Multi-degree-of-freedom manipulator mechanism

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm mechanism which is characterized in that the mechanical arm mechanism comprises a mechanical arm (1), a mechanical arm (2) is arranged at the bottom end of the mechanical arm (1), a connecting table (3) is arranged at the top end of the mechanical arm (1), and a plurality of balls (4) evenly distributed in the circumferential direction are arranged on the outer circumference of the connecting table (3). The connecting table (3) is rotationally connected with an inner cavity of the connecting shell (5) through the balls (4), a nut base part is arranged at the top of the connecting shell (5) and connected with a lead screw (6), the lead screw (6) is rotationally supported on an X-axis support (7), an X-axis motor (8) is arranged at one end of the X-axis support (7), the output end of the X-axis motor (8) is connected with one end of the lead screw (6), and the output end of the X-axis motor (8) is connected with the other end of the lead screw (6). And the X-axis bracket (7) is fixedly connected with the bottom of the driving trolley (9).

Description

Technical Field

[0001] The utility model relates to a manipulator, in particular to a manipulator mechanism with multiple degrees of freedom. Background Art

[0002] With the development of automobile industry and auto parts industry, the technical level of automobile assembly line has also been greatly improved. The country has paid more and more attention to the assembly and factory testing which directly affect the quality and service life of automobile products and the final link of automobile product production, which has promoted the improvement of automobile product assembly, testing technology and equipment technology level. At present, in the process of automobile assembly, automobile parts are moved by robots to reduce costs.

[0003] In order to meet complex movement requirements, traditional manipulators need to have multiple joints, and the two arms connected by the joints need to be able to swing back and forth. Only through this complex structure can the gripper at the execution end achieve multi-degree-of-freedom movement in space. However, this will make the overall structure of the manipulator extremely complex and expensive, and both the production cost and maintenance cost are relatively high.

[0004] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0005] The utility model aims to solve the above-mentioned deficiencies in the prior art and proposes a manipulator mechanism which has a simple structure, ingenious design, low cost and can realize multi-degree-of-freedom motion.

[0006] The technical solution of the utility model is: a multi-degree-of-freedom manipulator mechanism, characterized in that: the manipulator mechanism comprises a manipulator arm 1, a manipulator 2 is arranged at the bottom end of the manipulator arm 1, and a connecting platform 3 is arranged at the top end, and a plurality of balls 4 evenly distributed in the circumferential direction are arranged on the outer circumference of the connecting platform 3, and the connecting platform 3 is rotatably connected to the inner cavity of the connecting shell 5 through these balls 4,

[0007] The top of the connecting housing 5 is provided with a nut seat part, which is connected to a lead screw 6, and the lead screw 6 is rotatably supported on an X-axis bracket 7. An X-axis motor 8 is provided at one end of the X-axis bracket 7, and an output end of the X-axis motor 8 is connected to one end of the lead screw 6. The X-axis bracket 7 is fixedly connected to the bottom of the driving trolley 9.

[0008] The driving trolley 9 includes a frame body 10, a travel motor 11 is arranged on the bottom plate of the frame body 10, and the travel motor 11 is a dual-output motor, and its two output shafts are connected to the travel wheel shaft 13 through a pulley transmission pair 12, and the travel wheel shaft 13 is rotatably supported on the inner wall of the frame body 10, and a travel wheel 14 is arranged at the end of the travel wheel shaft 13, and the travel wheel 14 is located on the Y-axis track 15, and the Y-axis track 15 is made of I-beam.

[0009] The manipulator 2 includes a manipulator housing 16, in which a clamping motor 17 is arranged. The clamping motor 17 is a dual-output motor, and a worm 18 is arranged on each of its two output shafts. Two symmetrically distributed manipulator shafts 19 are also rotatably supported in the manipulator housing 16. A worm gear 20 is keyed to the manipulator shaft 19, and the two worm gears 20 are respectively matched with the two worm gears 18. The bottom end of the manipulator shaft 19 is connected to the top end of the manipulator drive rod 22 through a bevel gear transmission pair 21. The manipulator drive rod 22 is rotatably supported on a support seat 23, and the support seat 23 is fixedly connected to the bottom end surface of the manipulator housing 16.

[0010] Compared with the prior art, the utility model has the following advantages:

[0011] The multi-degree-of-freedom manipulator mechanism of this structural form has a simple structure, ingenious design, and reasonable layout. It designs a special structure for various problems existing in the working process of traditional manipulators. It connects the robot arm to the connecting platform, and the connecting platform can move along the X-axis direction. The X-axis bracket can also drive the connecting platform to move along the Y-axis direction under the drive of the driving trolley. At the same time, the robot arm and the connecting platform can also make 360° free rotation. That is to say, without considering the freedom of the robot arm itself, the robot arm as a whole can realize free movement in three directions: the X-axis direction, the Y-axis direction, and the rotation direction with the Z-axis as the axis, so that the robot connected to the end of the robot arm can make complex movements in three-dimensional space. Since its multi-degree-of-freedom function mainly depends on the mechanism connected to the connecting platform, compared with the form of relying on the robot arm itself, both the production cost and the design cost are greatly reduced. In addition, its manufacturing process is simple and the manufacturing cost is low. Therefore, it can be said that it has many advantages and is particularly suitable for promotion and application in this field. Its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the front view of the embodiment of the utility model.

[0013] Figure 2 It is a side view of an embodiment of the utility model.

[0014] Figure 3 yes Figure 1 Enlarged view of part A in .

[0015] Figure 4 yes Figure 2 Enlarged view of part B in . DETAILED DESCRIPTION

[0016] The specific implementation of the present utility model will be described below in conjunction with the accompanying drawings. Figures 1 to 4 As shown: a multi-degree-of-freedom manipulator mechanism, which includes a manipulator 1, a manipulator 2 is arranged at the bottom end of the manipulator 1, and a connecting platform 3 is arranged at the top end. A plurality of balls 4 evenly distributed in the circumferential direction are arranged on the outer circumference of the connecting platform 3, and the connecting platform 3 is rotatably connected to the inner cavity of the connecting shell 5 through these balls 4.

[0017] The top of the connecting housing 5 is provided with a nut seat part, which is connected to a lead screw 6, and the lead screw 6 is rotatably supported on an X-axis bracket 7. An X-axis motor 8 is provided at one end of the X-axis bracket 7, and an output end of the X-axis motor 8 is connected to one end of the lead screw 6. The X-axis bracket 7 is fixedly connected to the bottom of the driving trolley 9.

[0018] The driving trolley 9 includes a frame body 10, a travel motor 11 is arranged on the bottom plate of the frame body 10, and the travel motor 11 is a dual-output motor, and its two output shafts are connected to the travel wheel shaft 13 through a pulley transmission pair 12, and the travel wheel shaft 13 is rotatably supported on the inner wall of the frame body 10, and a travel wheel 14 is arranged at the end of the travel wheel shaft 13, and the travel wheel 14 is located on the Y-axis track 15, and the Y-axis track 15 is made of I-beam.

[0019] The manipulator 2 includes a manipulator housing 16, in which a clamping motor 17 is arranged. The clamping motor 17 is a dual-output motor, and a worm 18 is arranged on each of its two output shafts. Two symmetrically distributed manipulator shafts 19 are also rotatably supported in the manipulator housing 16. A worm gear 20 is keyed to the manipulator shaft 19, and the two worm gears 20 are respectively matched with the two worm gears 18. The bottom end of the manipulator shaft 19 is connected to the top end of the manipulator drive rod 22 through a bevel gear transmission pair 21. The manipulator drive rod 22 is rotatably supported on a support seat 23, and the support seat 23 is fixedly connected to the bottom end surface of the manipulator housing 16.

[0020] The working process of the multi-degree-of-freedom manipulator mechanism of the embodiment of the utility model is as follows: when the robot arm 1 needs to move along the X-axis direction as a whole, a signal is sent to the X-axis motor 8 through the control system, and the X-axis motor 8 drives the lead screw 6 to rotate, and the nut seat part moves linearly along the length direction of the lead screw 6 (i.e., the X-axis direction), thereby driving the connection housing 5 and the robot arm 1 connected thereto to move along the X-axis direction;

[0021] When the robot arm needs to move along the Y-axis direction as a whole, the control system sends a signal to the travel motor 11 in the driving trolley 9, and the travel motor 11 works, driving the travel wheel shaft 13 and the travel wheel 14 thereon to rotate through the pulley transmission pair 12. Since the travel wheel 14 is located on the Y-axis track 15, the driving trolley 9 drives the robot arm 1 to move along the Y-axis direction;

[0022] The combination of the above two directions of movement allows the robot 1 to have degrees of freedom in the X-axis direction and the Y-axis direction;

[0023] Since the connecting platform 3 and the inner wall of the connecting shell 5 are rotatably connected via the ball bearings 4, the robot arm 1 also has the freedom to rotate in the circumferential direction with the Z axis as the axis; the user can arbitrarily drive the robot arm 1 to swing in space with the central axis of the connecting platform 3 as the axis;

[0024] When the manipulator 2 needs to perform a clamping or releasing action, a signal is sent to the clamping motor 17 through the control system, and the clamping motor 17 drives the two worms 18 to rotate simultaneously, and the worm wheel 20 matching the worm 18 drives the manipulator shaft 19 to rotate, and the two manipulator shafts 19 simultaneously transmit the torque to the manipulator drive rod 22 through the bevel gear transmission pair 21, so that the two manipulator drive rods 22 set at the bottom of the manipulator 2 will swing, and drive the clamping claws to perform a clamping or releasing action during the swinging process.

Claims

1. A multi-degree-of-freedom manipulator mechanism, characterized in that: The manipulator mechanism comprises a manipulator arm (1), a manipulator (2) being arranged at the bottom end of the manipulator arm (1), and a connecting platform (3) being arranged at the top end. A plurality of balls (4) evenly distributed in the circumferential direction are arranged on the outer circumference of the connecting platform (3), and the connecting platform (3) is rotatably connected to the inner cavity of a connecting shell (5) via the balls (4). A nut seat portion is provided at the top of the connection housing (5), the nut seat portion is connected to a lead screw (6), the lead screw (6) is rotatably supported on an X-axis bracket (7), an X-axis motor (8) is provided at one end of the X-axis bracket (7), an output end of the X-axis motor (8) is connected to one end of the lead screw (6), and the X-axis bracket (7) is fixedly connected to the bottom of the driving trolley (9). The driving trolley (9) comprises a frame body (10), a travel motor (11) is arranged on the bottom plate of the frame body (10), the travel motor (11) is a dual-output motor, two output shafts of which are connected to a travel wheel shaft (13) via a pulley transmission pair (12), the travel wheel shaft (13) is rotatably supported on the inner wall of the frame body (10), and a travel wheel (14) is arranged at the end of the travel wheel shaft (13), the travel wheel (14) is located on a Y-axis track (15), and the Y-axis track (15) is made of I-beam. The manipulator (2) comprises a manipulator housing (16), a clamping motor (17) is arranged in the manipulator housing (16), the clamping motor (17) is a dual-output motor, and a worm (18) is arranged on both output shafts thereof. Two symmetrically distributed manipulator shafts (19) are also rotatably supported in the manipulator housing (16), and a worm gear (20) is key-connected to the manipulator shaft (19). The two worm gears (20) are respectively matched with the two worm gears (18). The bottom end of the manipulator shaft (19) is connected to the top end of the manipulator drive rod (22) through a bevel gear transmission pair (21), and the manipulator drive rod (22) is rotatably supported on a support seat (23), and the support seat (23) is fixedly connected to the bottom end surface of the manipulator housing (16).

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