Multi-degree-of-freedom manipulator with clamping and loosening structure

Abstract

The utility model relates to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator with a clamping and loosening structure, which is fixedly mounted on a mounting table through a first motor, a rotating cylinder is rotatably mounted on the mounting table and fixedly connected with an output shaft of the first motor, and a connecting rod is mounted on the rotating cylinder through a posture adjusting device. The mounting seat is fixedly mounted on the connecting rod, a mounting groove is formed in the mounting seat, the rotating shaft is rotatably mounted on the mounting seat and located in the mounting groove, the paw is fixedly mounted on the rotating shaft, the connecting seat is mounted on the paw through the lifting assembly, and when a workpiece is grabbed, the lifting assembly drives the paw to rotate downwards around the rotating shaft through the connecting seat; and the workpiece is grabbed under the cooperation of the three groups of paws, so that the grabbing of the workpiece is more stable under the cooperation of the three groups of paws.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a multi-freedom manipulator with a clamping and releasing structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed procedure.

[0003] Existing patent CN 205272031 U is a manipulator structure, which drives the driving gear to rotate through the output shaft of the motor, and then drives the driven gear meshing with it to rotate, and the rotation of the driven gear drives the screw to rotate, so that the threaded part of the screw rotates in the threaded holes of the upper and lower manipulator claws, and then the upper manipulator claw and the lower manipulator claw move in opposite directions along the left slide bar and the right slide bar, so as to realize the manipulator's grasping and releasing action on the object.

[0004] However, in the process of using a robot structure of an existing patent, the robot structure has a relatively simple way of grasping the workpiece, which is only grasped by two upper and lower planar structure claws. However, when grasping workpieces such as cylindrical workpieces, the workpiece is difficult to grasp or grasped unsteadily due to the small contact area between the claws and the workpiece. Utility Model Content

[0005] The purpose of the utility model is to provide a multi-degree-of-freedom manipulator with a clamping and releasing structure, which solves the problem that the aforementioned manipulator structure has a relatively simple way of grasping the workpiece, and only grasps it through two upper and lower planar structure claws, but when grasping similar cylindrical workpieces, the contact area between the claws and the workpiece is small, resulting in the workpiece being difficult to grasp or unstable.

[0006] In order to achieve the above technical purpose, the technical solution adopted by the utility model is as follows:

[0007] The utility model provides a multi-degree-of-freedom manipulator with a clamping and releasing structure, comprising a mounting platform, a first motor, a rotating cylinder, a connecting rod and a posture adjustment device, wherein the first motor is fixedly mounted on the mounting platform, the rotating cylinder is rotatably mounted on the mounting platform and is fixedly connected to the output shaft of the first motor, the connecting rod is mounted on the rotating cylinder through the posture adjustment device, and also comprises a grasping device, the grasping device comprises a mounting seat, a rotating shaft, a gripper, a connecting seat and a lifting assembly, the mounting seat is fixedly mounted on the connecting rod, the mounting seat is provided with a mounting groove, the rotating shaft is rotatably mounted on the mounting seat and is located in the mounting groove, the gripper is fixedly mounted on the rotating shaft, and the connecting seat is mounted on the gripper through the lifting assembly.

[0008] Wherein, the lifting assembly includes a lifting rod and a driving component, one end of the lifting rod is rotatably connected to the connecting seat; and the driving component drives the lifting rod to move up and down.

[0009] Among them, the driving component includes a driving ring, a driving screw and a second motor, the second motor is fixedly mounted on the mounting seat; the driving screw is fixedly mounted on the output shaft of the second motor; the driving ring is threadedly connected to the driving screw, and the driving ring is fixedly connected to the lifting rod.

[0010] Wherein, the gripper also includes a clamping head, and the clamping head is fixedly mounted on the gripper.

[0011] Among them, the posture adjustment device includes a fixed seat, an adjustment rod, an adjustment seat and a cylinder, the fixed seat is fixedly installed on the rotating cylinder; the adjustment rod is rotatably installed on the fixed seat; the adjustment seat is rotatably installed on the adjustment rod; the cylinder is fixedly installed on the fixed seat and fixedly connected to the adjustment seat.

[0012] The utility model discloses a multi-degree-of-freedom manipulator with a clamping and releasing structure. When in use, the first motor is started to drive the rotating cylinder to rotate on the mounting table. At the same time, with the cooperation of the posture adjustment device, the posture of the gripper is adjusted to a suitable position. At the same time, the second motor is started to drive the driving screw to rotate. The driving screw is threadedly connected to the driving ring to drive the driving ring to move downward along the driving screw. The driving ring is fixedly connected to three groups of lifting rods at the same time. The lifting rods are rotationally coordinated with the connecting seat on the gripper. The movement of the driving ring drives the gripper to rotate downward around the rotating shaft through the lifting rod and the connecting seat, and the workpiece is grasped with the cooperation of the three groups of grippers. Therefore, with the cooperation of the three groups of grippers, the gripping of the workpiece is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention can be further described by the non-limiting embodiments given in the accompanying drawings.

[0014] Figure 1 It is a schematic diagram of the overall structure of a multi-degree-of-freedom manipulator with a clamping and releasing structure according to the first embodiment of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the grabbing device of the first embodiment of the utility model.

[0016] Figure 3 It is a schematic diagram of the connection between the rotating cylinder and the mounting platform of the first embodiment of the utility model.

[0017] Figure 4It is a schematic diagram of the overall structure of a multi-degree-of-freedom manipulator with a clamping and releasing structure according to the second embodiment of the utility model.

[0018] In the figure: 101-mounting table, 102-first motor, 103-rotating cylinder, 104-connecting rod, 105-mounting seat, 106-rotating shaft, 107-hand claw, 108-connecting seat, 109-mounting groove, 110-lifting rod, 111-driving ring, 112-driving screw rod, 113-second motor, 114-clamping head, 201-fixed seat, 202-adjusting rod, 203-adjusting seat, 204-cylinder. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Embodiment 1:

[0021] like Figure 1-3 As shown, Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom manipulator with a clamping and releasing structure according to the first embodiment of the utility model. Figure 2 It is a structural schematic diagram of the grabbing device of the first embodiment of the utility model. Figure 3 It is a schematic diagram of the connection between the rotating cylinder and the mounting platform of the first embodiment of the utility model.

[0022] The utility model provides a multi-degree-of-freedom manipulator with a clamping and releasing structure: it includes a mounting platform 101, a first motor 102, a rotating cylinder 103, a connecting rod 104 and a posture adjustment device, and also includes a grasping device, the grasping device includes a mounting seat 105, a rotating shaft 106, a gripper 107, a connecting seat 108 and a lifting assembly, the lifting assembly includes a lifting rod 110 and a driving component, the driving component includes a driving ring 111, a driving screw 112 and a second motor 113, the gripper 107 also includes a clamping head 114, and the above-mentioned scheme solves the problem that the above-mentioned manipulator structure has a relatively simple grasping method for the workpiece, and only grasps it through two upper and lower planar structure grippers, but when grasping similar cylindrical workpieces, the workpiece is difficult to grasp or grasped unsteadily due to the small contact area between the gripper and the workpiece. It can be understood that this scheme can also be used to solve the problem of adjusting the gripper posture.

[0023] In this embodiment, the lifting assembly drives the grippers 107 to rotate downward around the rotating shaft 106 through the connecting seat 108, and grasps the workpiece with the cooperation of the three groups of grippers 107, so that the grasping of the workpiece is more stable with the cooperation of the three groups of grippers 107.

[0024] The mounting seat 105 is fixedly mounted on the connecting rod 104, a mounting groove 109 is provided on the mounting seat 105, the rotating shaft 106 is rotatably mounted on the mounting seat 105 and is located in the mounting groove 109, the hand claw 107 is fixedly mounted on the rotating shaft 106, the connecting seat 108 is mounted on the hand claw 107 through the lifting assembly, the mounting platform 101 is a convex structure, a threaded hole for fixing is provided on the mounting platform 101, the opening of the rotating cylinder 103 faces downward, the height of the rotating cylinder 103 is greater than the height of the mounting platform 101, and the mounting seat 105 is a short cylindrical structure The mounting seat 105 is provided with three groups of mounting grooves 109, and a rotating shaft 106 is installed in each group of the mounting grooves 109 through a bearing. A hand claw 107 is welded on each group of the rotating shaft 106, and the hand claw 107 is in a folded shape. At the same time, a group of connecting seats 108 are fixed to each group of the hand claws 107 by screws, and the connecting seat 108 is in a U-shaped structure. When grabbing a workpiece, the lifting assembly drives the hand claw 107 to rotate downward around the rotating shaft 106 through the connecting seat 108, and grabs the workpiece with the cooperation of the three groups of the hand claws 107, so that the grabbing of the workpiece is more stable with the cooperation of the three groups of the hand claws 107.

[0025] Secondly, one end of the lifting rod 110 is rotatably connected to the connecting seat 108; the driving component drives the lifting rod 110 to rise and fall, and the number of the lifting rods 110 is three groups, and each group of the connecting seat 108 is rotatably matched with a group of lifting rods 110 through a pin shaft. The driving component drives the lifting rod 110 to move downward, so that the lifting rod 110 is rotatably matched with the connecting seat 108, so that the connecting seat 108 rotates downward around the rotating shaft 106.

[0026] Again, the second motor 113 is fixedly mounted on the mounting base 105; the driving screw 112 is fixedly mounted on the output shaft of the second motor 113; the driving ring 111 is threadedly connected to the driving screw 112, and the driving ring 111 is fixedly connected to the lifting rod 110. The second motor 113 is fixed to the middle part of the mounting base 105 by screws, the outer surface of the driving screw 112 is threaded, and the inner wall of the driving ring 111 is threaded. The second motor 113 drives the driving screw 112 to rotate, so that the driving screw 112 cooperates with the thread of the driving ring 111, drives the driving ring 111 to move downward, and further drives the lifting rod 110 to move, thereby realizing the driving of the lifting rod 110.

[0027] Finally, the clamping head 114 is fixedly installed on the gripper 107. There are three groups of clamping heads 114. The end of each group of grippers 107 is glued with a group of clamping heads 114. The clamping heads 114 are made of rubber material. Through the setting of the clamping heads 114, the contact friction between the gripper 107 and the workpiece is greater.

[0028] In this embodiment, when in use, the first motor 102 is started to drive the rotating cylinder 103 to rotate on the mounting table 101. At the same time, with the cooperation of the posture adjustment device, the posture of the gripper 107 is adjusted to a suitable position. At the same time, the second motor 113 is started to drive the driving screw 112 to rotate. The driving screw 112 is threadedly connected to the driving ring 111, and drives the driving ring 111 to move downward along the driving screw 112. The driving ring 111 is fixedly connected to the three groups of lifting rods 110 at the same time. The lifting rods 110 are in turn rotationally coordinated with the connecting seat 108 on the gripper 107. The movement of the driving ring 111 drives the gripper 107 to rotate downward around the rotating shaft 106 through the lifting rods 110 and the connecting seat 108, and the workpiece is grasped with the cooperation of the three groups of grippers 107. Therefore, with the cooperation of the three groups of grippers 107, the gripping of the workpiece is more stable.

[0029] Embodiment 2:

[0030] like Figure 4 As shown, Figure 4 It is a schematic diagram of the overall structure of a multi-degree-of-freedom manipulator with a clamping and releasing structure according to the second embodiment of the utility model. On the basis of the first embodiment, the multi-degree-of-freedom manipulator with a clamping and releasing structure in this embodiment also includes a posture adjustment device, and the posture adjustment device includes a fixed seat 201, an adjustment rod 202, an adjustment seat 203 and a cylinder 204.

[0031] In this embodiment, driven by the cylinder 204, the adjustment seat 203 cooperates with the rotation of the adjustment rod 202, so that the adjustment rod 202 rotates around the fixed seat 201, and with the cooperation of the connecting rod 104 and the mounting seat 105, the posture of the gripper 107 can be adjusted.

[0032] Among them, the fixed seat 201 is fixedly installed on the rotating cylinder 103; the adjusting rod 202 is rotatably installed on the fixed seat 201; the adjusting seat 203 is rotatably installed on the adjusting rod 202; the cylinder 204 is fixedly installed on the fixed seat 201 and fixedly connected with the adjusting seat 203. The number of the fixed seats 201 is two groups, and they are symmetrically distributed on both sides of the rotating cylinder 103. The adjusting rod 202 is rotatably matched with the fixed seat 201 through a pin shaft. The adjusting seat 203 is a U-shaped structure as a whole. The cylinder 204 is tilted and fixed between the fixed seats 201 by screws. The cylinder 204 pushes the adjusting seat 203 through its output end, so that the adjusting seat 203 drives the adjusting rod 202 to rotate around the fixed seat 201 through the rotational cooperation of the adjusting rod 202. The adjusting rod 202 cooperates with the connecting rod 104 and the mounting seat 105, so that the posture of the hand claw 107 can be adjusted.

[0033] In this embodiment, the cylinder 204 pushes the adjustment seat 203 through its output end, so that the adjustment seat 203 drives the adjustment rod 202 to rotate around the fixed seat 201 through the rotation cooperation of the adjustment rod 202, and the adjustment rod 202 cooperates with the connecting rod 104 and the mounting seat 105 to adjust the posture of the gripper 107.

[0034] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A multi-degree-of-freedom manipulator with a clamping and releasing structure, comprising a mounting platform, a first motor, a rotating cylinder, a connecting rod and a posture adjustment device, wherein the first motor is fixedly mounted on the mounting platform, the rotating cylinder is rotatably mounted on the mounting platform and is fixedly connected to the output shaft of the first motor, and the connecting rod is mounted on the rotating cylinder through the posture adjustment device, characterized in that: Also included is a gripping device; The grasping device includes a mounting seat, a rotating shaft, a gripper, a connecting seat and a lifting assembly. The mounting seat is fixedly mounted on the connecting rod, and a mounting groove is provided on the mounting seat. The rotating shaft is rotatably mounted on the mounting seat and is located in the mounting groove. The gripper is fixedly mounted on the rotating shaft, and the connecting seat is mounted on the gripper through the lifting assembly.

2. The multi-degree-of-freedom manipulator with a clamping and releasing structure according to claim 1, characterized in that: The lifting assembly comprises a lifting rod and a driving component. One end of the lifting rod is rotatably connected to the connecting seat; and the driving component drives the lifting rod to move up and down.

3. The multi-degree-of-freedom manipulator with a clamping and releasing structure according to claim 2, characterized in that: The driving component includes a driving ring, a driving screw and a second motor, wherein the second motor is fixedly mounted on the mounting seat; the driving screw is fixedly mounted on the output shaft of the second motor; the driving ring is threadedly connected to the driving screw, and the driving ring is fixedly connected to the lifting rod.

4. The multi-degree-of-freedom manipulator with a clamping and releasing structure according to claim 1, characterized in that: The gripper also includes a clamping head, which is fixedly mounted on the gripper.

5. The multi-degree-of-freedom manipulator with a clamping and releasing structure according to claim 1, characterized in that: The posture adjustment device includes a fixed seat, an adjustment rod, an adjustment seat and a cylinder. The fixed seat is fixedly mounted on the rotating cylinder; the adjustment rod is rotatably mounted on the fixed seat; the adjustment seat is rotatably mounted on the adjustment rod; the cylinder is fixedly mounted on the fixed seat and fixedly connected to the adjustment seat.

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