CN108748130B - Manipulator device with translation and rotation functions - Google Patents
Manipulator device with translation and rotation functions Download PDFInfo
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- CN108748130B CN108748130B CN201810651292.3A CN201810651292A CN108748130B CN 108748130 B CN108748130 B CN 108748130B CN 201810651292 A CN201810651292 A CN 201810651292A CN 108748130 B CN108748130 B CN 108748130B
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- driving
- cylinder
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- platform
- translation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulator device with translation and rotation functions, wherein a mechanical arm is connected to a rotary cylinder, a driving motor can drive the rotary cylinder to rotate, and the lower surface of a mobile platform is in sliding fit with the upper surface of a supporting platform; three driving cylinders are arranged around the moving platform, the rear end of each driving cylinder is hinged with the frame, a driving rod at the front end of each driving cylinder is hinged on the moving platform, the driving rod of each driving cylinder faces the rotary cylinder, and each driving cylinder and the driving motor are connected with the control device; therefore, the driving rods of the driving cylinders are controlled to stretch by the control device, and the driving rods of the driving cylinders are coordinated with each other, so that the moving platform can slide on the supporting platform, and the center of the rotary cylinder can be adjusted within a certain range; thus, the working range of the mechanical arm can be adjusted within a certain range.
Description
Technical Field
The present invention relates to a manipulator device having translation and rotation functions.
Background
The mechanical arm is production equipment which is often used in production and manufacturing, and the mechanical arm can improve the production efficiency and reduce the working intensity of workers. In the prior art, various mechanical arms exist, a rotatable mechanical arm is a common mechanical arm in the prior art, the working range of the mechanical arm is large, and the mechanical arm can rotate around a rotating cylinder, but in some cases, the rotation center of the rotatable mechanical arm needs to be adjustable within a certain range so as to meet the requirements of production and manufacturing.
For example, in production, a manipulator is often required to grasp a part with low hardness and perform centering installation, a mark cannot be pressed on the surface of the part when the part is grasped, and when the part is installed, the position range of the part needs to be adjusted so as to be smoothly butted with an installation interface.
However, in the prior art, no manipulator capable of realizing the function is available, or some manipulators have similar functions, but the structure is complex and the cost is high.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a robot device with translation and rotation functions, which enables the working range of the robot arm to be adjustable.
In order to achieve the above object, the present invention provides a manipulator device with translation and rotation functions, comprising a horizontally disposed moving platform and a supporting platform, wherein the moving platform can horizontally move relative to the supporting platform; the middle part of the moving platform is provided with a rotating cylinder, the lower end of the rotating cylinder is connected with a driving motor, the rotating cylinder is connected with a mechanical arm, three driving cylinders are arranged around the moving platform, the rear end of each driving cylinder is hinged with the frame, the driving rod at the front end of each driving cylinder is hinged on the moving platform, and the driving rod of each driving cylinder faces the rotating cylinder; the mechanical arm comprises a telescopic cylinder arranged in an inner cavity of the rotary cylinder, a piston rod of the telescopic cylinder extends out of the upper end of the rotary cylinder, and the upper end of the piston rod is connected with a mechanical gripper; the mechanical gripper comprises two mechanical fingers which are arranged oppositely, the two mechanical fingers can rotate relatively, and a clamping space with an upward opening is formed between the two mechanical fingers.
Preferably, the included angle between the driving rods of each driving cylinder is 120 degrees.
Preferably, the moving platform is triangular, and each driving cylinder is respectively arranged at three corners of the moving platform.
Preferably, three connecting blocks are uniformly distributed around the cylinder seat, and the front ends of the driving rods of the three driving cylinders are hinged to the connecting blocks.
Preferably, the driving motor is fixed on the lower surface of the mobile platform, and a shaft head of the driving motor upwards penetrates through the bottom of the cylinder seat to be connected with the rotary cylinder.
Preferably, a cylinder seat is arranged on the moving platform, and the rotating cylinder is arranged in the cylinder seat and is in rotating fit with an inner hole of the cylinder seat.
As described above, the manipulator device having the translation and rotation functions according to the present invention has the following advantageous effects: in the manipulator device with translation and rotation functions, the manipulator arm is connected to the rotary cylinder, the driving motor can drive the rotary cylinder to rotate, and the moving platform can horizontally move relative to the supporting platform; three driving cylinders are arranged around the moving platform, the rear end of each driving cylinder is hinged with the frame, a driving rod at the front end of each driving cylinder is hinged on the moving platform, the driving rod of each driving cylinder faces the rotary cylinder, and each driving cylinder and the driving motor are connected with the control device; therefore, the driving rods of the driving cylinders are controlled to stretch by the control device, and the driving rods of the driving cylinders are coordinated with each other, so that the moving platform can slide on the supporting platform, and the center of the rotary cylinder can be adjusted within a certain range; thus, the working range of the mechanical arm can be adjusted within a certain range.
Drawings
Fig. 1 is a top view of a robot apparatus with translation and rotation functions according to the present invention.
Fig. 2 is a cross-sectional view taken at a-a in fig. 1.
Fig. 3 is a schematic view showing the mounting structure of the moving platform and the balls at the bottom thereof.
Fig. 4 is a partial schematic view of a mobile platform.
Fig. 5 shows a schematic view of the construction of a ring insert.
Fig. 6 is a schematic structural diagram of the mechanical finger.
Fig. 7 is a schematic diagram of a transmission structure between two mechanical fingers.
Description of the element reference numerals
1 moving platform
2 rotating cylinder
3 drive motor
4 mechanical arm
5 drive cylinder
6 machine frame
7 drive rod
8 barrel holder
9 barrel seat inner hole
10 connecting block
11 supporting platform
12 thrust bearing
13 mechanical paw
14a mechanical finger
14b mechanical finger
15 mounting slot
16 elastic block
17 to penetrating guide holes
18 stop dog
19 guide bar
20 compression spring
21 ball
22 spherical groove
23 annular counter bore
24 ring-shaped insert
25 spherical hole
26 telescopic cylinder
27 drive gear
28 driven gear
29 electric machine
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial technical changes.
As shown in fig. 1 and fig. 2, the present invention provides a manipulator device with translation and rotation functions, which includes a moving platform 1 and a supporting platform 11, wherein the moving platform 1 is horizontally arranged, and can move relative to the supporting platform 11; the middle part of the moving platform 1 is provided with a rotating cylinder 2, the lower end of the rotating cylinder 2 is connected with a driving motor 3, the rotating cylinder 2 is connected with a mechanical arm 4, three driving cylinders 5 are arranged around the moving platform 1, the rear end of each driving cylinder 5 is hinged with a frame 6, a driving rod 7 at the front end of each driving cylinder 5 is hinged on the moving platform 1, the driving rod 7 of each driving cylinder 5 faces the rotating cylinder 2, and each driving cylinder 5 and the driving motor 3 are connected with a control device; as shown in fig. 1, the robot arm 4 includes a telescopic cylinder 26 disposed in the inner cavity of the rotary cylinder 2, a piston rod of the telescopic cylinder 26 extends out from the upper end of the rotary cylinder 2, and the upper end of the piston rod is connected with the gripper 13. In this way, the telescopic cylinder 26 can take the gripper 13 out or in. More preferably, as shown in fig. 2, the gripper 13 includes two fingers 14a, 14b disposed opposite to each other, the two fingers 14a, 14b are rotatable relative to each other, and a clamping space with an upward opening is formed between the two fingers 14a, 14 b.
In the manipulator device with translation and rotation functions, the mechanical arm 4 is connected to the rotary cylinder 2, and the driving motor 3 can drive the rotary cylinder 2 to rotate, because the lower surface of the mobile platform 1 is in sliding fit with the upper surface of the supporting platform 11; three driving cylinders 5 are arranged around the moving platform 1, the rear end of each driving cylinder 5 is hinged with the frame 6, a driving rod 7 at the front end of each driving cylinder 5 is hinged on the moving platform 1, the driving rod 7 of each driving cylinder 5 faces the rotary cylinder 2, and each driving cylinder 5 and the driving motor 3 are connected with the control device; in this way, the driving rods 7 of the driving cylinders 5 are controlled to extend and retract by the control device, and the driving rods 7 of the driving cylinders 5 are coordinated with each other, so that the moving platform 1 can slide on the supporting platform 11, and the center of the rotary cylinder 2 can be adjusted within a certain range; thus, the working range of the robot arm 4 can be adjusted within a certain range.
In the manipulator device with translation and rotation functions, the mechanical fingers 14a and 14b are controlled by the control device to move, the control device can control the two mechanical fingers 14a and 14b to clamp or release each other, and a clamping space is formed between the two mechanical fingers. In order to prevent the fingers 14a and 14b from impressing on the surface of the object to be clamped, as shown in fig. 6, the fingers 14a and 14b are provided with mounting slots 15, two side walls of the mounting slots 15 are provided with opposite-penetrating guide holes 17, guide rods 19 are slidably connected in the opposite-penetrating guide holes 17, two ends of each guide rod 19 respectively penetrate through the opposite-penetrating guide holes 17, one end of each guide rod 19 close to the clamping space is connected with an elastic block 16, a compression spring 20 is sleeved on a part of each guide rod 19 in the corresponding mounting slot 15, a stopper 18 is arranged in the middle of each guide rod 19, and the stopper 18 is pressed to one side of the clamping space by the compression spring 20, so that when the fingers 14a and 14b do not clamp the object, a certain gap is formed between the elastic block 16 and the fingers 14a and 14 b. When the two fingers 14a, 14b grip the object, the compression spring 20 is further compressed due to the reaction force of the object, the elastic block 16 moves toward the side close to the fingers 14a, 14b, and the gripping force gradually increases to grip the object as the two fingers 14a, 14b further approach. Thus, the object to be held is not easily pressed with an impression due to the cushioning effect of the compression spring 20 and the cushioning effect of the elastic piece.
In the manipulator apparatus having the translation and rotation functions of the present invention, the moving platform 1 slides on the supporting platform 11, and in order to enable the moving platform 1 to smoothly slide on the supporting platform 11 and reduce the friction force therebetween, it is preferable that a ball 21 capable of freely rolling is embedded in the bottom of the moving platform 1 as shown in fig. 2 and 3, so that the rolling friction is generated between the moving platform 1 and the supporting platform 11, and the friction force is small. In order to facilitate the ball 21 to be embedded in the bottom of the moving platform 1, as a preferred embodiment, as shown in fig. 4, the bottom of the moving platform 1 is provided with a plurality of annular counterbores 23 and spherical grooves 22 coaxially arranged with the annular counterbores 23, the spherical grooves 22 are hemispherical, and the centers of the spheres of the spherical grooves 22 are coplanar with the top surfaces of the annular counterbores 23 (according to the views of fig. 3 and 4, the annular surface on the upper side of the annular counterbores 23 is the top surfaces thereof). In order to make the ball 21 be able to be located in the spherical groove 22 and not to be removed, as shown in fig. 3, an annular insert 24 is installed in the annular counter bore 23, the annular insert 24 is fixed in the annular counter bore 23, as shown in fig. 5, the annular insert 24 is provided with a spherical hole 25, and the diameter of the round mouth at the lower end of the spherical hole 25 is smaller than that at the upper end thereof.
In the manipulator device with translation and rotation functions, in order to drive the moving platform 1 to slide in a moving range on the supporting platform 11, three driving cylinders 5 are arranged around the moving platform 1, and the driving rods 7 of the driving cylinders 5 are controlled by a control device to extend and contract and coordinate with each other, so that the center of the rotating cylinder 2 can be adjusted in a certain range. As shown in fig. 1, the front ends of the driving rods 7 of the three driving cylinders 5 are all directed to the rotary drum 2, and the three driving cylinders 5 are evenly distributed around the moving platform 1, and as a preferred embodiment, the included angle between the driving rods 7 of each driving cylinder 5 is 120 degrees. When the position of the mobile platform 1 needs to be adjusted, the control device controls two driving rods 7 of the driving cylinders 5 to extend, the other driving rod 7 of the driving cylinder 5 to shorten, and the two ends of each driving cylinder 5 are hinged, so that the driving rods 7 of the driving cylinders 5 are controlled by the control device to extend and retract in a mutually coordinated manner, and the mobile platform 1 can slide on the supporting platform 11.
In the manipulator device with translation and rotation functions of the present invention, three driving cylinders 5 are provided around a moving platform 1, as shown in fig. 1, as a preferred embodiment, the moving platform 1 is triangular, the driving cylinders 5 are respectively provided at three corners of the moving platform 1, the frame 6 has an inner frame similar to the moving platform 1 in shape, the rear end of each driving cylinder 5 is hinged to the frame 6, and a driving rod 7 at the front end of each driving cylinder 5 is hinged to the moving platform 1. Preferably, as shown in fig. 1 and 2, three connecting blocks 10 are uniformly distributed around the cylinder base 8, and the front ends of the driving rods 7 of the three driving cylinders 5 are hinged on the connecting blocks 10.
In the manipulator device with translation and rotation functions of the present invention, the driving motor 3 drives the rotating cylinder 2 to rotate and the mechanical arm 4 to rotate, as a preferred embodiment, as shown in fig. 2, a cylinder base 8 is arranged on the moving platform 1, and the rotating cylinder 2 is arranged in the cylinder base 8 and is rotationally matched with a cylinder base inner hole 9; the driving motor 3 is fixed on the lower surface of the moving platform 1, and a shaft head of the driving motor 3 upwards penetrates through the bottom of the barrel seat 8 and is connected with the rotating barrel 2. In order to allow the rotary drum 2 to rotate flexibly, a thrust bearing 12 is provided at the bottom of the drum base 8, and the lower end of the rotary drum 2 is supported on the thrust bearing 12.
As shown in fig. 7, in the manipulator device with translation and rotation functions of the present invention, the manipulator claw 13 includes two manipulator fingers 14a, 14b capable of rotating relatively, wherein one of the manipulator fingers 14a is fixed on a driving gear 27, the other of the manipulator fingers 14b is fixed on a driven gear 28, the driving gear 27 is driven by a motor 29 to rotate forward or backward, the driving gear 27 is engaged with the driven gear 28, and because the driving gear 27 and the driven gear 28 rotate in opposite directions, when the motor 29 drives the driving gear 27 to rotate forward or backward, the driving gear 27 and the driven gear 28 respectively drive the two manipulator fingers 14a, 14b to clamp or release each other.
Based on the technical scheme of the embodiment, the manipulator device with the translation and rotation functions can realize rotation and translation of the manipulator arm, so that the working range of the manipulator arm can be adjusted within a certain range, and the manipulator device is simple in structure, convenient to operate and low in cost.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (3)
1. A manipulator device with translation and rotation functions is characterized by comprising a moving platform (1) and a supporting platform (11) which are horizontally arranged, and further comprising a rack (6), wherein the moving platform (1) can horizontally move relative to the supporting platform (11); the middle part of a moving platform (1) is provided with a rotary cylinder (2), the moving platform (1) is provided with a cylinder base (8), the rotary cylinder (2) is arranged in the cylinder base (8) and is in rotary fit with a cylinder base inner hole (9), a driving motor (3) is fixed on the lower surface of the moving platform (1), a shaft head of the driving motor (3) upwards penetrates through the bottom of the cylinder base (8) and is connected with the bottom end of the rotary cylinder (2), the upper end of the rotary cylinder (2) is connected with a mechanical arm (4), three driving cylinders (5) are arranged around the moving platform (1), the rear end of each driving cylinder (5) is hinged with a rack (6), a driving rod (7) at the front end of each driving cylinder (5) is hinged on the moving platform (1) through a connecting block (10), and the connecting blocks (10) are uniformly distributed around the cylinder base (8), the driving rods (7) of the three driving cylinders (5) face the rotary drum (2), and the three driving cylinders (5) and the driving motor (3) are connected with a control device; the bottom of the moving platform (1) is embedded with a ball (21) capable of rolling freely, and the ball (21) is matched with the upper surface of the supporting platform (11) in a rolling way; the bottom of the moving platform (1) is provided with a plurality of annular counter bores (23) and spherical grooves (22) which are coaxial with the annular counter bores (23), the spherical grooves (22) are hemispherical, annular embedded blocks (24) are installed in the annular counter bores (23), the annular embedded blocks (24) are fixed in the annular counter bores (23), spherical holes (25) are formed in the annular embedded blocks (24), and the diameter of a round opening at the lower end of each spherical hole (25) is smaller than that of a round opening at the upper end of the spherical hole; the mechanical arm (4) comprises a telescopic cylinder (26) arranged in an inner cavity of the rotary cylinder (2), a piston rod of the telescopic cylinder (26) extends out of the upper end of the rotary cylinder (2), and the upper end of the piston rod is connected with a mechanical gripper (13); the mechanical gripper (13) comprises two mechanical fingers (14a, 14b) which are arranged oppositely, the two mechanical fingers (14a, 14b) can rotate relatively, and a clamping space with an upward opening is formed between the two mechanical fingers (14a, 14 b); be equipped with installation slotted hole (15) on mechanical finger (14a, 14b), be equipped with on two lateral walls of installation slotted hole (15) to wearing guiding hole (17), sliding connection has guide bar (19) in to wearing guiding hole (17), and the both ends of guide bar (19) are worn out from to wearing guiding hole (17) respectively, and the one end that is close to on guide bar (19) to holding the space with is connected with elastic block (16), and the partial cover that guide bar (19) are located installation slotted hole (15) has compression spring (20), and the middle part of guide bar (19) is equipped with dog (18), and dog (18) are by compression spring (20) to centre gripping space one side roof pressure.
2. The robot apparatus with translation and rotation functions according to claim 1, wherein: the included angle between the driving rods (7) of the three driving cylinders (5) is 120 degrees.
3. The robot apparatus with translation and rotation functions according to claim 1, wherein: the moving platform (1) is triangular, and each driving cylinder (5) is arranged at three corners of the moving platform (1) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651292.3A CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651292.3A CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
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| Publication Number | Publication Date |
|---|---|
| CN108748130A CN108748130A (en) | 2018-11-06 |
| CN108748130B true CN108748130B (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810651292.3A Active CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
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| CN (1) | CN108748130B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113021309B (en) * | 2019-12-24 | 2022-09-20 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB761408A (en) * | 1953-07-10 | 1956-11-14 | Pierre Henry Dussumier De Fonb | Apparatus for the control of displacements of fluid |
| CN105314530A (en) * | 2015-11-24 | 2016-02-10 | 重庆市星极齿轮有限责任公司 | Gear lifting fixture device |
| CN105252531A (en) * | 2015-11-26 | 2016-01-20 | 哈尔滨工业大学 | Paw for double-position grabbing |
| CN205521035U (en) * | 2016-02-02 | 2016-08-31 | 崇业（苏州）精密工业有限公司 | Car air bag explosive cartridge detects anchor clamps |
| CN105773177B (en) * | 2016-03-31 | 2018-02-02 | 长安大学 | A kind of all-hydraulic lathe of parallel redundancy |
| CN205497518U (en) * | 2016-04-11 | 2016-08-24 | 胡彬 | Electric industrial manipulator |
| CN105945940B (en) * | 2016-07-14 | 2019-03-12 | 广东技术师范学院 | A kind of warehouse cargo transfer robot |
| CN206383074U (en) * | 2017-01-04 | 2017-08-08 | 原子高科医药有限公司 | A kind of adjustable grip device of clamping force |
| CN206445709U (en) * | 2017-02-14 | 2017-08-29 | 陈架亨 | A kind of workpiece sensing fixture |
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
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