ensures rotation while also providing a certain rotational resistance torque, achieving flexible support connection, enabling each finger joint to play a clamping role, providing stronger envelopment, distributing clamping force, and preventing damage to the clamped part. Although the above-mentioned device achieves flexible support connection through flexible rotating connectors to distribute the clamping force, the current traditional robotic arms can grip most blocky objects well, but for long and narrow items, such as strips or cylindrical rods, it is easy to cause deviation of the clamping midpoint, resulting in instability of the center of gravity, deflection and slippage, which affects the clamping stability of such items. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-degree-of-freedom modular manipulator that avoids instability in the gripping center of gravity and promotes the adhesion of the gripping surface, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-degree-of-freedom modular manipulator, comprising a base plate, a base fixedly connected to the top of the base plate, a controller fixedly connected to one side of the top of the base, a large arm rotatably connected to the other side of the top of the base, a forearm rotatably connected to the end of the large arm, a wrist rotatably connected to the end of the forearm, and a gripping assembly installed at the end of the wrist, further comprising: An auxiliary pushing mechanism is located on the clamping assembly; An adaptive gripping mechanism is provided, which is connected to an auxiliary pushing mechanism, and the adaptive gripping mechanism is provided in two pairs; The auxiliary pushing mechanism includes a pair of support plates fixed to both sides of the clamping assembly. Rectangular sleeve plates are slidably fitted onto the outer walls of each support plate. H-shaped rotating plates are rotatably connected to the bottom sides of each rectangular sleeve plate. Round-headed sleeves are rotatably connected to the side walls of each rectangular sleeve plate. A guide rod is threadedly connected to the inner cavity of the round-headed sleeve via bolts. A tension spring is fixed to the end of each bolt and is sleeved on the outer wall of the guide rod. In use, the controller sequentially activates each drive source, allowing the base to rotate, the upper and lower arms to swing, and the wrist to rotate. This series of free-degree movements allows the clamping assembly to flexibly reach the desired position for effective clamping of items. When clamping a long, narrow item, the clamping plates are placed on both sides of the middle of the item. At this time, the electric push rod pulls the connecting rod, causing the pair of clamping plates to gradually close together, thereby clamping the middle of the long, narrow item.

[0006] Preferably, the inner side of the H-shaped rotating plate is rotatably connected to a connecting rod, and the ends of the connecting rods are rotatably connected to the clamping assembly. After the clamping plate of the clamping assembly successfully clamps the item in the center, the continued clamping process will drive the support plates and connecting rods on both sides to move synchronously. Since the two ends of the connecting rod are connected to the clamping plate and the H-shaped rotating plate respectively, the ends of the H-shaped rotating plate will generate an outward pulling force under the action of the tension spring, while the inner side will apply an inward pulling force through the connecting rod.

[0007] Preferably, a concave ring block is fixed to the end of the tension spring away from the bolt, and a sleeve is threaded onto the outer wall of the concave ring block, the sleeve being sleeved around the guide rod and the tension spring.

[0008] Preferably, a pair of circular plates are fixed to the end of the sleeve, and the pair of circular plates are rotatably connected to an arc-shaped groove plate. The end of the guide rod passes through the sleeve and the arc-shaped groove plate. When the connecting rod pulls the H-shaped rotating plate to move in the center, the resulting tension is transmitted to the round head sleeve through the rectangular sleeve plate, causing it to move axially on the support plate 850. This action causes the bolt to drive the guide rod and the tension spring to slide out of the sleeve. Because the concave ring block has a special concave end, when the guide rod slides out of the concave ring block, during the reset process, the guide rod can be guided back into the central slot along the concave slope and smoothly pass through the arc-shaped groove plate, preparing for the next clamping.

[0009] Preferably, a pair of arc-shaped groove plates are jointly fixed to a ring plate, which is fixed to the wrist. The tension spring is inspected and replaced regularly. When replacing it, simply remove the rotating shaft from the arc-shaped groove plate, then rotate the bolt to disengage it from the round head sleeve, and then rotate the sleeve to separate the tension spring and guide rod from the sleeve, quickly replace the new parts, and ensure that the equipment is always kept in the best working condition.

[0010] Preferably, the adaptive clamping mechanism includes push-pull rods rotatably connected to the side wall of the connecting rod, and four push-pull rods are provided.

[0011] Preferably, each end of the push-pull rod is rotatably connected to a horizontal plate, and the side of the horizontal plate away from the push-pull rod is rotatably connected to an H-shaped rotating plate; in order to ensure the stability and reliability of clamping, the synchronous movement between the connecting rod and the clamping plate is also crucial. This mechanism will continuously keep the horizontal plate parallel to the long strip of item and further enhance the clamping fit.

[0012] Preferably, each of the four horizontal plates has an arc-shaped sleeve fixedly connected to its end, and a T-shaped slider is fixedly connected to the middle of each arc-shaped sleeve.

[0013] Preferably, the inner sides of the four arc-shaped sleeves are slidably abutted by semi-arc plates, and each semi-arc plate has a T-shaped groove in the middle. The T-shaped sliders are slidably connected to the inner wall of the T-shaped groove. After the ends of the two pairs of H-shaped rotating plates are centered and clamped, the right-angle rubber pads will first contact the surface of the object. As the clamping force gradually increases, the semi-arc plates will deflect under the pressure of the reverse force applied by the object.

[0014] Preferably, right-angle rubber pads are fixed to the inner sides of the four semi-circular plates, and the four right-angle rubber pads are arranged opposite each other on both sides of the clamping assembly; each pair of H-shaped rotating plates can rotate inward, so that the right-angle rubber pads at the ends clamp towards the center of the item, while effectively pressing the two ends of the long strip item outward to form a reverse thrust against the clamping plate of the clamping assembly. This dual clamping method not only increases the number of clamping points, but also avoids the deflection and fall off caused by the instability of the center of gravity of the item during the clamping process.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes a combination of H-shaped rotating plates, connecting rods, tension springs, and right-angle rubber pads to assist in applying pressure outwards to both ends of long, narrow items. This pressure, combined with the clamping plates of the gripping assembly, creates a reverse thrust. When the robotic arm grips a long, narrow item, it first adjusts the gripping mechanism to the target position using the tilting of the upper arm, forearm, and wrist, as well as the rotation of the base and wrist. Then, during the gripping process of the clamping plates, the connecting rods pull the H-shaped rotating plates closer to the center, while the tension springs generate a reverse pulling force on the ends of the H-shaped rotating plates. This causes each pair of H-shaped rotating plates to rotate inwards, assisting in the side gripping of the long, narrow item. This force is opposite to the gripping force of the clamping plates and increases the number of gripping points. Even if the gripping points of the clamping plates are not perfectly aligned with the center of the long, narrow item, it can effectively prevent instability and slippage.

[0016] This invention facilitates the quick removal and replacement of the tension spring by using a combination of structures such as a concave ring block, a guide rod, and a round head sleeve, thus providing a stable auxiliary clamping force. During disassembly, the circular plate is first removed from the arc-shaped groove plate, then the bolt is rotated to disengage from the round head sleeve, and then the sleeve is rotated to separate the tension spring and guide rod from the sleeve, allowing for the replacement of the new tension spring and guide rod. Timely replacement of the tension spring after it fails ensures the stable operation of the device.

[0017] This invention, through the combination of a semi-circular plate, an arc-shaped sleeve, and a connecting rod, facilitates the improvement of the surface adhesion between the right-angle rubber pad and long strips of objects from two aspects. First, the connecting rod and the clamping plate can move synchronously, pulling the horizontal plate in sync, so that the two opposite horizontal plates always remain parallel. Thus, the right-angle rubber pad and the long strip of object are held in a parallel horizontal clamping position. At the same time, during the clamping process, the reverse force of the object can cause the semi-circular plate to self-adaptively deflect within the arc-shaped sleeve, allowing the right-angle rubber pad to automatically adapt to the angle of the corner or outer wall of the long strip of object, thereby adapting to the clamping of strips or cylindrical rods of different sizes. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A magnified view of the structure at point A in the middle; Figure 3 This is a schematic diagram showing the structural fit between the ring plate and the wrist part of the present invention; Figure 4 This is a schematic diagram showing the structural fit between the rectangular sleeve plate and the H-shaped rotating plate of the present invention; Figure 5 This is a schematic diagram showing the structural fit between the connecting rod and the clamping assembly of the present invention; Figure 6 This is a schematic diagram showing the structural fit between the rectangular sleeve and the round head sleeve of the present invention; Figure 7 This is a schematic diagram showing the structural fit between the concave annular block and the guide rod of the present invention; Figure 8 This is a schematic diagram showing the structural fit between the push-pull rod and the connecting rod of the present invention; Figure 9 This is a schematic diagram showing the structural fit between the arc-shaped sleeve and the T-shaped slider of the present invention; Figure 10 This is a schematic diagram showing the structural fit between the T-shaped slider and the semi-arc plate of the present invention.

[0019] In the picture: 100. Base plate; 200. Base; 300. Controller; 400. Upper arm; 500. Lower arm; 600. Wrist; 700. Clamping assembly; 800. Auxiliary pushing mechanism; 810. Ring plate; 820. Arc-shaped groove plate; 830. Guide rod; 840. Sleeve; 850. Support plate; 860. Rectangular sleeve plate; 870. H-shaped rotating plate; 880. Tension spring; 890. Connecting rod; 8100. Concave ring block; 8110. Bolt; 8120. Round head sleeve; 8130. Round plate; 900. Adaptive clamping mechanism; 910. Right angle rubber pad; 920. Semi-arc plate; 930. Arc sleeve; 940. T-slot; 950. Push-pull rod; 960. Horizontal plate; 970. T-shaped slider. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 10 As shown, the present invention provides a multi-degree-of-freedom modular manipulator, including a base plate 100, a base 200 fixedly connected to the top of the base plate 100, a controller 300 fixedly connected to one side of the top of the base 200, a large arm 400 rotatably connected to the other side of the top of the base 200, a forearm 500 rotatably connected to the end of the large arm 400, a wrist 600 rotatably connected to the end of the forearm 500, and a gripping assembly 700 mounted on the end of the wrist 600. The manipulator also includes: Auxiliary push mechanism 800 is located on clamping assembly 700; An adaptive gripping mechanism 900 is connected to an auxiliary pushing mechanism 800, and the adaptive gripping mechanism 900 is provided with two pairs. The auxiliary pushing mechanism 800 includes a pair of support plates 850 fixed to both sides of the clamping assembly 700. Rectangular sleeve plates 860 are slidably sleeved on the outer walls of the support plates 850. H-shaped rotating plates 870 are rotatably connected to both sides of the bottom of the rectangular sleeve plates 860. Round head sleeves 8120 are rotatably connected to the side walls of the rectangular sleeve plates 860. A guide rod 830 is threadedly connected to the inner cavity of the round head sleeve 8120 by bolts 8110. A tension spring 880 is fixed to the end of the bolts 8110, and the tension spring 880 is sleeved on the outer wall of the guide rod 830.

[0022] The above-mentioned solution employs a clamping assembly 700, which mainly consists of a set of clamping plates, anti-slip pads, pull rods, push blocks, and electric push rods. Under the control of the controller 300, it independently controls the clamping plates to clamp objects. Furthermore, the support plates 850 are vertically fixed to the outer side of the clamping plates, so that when the clamping plates move, the support plates 850 can move synchronously, thereby linking and assisting the clamping function. The base plate 100 provides a stable foundation, upon which the base 200 is fixed, supporting the controller 300 and the boom 400.

[0023] The rotating connection between the upper arm 400 and the forearm 500 allows the wrist 600 to be adjusted at multiple angles to adapt to the gripping needs of different items. On the gripping assembly 700, the auxiliary pushing mechanism 800 includes a pair of support plates 850, whose outer walls are slidably fitted with rectangular sleeve plates 860, enhancing gripping stability. The rectangular sleeve plate 860 is connected to the H-shaped rotating plate 870, and the gripping position is adjusted by rotation. The guide rod 830 inside the round-head sleeve 8120 is connected to the bolt 8110, ensuring the accuracy and reliability of the transmission. The tension spring 880 provides the necessary elasticity for the entire gripping process, ensuring a uniform distribution of gripping force, thereby achieving auxiliary gripping of the item. Therefore, the coordinated work of all components allows the robotic arm to exhibit high flexibility and adaptability when performing the task of gripping long, narrow items. Through the controller 300, each drive source is sequentially activated, allowing the base 200 to rotate, the upper arm 400 and forearm 500 to swing, and the wrist 600 to rotate. This series of degrees of freedom of movement allows the clamping assembly 700 to flexibly reach the desired position for effective clamping of the item. When the clamping assembly 700 needs to clamp a long, narrow item, its clamping plates will be placed on both sides of the middle of the item. At this time, the controller 300 drives the electric push rod, which pulls the connecting rod 890, causing the pair of clamping plates to gradually close together, thereby clamping the middle of the long, narrow item.

[0024] like Figures 2 to 7 As shown, the inner side of the H-shaped rotating plate 870 is rotatably connected to the connecting rod 890, and the ends of the connecting rod 890 are rotatably connected to the clamping assembly 700; the end of the tension spring 880 away from the bolt 8110 is fixedly connected to a concave ring block 8100, and the outer wall of the concave ring block 8100 is threadedly connected to a sleeve 840, which is sleeved on the outside of the guide rod 830 and the tension spring 880; the end of the sleeve 840 is fixedly connected to a pair of circular plates 8130, and the pair of circular plates 8130 are rotatably connected to an arc-shaped groove plate 820; the end of the guide rod 830 passes through the sleeve 840 and the arc-shaped groove plate 820; the pair of arc-shaped groove plates 820 are fixedly connected to a ring plate 810, which is fixedly connected to the wrist 600.

[0025] Using the above solution: If the clamping plate only clamps the middle of the long item, it may cause instability and slippage during transportation. Therefore, after the clamping plate of the clamping assembly 700 successfully clamps the item in the center, the continued clamping process will drive the support plates 850 and connecting rods 890 on both sides to move synchronously. Since the two ends of the connecting rod 890 are connected to the clamping plate and the H-shaped rotating plate 870 respectively, the ends of the H-shaped rotating plate 870 will generate outward pulling force under the action of the tension spring 880, while the inner side will apply inward pulling force through the connecting rod 890. This allows each pair of H-shaped rotating plates 870 to achieve inward retraction rotation, thereby clamping the right-angle rubber pads 910 at the ends toward the center of the item, while effectively pressing the two ends of the long item outward to form a reverse thrust against the clamping plate of the clamping assembly 700.

[0026] This dual clamping method not only increases the number of clamping points but also prevents the item from deflecting and falling off due to instability in the center of gravity during clamping. Furthermore, the flexible clamping force provided by the tension spring 880 ensures the safe clamping of long items, preventing damage to their surface. Further, when the connecting rod 890 pulls the H-shaped rotating plate 870 to move centrally, the resulting tension is transmitted through the rectangular sleeve 860 to the round-headed sleeve 8120, causing it to move axially on the support plate 850. This action causes the bolt 8110 to slide the guide rod 830 and the tension spring 880 out of the sleeve 840. Because the concave ring block 8100 has a special concave end, when the guide rod 830 slides out of the concave ring block 8100, during the reset process, the guide rod 830 can be guided back into the central slot along the concave slope, smoothly passing through the arc-shaped slot plate 820, preparing for the next clamping operation. Meanwhile, since the tension spring 880 is a key component for effective thrust, any loss of its elasticity will affect the stability of the entire clamping process. Therefore, the tension spring 880 needs to be inspected and replaced regularly. The replacement process is relatively simple: just remove the rotating shaft from the circular plate 8130 on the arc-shaped groove plate 820, then rotate the bolt 8110 to disengage it from the round head sleeve 8120, and then rotate the sleeve 840 to separate the tension spring 880 and guide rod 830 from the sleeve 840, allowing for quick replacement of new components and ensuring that the equipment is always kept in optimal working condition.

[0027] like Figure 3 , Figures 8 to 10As shown, the adaptive clamping mechanism 900 includes four push-pull rods 950 rotatably connected to the side wall of the connecting rod 890; each end of the push-pull rod 950 is rotatably connected to a horizontal plate 960, and the side of the horizontal plate 960 away from the push-pull rod 950 is rotatably connected to an H-shaped rotating plate 870; each end of the four horizontal plates 960 is fixedly connected to an arc-shaped sleeve 930, and each arc-shaped sleeve 930 is fixedly connected to a T-shaped slider 970 in the middle; each of the four arc-shaped sleeves 930 has a semi-arc plate 920 slidingly abutting against the inner side; each semi-arc plate 920 has a T-shaped groove 940 in the middle, and each T-shaped slider 970 is slidably connected to the inner wall of the T-shaped groove 940; each of the four semi-arc plates 920 has a right-angle rubber pad 910 fixedly connected to the inner side, and the four right-angle rubber pads 910 are located opposite each other on both sides of the clamping assembly 700.

[0028] The above scheme employs a system where the ends of the four connecting rods 890 are rotatably connected to the outer side of the clamping plate, moving synchronously with it. This not only supports the H-shaped rotating plate 870, allowing for adaptive angle adjustment, but also simultaneously pulls the horizontal plate 960, ensuring that the two opposing horizontal plates 960 remain parallel during clamping. To accommodate the diverse sizes and shapes of long items, especially the corner features of round or rectangular items, after the ends of the two pairs of H-shaped rotating plates 870 are centered and clamped, the right-angle rubber pad 910 will preferentially contact the surface of the item. As the clamping force gradually increases, the semi-circular plate 920 will deflect under the pressure of the opposing force applied by the item. Simultaneously, the T-shaped slider 970 slides within the T-shaped groove 940 and is limited in position, allowing the right-angle rubber pad 910 to automatically adapt to different angles of the corners or outer walls of the long item, effectively improving the clamping fit. To ensure the stability and reliability of the clamping, the synchronous movement between the link 890 and the clamping plate is also crucial. This mechanism will keep the horizontal plate 960 parallel to the long item and further enhance the clamping fit.

[0029] Working principle and usage process of this invention: First, the controller 300 activates all drive sources, allowing the base 200 to rotate, the upper arm 400 and forearm 500 to swing, and the wrist 600 to rotate. Through modular control of multiple degrees of freedom, the gripping assembly 700 of the robotic arm reaches the designated position to grip the object. When the robotic arm grips a long, narrow object, the gripping plates of the gripping assembly 700 are placed on both sides of the middle of the object. Then, the controller 300 drives the electric push rod, causing the push rod to move the pull rod, thus bringing the pair of gripping plates closer together in the center, initially gripping the long, narrow object. Secondly, when the clamping plate of the clamping assembly 700 is centered, it can drive the support plates 850 and connecting rods 890 on both sides to move synchronously. Since the two ends of the connecting rod 890 rotate on the clamping plate and the H-shaped rotating plate 870 respectively, under the tension of the tension spring 880, the end of the H-shaped rotating plate 870 generates an outward tension, while the inner side generates an inward tension through the connecting rod 890. Therefore, each pair of H-shaped rotating plates 870 can rotate inward, so that each pair of right-angle rubber pads 910 at the end is centered and clamped, assisting in applying pressure to the ends of the long strip of item outward, forming a reverse thrust with the clamping plate of the clamping assembly 700. At the same time, the number of clamping points on the surface of the long strip of item is increased, that is, the middle of the item is symmetrically clamped by a pair of clamping plates, and the two sides of the item are abutted by two pairs of right-angle rubber pads 910, thereby effectively avoiding the instability of the clamping center of gravity and the situation of deflection and fall off. Furthermore, the squeezing force generated by the tension spring 880 is a flexible clamping mechanism that will not damage long items; Furthermore, when the connecting rod 890 pulls the H-shaped rotating plate 870 to move centrally, the resulting tension can drive the round-headed sleeve 8120 to move axially along the support plate 850 via the rectangular sleeve 860. This causes the bolt 8110 to slide the guide rod 830 and the tension spring 880 out of the sleeve 840. Due to the concave end of the concave ring block 8100, when the guide rod 830 slides out of the concave ring block 8100, during the reset process, the guide rod 830 can be guided back into the central slot along the concave slope of the concave ring block 8100 and smoothly pass through the arc-shaped slot plate 820 for the next use. In addition, since the elastic force of the tension spring 880 is required as an effective thrust in this process, if the tension spring 880 is worn out, the elastic force will fail, and it needs to be replaced in time. First, remove the rotating shaft from the circular plate 8130 on the arc-shaped groove plate 820. Then, rotate the bolt 8110 to disengage it from the round head sleeve 8120. Next, rotate the sleeve 840 to separate the tension spring 880 and the guide rod 830 from the sleeve 840. Replace the tension spring 880 and the guide rod 830 to maintain effective auxiliary thrust. Finally, due to the varying sizes of the long, narrow items being clamped, and the different corners of round or rectangular items, the contact surface of the clamping points needs to be more adaptable. When the ends of the two pairs of H-shaped rotating plates 870 are centered, the right-angle rubber pads 910 preferentially contact the surface of the item. As the clamping force gradually increases, the semi-circular plate 920 deflects under the pressure of the item's reverse force, causing the T-shaped slider 970 to slide within the T-shaped groove 940 for guidance and positioning. This allows the right-angle rubber pads 910 to automatically adapt to the angles of the corners or outer walls of the long, narrow items, thus improving the clamping fit. The connecting rod 890 moves synchronously with the clamping plates, pulling the horizontal plate 960 synchronously, ensuring that the two opposing horizontal plates 960 remain parallel. This maintains parallel clamping with the long, narrow items, further increasing the fit.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom modular manipulator, comprising a base plate, a base fixedly connected to the top of the base plate, a controller fixedly connected to one side of the top of the base, a large arm rotatably connected to the other side of the top of the base, a forearm rotatably connected to the end of the large arm, a wrist rotatably connected to the end of the forearm, and a gripping assembly mounted on the end of the wrist, characterized in that: Also includes: An auxiliary pushing mechanism is located on the clamping assembly; An adaptive gripping mechanism is provided, which is connected to an auxiliary pushing mechanism, and the adaptive gripping mechanism is provided in two pairs; The auxiliary pushing mechanism includes a pair of support plates fixed to both sides of the clamping assembly. Rectangular sleeve plates are slidably sleeved on the outer walls of the support plates. H-shaped rotating plates are rotatably connected to both sides of the bottom of the rectangular sleeve plates. Round head sleeves are rotatably connected to the side walls of the rectangular sleeve plates. A guide rod is threadedly connected to the inner cavity of the round head sleeve by bolts. A tension spring is fixed to the end of the bolt and is sleeved on the outer wall of the guide rod.

2. The multi-degree-of-freedom modular manipulator according to claim 1, characterized in that: The inner side of each H-shaped rotating plate is rotatably connected to a connecting rod, and the ends of the connecting rods are rotatably connected to the clamping assembly.

3. The multi-degree-of-freedom modular manipulator according to claim 2, characterized in that: A concave ring block is fixed to the end of the tension spring away from the bolt. A sleeve is threaded onto the outer wall of the concave ring block and is sleeved around the guide rod and the tension spring.

4. The multi-degree-of-freedom modular manipulator according to claim 3, characterized in that: A pair of circular plates are fixed to the end of the sleeve, and the pair of circular plates are rotatably connected to an arc-shaped groove plate. The end of the guide rod passes through the sleeve and the arc-shaped groove plate.

5. The multi-degree-of-freedom modular manipulator according to claim 4, characterized in that: A pair of arc-shaped groove plates are jointly fixed to a ring plate, which is fixed to the wrist.

6. The multi-degree-of-freedom modular manipulator according to claim 2, characterized in that: The adaptive clamping mechanism includes push-pull rods rotatably connected to the side wall of the connecting rod, and four push-pull rods are provided.

7. The multi-degree-of-freedom modular manipulator according to claim 6, characterized in that: Each end of the push-pull rod is rotatably connected to a horizontal plate, and the side of the horizontal plate away from the push-pull rod is rotatably connected to an H-shaped rotating plate.

8. The multi-degree-of-freedom modular manipulator according to claim 7, characterized in that: Each of the four horizontal plates has an arc-shaped sleeve fixed to its end, and a T-shaped slider is fixed to the middle of each arc-shaped sleeve.

9. The multi-degree-of-freedom modular manipulator according to claim 8, characterized in that: The inner sides of the four arc-shaped sleeves are all slidably abutted by semi-arc plates, and each semi-arc plate has a T-shaped groove in the middle. The T-shaped sliders are all slidably connected to the inner wall of the T-shaped groove.

10. The multi-degree-of-freedom modular manipulator according to claim 9, characterized in that: The inner sides of the four semi-circular plates are all fixed with right-angle rubber pads, and the four right-angle rubber pads are arranged opposite each other on both sides of the clamping assembly.

Images