CN208729817U - A kind of six degree of freedom haul robot - Google Patents

Abstract

The utility model discloses a kind of six degree of freedom haul robots, belong to robotic technology field, including body construction and manipulator, manipulator includes shell again, 5th servo motor is installed on shell, transmission mechanism is installed in shell, transmission mechanism is connected with clamping jaw, wherein the front end of each clamping jaw opens up fluted, the bottom of groove is connected with conducting block, conductive bump is connected on conducting block, conducting ring is connected on conducting block side wall, metal fixture block is slidably connected in groove, insulated spring is connected between metal fixture block and conducting block, conducting rod is connected on metal fixture block, conducting rod is inserted into conducting ring, clamping jaw front end is connected with annular liquid capsule, annular liquid capsule is provided with the mixed liquor of dielectric particles and insulating liquid, electrode plate is provided in annular liquid capsule, annular liquid capsule is connected with positive and negative rotation water pump by the first liquid pipe.When clamping irregular metal, clamping jaw is bonded preferably the utility model with metal, to avoid pressing from both sides irregular metal bad.

Description

A kind of six degree of freedom haul robot

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of six degree of freedom haul robot.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind It is not that flexibility ratio and resistance to dynamics.The sharpest edges of namely manipulator are recursive to do same movement in mechanical positive reason Will not always it feel under condition tired.The application of mechanical arm also will be more and more extensive, and manipulator is that recent decades grow up A kind of high-tech automatic producing device, the ability to fulfil assignment in the accuracy and environment of operation.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion It realizes defined movement, changes by the position of grasping object and posture.The independent fortune such as the lifting of movement mechanism, flexible, rotation Flowing mode, the referred to as freedom degree of manipulator.In order to grab the object of any position and orientation in space, there need to be 6 freedom degrees.From It is the key parameter of manipulator design by degree, freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, structure It is more complicated.General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.

Existing manipulator is when clamping irregular metal, and due in irregular shape, in clamping, clamping jaw is easy Article is pressed from both sides bad, in order to solve this problem, the clamping part of clamping jaw is generally designed as arc or other and irregular items are pasted The shape of conjunction is capable of increasing the area that clamping jaw is contacted with irregular items in this way, to avoid pressing from both sides article bad.But it is pressing from both sides When holding, the same position that each clamping jaw is all clamped on article is not ensured that, once deviating, cannot guarantee clamping part It is preferably bonded with article, is easy to press from both sides article bad.

To solve the above-mentioned problems, a kind of industrial robot hold assembly of Patent No. 201711294738.3, including Clamping beam, fixed jaw, moving jaws and connecting rod, described clamping beam one end are connected and fixed pawl, clamping beam one end connection movement Multiple through-holes are arranged on the moving jaws for pawl, and connecting rod, the connecting rod connection rocker piece and stop block, institute are arranged in the through-hole State the side connection non-slipping block of rocker piece, the connecting rod connecting spring is arranged sliding shoe on the moving jaws, on the sliding shoe Threaded hole and smooth hole are set, sliding groove is set in the clamping beam, the side of the clamping beam is arranged self-locking motor, it is described from Lock motor is connect with screw rod, and the screw rod is connect with sliding shoe, and the axis of rolling, the axis of rolling and axis is arranged in one end of the screw rod Connection is held, litter is set in the sliding groove, the litter is connect with sliding shoe, and the clamping beam is connect with connecting rod, described Connecting rod and universal axis connection, the universal shaft are connect with mechanical arm, and the self-locking motor is connect with connection line, the connection Protective case is set on the outside of route.

Multiple equally distributed rocker pieces are arranged in above-mentioned utility model on fixed jaw and moving jaws, and rocker piece passes through spring Elastic force is provided, non-slipping block is connected on rocker piece, the frictional force with irregular items can be improved, increase the stability of clamping, is floated Block is connect with connecting rod, and connecting rod is connect with stop block, is defined to rocker piece, and the disengaging of rocker piece is prevented, irregular in clamping When article, rocker piece can change according to irregular items surface to be self-regulated, and to adapt to irregular surface, carries out to article Stable clamping.

Although above-mentioned utility model can clamp irregular article, due to clamping irregular article When, the stroke of every spring is different, causes the elastic force of every spring different, so as to cause bite each in irregular items Chucking power it is different, be equally also easy to press from both sides irregular article bad.

Utility model content

The utility model aim is: being intended to provide a kind of six degree of freedom haul robot, is clamping irregular metal object When product, clamping jaw is bonded preferably with metal, uniform force, to avoid pressing from both sides irregular metal bad.

To realize the above-mentioned technical purpose, the technical solution adopted in the utility model is as follows:

A kind of six degree of freedom haul robot, including body construction and manipulator, the manipulator includes shell again, described 5th servo motor is installed on shell, transmission mechanism, the 5th servo motor and transmission mechanism are installed in the shell Connection, the clamping jaw of transmission mechanism connection identical and symmetrically arranged insulation there are two structure, wherein the front end of each clamping jaw Open up fluted, the bottom of the groove is connected with conducting block, and the conducting block is connect with power cathode, connects on the conducting block Conductive bump is connect, conducting ring is connected on the conducting block side wall, insulating layer, institute are provided between the conducting ring and conducting block It states and slidably connects metal fixture block in groove, insulated spring, the conductive stud are connected between the metal fixture block and conducting block Block is located in the middle part of insulated spring, is connected with conducting rod on the metal fixture block, the conducting rod includes conducting rod leading portion, conduction again Bar middle section and conducting rod back segment, the conducting rod leading portion and conducting rod back segment are insulator, in the conducting rod insertion conducting ring, The clamping jaw front end is connected with annular liquid capsule, and the annular liquid capsule is provided with the mixed liquor of dielectric particles and insulating liquid, described Electrode plate is provided in annular liquid capsule, the electrode plate is connect with positive pole, and the metal fixture block is located in the middle part of annular liquid capsule, The annular liquid capsule is connected with positive and negative rotation water pump by the first liquid pipe, the two poles of the positive and negative rotation water pump respectively with conducting rod Middle section is connected with conducting ring, and the positive and negative rotation water pump is for injecting the mixing of dielectric particles and insulating liquid into annular liquid capsule Liquid.

When work, power mechanism drives the rotation of the first terminal pad, and the second servo motor drives the rotation of the second terminal pad, third Servo motor drives the rotation of third terminal pad, to realize to the first joint arm, second joint arm and the 4th terminal pad position Control, the 4th servo motor drives first rotating shaft rotation, to carry out the control of angle to manipulator, the 5th servo motor passes through The closure and opening of two clamping jaws of transmission mechanism control, to control the irregular metal of manipulator clamping；It is pressed from both sides at two When pawl is closed, two metal fixture blocks are clipped in metal two sides first, and as two clamping jaws the more press from both sides the more tight, metal fixture block is to groove Basal sliding, insulated spring are compressed, and conducting rod slides in conducting ring, positive and negative when conducting rod back segment is contacted with conducting ring Turn water pump no power, when conducting rod middle section is contacted with conducting ring, positive and negative rotation water pump is powered on, and is injected into annular liquid capsule The mixed liquor of dielectric particles and insulating liquid, when conducting rod leading portion is contacted with conducting ring, positive and negative rotation Pump Failure stops work Make, two clamping jaws continue to clamp, and until metal fixture block and conductive bump contact, conducting block transmits negative electrical charge by conductive bump To metal, keep metal negatively charged, since electrode plate has positive charge, so between electrode plate and metal The mixed liquor of formation electric field, dielectric particles and insulating liquid becomes solid-state under the action of electric field, makes annular liquid capsule and metal object The surface of product comes into full contact with, and avoids pressing from both sides irregular metal bad.After clamping, the electricity of electrode plate and conducting block is disconnected Source, electric field disappear, and the mixed liquor of dielectric particles and insulating liquid is by solid state into liquid state, and two clamping jaws gradually open, metal clip Block resets under the action of insulated spring, and metal is laid down, and robot enters next working cycles.

It further limiting, the distance between the metal fixture block and conducting block are d, then the length of conductive bump is 0.2d, The length of conducting rod leading portion is 0.3d, and the length in conducting rod middle section is 0.4d, and the length of conducting rod back segment is 0.3d.Work as positive and negative rotation After water pump injects the mixed liquor of dielectric particles and insulating liquid into annular liquid capsule, between metal fixture block and conducting block away from From for 0.1d, to guarantee that robot is normal there are suitable time interval between the step of injecting liquid and applying electric field Work.

It further limits, is connected with the second liquid pipe, described second liquid pipe or so two between the annular liquid capsule described in two End is passed through from the inside of two clamping jaws, is located at outside two clamping jaws in the middle part of second liquid pipe, and second liquid pipe is located at two Part outside clamping jaw is spiral expanding structure.After two annular liquid capsule injection mixed liquors, two annular liquid capsules pass through second Liquid pipe connection can guarantee that the pressure in two annular liquid capsules is of substantially equal, thus the chucking power for being subject to metal two sides Of substantially equal, stress equalization avoids the article from being pressed from both sides bad；In addition when two clamping jaws open or closure, spiral expanding structure It can guarantee that the second liquid pipe will not be pulled off.

It further limits, the contact surface of the metal fixture block and groove is filled with lubricating oil.When metal fixture block is in groove When sliding, lubricating oil can reduce frictional force, to reduce the abrasion of components.

It further limits, the body construction includes pedestal again, and the first terminal pad, the pedestal are equipped on the pedestal It is rotatably connected to the first joint arm by the first terminal pad, power mechanism, the power mechanism and are installed in the pedestal One terminal pad connects, and is equipped with the second terminal pad on first joint arm, is connected with the second servo in second terminal pad Motor, first joint arm are rotatably connected to second joint arm by the second terminal pad, are equipped on the second joint arm Third terminal pad, third servo motor is connected in the third terminal pad, and the second joint arm passes through third terminal pad and turns It is dynamic to be connected with the 4th terminal pad, the 4th servo motor, the output of the 4th servo motor are connected in the 4th terminal pad It is connected with first gear on axis, cylinder is connected in the 4th terminal pad, first rotating shaft, institute are rotatably connected in the cylinder The rear end for stating first rotating shaft is connected with second gear engaged with the first gear, and the front end of the first rotating shaft is connected with rotation It saves, rotating mechanism is installed in the rotation section, the manipulator saves rotation connection by rotating mechanism and rotation.

It further limits, the transmission mechanism includes the third gear being connected on the 5th servo motor output shaft, described Third gear is engaged with the 4th gear, and described two clamping jaw rear ends are connected separately with the 5th gear and the 6th gear, and the described 5th Gear is engaged with the 6th gear, and the 6th gear is engaged with the 4th gear, the 4th gear, the 5th gear and the 6th gear It is rotatablely connected inside housings.5th servo motor drives the rotation of third gear, and third gear imparts power to the 4th tooth Wheel, the 6th gear and the 5th gear, so that the clamping and opening of two clamping jaws of control, achieve the purpose that clamp article.

It further limits, the rotating mechanism includes the first bevel gear being connected in first rotating shaft, in the rotation section It is connected with the second shaft, the second bevel gear engaged with first bevel gear, the shell connection are connected in second shaft In the second shaft.First rotating shaft drive first bevel gear rotation, first bevel gear impart power to again second bevel gear and Second shaft reaches the purpose of the rotational angle of control manipulator to drive housing into rotation.

It further limits, the 7th gear and eighth gear, the second gear, the 7th is also connected in the first rotating shaft Gear and the reference diameter of eighth gear are sequentially increased, and are also connected with the 6th servo motor and the 7th in the 4th terminal pad Servo motor is connected with the 9th gear engaged with the 7th gear on the output shaft of the 6th servo motor, and the described 7th watches Take the tenth gear for being connected on the output shaft of motor and engaging with eighth gear, the first gear, the 9th gear and the tenth tooth Wheel construction is identical.By different gear auxiliary driving, different transmission ratios is realized, can be according to first rotating shaft revolving speed the case where, Selection starts different servo motors, achievees the purpose that rotational angle that is quick and accurately controlling manipulator.

It further limits, the power mechanism includes the 8th servo motor, and the 8th servo motor is mounted on pedestal On side wall, the output shaft of the 8th servo motor is connected with worm screw, and the worm screw is connected with turbine, and the turbine is connected to In three shafts, the third shaft is rotatably connected in pedestal, and third shaft upper end is connect with the first terminal pad.Pass through Eight servo motors and worm gear structure can more accurately control the rotational angle of entire haul robot.

It further limits, offers through-hole on the second joint arm.The weight of second joint arm can be reduced in this way, saved Material saving facilitates control.

The utility model compared with prior art, mainly has the advantage that

1, annular liquid capsule, the contact surface being capable of increasing between clamping jaw and irregular metal are set on the inside of fixture block Product, prevents clamping jaw from pressing from both sides article bad；

2, it by two annular liquid capsules connections, can guarantee hydraulic of substantially equal in two annular liquid capsules, make clamped The stress equalization of each retaining part of irregular metal article, the pressure for preventing part excessive press from both sides article bad；

3, using three servo motors by the gear pair of different drive ratios, so that the control of the rotational angle to manipulator More quickly and precisely.

Detailed description of the invention

The utility model can be further illustrated by the nonlimiting examples that attached drawing provides；

Fig. 1 is the structural schematic diagram one of the utility model embodiment；

Fig. 2 is the structural schematic diagram two of the utility model embodiment；

Fig. 3 is the schematic view of the front view of the utility model embodiment；

Fig. 4 is the overlooking structure diagram of the utility model embodiment；

Fig. 5 is the schematic diagram of internal structure of manipulator in the utility model embodiment；

Fig. 6 is the partial structure diagram in the utility model embodiment inside manipulator；

Fig. 7 is the partial enlargement structural representation in Fig. 6 at A；

Fig. 8 is the partial enlargement structural representation in Fig. 7 at B；

Fig. 9 is the operation principle schematic diagram of conducting rod in the utility model；

Figure 10 is the schematic diagram of internal structure of the 4th terminal pad in the utility model embodiment；

Figure 11 is the structural schematic diagram of rotating mechanism in the utility model embodiment；

Figure 12 is the structural schematic diagram of power mechanism in the utility model embodiment；

Main element symbol description is as follows:

Pedestal 11, the first terminal pad 12, the first joint arm 13, the second terminal pad 14, the second servo motor 15, second joint Arm 16, positive and negative rotation water pump 17, third terminal pad 18, third servo motor 19, manipulator 2, shell 21, the 5th servo motor 22, Clamping jaw 23, groove 231, conducting block 232, conductive bump 233, conducting ring 234, insulated spring 235, metal fixture block 24, conducting rod 241, conducting rod leading portion 241a, conducting rod middle section 241b, conducting rod back segment 241c, annular liquid capsule 242, electrode plate 243, the first liquid Pipe 26, the second liquid pipe 27, spiral expanding structure 271, the 4th terminal pad 3, the 4th servo motor 31, first gear 32, cylinder 33, Second gear 34, rotation section the 35, the 7th gear 36, eighth gear 37, the 6th servo motor 38, the 7th servo motor the 39, the 9th Gear 310, the tenth gear 311, third gear 41, the 4th gear 42, the 5th gear 43, the 6th gear 44, first bevel gear 51, Second shaft 52, second bevel gear 53, the 8th servo motor 61, worm screw 62, turbine 63, third shaft 64.

Specific embodiment

It is right with reference to the accompanying drawings and examples in order to make those skilled in the art that the utility model may be better understood Technical solutions of the utility model further illustrate.

As shown in fig. 1 to fig. 4, a kind of six degree of freedom haul robot of the utility model, including body construction and machinery Hand 2, manipulator 2 for clamping irregular metal, manipulator 2 can for two pawl structures, three-jaw structure or other not With the structure of quantity clamping jaw, in the present embodiment by taking two pawl structures as an example；Body construction possesses six-freedom degree, for controlling machinery Hand 2 reaches different positions, achievees the purpose that conveying articles.

Wherein body construction includes pedestal 11 again, and power mechanism is equipped in pedestal 11, and power mechanism is used to be entire machine Device people powered rotation in the horizontal plane.As shown in figure 12, power mechanism includes the 8th servo motor 61, the 8th servo electricity again Machine 61 is mounted on the side wall of pedestal 11, and the output shaft of the 8th servo motor 61 is connected with worm screw 62, and worm screw 62 is connected with turbine 63, turbine 63 is connected in third shaft 64, and third shaft 64 is rotatably connected in pedestal 11,64 upper end of third shaft and first Terminal pad 12 connects.

When work, the 8th servo motor 61 drives 12 turns of third shaft 64 and the first terminal pad by worm screw 62 and turbine 63 It is dynamic.

Pedestal 11 is rotatably connected to the first joint arm 13 by the first terminal pad 12, is equipped with second on the first joint arm 13 Terminal pad 14, the second servo motor 15 is connected in the second terminal pad 14, and the first joint arm 13 passes through the second terminal pad 14 and rotates It is connected with second joint arm 16, in order to reduce the weight of second joint arm 16, material is saved, is opened up on second joint arm 16 There is through-hole, third terminal pad 18 is installed on second joint arm 16, third servo motor 19 is connected in third terminal pad 18.

The first terminal pad 12, the first joint arm 13, the second terminal pad 14, the second servo motor 15 in above-described embodiment, Second joint arm 16, third terminal pad 18, the specific structure of third servo motor 19 and the connection relationship between them, with The corresponding construction of six-DOF robot in the prior art is identical, and details are not described herein again.

Second joint arm 16 is rotatably connected to the 4th terminal pad 3 by third terminal pad 18, is connected in the 4th terminal pad 3 4th servo motor 31 is connected with first gear 32 on the output shaft of the 4th servo motor 31, is connected with cylinder in the 4th terminal pad 3 Body 33 is rotatably connected to first rotating shaft in cylinder 33, and the rear end of first rotating shaft is connected with the second tooth engaged with first gear 32 Wheel 34.

When work, the 4th servo motor 31 controls the rotation of first rotating shaft by first gear 32 and second gear 34, In above-described embodiment, in order to more rapidly and accurately control the revolving speed of first rotating shaft, as shown in Figure 10, in first rotating shaft On be also connected with the 7th gear 36 and eighth gear 37, the reference circle of second gear 34, the 7th gear 36 and eighth gear 37 is straight Diameter is sequentially increased, and the 6th servo motor 38 and the 7th servo motor 39, the 6th servo motor 38 are also connected in the 4th terminal pad 3 Output shaft on be connected with the 9th gear 310 engaged with the 7th gear 36, be connected on the output shaft of the 7th servo motor 39 The tenth gear 311 engaged with eighth gear 37, first gear 32, the 9th gear 310 are identical as 311 structure of the tenth gear, this The transmission ratio of three gear pairs of sample is sequentially reduced.

When the angle that manipulator 2 deviates clamped article is larger, start the 4th servo motor 31, the 4th servo motor 31 First rotating shaft quick rotation is controlled by first gear 32 and second gear 34, to save the time, improves working efficiency；Work as machinery Hand 2 move to deviate clamped article angle it is moderate when, start the 6th servo motor 38, the 6th servo motor 38 passes through the 9th Gear 310 and the 7th gear 36 control first rotating shaft more quickly rotate, and reduce revolving speed；It is pressed from both sides when manipulator 2 moves to deviation Hold article angle it is smaller when, start the 7th servo motor 39, the 7th servo motor 39 pass through the tenth gear 311 and eighth gear 37 control first rotating shafts more quickly rotate, and further lower revolving speed, improve rotation precision.By above structure, in control machine When the rotation of tool hand 2, the angular dimension of clamped article can be deviateed according to manipulator 2 and start different servo motors, with Achieve the purpose that rapidly and accurately control manipulator 2 rotates.

The front end of first rotating shaft is connected with rotation section 35, is equipped with rotating mechanism in rotation section 35, as shown in figure 11, rotation Mechanism includes the first bevel gear 51 being connected in first rotating shaft, is connected with the second shaft 52, the second shaft 52 in rotation section 35 On be connected with the second bevel gear 53 engaged with first bevel gear 51, shell 21 is connected in the second shaft 52.

When work, first rotating shaft drives first bevel gear 51 to rotate, and first bevel gear 51 imparts power to the second cone again Gear 53 and the second shaft 52 reach the purpose of the rotational angle of control manipulator 2 so that shell 21 be driven to rotate.

As shown in Fig. 5 to Fig. 8, manipulator 2 includes shell 21 again, is equipped with the 5th servo motor 22, shell on shell 21 Transmission mechanism is installed, as shown in figure 5, transmission mechanism includes the third tooth being connected on 22 output shaft of the 5th servo motor in 21 Wheel 41, third gear 41 is engaged with the 4th gear 42, and two 23 rear ends of clamping jaw are connected separately with the 5th gear 43 and the 6th gear 44, the 5th gear 43 is engaged with the 6th gear 44, and the 6th gear 44 is engaged with the 4th gear 42, the 4th gear 42, the 5th gear 43 and the 6th gear 44 be rotatably connected on inside shell 21.

When work, the 5th servo motor 22 drives third gear 41 to rotate, and third gear 41 imparts power to the 4th tooth The 42, the 6th gear 44 and the 5th gear 43 are taken turns, so that the clamping and opening of two clamping jaws 23 of control, reach the mesh of clamping article 's.

The clamping jaw 23 of transmission mechanism connection identical and symmetrically arranged insulation there are two structure, wherein before each clamping jaw 23 End opens up fluted 231, and the bottom of groove 231 is connected with conducting block 232, and conducting block 232 is connect with power cathode, conducting block Conductive bump 233 is connected on 232, conducting block 232 and conductive bump 233 are integrally formed, and are connected with conduction on 232 side wall of conducting block Ring 234 is provided with insulating layer, metal fixture block 24, metal is slidably connected in groove 231 between conducting ring 234 and conducting block 232 The contact surface of fixture block 24 and groove 231 is filled with lubricating oil, and when metal fixture block 24 slides in groove 231, lubricating oil can Reduce frictional force, to reduce the abrasion of components.

Insulated spring 235 is connected between metal fixture block 24 and conducting block 232, conductive bump 233 is located at insulated spring 235 Middle part, conducting rod 241 is connected on metal fixture block 24, and conducting rod 241 includes conducting rod leading portion 241a, conducting rod middle section 241b again It is insulator with conducting rod back segment 241c, conducting rod leading portion 241a and conducting rod back segment 241c, conducting rod middle section 241b is conduction Body, conducting rod 241 are inserted into conducting ring 234, in order to which there are suitable times between the step of injecting liquid and applying electric field Interval, as shown in Figure 9, it is assumed that the distance between metal clip block 24 and conducting block 232 are d, and the length of preferably conductive bump 233 is The length of 0.2d, conducting rod leading portion 241a are 0.3d, and the length of conducting rod middle section 241b is 0.4d, the length of conducting rod back segment 241c Degree is 0.3d.After positive and negative rotation water pump 17 injects the mixed liquor of dielectric particles and insulating liquid into annular liquid capsule 242, gold Belonging to the distance between fixture block 24 and conducting block 232 is 0.1d, so that there are suitable between the step of injecting liquid and applying electric field The time interval of amount guarantees that robot works normally.

23 front end of clamping jaw is connected with annular liquid capsule 242, and the second liquid pipe 27 is connected between two annular liquid capsules 242, Second liquid pipe, 27 left and right ends are passed through from the inside of two clamping jaws 23, are located at outside two clamping jaws 23 in the middle part of the second liquid pipe 27, the It is spiral expanding structure 271 that two liquid pipes 27, which are located at the part outside two clamping jaws 23,.When two annular liquid capsules 242 inject mixed liquor Afterwards, two annular liquid capsules 242 are connected by the second liquid pipe 27, can guarantee that the pressure in two annular liquid capsules 242 is of substantially equal, Chucking power to make metal two sides be subject to is of substantially equal, stress equalization, avoids the article from being pressed from both sides bad；In addition when two press from both sides When pawl 23 is opened or is closed, spiral expanding structure 271 can guarantee that the second liquid pipe 27 will not be pulled off.

Annular liquid capsule 242 is provided with the mixed liquor of dielectric particles and insulating liquid, is provided with electrode plate in annular liquid capsule 242 243, electrode plate 243 is connect with positive pole, and metal fixture block 24 is located at annular 242 middle part of liquid capsule, and annular liquid capsule 242 passes through first Liquid pipe 26 is connected with positive and negative rotation water pump 17, the two poles of positive and negative rotation water pump 17 respectively with conducting rod middle section 241b and conducting ring 234 connections, the first liquid pipe 26 is since positive and negative rotation water pump 17 along the side wall cloth of second joint arm 16, cylinder 33 and clamping jaw 23 It sets, is connect after eventually passing through metal fixture block 24 with annular liquid capsule 242, the inlet tube of positive and negative rotation water pump 17 and the storage outside robot Liquid pool connects (being not drawn into figure), this arrangement is ordinary skill in the art means, and details are not described herein again.

When work, the 5th servo motor 22 passes through the closure and opening of two clamping jaws 23 of transmission mechanism control, to control Manipulator 2 clamps irregular metal；When two clamping jaws 23 are closed, two metal fixture blocks 24 are clipped in metal first Two sides, as two clamping jaws 23 the more press from both sides the more tight, metal fixture block 24 is compressed, is led to 231 basal sliding of groove, insulated spring 235 Electric pole 241 slides in conducting ring 234, and when conducting rod back segment 241c is contacted with conducting ring 234, positive and negative rotation water pump 17 is obstructed Electricity, when conducting rod middle section 241b is contacted with conducting ring 234, positive and negative rotation water pump 17 is powered on, and is infused into annular liquid capsule 242 The mixed liquor for entering dielectric particles and insulating liquid, when conducting rod leading portion 241a is contacted with conducting ring 234, positive and negative rotation water pump 17 Power-off stops working, and two clamping jaws 23 continue to clamp, until metal fixture block 24 is contacted with conductive bump 233, the 5th servo motor 22 stop working, and negative electrical charge is passed to metal by conductive bump 233 by conducting block 232, keep metal negatively charged, Since electrode plate 243 has positive charge, so electric field is formed between electrode plate 243 and metal, dielectric particles and insulation The mixed liquor of liquid becomes solid-state under the action of electric field, and (dielectric particles can be composite titania material, and insulating liquid can To be methyl-silicone oil, under the action of an external electric field, polar moment is answered in solid particle the sense of access in mixed liquor, is lined up between two-plate first Chain is further enhanced with electric field, is interacted between chain and is gathered into column, to enter solid phase by liquid phase), make annular liquid capsule 242 come into full contact with the surface of metal, avoid pressing from both sides irregular metal bad.

After clamping, the power supply of electrode plate 243 and conducting block 232 is disconnected, electric field disappears, dielectric particles and insulating liquid Mixed liquor by solid state into liquid state, the 5th servo motor 22 passes through transmission mechanism and two clamping jaws 23 is driven to open, metal fixture block 24 reset under the action of insulated spring 235, and metal is laid down, and robot enters next working cycles.It is pressed from both sides at two When pawl 23 opens, positive and negative rotation water pump 17 can also be inverted, and reduce the mixed liquor in annular liquid capsule 242, thus more sharp It is detached from from two clamping jaws 23 in metal.

A kind of six degree of freedom haul robot provided by the utility model is described in detail above.Specific embodiment Explanation be merely used to help understand the method and its core concept of the utility model.It should be pointed out that for the art For those of ordinary skill, without departing from the principle of this utility model, several change can also be carried out to the utility model Into and modification, modifications and modifications also fall within the protection scope of the claims of the utility model.

Claims (10)

1. a kind of six degree of freedom haul robot, including body construction and manipulator, it is characterised in that: the manipulator includes again Shell is equipped with the 5th servo motor on the shell, is equipped with transmission mechanism in the shell, the 5th servo motor with Transmission mechanism connection, the clamping jaw of transmission mechanism connection identical and symmetrically arranged insulation there are two structure, wherein each folder The front end of pawl opens up fluted, and the bottom of the groove is connected with conducting block, and the conducting block is connect with power cathode, described to lead Conductive bump is connected on electric block, and conducting ring is connected on the conducting block side wall, is provided between the conducting ring and conducting block Insulating layer slidably connects metal fixture block in the groove, is connected with insulated spring between the metal fixture block and conducting block, institute It states conductive bump to be located in the middle part of insulated spring, is connected with conducting rod on the metal fixture block, the conducting rod includes conducting rod again Leading portion a, conducting rod middle section b and conducting rod back segment c, the conducting rod leading portion a and conducting rod back segment c are insulator, the conduction Bar is inserted into conducting ring, and the clamping jaw front end is connected with annular liquid capsule, and the annular liquid capsule is provided with dielectric particles and dielectric The mixed liquor of body, it is described annular liquid capsule in be provided with electrode plate, the electrode plate is connect with positive pole, metal fixture block position In the middle part of annular liquid capsule, the annular liquid capsule is connected with positive and negative rotation water pump, the power supply of the positive and negative rotation water pump by the first liquid pipe The two poles of the earth are connect with conducting rod middle section b and conducting ring respectively.

2. a kind of six degree of freedom haul robot according to claim 1, it is characterised in that: the metal fixture block and conduction The distance between block is d, then the length of conductive bump is 0.2d, and the length of conducting rod leading portion a is 0.3d, conducting rod middle section b's Length is 0.4d, and the length of conducting rod back segment c is 0.3d.

3. a kind of six degree of freedom haul robot according to claim 1, it is characterised in that: the annular liquid described in two The second liquid pipe is connected between capsule, second liquid pipe left and right ends are passed through from the inside of two clamping jaws, in second liquid pipe Portion is located at outside two clamping jaws.

4. a kind of six degree of freedom haul robot according to claim 3, it is characterised in that: second liquid pipe is located at two Part outside a clamping jaw is spiral expanding structure.

5. a kind of six degree of freedom haul robot according to claim 1, it is characterised in that: the metal fixture block and groove Contact surface be filled with lubricating oil.

6. a kind of six degree of freedom haul robot according to claim 1, it is characterised in that: the body construction includes again Pedestal is equipped with the first terminal pad on the pedestal, and the pedestal is rotatably connected to the first joint arm, institute by the first terminal pad It states and power mechanism is installed in pedestal, the power mechanism is connect with the first terminal pad, and is equipped on first joint arm Two terminal pads, the second servo motor is connected in second terminal pad, and first joint arm passes through the second terminal pad and rotates It is connected with second joint arm, third terminal pad is installed on the second joint arm, is connected with third in the third terminal pad Servo motor, the second joint arm are rotatably connected to the 4th terminal pad by third terminal pad, connect in the 4th terminal pad It is connected to the 4th servo motor, first gear is connected on the output shaft of the 4th servo motor, is connected in the 4th terminal pad It is connected to cylinder, first rotating shaft is rotatably connected in the cylinder, the rear end of the first rotating shaft is connected with engages with first gear Second gear, the front end of the first rotating shaft is connected with rotation section, the rotation save in rotating mechanism, the machinery are installed Hand passes through rotating mechanism and rotation section rotation connection.

7. a kind of six degree of freedom haul robot according to claim 6, it is characterised in that: the transmission mechanism includes connecting Connect the third gear on the 5th servo motor output shaft, the third gear is engaged with the 4th gear, after described two clamping jaws End is connected separately with the 5th gear and the 6th gear, and the 5th gear is engaged with the 6th gear, the 6th gear and the 4th Gear engagement, the 4th gear, the 5th gear and the 6th gear are rotatablely connected inside housings.

8. a kind of six degree of freedom haul robot according to claim 6, it is characterised in that: the rotating mechanism includes connecting Connect the first bevel gear in first rotating shaft, be connected with the second shaft in the rotation section, be connected in second shaft with The second bevel gear of first bevel gear engagement, the shell are connected in the second shaft.

9. a kind of six degree of freedom haul robot according to claim 6, it is characterised in that: also connect in the first rotating shaft It is connected to the 7th gear and eighth gear, the reference diameter of the second gear, the 7th gear and eighth gear is sequentially increased, institute It states and is also connected with the 6th servo motor and the 7th servo motor in the 4th terminal pad, connect on the output shaft of the 6th servo motor It is connected to the 9th gear engaged with the 7th gear, is connected on the output shaft of the 7th servo motor and is engaged with eighth gear Tenth gear, the first gear, the 9th gear are identical as the tenth gear structure.

10. a kind of six degree of freedom haul robot according to claim 6 to 9 any one, it is characterised in that: described dynamic Force mechanisms include the 8th servo motor, and the 8th servo motor is mounted on the side wall of pedestal, the 8th servo motor Output shaft is connected with worm screw, and the worm screw is connected with turbine, and the turbine is connected in third shaft, the third shaft rotation It is connected in pedestal, third shaft upper end is connect with the first terminal pad.