Small stable manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a small stable mechanical arm which comprises a base, a rotary driving module, a supporting assembly, a mechanical arm assembly and a mechanical claw assembly. The supporting assembly comprises a supporting top plate, multiple rotating supports and a rotating supporting seat, the supporting top plate is connected with the driving end of the rotating driving module, and the multiple rotating supports are annularly and evenly distributed on the periphery of the supporting top plate; one end of the rotary supporting seat is connected with the rotary bracket, and the other end of the rotary supporting seat is provided with a ball and abuts against the base in a rolling manner; one end of the mechanical arm assembly is connected with the supporting top plate, and the other end is connected with the mechanical claw assembly. The manipulator has the technical effects of stability and accuracy, flexible operation, vertical grabbing, compact structure, reliability and durability, automatic operation, wide applicability and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a small and stable manipulator. Background Art

[0002] A small manipulator is a mechanical device with grasping and operating functions, usually used in fields such as automated production, laboratory research, and medical treatment. It can perform various tasks, such as grasping, handling, and assembling, through programming and control. However, the existing small manipulators generally have poor stability. Due to their relatively small structure, it is difficult to master the stability of each action during rotational transmission. Therefore, it is necessary to make new improvements to the existing manipulator structure. Summary of the Utility Model

[0003] To solve the above problems, the utility model provides a small and stable manipulator that provides an efficient, flexible, and reliable solution for the industrial automation field through multiple technical effects such as stability and accuracy, flexible operation, vertical grasping, compact structure, reliability and durability, automated operation, and wide applicability.

[0004] The technical solution adopted by the utility model is: a small and stable manipulator, including a base, a rotary drive module, a support assembly, a robotic arm assembly, and a robotic claw assembly. A support frame is arranged at the central position of the base, and the support frame is used to install the rotary drive module. The support assembly includes a support top plate, a rotary bracket, and a rotary support seat. The support top plate is connected to the drive end of the rotary drive module. A plurality of rotary brackets are provided, and the plurality of rotary brackets are circumferentially distributed uniformly on the outer periphery of the support top plate. One end of the rotary support seat is connected to the rotary bracket, and the other end is provided with a ball and rolls against the base in a rolling manner; one end of the robotic arm assembly is connected to the support top plate, and the other end is connected to the robotic claw assembly.

[0005] For further improvement of the above solution, a surrounding frame is arranged on the outer periphery of the base where the support frame is located, and the support frame is arranged on the surrounding frame; a chromium plating layer is arranged on the outer periphery of the base where the surrounding frame is located, and the ball rolls frictionally on the chromium plating layer.

[0006] For further improvement of the above solution, a power supply assembly and an electric control assembly are arranged on the support top plate. Both the power supply assembly and the electric control assembly face the side of the base. The electric control assembly is electrically connected to the power supply assembly, and the electric control assembly is electrically connected to the rotary drive module, the robotic arm assembly, and the robotic claw assembly.

[0007] A further improvement to the above solution is that the rotating bracket includes a support connecting rod and an adjustment base plate. The two ends of the support connecting rod are respectively connected to the adjustment base plate and the support top plate. An adjustment slot is provided on the adjustment base plate, and an adjustment shaft is provided on the rotating support seat. The adjustment shaft can be adjusted along the length direction of the adjustment slot.

[0008] A further improvement to the above solution is that the robotic arm assembly includes a first joint drive module, a first joint connecting rod, a second joint drive module, a second joint connecting rod, a third joint drive module, and a third joint connecting rod. The first joint drive module is arranged on the support top plate. One end of the first joint connecting rod is connected to the drive end of the first joint drive module, and the other end is connected to the second joint drive module. The second joint drive module is arranged on the second joint connecting rod. The third joint drive module is arranged on the second joint connecting rod. The third joint connecting rod is connected to the drive end of the third joint drive module.

[0009] A further improvement to the above solution is that one end of the third joint connecting rod is provided with a connecting plate for connecting the robotic claw assembly.

[0010] A further improvement to the above solution is that two sets of the first joint drive module, the first joint connecting rod, the second joint connecting rod, and the third joint connecting rod are symmetrically arranged.

[0011] A further improvement to the above solution is that the robotic claw assembly includes a connecting panel, a claw drive module, a linkage module, and a clamping module. One end of the connecting panel is connected to the robotic arm assembly. The claw drive module is arranged on the connecting panel. The linkage module is connected to the claw drive module. The clamping module is arranged on the linkage module.

[0012] A further improvement to the above solution is that the linkage module includes a driving wheel and a driven wheel which are meshed with each other. The clamping module includes a driving frame, a movable frame, a driving clamping plate, and a movable clamping plate. One end of the driving wheel is connected to the claw drive module. The driving frame is arranged on the driving wheel. The movable frame is arranged on the driven wheel. The driving clamping plate is arranged on the driving frame. The movable clamping plate is arranged on the movable clamping plate. The driving clamping plate and the movable clamping plate face each other.

[0013] A further improvement to the above solution is that it further includes a traveling assembly which includes a vehicle frame and a traveling drive module arranged on the vehicle frame. The traveling drive module is used to drive the vehicle frame to travel, and the base is arranged on the vehicle frame.

[0014] The beneficial effects of the present utility model are:

[0015] Compared with existing small manipulators, the support component of the present utility model adopts the design of a support top plate, a rotating bracket, and a rotating support base, enabling the manipulator to maintain stability on the base and achieve precise rotational motion. The multiple circumferentially evenly distributed rotating brackets and the rolling contact of the balls with the base increase the stability of the manipulator and the accuracy of movement. The robotic arm component achieves flexible movement by connecting to the support top plate, and can extend and rotate in different directions, thereby achieving precise grasping and placing of the target object, improving the operation flexibility of the manipulator. The setting of the support frame enables the robotic arm component to move in the vertical direction, and can easily achieve the grasping and placing of objects of various shapes and sizes, improving the applicable range of the manipulator. The structural design of the base, support component, robotic arm component, and robotic claw component is compact, occupying a small space, suitable for operation in a limited space, and improving the applicability and flexibility of the manipulator. The design of components such as the support frame, rotating bracket, and balls improves the reliability and durability of the manipulator, extends the service life, and reduces the maintenance cost. Through multiple technical effects such as stability and accuracy, flexible operation, vertical grasping, compact structure, reliability and durability, automated operation, and wide applicability, the present utility model provides an efficient, flexible, and reliable solution for the field of industrial automation. Description of the Drawings

[0016] Figure 1 is a three-dimensional schematic diagram of the small stable manipulator of the present utility model;

[0017] Figure 2 is Figure 1 a three-dimensional schematic diagram of another perspective of the medium and small stable manipulator;

[0018] Figure 3 is Figure 1 a three-dimensional schematic diagram of another perspective of the medium and small stable manipulator;

[0019] Figure 4 is Figure 1 a side view of the medium and small stable manipulator;

[0020] Figure 5 is a three-dimensional schematic diagram of another embodiment of the small stable manipulator of the present utility model;

[0021] Figure 6 is Figure 5 a three-dimensional schematic diagram of another perspective of the medium and small stable manipulator.

[0022] Description of the reference numerals: base 1, support frame 11, surrounding frame 12, rotation drive module 2, support assembly 3, support top plate 31, rotation bracket 32, support link 321, adjustment bottom plate 322, adjustment slot 3221, rotation support base 33, ball 331, adjustment shaft 332, robotic arm assembly 4, first joint drive module 41, first joint link 42, second joint drive module 43, second joint link 44, third joint drive module 45, third joint link 46, connection plate 461, robotic claw assembly 5, connection panel 51, jaw drive module 52, linkage module 53, drive wheel 531, driven wheel 532, clamping module 54, drive frame 541, movable frame 542, drive clamping plate 543, movable clamping plate 544, power supply assembly 6, electronic control assembly 7, traveling assembly 8, vehicle frame 81, traveling drive module 82. Detailed implementation manners

[0023] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0026] As Figures 1 to 6As shown in the figure, in an embodiment of the present utility model, a small stable manipulator is involved, which includes a base 1, a rotation drive module 2, a support assembly 3, a robotic arm assembly 4, and a robotic claw assembly 5. A support frame 11 is provided at the central position of the base 1, and the support frame 11 is used to install the rotation drive module 2. The support assembly 3 includes a support top plate 31, a rotation bracket 32, and a rotation support base 33. The support top plate 31 is connected to the drive end of the rotation drive module 2. A plurality of rotation brackets 32 are provided, and the plurality of rotation brackets 32 are circumferentially and evenly distributed on the outer periphery of the support top plate 31. One end of the rotation support base 33 is connected to the rotation bracket 32, and the other end is provided with a ball 331 and rolls against the base 1. One end of the robotic arm assembly 4 is connected to the support top plate 31, and the other end is connected to the robotic claw assembly 5. In this embodiment, the support assembly 3 is designed with a support top plate 31, a rotation bracket 32, and a rotation support base 33, enabling the manipulator to maintain stability on the base 1 and achieve precise rotational movement. The circumferentially and evenly distributed plurality of rotation brackets 32 and the rolling contact of the balls 331 with the base 1 increase the stability of the manipulator and the accuracy of movement. The robotic arm assembly 4 realizes flexible movement by connecting to the support top plate 31, and can extend and rotate in different directions, thereby achieving precise grasping and placing of the target object, improving the operation flexibility of the manipulator. The setting of the support frame 11 enables the robotic arm assembly 4 to move in the vertical direction, and can easily achieve the grasping and placing of objects of various shapes and sizes, improving the applicable range of the manipulator. The structural design of the base 1, the support assembly 3, the robotic arm assembly 4, and the robotic claw assembly 5 is compact, occupying a small space, suitable for operation in a limited space, and improving the applicability and flexibility of the manipulator. The design of components such as the support frame 11, the rotation bracket 32, and the balls 331 improves the reliability and durability of the manipulator, extends the service life, and reduces the maintenance cost. Through multiple technical effects such as stability and accuracy, flexible operation, vertical grasping, compact structure, reliability and durability, automated operation, and wide applicability, this embodiment provides an efficient, flexible, and reliable solution for the industrial automation field.

[0027] The base 1 is provided with a surrounding frame 12 on the outer periphery of the support frame 11, and the support frame 11 is arranged on the surrounding frame 12; the base 1 is provided with a chrome plating layer on the outer periphery of the surrounding frame 12, and the ball 331 frictionally rolls on the chrome plating layer. In this embodiment, the setting of the surrounding frame 12 enables the support frame 11 to be stably installed on the outer periphery of the base 1, enhancing the overall stability and structural strength of the manipulator, so as to better cope with vibrations and load changes during the movement process. The setting of the chrome plating layer enables the ball 331 to frictionally roll with it during movement, reducing the frictional resistance, improving the movement efficiency and stability of the manipulator. The chrome plating layer can effectively improve the hardness and wear resistance of the surface of the base 1, extend the service life of the contact part between the ball 331 and the base 1, reduce the maintenance cost, and increase the reliability and durability of the manipulator. After reducing the rolling friction, the movement of the manipulator will be more accurate and stable, enabling better grasping, placing and moving of the target object, and improving the operation accuracy and stability.

[0028] The support top plate 31 is provided with a power supply component 6 and an electric control component 7. The power supply component 6 and the electric control component 7 are both on the side facing the base 1. The electric control component 7 is electrically connected to the power supply component 6, and the electric control component 7 is electrically connected to the rotation drive module 2, the robotic arm component 4, and the robotic claw component 5. In this embodiment, the power supply component 6 and the electric control component 7 are arranged on the support top plate 31, enabling the power supply and control systems of the entire manipulator to be integrated into one component, simplifying the wiring and connection, and improving the integration and reliability of the overall system. The power supply component 6 and the electric control component 7 are arranged on the side facing the base 1, facilitating the operation and maintenance by maintenance personnel, reducing the difficulty of maintenance, shortening the maintenance time, and improving the maintenance efficiency. The electric control component 7 is electrically connected to the rotation drive module 2, the robotic arm component 4, and the robotic claw component 5. Through centralized arrangement and connection, the crossing and interference of the lines are reduced, the possibility of circuit faults is reduced, and the stability and reliability of the system are improved. The setting of the electric control component 7 enables the manipulator to achieve intelligent control, and through electrical connection, precise control of the rotation drive module 2, the robotic arm component 4, and the robotic claw component 5 is realized, improving the operation accuracy and flexibility of the manipulator.

[0029] The rotating bracket 32 includes a support connecting rod 321 and an adjusting bottom plate 322. Both ends of the support connecting rod 321 are respectively connected to the adjusting bottom plate 322 and the support top plate 31. An adjusting slot 3221 is provided on the adjusting bottom plate 322. The rotating support base 33 is provided with an adjusting shaft 332, and the adjusting shaft 332 can be adjusted along the length direction of the adjusting slot 3221. In this embodiment, through the design of the support connecting rod 321, the adjusting bottom plate 322, the adjusting slot 3221 and the adjusting shaft 332, the adjustment of the length direction of the rotating bracket 32 is realized, so that the manipulator can be flexibly adjusted according to different working requirements, and is adapted to the grasping and placing of workpieces of different sizes and shapes. An adjusting slot 3221 is provided on the adjusting bottom plate 322. By adjusting the adjusting shaft 332 along the length direction of the adjusting slot 3221, the precise positioning of the rotating bracket 32 can be realized, ensuring that the manipulator can accurately position and grasp the target object during the operation process, and improving the operation accuracy and stability. The support connecting rod 321 connects the adjusting bottom plate 322 and the support top plate 31. Through this structural design, the rotating bracket 32 can stably support the upper structure of the manipulator, enhancing the overall stability and load-bearing capacity. The design of flexible adjustment enables the manipulator to quickly replace and adapt to different workpieces, improving the operation efficiency and flexibility, and is applicable to scenarios where workpieces need to be frequently replaced on the production line. The design of flexible adjustment and precise positioning enables the manipulator to adapt to a variety of working environments and tasks, reducing the need for different manipulators and reducing the equipment investment cost.

[0030] The robotic arm assembly 4 includes a first joint drive module 41, a first joint connecting rod 42, a second joint drive module 43, a second joint connecting rod 44, a third joint drive module 45, and a third joint connecting rod 46. The first joint drive module 41 is disposed on the support top plate 31. One end of the first joint connecting rod 42 is connected to the drive end of the first joint drive module 41, and the other end is connected to the second joint drive module 43. The second joint drive module 43 is disposed on the second joint connecting rod 44. The third joint drive module 45 is disposed on the second joint connecting rod 44. The third joint connecting rod 46 is connected to the drive end of the third joint drive module 45. One end of the third joint connecting rod 46 is provided with a connecting plate 461, and the connecting plate 461 is used to connect the robotic claw assembly 5. Specifically, two sets of the first joint drive module 41, the first joint connecting rod 42, the second joint connecting rod 44, and the third joint connecting rod 46 are symmetrically arranged. In this embodiment, through the design of the first, second, and third joint drive modules 45, connecting rods, and the connecting plate 461, the multi-joint operation of the robotic arm assembly 4 is realized, enabling the robotic hand to perform precise movements in three degrees of freedom, thereby achieving more complex and flexible grasping, placing, and operation. Two sets of drive modules and connecting rods are provided for each joint. Through the symmetrical design, the stability and balance of the robotic arm are improved, ensuring that the task can be completed more smoothly and reliably during the operation. The drive module and connecting rod design of each joint are symmetrically arranged, enabling the robotic hand to achieve more precise positioning and motion control during the operation, improving the accuracy and stability of the operation. The multi-joint design enables the robotic hand to handle more complex and delicate tasks, such as in the fields of assembly and precision machining, expanding the application range and applicability of the robotic hand. The connecting plate 461 is used to connect the robotic claw assembly 5. Through this structural design, a firm connection between the robotic claw assembly 5 and the robotic arm assembly 4 is ensured, enabling the robotic hand to reliably grasp and manipulate the target object.

[0031] The mechanical claw assembly 5 includes a connection panel 51, a claw drive module 52, a linkage module 53, and a clamping module 54. One end of the connection panel 51 is connected to the robotic arm assembly 4. The claw drive module 52 is arranged on the connection panel 51. The linkage module 53 is connected to the claw drive module 52. The clamping module 54 is arranged on the linkage module 53. Specifically, the linkage module 53 includes a driving wheel 531 and a driven wheel 532, and the driving wheel 531 meshes with the driven wheel 532. The clamping module 54 includes a driving frame 541, a movable frame 542, a driving clamping plate 543, and a movable clamping plate 544. One end of the driving wheel 531 is connected to the claw drive module 52. The driving frame 541 is arranged on the driving wheel 531. The movable frame 542 is arranged on the driven wheel 532. The driving clamping plate 543 is arranged on the driving frame 541. The movable clamping plate 544 is arranged on the movable clamping plate 544. The driving clamping plate 543 faces the movable clamping plate 544. In this embodiment, the designs of the claw drive module 52, the linkage module 53, and the clamping module 54 enable the mechanical claw to achieve precise clamping and releasing actions, ensuring reliable grasping and placing of the target object. The linkage module 53 includes a driving wheel 531 and a driven wheel 532 which mesh with each other. Through this design, the linkage control of the clamping module 54 is realized, enabling the claw to adjust the clamping force and clamping angle as needed to adapt to workpieces of different shapes and sizes. The design of the connection panel 51 enables the mechanical claw to be firmly connected to the robotic arm assembly 4, ensuring the stability and reliability of the mechanical claw during operation. The design of the mechanical claw assembly 5 enables it to flexibly adapt to workpieces of different shapes and sizes, improving the applicability and flexibility of the robotic hand.

[0032] Refer to Figures 5 to 6 As shown, it further includes a traveling assembly 8. The traveling assembly 8 includes a vehicle frame 81 and a traveling drive module 82 arranged on the vehicle frame 81. The traveling drive module 82 is used to drive the vehicle frame 81 to travel. The base 1 is arranged on the vehicle frame 81. In this embodiment, through the designs of the vehicle frame 81 and the traveling drive module 82, the robotic hand can achieve flexible movement and positioning, thereby adapting to different working scenarios and task requirements. The addition of the traveling assembly 8 enables the robotic hand to have the ability to move and can quickly move to the required position in the factory workshop, expanding the operation range and applicability of the robotic hand. Since the robotic hand has the ability to move, the production line can be more flexibly laid out, and the position of the robotic hand can be adjusted at any time according to production needs, simplifying the layout planning of the production line. After having the traveling ability, the robotic hand can operate at different positions to achieve multi-point operation, thereby improving the flexibility of the production line and the diversified production ability.

[0033] The above embodiments only illustrate several implementation manners of the present utility model, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several variations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.

Claims

1. A small stable manipulator, characterized in that: It includes a base, a rotation drive module, a support assembly, a mechanical arm assembly and a mechanical claw assembly. A support frame is arranged at the center position of the base, and the support frame is used to install the rotation drive module. The support assembly includes a support top plate, a rotation bracket and a rotation support seat. The support top plate is connected to the driving end of the rotation drive module. There are multiple rotation brackets, and the multiple rotation brackets are evenly distributed on the outer periphery of the support top plate in a circumferential direction. One end of the rotation support seat is connected to the rotation bracket, and the other end is provided with a ball and rolls against the base; one end of the mechanical arm assembly is connected to the support top plate, and the other end is connected to the mechanical claw assembly; the rotation bracket includes a support connecting rod and an adjusting bottom plate, and the two ends of the support connecting rod are respectively connected to the adjusting bottom plate and the support top plate.

2. The small stable manipulator according to claim 1, characterized in that: The base is provided with a frame at the periphery of the support frame, and the support frame is arranged on the frame; the base is provided with a chrome-plated layer at the periphery of the frame, and the ball rolls frictionally on the chrome-plated layer.

3. The small stable manipulator according to claim 1, characterized in that: The supporting top plate is provided with a power supply component and an electric control component, both of which face one side of the base, and the electric control component is electrically connected to the power supply component, and the electric control component is electrically connected to the rotating drive module, the robotic arm component and the robotic claw component.

4. The small stable manipulator according to claim 1, characterized in that: The adjusting bottom plate is provided with an adjusting groove, and the rotating support seat is provided with an adjusting shaft, and the adjusting shaft can be adjusted along the length direction of the adjusting groove.

5. The small stable manipulator according to claim 1, characterized in that: The robotic arm assembly includes a first joint drive module, a first joint link, a second joint drive module, a second joint link, a third joint drive module and a third joint link. The first joint drive module is arranged on a supporting top plate, one end of the first joint link is connected to a driving end of the first joint drive module, and the other end is connected to the second joint drive module, the second joint drive module is arranged on the second joint link, the third joint drive module is arranged on the second joint link, and the third joint link is connected to the driving end of the third joint drive module.

6. The small stable manipulator according to claim 5, characterized in that: A connecting plate is provided at one end of the third joint connecting rod, and the connecting plate is used to connect the mechanical claw assembly.

7. The small stable manipulator according to claim 5, characterized in that: The first joint drive module, the first joint connecting rod, the second joint connecting rod, and the third joint connecting rod are symmetrically arranged in two groups.

8. The small stable manipulator according to claim 1, characterized in that: The mechanical claw assembly includes a connection panel, a gripper drive module, a linkage module and a clamping module. One end of the connection panel is connected to the mechanical arm assembly, the gripper drive module is arranged on the connection panel, the linkage module is connected to the gripper drive module, and the clamping module is arranged on the linkage module.

9. The small stable manipulator according to claim 8, characterized in that: The linkage module includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are meshed with each other; the clamping module includes a driving frame, a movable frame, a driving clamping plate and a movable clamping plate, one end of the driving wheel is connected to the clamping claw driving module, the driving frame is arranged on the driving wheel, the movable frame is arranged on the driven wheel, the driving clamping plate is arranged on the driving frame, and the movable clamping plate is arranged on the movable clamping plate; the driving clamping plate is opposite to the movable clamping plate.

10. The small stable manipulator according to any one of claims 1 to 9, characterized in that: It also includes a travel component, which includes a frame and a travel drive module arranged on the frame, the travel drive module is used to drive the frame to travel, and the base is arranged on the frame.

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