CN215358435U - Multi-degree-of-freedom continuous type robot arm capable of flexibly grabbing target - Google Patents
Multi-degree-of-freedom continuous type robot arm capable of flexibly grabbing target Download PDFInfo
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- CN215358435U CN215358435U CN202121053216.6U CN202121053216U CN215358435U CN 215358435 U CN215358435 U CN 215358435U CN 202121053216 U CN202121053216 U CN 202121053216U CN 215358435 U CN215358435 U CN 215358435U
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Abstract
The utility model discloses a multi-degree-of-freedom continuous robot arm capable of flexibly grabbing a target, which comprises a multi-degree-of-freedom robot arm and a bottom plate, wherein the multi-degree-of-freedom robot arm comprises a base plate and a plurality of supporting arms; the fixed end of the multi-degree-of-freedom mechanical arm is fixedly connected to the bottom plate, the movable end of the multi-degree-of-freedom mechanical arm is fixedly connected with a connecting plate, two mechanical claws are arranged on the connecting plate, one of the mechanical claws is fixedly connected to the connecting plate, and the other mechanical claw is movably connected to the connecting plate; the bearing plate is movably connected above the bottom plate, one of the mechanical claws is fixedly connected to the connecting plate, and the other mechanical claw is movably connected to the connecting plate, so that the distance between the two mechanical claws can be adjusted conveniently according to the length of the pipeline to be transported, the flexible grabbing purpose is achieved, and the two mechanical claws are clamped at the two ends of the pipeline to facilitate the pipeline to be transported.
Description
Technical Field
The utility model relates to the technical field of robot arms, in particular to a multi-degree-of-freedom continuous robot arm capable of flexibly grabbing objects.
Background
A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. Generally, a fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., and then flows from a high pressure portion to a low pressure portion of a pipe, or is transported by the pressure or gravity of the fluid itself. The pipeline has wide application range, is mainly used in water supply, water drainage, heat supply, gas supply, long-distance petroleum and natural gas transportation, agricultural irrigation, hydraulic engineering and various industrial devices, and needs to use a mechanical arm when the pipeline is transported.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a multi-degree-of-freedom continuous robot arm capable of flexibly grabbing an object, so as to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
a multi-degree-of-freedom continuous robot arm capable of flexibly grabbing objects comprises a multi-degree-of-freedom robot arm and a bottom plate;
the fixed end of the multi-degree-of-freedom mechanical arm is fixedly connected to the bottom plate, the movable end of the multi-degree-of-freedom mechanical arm is fixedly connected with a connecting plate, two mechanical claws are arranged on the connecting plate, one of the mechanical claws is fixedly connected to the connecting plate, and the other mechanical claw is movably connected to the connecting plate;
a bearing plate is movably connected above the bottom plate.
As a further scheme of the utility model: the lower surface of the connecting plate is provided with a sliding groove, a sliding block is connected in the sliding groove in a sliding mode, and the sliding block is fixedly connected with the other mechanical claw.
As a further scheme of the utility model: fixedly connected with driving motor in the spout, fixedly connected with threaded rod in driving motor's the drive shaft, threaded rod and slider threaded connection.
As a further scheme of the utility model: the gripper comprises a connecting rod, a clamping rod is rotatably connected to the connecting rod, a first pneumatic telescopic rod is mounted on the connecting rod, and the movable end of the first pneumatic telescopic rod is connected with the clamping rod.
As a further scheme of the utility model: and rollers are arranged below the bearing plate.
As a further scheme of the utility model: the bearing plate upper surface fixedly connected with arc carries the flitch.
As a further scheme of the utility model: the bearing plate is movably connected with a jacking rod, and one end of the jacking rod is located on the arc-shaped material carrying plate.
As a further scheme of the utility model: the bearing plate is fixedly connected with a second pneumatic telescopic rod, the movable end of the second pneumatic telescopic rod is fixedly connected with a movable plate, and the movable plate is fixedly connected with the jacking rod.
Compared with the prior art, the utility model has the beneficial effects that: the threaded rod is rotated in the working realization of the driving motor, and the sliding block is convenient to slide in the sliding groove in the rotating process of the threaded rod, so that the other mechanical claw is moved on the connecting plate, the distance between the two mechanical claws is adjusted, and the pipeline needing to be carried is convenient to clamp tightly through the mechanical claws.
The multi-degree-of-freedom mechanical arm works to place the pipeline clamped by the mechanical claw on the arc-shaped material carrying plate, when the pipeline needing to be carried is installed in the arc-shaped material carrying plate, a worker manually pushes the bearing plate to facilitate movement of the bearing plate, the second pneumatic telescopic rod works to achieve movement of the movable plate, the jacking rod moves upwards in the moving process of the movable plate, and accordingly the pipeline in the arc-shaped material carrying plate is jacked.
Because one of the mechanical claws is fixedly connected to the connecting plate, and the other mechanical claw is movably connected to the connecting plate, the distance between the two mechanical claws can be adjusted according to the length of the pipeline to be carried, the flexible grabbing purpose is achieved, and the two mechanical claws are clamped at the two ends of the pipeline to carry the pipeline conveniently.
Drawings
FIG. 1 is a schematic view of a multi-degree-of-freedom continuous robot arm for flexibly grabbing an object;
FIG. 2 is a schematic diagram of a gripper in a multi-degree-of-freedom continuous robot arm for flexibly grabbing an object;
FIG. 3 is a bottom view of a connecting plate in a multi-degree-of-freedom continuous robot arm for flexibly grabbing an object;
FIG. 4 is a schematic diagram of a loading plate and an arc-shaped material loading plate in a multi-degree-of-freedom continuous robot arm for flexibly grabbing an object;
in the figure: 1. a multi-degree-of-freedom mechanical arm; 2. a connecting plate; 3. a gripper; 4. a carrier plate; 5. a chute; 6. a slider; 7. a drive motor; 8. a threaded rod; 9. a phase connecting rod; 10. a clamping lever; 11. a first pneumatic telescopic rod; 12. a roller; 13. an arc-shaped material carrying plate; 14. jacking up the rod; 15. a second pneumatic telescopic rod; 16. moving the plate; 17. a base plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, in an embodiment of the present invention, a multi-degree-of-freedom continuous robot for flexibly grabbing an object includes a multi-degree-of-freedom robot arm 1, and further includes a bottom plate 17;
the fixed end of the multi-degree-of-freedom mechanical arm 1 is fixedly connected to the bottom plate 17, the movable end of the multi-degree-of-freedom mechanical arm 1 is fixedly connected with the connecting plate 2, two mechanical claws 3 are arranged on the connecting plate 2, one mechanical claw 3 is fixedly connected to the connecting plate 2, and the other mechanical claw 3 is movably connected to the connecting plate 2;
a bearing plate 4 is movably connected above the bottom plate 17.
Spout 5 has been seted up to the lower surface of connecting plate 2, and 5 sliding connection in the spout have slider 6, and slider 6 and 3 fixed connection of another gripper are convenient for realize on connecting plate 2 that another gripper 3 sliding connection is through setting up of spout 5 and slider 6.
Fixedly connected with driving motor 7 in the spout 5, fixedly connected with threaded rod 8 in driving motor 7's the drive shaft, threaded rod 8 and 6 threaded connection of slider, driving motor 7 work realizes that threaded rod 8 rotates, is convenient for realize slider 6 and slides in spout 5 at threaded rod 8 pivoted in-process.
The gripper 3 includes connecting rod 9 mutually, and it is connected with clamping rod 10 to rotate on the pole 9 that links to each other, installs first pneumatic telescopic link 11 on the pole 9 that links to each other, and the expansion end of first pneumatic telescopic link 11 is connected with clamping rod 10, and 11 work of first pneumatic telescopic link realize clamping rod 10 and rotate.
The rollers 12 are installed below the bearing plate 4, and the bearing plate 4 can be moved conveniently through the arrangement of the rollers 12.
The arc-shaped material carrying plate 13 is fixedly connected to the upper surface of the bearing plate 4, so that a pipeline clamped by the mechanical claw 3 can be conveniently placed in the arc-shaped material carrying plate 13.
The bearing plate 4 is movably connected with a jacking rod 14, and one end of the jacking rod 14 is positioned on the arc-shaped material carrying plate 13.
The bearing plate 4 is fixedly connected with a second pneumatic telescopic rod 15, the movable end of the second pneumatic telescopic rod 15 is fixedly connected with a movable plate 16, and the movable plate 16 is fixedly connected with a jacking rod 14 when a pipeline in the arc-shaped bearing plate 13 needs to be taken out.
When the pipeline clamping device is used, the driving motor 7 works to realize the rotation of the threaded rod 8, the sliding block 6 can slide in the sliding groove 5 conveniently in the rotating process of the threaded rod 8, so that the other mechanical claw 3 can move on the connecting plate 2, the distance between the two mechanical claws 3 is adjusted, and a pipeline to be carried can be clamped conveniently through the mechanical claws 3.
The multi-degree-of-freedom mechanical arm 1 works to place the pipeline clamped by the mechanical claw 3 on the arc-shaped material carrying plate 13, when the pipeline needing to be carried is installed in the arc-shaped material carrying plate 13, a worker manually pushes the bearing plate 4 to facilitate movement of the bearing plate 4, the second pneumatic telescopic rod 15 works to achieve movement of the movable plate 16, the jacking rod 14 moves upwards in the moving process of the movable plate 16, and therefore jacking of the pipeline in the arc-shaped material carrying plate 13 is facilitated.
"fixedly connected" as described in the present invention means that two parts connected to each other are fixed together, typically by welding, screwing or gluing; "rotationally coupled" means that two components are coupled together and capable of relative motion.
Although the present description is described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art should be able to integrate the description as a whole, and the embodiments can be appropriately combined to form other embodiments as will be understood by those skilled in the art.
Therefore, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (8)
1. A multi-degree-of-freedom continuous robot arm capable of flexibly grabbing objects comprises a multi-degree-of-freedom robot arm (1) and is characterized by further comprising a bottom plate (17);
the fixed end of the multi-degree-of-freedom mechanical arm (1) is fixedly connected to the bottom plate (17), the movable end of the multi-degree-of-freedom mechanical arm (1) is fixedly connected with the connecting plate (2), two mechanical claws (3) are arranged on the connecting plate (2), one of the mechanical claws (3) is fixedly connected to the connecting plate (2), and the other mechanical claw (3) is movably connected to the connecting plate (2);
and a bearing plate (4) is movably connected above the bottom plate (17).
2. The multi-degree-of-freedom continuous robot arm for flexibly grabbing objects according to claim 1, wherein a sliding groove (5) is formed in the lower surface of the connecting plate (2), a sliding block (6) is connected in the sliding groove (5) in a sliding mode, and the sliding block (6) is fixedly connected with another mechanical claw (3).
3. The multi-degree-of-freedom continuous robot arm for flexibly grabbing objects according to claim 2, wherein a driving motor (7) is fixedly connected in the sliding chute (5), a threaded rod (8) is fixedly connected to a driving shaft of the driving motor (7), and the threaded rod (8) is in threaded connection with the sliding block (6).
4. The multi-degree-of-freedom continuous robot arm for flexibly grabbing an object according to claim 1, wherein the gripper (3) comprises a phase connecting rod (9), a clamping rod (10) is rotatably connected to the phase connecting rod (9), a first pneumatic telescopic rod (11) is mounted on the phase connecting rod (9), and the movable end of the first pneumatic telescopic rod (11) is connected with the clamping rod (10).
5. The multi-degree-of-freedom continuous robot arm for flexibly grabbing objects according to claim 1, wherein rollers (12) are installed under the carrying plate (4).
6. The multi-degree-of-freedom continuous robot arm for flexibly grabbing objects according to claim 1, wherein an arc-shaped material carrying plate (13) is fixedly connected to the upper surface of the carrying plate (4).
7. The multi-degree-of-freedom continuous robot arm for flexibly grabbing objects according to claim 6, wherein a jacking rod (14) is movably connected to the bearing plate (4), and one end of the jacking rod (14) is located on the arc-shaped material bearing plate (13).
8. The multi-degree-of-freedom continuous robot arm for flexibly grabbing an object according to claim 7, wherein a second pneumatic telescopic rod (15) is fixedly connected to the bearing plate (4), a moving plate (16) is fixedly connected to the movable end of the second pneumatic telescopic rod (15), and the moving plate (16) is fixedly connected to the jacking rod (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121053216.6U CN215358435U (en) | 2021-05-17 | 2021-05-17 | Multi-degree-of-freedom continuous type robot arm capable of flexibly grabbing target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121053216.6U CN215358435U (en) | 2021-05-17 | 2021-05-17 | Multi-degree-of-freedom continuous type robot arm capable of flexibly grabbing target |
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| Publication Number | Publication Date |
|---|---|
| CN215358435U true CN215358435U (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121053216.6U Expired - Fee Related CN215358435U (en) | 2021-05-17 | 2021-05-17 | Multi-degree-of-freedom continuous type robot arm capable of flexibly grabbing target |
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| CN (1) | CN215358435U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383655A (en) * | 2022-10-27 | 2022-11-25 | 泰兴市兴华气阀有限公司 | Pneumatic valve body adds clamping apparatus |
-
2021
- 2021-05-17 CN CN202121053216.6U patent/CN215358435U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383655A (en) * | 2022-10-27 | 2022-11-25 | 泰兴市兴华气阀有限公司 | Pneumatic valve body adds clamping apparatus |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211231 |
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| CF01 | Termination of patent right due to non-payment of annual fee |