CN108789462B - Manipulator with high stability - Google Patents
Manipulator with high stability Download PDFInfo
- Publication number
- CN108789462B CN108789462B CN201810612565.3A CN201810612565A CN108789462B CN 108789462 B CN108789462 B CN 108789462B CN 201810612565 A CN201810612565 A CN 201810612565A CN 108789462 B CN108789462 B CN 108789462B
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- rotating block
- hollow cantilever
- block
- manipulator
- annular groove
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- 230000007246 mechanism Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 18
- 230000008569 process Effects 0.000 abstract description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 238000007514 turning Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator with high stability, which comprises a hollow cantilever and a driving motor, wherein the hollow cantilever is arranged on the hollow cantilever; the hollow cantilever is internally provided with an inner rotating block movably connected with the hollow cantilever, an outer rotating block movably connected with the hollow cantilever is arranged outside the hollow cantilever, the outer rotating block is connected with the inner rotating block through a connecting rod, the outer rotating block, the inner rotating block and the hollow cantilever are coaxially arranged, and a rotating shaft of the driving motor is coaxially connected with the inner rotating block. The invention improves the stability of the manipulator, prevents the manipulator from position deviation in the using process, improves the processing precision, and avoids the problems of poor production, low product percent of pass and the like.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a manipulator with high stability.
Background
With the development of the intelligent manufacturing technology, the application of the mechanical arm in the industrial production line is more and more extensive. The mechanical arm is usually arranged at a feeding or taking station, so that feeding or taking operation is convenient and automatic, and the flexibility is good.
The general manipulator needs to rotate in the use, and in the rotation process, the position of manipulator takes place slight change very easily to influence the stability of snatching of manipulator, reduced the machining precision, appear producing badly easily, product percent of pass reduces the scheduling problem.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides the manipulator with high stability, prevents the manipulator from position deviation in the using process and improves the processing precision.
In order to achieve the purpose, the invention adopts the technical scheme that: a manipulator with high stability comprises a hollow cantilever and a driving motor; the hollow cantilever is internally provided with an inner rotating block movably connected with the hollow cantilever, an outer rotating block movably connected with the hollow cantilever is arranged outside the hollow cantilever, the outer rotating block is connected with the inner rotating block through a connecting rod, the outer rotating block, the inner rotating block and the hollow cantilever are coaxially arranged, and a rotating shaft of the driving motor is coaxially connected with the inner rotating block.
In a preferred embodiment of the invention, the device further comprises a connecting plate, and the hollow cantilever is connected with an external mechanism through the connecting plate.
In a preferred embodiment of the invention, the inner wall of the hollow cantilever is provided with an inner annular groove, and the outer surface of the inner rotating block is provided with an inner rotating convex block matched with the inner annular groove.
In a preferred embodiment of the present invention, an outer protrusion is disposed on an outer surface of the hollow cantilever, and an outer annular groove is disposed on an inner wall of the outer rotation block and is matched with the outer protrusion.
In a preferred embodiment of the present invention, the inner annular groove and the inner rotary protruding block are movably connected and have the same number.
In a preferred embodiment of the present invention, the outer protruding blocks are movably connected to the outer annular grooves, and the number of the outer protruding blocks is the same as that of the outer annular grooves.
In a preferred embodiment of the present invention, the number of the connecting rods is two and is symmetrical about the rotation axis of the driving motor.
In a preferred embodiment of the present invention, the robot further comprises a robot body, and the robot body is connected to the driving motor through a connecting shaft.
In a preferred embodiment of the present invention, the driving motor is a servo motor.
In a preferred embodiment of the present invention, the rotating shaft of the driving motor penetrates through the outer rotating block.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) when the manipulator is in an unstable state, the hollow cantilever has a tendency of deviating from the self axis, and because the inner rotating block in the high-speed rotating process has high stability and is always movably connected with the hollow cantilever in the high-speed rotating process, the inner rotating block reduces the tendency of the hollow cantilever deviating from the self axis, thereby improving the stability of the manipulator;
(2) the outer rotating block is connected with the inner rotating block through the connecting rod, so that the inner rotating block synchronously drives the outer rotating block to rotate at a high speed in the high-speed rotation process, and meanwhile, the outer rotating block is always movably connected with the hollow cantilever in the high-speed rotation process, so that the outer rotating block can be matched with the inner rotating block to reduce the tendency that the hollow cantilever deviates from the axis line of the outer rotating block, and the stability of the manipulator is improved;
(3) the inner annular groove is matched with the inner rotating convex block, so that the inner rotating block is always kept in movable connection with the hollow cantilever in the high-speed rotating process, and the stability of the manipulator can be smoothly improved;
(4) the outer protruding block is matched with the outer annular groove, so that the outer rotating block is always kept in movable connection with the hollow cantilever in the high-speed rotating process, and the stability of the manipulator can be smoothly improved;
(5) the outer rotating block, the inner rotating block and the hollow cantilever are coaxially arranged, so that the positions of the outer rotating block and the inner rotating block relative to the hollow cantilever in the rotating process are not changed, and the stability of the manipulator can be smoothly improved;
(6) adopt servo motor drive, because servo motor has advantages such as the rotational speed is good, the precision is high, stability is strong, so can be accurate, stably drive interior turning block and rotate.
Drawings
The invention is further explained below with reference to the figures and examples;
FIG. 1 is a schematic overall structure diagram of a preferred embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of portion B of FIG. 1;
in the figure: 1. a connecting plate; 2. a hollow cantilever; 21. an inner annular groove; 22. an outer protruding block; 3. an inner turning block; 31. an inward turning convex block; 4. an outer turning block; 41. an outer annular groove; 5. a connecting rod; 6. a drive motor; 7. a connecting shaft; 8. the manipulator body.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.
As shown in fig. 1, a robot with high stability comprises a hollow cantilever 2 and a driving motor 6; the hollow cantilever 2 is internally provided with an inner rotating block 3 movably connected with the hollow cantilever, the inner rotating block 3 can rotate at a high speed by taking the central line of the hollow cantilever 2 as an axis, when the manipulator is in an unstable state, the hollow cantilever 2 has a tendency of deviating from the self axis, because the inner rotating block 3 in the high-speed rotation process has high stability, and the inner rotating block 3 is always movably connected with the hollow cantilever 2 in the high-speed rotation process, the inner rotating block 3 reduces the tendency of the hollow cantilever 2 deviating from the self axis, thereby improving the stability of the manipulator, the hollow cantilever 2 is externally provided with an outer rotating block 4 movably connected with the hollow cantilever, the outer rotating block 4 is connected with the inner rotating block 3 through a connecting rod 5, and because the outer rotating block 4 is connected with the inner rotating block 3 through the connecting rod 5, the inner rotating block 3 synchronously rotates the outer rotating block 4 at a high speed in the high-speed rotation process, meanwhile, the outer rotating block 4 is always movably connected with the hollow cantilever 2 in the high-speed rotating process, so that the outer rotating block 4 can be matched with the inner rotating block 3 to reduce the tendency that the hollow cantilever 2 deviates from the self axial lead, the stability of the manipulator is improved, the outer rotating block 4, the inner rotating block 3 and the hollow cantilever 2 are coaxially arranged, and the coaxial arrangement is adopted, so that the positions of the outer rotating block 4 and the inner rotating block 3 relative to the hollow cantilever 2 in the rotating process can not be changed, the stability of the manipulator can be smoothly improved, the rotating shaft of the driving motor 6 is coaxially connected with the inner rotating block 3, the driving motor 6 can smoothly drive the inner rotating block 3 to rotate, and the position of the inner rotating block 3 relative to the hollow cantilever 2 in the rotating process can not be changed.
Further, still include connecting plate 1, hollow cantilever 2 is connected with external mechanism through connecting plate 1, and the use of connecting plate 1 has made things convenient for being connected of hollow cantilever 2 and external mechanism.
As shown in fig. 2, in some embodiments of the present invention, an inner annular groove 21 is formed on an inner wall of the hollow cantilever 2, an inner rotation protruding block 31 which is matched with the inner annular groove 21 is formed on an outer surface of the inner rotation block 3, and the inner annular groove 21 is matched with the inner rotation protruding block 31, so that the inner rotation block 3 is always movably connected with the hollow cantilever 2 in a high-speed rotation process, and the stability of the manipulator can be smoothly improved.
As shown in fig. 3, in some embodiments of the present invention, an outer protrusion 22 is disposed on an outer surface of the hollow cantilever 2, an outer annular groove 41 is disposed on an inner wall of the outer rotation block 4 and is matched with the outer protrusion 22, and the outer protrusion 22 is matched with the outer annular groove 41 to ensure that the outer rotation block 4 is always movably connected with the hollow cantilever 2 during high-speed rotation, so as to smoothly improve the stability of the manipulator.
Specifically, be swing joint and both quantity unanimity between interior annular groove 21 and the adversion protruding piece 31, cooperate with the adversion protruding piece 31 through the annular groove 21 in the multiunit, guarantee that interior turning block 3 can carry out stable, high-speed rotation relatively hollow cantilever 2.
Specifically, the outer protruding blocks 22 are movably connected with the outer annular groove 41, and the number of the outer protruding blocks 22 is consistent with that of the outer annular groove 41, so that the outer rotating blocks 4 can stably rotate at a high speed relative to the hollow cantilever 2 through the matching of multiple groups of the outer protruding blocks 22 and the outer annular groove 41.
Optionally, the number of the connecting rods 5 is two and is symmetrical about the rotating shaft of the driving motor 6, and the two connecting rods 5 with symmetrical design are adopted, so that the inner rotating block 3 can smoothly drive the outer rotating block 4 to rotate at high speed in the rotating process, and the position of the outer rotating block 4 relative to the inner rotating block 3 cannot be changed.
Further, the manipulator device comprises a manipulator body 8, wherein the manipulator body 8 is connected with the driving motor 6 through a connecting shaft 7.
Optionally, the driving motor 6 is a servo motor, and is driven by the servo motor, and the servo motor has the advantages of high rotating speed, high precision, high stability and the like, so that the inner rotating block can be driven to rotate accurately and stably.
As shown in fig. 1, in some embodiments of the present invention, the rotating shaft of the driving motor 6 penetrates through the outer rotating block 4, and the bottom end of the outer rotating block 4 is not connected to the hollow cantilever 2, so that the moving state of the outer rotating block 4 does not affect the moving state of the hollow cantilever 2.
In summary, when the manipulator is in an unstable state, the hollow cantilever 2 tends to deviate from the axis thereof, and at this time, because the inner rotating block 3 and the outer rotating block 4 in a high-speed rotation state have high stability, and the inner rotating block 3 and the outer rotating block 4 are always movably connected with the hollow cantilever 2, the inner rotating block 3 and the outer rotating block 4 can both reduce the tendency that the hollow cantilever 2 deviates from the axis thereof, thereby improving the stability of the manipulator, further improving the use accuracy of the manipulator, improving the processing accuracy, and avoiding the problems of poor production, reduced product yield and the like.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. A manipulator with high stability, its characterized in that: comprises a hollow cantilever and a driving motor; an inner rotating block movably connected with the hollow cantilever is arranged in the hollow cantilever, an inner annular groove is formed in the inner wall of the hollow cantilever, and an inner rotating protruding block matched with the inner annular groove is arranged on the outer surface of the inner rotating block; an outer rotating block movably connected with the hollow cantilever is arranged outside the hollow cantilever, an outer protruding block is arranged on the outer surface of the hollow cantilever, and an outer annular groove matched with the outer protruding block is formed in the inner wall of the outer rotating block; the outer rotating block is connected with the inner rotating block through a connecting rod, the outer rotating block, the inner rotating block and the hollow cantilever are coaxially arranged, and a rotating shaft of the driving motor is coaxially connected with the inner rotating block.
2. A robot hand having high stability according to claim 1, wherein: the hollow cantilever is connected with an external mechanism through the connecting plate.
3. A robot hand having high stability according to claim 1, wherein: the inner annular groove and the inner rotary protruding block are movably connected and the number of the inner annular groove and the number of the inner rotary protruding block are consistent.
4. A robot hand having high stability according to claim 1, wherein: the outer protruding blocks are movably connected with the outer annular groove, and the number of the outer protruding blocks is consistent with that of the outer annular groove.
5. A robot hand having high stability according to claim 1, wherein: the connecting rods are two in number and are symmetrical about the rotating shaft of the driving motor.
6. A robot hand having high stability according to claim 1, wherein: the manipulator body is connected with the driving motor through a connecting shaft.
7. A robot hand with high stability according to claim 1 or 6, wherein: the driving motor is a servo motor.
8. A robot hand having high stability according to claim 1, wherein: and a rotating shaft of the driving motor penetrates through the outer rotating block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612565.3A CN108789462B (en) | 2018-06-14 | 2018-06-14 | Manipulator with high stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612565.3A CN108789462B (en) | 2018-06-14 | 2018-06-14 | Manipulator with high stability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789462A CN108789462A (en) | 2018-11-13 |
| CN108789462B true CN108789462B (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810612565.3A Active CN108789462B (en) | 2018-06-14 | 2018-06-14 | Manipulator with high stability |
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| Country | Link |
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| CN (1) | CN108789462B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1408514A (en) * | 2001-10-01 | 2003-04-09 | 日本伺服株式会社 | Multiple joint robot and its arm device |
| CN202187982U (en) * | 2011-08-29 | 2012-04-11 | 南京德众机电设备制造有限公司 | Novel connecting structure |
| CN106476037A (en) * | 2016-10-18 | 2017-03-08 | 太仓望虞机械科技有限公司 | A kind of high industrial cantilever of stability |
| CN107009387A (en) * | 2017-06-21 | 2017-08-04 | 太仓望虞机械科技有限公司 | A kind of high mechanical arm of rotational positioning stability |
| CN107662196A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
-
2018
- 2018-06-14 CN CN201810612565.3A patent/CN108789462B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1408514A (en) * | 2001-10-01 | 2003-04-09 | 日本伺服株式会社 | Multiple joint robot and its arm device |
| CN202187982U (en) * | 2011-08-29 | 2012-04-11 | 南京德众机电设备制造有限公司 | Novel connecting structure |
| CN107662196A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
| CN106476037A (en) * | 2016-10-18 | 2017-03-08 | 太仓望虞机械科技有限公司 | A kind of high industrial cantilever of stability |
| CN107009387A (en) * | 2017-06-21 | 2017-08-04 | 太仓望虞机械科技有限公司 | A kind of high mechanical arm of rotational positioning stability |
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| Publication number | Publication date |
|---|---|
| CN108789462A (en) | 2018-11-13 |
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Effective date of registration: 20211105 Address after: 528000 self compiled No. 1, dawao section, Zhongnan villager group, Shizhong village, Shishan town, Nanhai District, Foshan City, Guangdong Province Applicant after: Foshan Nanhai Hengda Machinery Manufacturing Co.,Ltd. Address before: 6259, 6th floor, building 2, No.117, Zhangcha 1st Road, Chancheng District, Foshan City, Guangdong Province Applicant before: FOSHAN AOYEKESI MACHINERY EQUIPMENT CO.,LTD. |
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