CN108789396A - A kind of double-manipulator stability raising device - Google Patents
A kind of double-manipulator stability raising device Download PDFInfo
- Publication number
- CN108789396A CN108789396A CN201810617439.7A CN201810617439A CN108789396A CN 108789396 A CN108789396 A CN 108789396A CN 201810617439 A CN201810617439 A CN 201810617439A CN 108789396 A CN108789396 A CN 108789396A
- Authority
- CN
- China
- Prior art keywords
- moving block
- manipulator
- double
- interior
- hollow cantilever
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The invention discloses a kind of double-manipulator stability to improve device, including manipulator main body and driving mechanism；The manipulator main body quantity is two and shape is identical, and the manipulator main body includes hollow cantilever；The interior moving block being flexibly connected with it is provided in the hollow cantilever, it is provided with the outer moving block being flexibly connected with it outside the hollow cantilever, the outer moving block is connect by connecting rod with interior moving block, the outer moving block, interior moving block and hollow cantilever coaxial are arranged, and the driving mechanism is connect by transmission mechanism with outer moving block.The present invention provides a kind of double-manipulator stability to improve device, and enterprise can ensure the stability of double-manipulator when capturing product using double-manipulator, to improve the machining accuracy of product, avoids the occurrence of the problem of production is bad, product qualification rate reduces.
Description
Technical field
The invention belongs to manipulator fields more particularly to a kind of double-manipulator stability to improve device.
Background technology
Manipulator, refer to imitate human hand and arm certain holding functions, to press fixed routine crawl, carry object or
The automatic pilot of operation instrument, it can replace the heavy labor of people to realize the mechanization and automation of production, can
It is operated under hostile environment to protect personal safety, so manipulator is widely used in the industrial circles such as machine-building.
There is enterprise at present to improve the production efficiency of production line, crawl behaviour is carried out to product using double-manipulator simultaneously
Make, while double-manipulator crawl can improve production efficiency really, but since manipulator needs once in a while in use
Rotation process is carried out, double-manipulator position after rotary course is easy to that subtle change occurs, to influence the crawl of manipulator
Stability reduces machining accuracy, is susceptible to the problems such as production is bad, product qualification rate reduces.
Invention content
The present invention overcomes the deficiencies in the prior art, provide a kind of double-manipulator stability raising device, and enterprise is using
When double-manipulator captures product, it can ensure the stability of double-manipulator, to improve the machining accuracy of product, avoid the occurrence of life
Produce the problem of bad, product qualification rate reduces.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of double-manipulator stability raising device, including
Manipulator main body and driving mechanism；The manipulator main body quantity is two and shape is identical, and the manipulator main body includes sky
Heart cantilever；It is provided with the interior moving block being flexibly connected with it in the hollow cantilever, is provided with outside the hollow cantilever and lives with it
The outer moving block of dynamic connection, the outer moving block are connect by connecting rod with interior moving block, the outer moving block, interior moving block and
Hollow cantilever coaxial setting, the driving mechanism are connect by transmission mechanism with outer moving block.
In a preferred embodiment of the present invention, the manipulator main body further includes grasping mechanism, and the grasping mechanism passes through
Connecting shaft is connect with outer moving block.
In a preferred embodiment of the present invention, the driving mechanism includes driving motor；The transmission mechanism includes a master
Moving gear and two driven gears；The driving gear is located at the shaft end of driving motor, and a driven gear is socketed on one
Outer moving block outer surface, another driven gear are socketed on another outer moving block outer surface, the driving gear and two driven
Gear engages.
In a preferred embodiment of the present invention, the driving motor is servo motor, the driving gear and driving motor
Shaft it is coaxially connected, the driven gear and outer moving block are coaxially connected.
In a preferred embodiment of the present invention, the manipulator main body is connected by fixed seat and another manipulator main body
It connects, the driving mechanism is located in fixed seat.
Further include connecting plate in a preferred embodiment of the present invention；The hollow cantilever passes through connecting plate and external agency
Connection.
In a preferred embodiment of the present invention, the hollow cantilever inner wall is provided with interior annular groove, outside the interior moving block
Surface be provided with interior annular groove it is matched in turn casting lug thereon.
In a preferred embodiment of the present invention, the hollow cantilever outer surface is provided with outer casting lug thereon, the outer moving block
Inner wall is provided with and the matched outer annular groove of outer casting lug thereon.
In a preferred embodiment of the present invention, the interior annular groove turns between casting lug thereon with interior to be flexibly connected and the two number
Amount is consistent.
In a preferred embodiment of the present invention, to be flexibly connected and the two quantity between the outer casting lug thereon and outer annular groove
Unanimously.
The invention solves the defect existing in the background technology, and the present invention has following advantageous effect：
(1) when manipulator main body plays pendulum down, hollow cantilever has the trend for deviateing Pivot Point Center line at this time,
Due to the outer moving block during high-speed rotation have high stability, and outer moving block during high-speed rotation always
It is flexibly connected with the holding of hollow cantilever, so outer moving block reduces the trend that hollow cantilever deviates Pivot Point Center line, to carry
The high stability of manipulator；
(2) it is connect with interior moving block by connecting rod due to outer moving block, because moving block in addition is during high-speed rotation
In synchronous drive moving block carry out high-speed rotation, at the same time, interior moving block during high-speed rotation always with hollow cantilever
Flexible connection is kept, becoming for hollow cantilever deviation Pivot Point Center line is reduced so interior moving block can coordinate outer moving block together
Gesture improves the stability of manipulator；
(3) matched with the interior casting lug thereon that turns using interior annular groove, ensure in moving block during high-speed rotation always with
Hollow cantilever keeps flexible connection, so as to smoothly improve the stability of manipulator；
(4) matched with outer annular groove using outer casting lug thereon, the outer moving block of guarantee during high-speed rotation always with sky
Heart cantilever keeps flexible connection, so as to smoothly improve the stability of manipulator；
(5) outer moving block, interior moving block ensure that outer moving block, interior moving block are turning with hollow cantilever using being coaxially disposed
The position of relatively hollow cantilever will not change during dynamic, so as to smoothly improve the stability of manipulator；
(6) in such a way that a driving gear is engaged with two driven gears, ensure that driving motor can drive two simultaneously
Outer moving block is rotated, to improve the stability of two manipulators；
(7) stability for improving two manipulators simultaneously is matched with transmission mechanism using a driving motor, is reduced into
This consumption；
(8) driving motor uses servo motor, since servo motor has many advantages, such as that rotating speed is good, precision is high, stability is strong,
So precisely, steadily driving gear can be driven to be rotated, and then outer moving block is driven to be rotated, improves manipulator
Stability.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples；
Fig. 1 is the overall structure diagram of the preferred embodiment of the present invention；
Fig. 2 is the portions A enlarged drawing in Fig. 1；
Fig. 3 is the portions B enlarged drawing in Fig. 1；
In figure：1, manipulator main body；2, connecting plate；3, hollow cantilever；31, interior annular groove；32, outer casting lug thereon；4, interior turn
Motion block；41, interior to turn casting lug thereon；5, outer moving block；51, outer annular groove；6, connecting rod；7, connecting shaft；8, grasping mechanism；9, actively
Gear；10, driven gear；11, driving motor；12, fixed seat.
Specific implementation mode
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
As shown in Figure 1, a kind of double-manipulator stability improves device, including manipulator main body 1 and driving mechanism；The machine
1 quantity of tool hand main body is two and shape is identical, and double-manipulator, which works at the same time, can greatly improve crawl efficiency, the manipulator
Main body 1 includes hollow cantilever 3；The interior moving block 4 being flexibly connected with it, the hollow cantilever 3 are provided in the hollow cantilever 3
It is provided with the outer moving block 5 being flexibly connected with it outside, the outer moving block 5 is connect by connecting rod 6 with interior moving block 4, described
Outer moving block 5, interior moving block 4 and hollow cantilever 3 are coaxially disposed, and the driving mechanism is connected by transmission mechanism and outer moving block 5
It connects, interior moving block 4,5 quantity of outer moving block and manipulator main body 1 are consistent, and driving mechanism can drive outer turn by transmission mechanism
Motion block 5 carries out high-speed rotation, and when manipulator main body 1 plays pendulum down, hollow cantilever 3, which has, at this time deviates Pivot Point Center
The trend of line, since the outer moving block 5 during high-speed rotation has high stability, and outer moving block 5 turns in high speed
It is flexibly connected with the holding of hollow cantilever 3 always during dynamic, so outer moving block 5 reduces hollow cantilever 3 and deviates Pivot Point Center
The trend of line, since outer moving block 5 is connect by connecting rod 6 with interior moving block 4, because moving block 5 in addition is in high-speed rotation process
In middle synchronous drive moving block 4 carry out high-speed rotation, at the same time, interior moving block 4 during high-speed rotation always with it is hollow
Cantilever 3 keeps flexible connection, and the hollow deviation of cantilever 3 Pivot Point Center is reduced so interior moving block 4 can coordinate outer moving block 5 together
The trend of line, the final stability for improving manipulator, the outer moving block 5 of the present invention, interior moving block 4 are with hollow cantilever 3 using coaxial
Setting ensures that outer moving block 5, interior moving block 4 position of hollow cantilever 3 relatively in rotation process will not change, thus
The stability of manipulator can smoothly be improved, interior moving block 4 and outer moving block 5 are all made of that quality is big, Density Distribution in the present invention
Uniform object avoids the position of in rotation process interior moving block 4, outer moving block 5 hollow cantilever 3 relatively from changing.
Further, the manipulator main body 1 further includes grasping mechanism 8, and the grasping mechanism 8 is by connecting shaft 7 and outside
Moving block 5 connects.
Specifically, the driving mechanism includes driving motor 11；The transmission mechanism includes a driving gear 9 and two
Driven gear 10；The driving gear 9 is located at the shaft end of driving motor 11, and a driven gear 10 is socketed on outside one and rotates
5 outer surface of block, another driven gear 10 are socketed on another 5 outer surface of outer moving block, the driving gear 9 and two driven tooths
10 engagement of wheel ensures that driving motor 11 can drive two simultaneously in such a way that a driving gear 9 is engaged with two driven gears 10
A outer moving block 5 is rotated, and to improve the stability of two manipulators, the present invention uses a driving motor 11 and driver
Structure matches while improving the stability of two manipulators, reduces the consumption of cost.
Specifically, the driving motor 11 is servo motor, and the driving gear 9 and the shaft of driving motor 11 coaxially connect
It connects, the driven gear 10 and outer moving block 5 are coaxially connected, and driving motor 11 uses servo motor, since servo motor has
The advantages that rotating speed is good, precision is high, stability is strong, so can precisely, steadily drive driving gear 9 to be rotated, and then band
It moves outer moving block 5 to be rotated, improves the stability of manipulator, driving gear 9 and the shaft of driving motor 11 are connected using coaxial
It connects, the position in rotation process of driving gear 9 is avoided to shift.
As shown in Figure 1, in certain specific embodiments of the invention, the manipulator main body 1 passes through fixed seat 12
It is connect with another manipulator main body 1, the driving mechanism is located in fixed seat 12, and fixed seat 12 connects two manipulator main bodys 1
It connects and driving motor 11 is fixed.
Further, further include connecting plate 2；The hollow cantilever 3 is connect by connecting plate 2 with external agency, connecting plate 2
User hollow cantilever 3 and external agency connection.
As shown in Fig. 2, in certain specific embodiments of the invention, 3 inner wall of hollow cantilever is provided with annular
Slot 31,4 outer surface of interior moving block be provided with interior annular groove 31 it is matched in turn casting lug thereon 41, using interior annular groove 31
It is matched with the interior casting lug thereon 41 that turns, ensures that interior moving block 4 connects with the 3 holding activity of hollow cantilever always during high-speed rotation
It connects, so as to smoothly improve the stability of manipulator.
As shown in figure 3, in certain specific embodiments of the invention, 3 outer surface of hollow cantilever is provided with evagination
Go out block 32,5 inner wall of outer moving block be provided with 32 matched outer annular groove 51 of outer casting lug thereon, using outer casting lug thereon 32 with
Outer annular groove 51 matches, and ensures that outer moving block 5 is flexibly connected with the holding of hollow cantilever 3 always during high-speed rotation, from
And it can smoothly improve the stability of manipulator.
Further, the interior annular groove 31 with it is interior turn between casting lug thereon 41 for flexible connection and the two quantity it is consistent.
Further, between the outer casting lug thereon 32 and outer annular groove 51 for flexible connection and the two quantity it is consistent.
To sum up, when manipulator main body 1 plays pendulum, hollow cantilever 3, which has, deviates Pivot Point Center line
Trend, at this point, since interior moving block 4, the outer moving block 5 under high-speed rotation state have high stability, and interior rotation
Block 4, outer moving block 5 are flexibly connected with the holding of hollow cantilever 3 always, so interior moving block 4 can reduce sky with outer moving block 5
Heart cantilever 3 deviates the trend of Pivot Point Center line, improves the stability of manipulator main body 1, and since driving motor 11 passes through biography
Motivation structure drives the outer moving block 5 in two manipulator main bodys 1 to be rotated simultaneously, so the present invention can improve two simultaneously
The stability of manipulator main body 1, enterprise can ensure the stability of double-manipulator when capturing product using double-manipulator, from
And the machining accuracy of product is improved, avoid the occurrence of the problem of production is bad, product qualification rate reduces.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (10)
1. a kind of double-manipulator stability improves device, it is characterised in that：Including manipulator main body and driving mechanism；The machinery
Hand main body quantity is two and shape is identical, and the manipulator main body includes hollow cantilever；Be provided in the hollow cantilever with
Its interior moving block being flexibly connected, the hollow cantilever are provided with the outer moving block being flexibly connected with it, the outer moving block outside
It is connect with interior moving block by connecting rod, the outer moving block, interior moving block and hollow cantilever coaxial are arranged, the driving mechanism
It is connect with outer moving block by transmission mechanism.
2. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：The manipulator main body
Further include grasping mechanism, the grasping mechanism is connect by connecting shaft with outer moving block.
3. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：The driving mechanism packet
Include driving motor；The transmission mechanism includes a driving gear and two driven gears；The driving gear is located at driving motor
Shaft end, a driven gear is socketed on an outer moving block outer surface, and another driven gear is socketed on another outer turn
Motion block outer surface, the driving gear are engaged with two driven gears.
4. a kind of double-manipulator stability according to claim 3 improves device, it is characterised in that：The driving motor is
The shaft of servo motor, the driving gear and driving motor is coaxially connected, and the driven gear and outer moving block are coaxially connected.
5. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：The one manipulator master
Body is connect by fixed seat with another manipulator main body, and the driving mechanism is located in fixed seat.
6. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：It further include connecting plate；
The hollow cantilever is connect by connecting plate with external agency.
7. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：In the hollow cantilever
Wall is provided with interior annular groove, the interior moving block outer surface be provided with interior annular groove it is matched in turn casting lug thereon.
8. a kind of double-manipulator stability according to claim 1 improves device, it is characterised in that：Outside the hollow cantilever
Surface is provided with outer casting lug thereon, and the outer moving block inner wall is provided with and the matched outer annular groove of outer casting lug thereon.
9. a kind of double-manipulator stability according to claim 7 improves device, it is characterised in that：The interior annular groove with
Inside turn between casting lug thereon for flexible connection and the two quantity it is consistent.
10. a kind of double-manipulator stability according to claim 8 improves device, it is characterised in that：The outer casting lug thereon
Between outer annular groove for flexible connection and the two quantity it is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617439.7A CN108789396B (en) | 2018-06-15 | 2018-06-15 | Double-manipulator stability improving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617439.7A CN108789396B (en) | 2018-06-15 | 2018-06-15 | Double-manipulator stability improving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789396A true CN108789396A (en) | 2018-11-13 |
| CN108789396B CN108789396B (en) | 2021-12-14 |
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ID=64086481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810617439.7A Active CN108789396B (en) | 2018-06-15 | 2018-06-15 | Double-manipulator stability improving device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
| CN201783833U (en) * | 2010-07-28 | 2011-04-06 | 浙江工业职业技术学院 | Damage-free embedded drilling clamp |
| US20130064628A1 (en) * | 2011-09-14 | 2013-03-14 | Hon Hai Precision Industry Co., Ltd. | Loading mechanism |
| WO2016184985A1 (en) * | 2015-05-20 | 2016-11-24 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Remotely operated manual welding method and welding robot implementing such a method |
| CN206200644U (en) * | 2016-11-22 | 2017-05-31 | 浙江东南金属薄板有限公司 | The feed arrangement of shear line is smoothed in uncoiling |
| CN107088887A (en) * | 2017-05-17 | 2017-08-25 | 江门市蓬江区珠西智谷智能装备协同创新研究院 | A kind of single motor drives the mechanism of many handgrips |
-
2018
- 2018-06-15 CN CN201810617439.7A patent/CN108789396B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
| CN201783833U (en) * | 2010-07-28 | 2011-04-06 | 浙江工业职业技术学院 | Damage-free embedded drilling clamp |
| US20130064628A1 (en) * | 2011-09-14 | 2013-03-14 | Hon Hai Precision Industry Co., Ltd. | Loading mechanism |
| WO2016184985A1 (en) * | 2015-05-20 | 2016-11-24 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Remotely operated manual welding method and welding robot implementing such a method |
| CN206200644U (en) * | 2016-11-22 | 2017-05-31 | 浙江东南金属薄板有限公司 | The feed arrangement of shear line is smoothed in uncoiling |
| CN107088887A (en) * | 2017-05-17 | 2017-08-25 | 江门市蓬江区珠西智谷智能装备协同创新研究院 | A kind of single motor drives the mechanism of many handgrips |
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| Publication number | Publication date |
|---|---|
| CN108789396B (en) | 2021-12-14 |
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Effective date of registration: 20211122 Address after: 518000 floor 201, floor 1, building 1, building 1, honglida factory, No. 1, Ganli Second Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Applicant after: HONGRITA MOLD (SHENZHEN) 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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