CN107263531A - A kind of robot grabbing arm with autobalance calibration function - Google Patents
A kind of robot grabbing arm with autobalance calibration function Download PDFInfo
- Publication number
- CN107263531A CN107263531A CN201710692665.7A CN201710692665A CN107263531A CN 107263531 A CN107263531 A CN 107263531A CN 201710692665 A CN201710692665 A CN 201710692665A CN 107263531 A CN107263531 A CN 107263531A
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- CN
- China
- Prior art keywords
- arm
- large arm
- autobalance
- rotating seat
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J19/002—Balancing devices using counterweights
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot grabbing arm with autobalance calibration function, including base, top base, rotating seat, control cabinet, large arm, rotary drive motor, rotary shaft, balance calibration mechanism and grasping mechanism, the large arm is connected with the drive end of rotary drive motor, the balance calibration mechanism, grasping mechanism are separately positioned on the left and right two ends of large arm, pressure sensor is provided between rotary shaft and rotating seat, the pressure sensor and motor are connected with the control module in control cabinet by circuit.Robot arm is not only caused to capture frock more precisely and stably by using balance calibration mechanism, while the power consumption of electric rotating machine is decreased obviously.Show that it can reduce by more than 30% moment of torsion with relatively conventional telescopic arm by test, so as to be economized on electricity with row motor small 1/3 is moved than the armshaft without balancer, reached the effect of notable energy-conservation, in addition, this balance calibration mechanism have the advantages that can autobalance calibration.
Description
Technical field：
The invention belongs to automatic machinery people's technical field, more particularly, to a kind of machine with autobalance calibration function
Device people's grabbing arm.
Background technology：
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work.Robot grabbing arm is rotated or lifted after the completion of crawl, is generally required in crawl hand
Arm rear end is equipped with counterweight mechanism, and to reduce the burden requirement to electric rotating machine, current counterweight mechanism is by manual adjustment, and it lacks
Point is that frequently counterweight adjusts wasting manpower and material resources to operating personnel, and secondly, operating personnel's regulation is typically adjusted by rule of thumb
Section, its degree of regulation is relatively low.
The content of the invention：
The technical problems to be solved by the invention are：A kind of robot crawl of achievable autobalance calibration function is provided
Arm.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：One kind has autobalance
The robot grabbing arm of calibration function, including base, top base, rotating seat, control cabinet, large arm, rotary drive motor, rotation
Axle, balance calibration mechanism and grasping mechanism, the top base are fixedly mounted on base, and the rotating seat is rotatably installed in base
On seat, the large arm is rotatably installed on rotating seat by rotary shaft, and the rotary drive motor is arranged on rotating seat, described
Large arm is connected with the drive end of rotary drive motor, the balance calibration mechanism, grasping mechanism be separately positioned on large arm a left side,
Right two ends, the balance calibration mechanism includes slide rail, screw mandrel, bearing block, shaft coupling, motor and to pouring weight, the slide rail
It is fixedly mounted in large arm, described that pouring weight is slidably installed on slide rail, two bearing blocks are respectively fixedly disposed at slide rail
Left and right two ends, the screw mandrel is rotatably installed on bearing block by bearing, and the screw mandrel rear end is connected by shaft coupling
To motor, the screw mandrel is also connected with to pouring weight by screw thread, and the grasping mechanism includes arm, spigot nut, folder
Pawl and turbine and worm transmission mechanism, the arm are fixedly mounted in large arm, and the spigot nut is fixedly mounted on arm front end,
The turbine and worm transmission mechanism is arranged in large arm, and the worm screw in the turbine and worm transmission mechanism is respectively at guiding spiral shell
Female, large arm is connected by screw thread, and the clamping jaw is arranged on the worm screw lower end of turbine and worm transmission mechanism, the rotary shaft and rotation
Pressure sensor is provided between swivel base, the pressure sensor and motor pass through electricity with the control module in control cabinet
Road is connected.
Preferably, the base is further fixedly arranged on hoisting ring.
Preferably, the control cabinet is fixedly mounted on top base.
Preferably, described to being additionally provided with fine setting screw rod on pouring weight.
Compared with prior art, usefulness of the present invention is：By using balance calibration, mechanism not only causes robot
Arm crawl frock more precisely and stably, while the power consumption of electric rotating machine is decreased obviously.Show that it can by experimental test
With the moment of torsion of relatively conventional telescopic arm reduction more than 30%, so as to small with row motor is moved than the armshaft without balancer
1/3 and economize on electricity, reached the effect of notable energy-conservation, in addition, this balance calibration mechanism have the advantages that can autobalance calibration.
Brief description of the drawings：
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Embodiment：
Below in conjunction with the accompanying drawings and embodiment the present invention will be described in detail：
A kind of robot grabbing arm with autobalance calibration function as shown in Figure 1, including base 1, top base
2nd, rotating seat 3, control cabinet 4, large arm 5, rotary drive motor 13, rotary shaft 14, balance calibration mechanism and grasping mechanism, it is described on
Pedestal 2 is fixedly mounted on base 1, and the rotating seat 3 is rotatably installed on top base 2, and the large arm 5 passes through 14 turns of rotary shaft
Dynamic to be arranged on rotating seat 3, the rotary drive motor 13 is arranged on rotating seat 3, the large arm 5 and rotary drive motor 13
Drive end be connected, the balance calibration mechanism, grasping mechanism are separately positioned on the left and right two ends of large arm 5, the balance school
Quasi- mechanism includes slide rail 6, screw mandrel 7, bearing block 8, shaft coupling 9, motor 10 and to pouring weight 11, and the slide rail 6 is fixedly mounted
Described that pouring weight 11 is slidably installed on slide rail 6 in large arm 5, two bearing blocks 8 are respectively fixedly disposed at slide rail 6
Left and right two ends, the screw mandrel 7 is rotatably installed on bearing block 8 by bearing, and the rear end of the screw mandrel 7 is connected by shaft coupling 9
Motor 10 is connected to, the screw mandrel 7 is also connected with to pouring weight 11 by screw thread, the grasping mechanism includes arm 15, led
To nut 16, clamping jaw 17 and turbine and worm transmission mechanism 18, the arm 15 is fixedly mounted in large arm 5, the spigot nut
16 are fixedly mounted on the front end of arm 5, and the turbine and worm transmission mechanism 18 is arranged in large arm 5, and the turbine and worm is passed
Worm screw in motivation structure 18 is connected respectively at spigot nut 16, large arm 5 by screw thread, and the clamping jaw 17 is arranged on turbine and worm
The worm screw lower end of transmission mechanism 18, is provided with pressure sensor, the pressure sensor between the rotary shaft 14 and rotating seat 3
It is connected with motor 10 with the control module in control cabinet by circuit.
In actual applications, for the ease of being moved after this crawl robot is sling, the base 1 has been further fixedly arranged on
Suspension ring 19.
As a kind of preferred mounting means of control cabinet 4, the control cabinet 4 is fixedly mounted on top base 2.
In addition, in order to realize fine setting and calibration to the mass of pouring weight 11, it is described to being additionally provided with fine setting screw rod on pouring weight 11
12。
It is emphasized that：It is obvious to a person skilled in the art that the invention is not restricted to above-mentioned one exemplary embodiment
Details, and without departing from the spirit or essential characteristics of the present invention, this can be realized in other specific forms
Invention.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, the present invention
Scope limited by appended claims rather than described above, it is intended that implication in the equivalency of claim will be fallen
Included with all changes in scope in the present invention.Any reference in claim should not be considered as to limitation involved
Claim.
Claims (4)
1. a kind of robot grabbing arm with autobalance calibration function, it is characterised in that：Including base (1), top base
(2), rotating seat (3), control cabinet (4), large arm (5), rotary drive motor (13), rotary shaft (14), balance calibration mechanism and grab
Mechanism is taken, the top base (2) is fixedly mounted on base (1), and the rotating seat (3) is rotatably installed on top base (2), institute
State large arm (5) to be rotatably installed on rotating seat (3) by rotary shaft (14), the rotary drive motor (13) is arranged on rotating seat
(3) on, the large arm (5) is connected with the drive end of rotary drive motor (13), the balance calibration mechanism, grasping mechanism point
The left and right two ends of large arm (5) are not arranged on, and the balance calibration mechanism includes slide rail (6), screw mandrel (7), bearing block (8), shaft coupling
Device (9), motor (10) and to pouring weight (11), the slide rail (6) is fixedly mounted in large arm (5), described to pouring weight (11)
It is slidably installed on slide rail (6), two bearing blocks (8) are respectively fixedly disposed at the left and right two ends of slide rail (6), the silk
Bar (7) is rotatably installed on bearing block (8) by bearing, and the screw mandrel (7) rear end is connected to driving by shaft coupling (9)
Motor (10), the screw mandrel (7) is also connected with to pouring weight (11) by screw thread, and the grasping mechanism includes arm (15), led
To nut (16), clamping jaw (17) and turbine and worm transmission mechanism (18), the arm (15) is fixedly mounted in large arm (5), institute
State spigot nut (16) and be fixedly mounted on arm (5) front end, the turbine and worm transmission mechanism (18) is arranged in large arm (5),
And the worm screw in the turbine and worm transmission mechanism (18) is connected respectively at spigot nut (16), large arm (5) by screw thread,
The clamping jaw (17) is arranged on the worm screw lower end of turbine and worm transmission mechanism (18), the rotary shaft (14) and rotating seat (3) it
Between be provided with pressure sensor, the pressure sensor and motor (10) pass through circuit with the control module in control cabinet
It is connected.
2. the robot grabbing arm according to claim 1 with autobalance calibration function, it is characterised in that：It is described
Base (1) is further fixedly arranged on hoisting ring (19).
3. the robot grabbing arm according to claim 1 with autobalance calibration function, it is characterised in that：It is described
Control cabinet (4) is fixedly mounted on top base (2).
4. the robot grabbing arm according to claim 1 with autobalance calibration function, it is characterised in that：It is described
To being additionally provided with fine setting screw rod (12) on pouring weight (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692665.7A CN107263531A (en) | 2017-08-14 | 2017-08-14 | A kind of robot grabbing arm with autobalance calibration function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692665.7A CN107263531A (en) | 2017-08-14 | 2017-08-14 | A kind of robot grabbing arm with autobalance calibration function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263531A true CN107263531A (en) | 2017-10-20 |
Family
ID=60080029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710692665.7A Withdrawn CN107263531A (en) | 2017-08-14 | 2017-08-14 | A kind of robot grabbing arm with autobalance calibration function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263531A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128803A (en) * | 2018-09-07 | 2019-01-04 | 上海旭虹精密模具制造有限公司 | Rotor calibration equipment |
| CN110793331A (en) * | 2019-11-13 | 2020-02-14 | 太原科技大学 | Automatic compensation balancing device of smelting furnace burner |
| CN111958634A (en) * | 2020-08-20 | 2020-11-20 | 马鞍山迈若斯机器人科技有限公司 | Robot arm gravity balancing device |
| CN114131656A (en) * | 2021-12-25 | 2022-03-04 | 陀螺人工智能(山东)有限公司 | Robot arm gravity balancing device |
-
2017
- 2017-08-14 CN CN201710692665.7A patent/CN107263531A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128803A (en) * | 2018-09-07 | 2019-01-04 | 上海旭虹精密模具制造有限公司 | Rotor calibration equipment |
| CN109128803B (en) * | 2018-09-07 | 2023-09-26 | 上海旭虹精密模具制造有限公司 | Rotor correction device |
| CN110793331A (en) * | 2019-11-13 | 2020-02-14 | 太原科技大学 | Automatic compensation balancing device of smelting furnace burner |
| CN111958634A (en) * | 2020-08-20 | 2020-11-20 | 马鞍山迈若斯机器人科技有限公司 | Robot arm gravity balancing device |
| CN114131656A (en) * | 2021-12-25 | 2022-03-04 | 陀螺人工智能(山东)有限公司 | Robot arm gravity balancing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171020 |
|
| WW01 | Invention patent application withdrawn after publication |