CN108789396B - Double-manipulator stability improving device - Google Patents
Double-manipulator stability improving device Download PDFInfo
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- CN108789396B CN108789396B CN201810617439.7A CN201810617439A CN108789396B CN 108789396 B CN108789396 B CN 108789396B CN 201810617439 A CN201810617439 A CN 201810617439A CN 108789396 B CN108789396 B CN 108789396B
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- rotating block
- hollow cantilever
- block
- double
- manipulator
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- 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
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device for improving the stability of double manipulators, which comprises a manipulator main body and a driving mechanism, wherein the manipulator main body is provided with a driving mechanism; the number of the manipulator main bodies is two, the manipulator main bodies are the same in shape, and each manipulator main body comprises a 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 the driving mechanism is connected with the outer rotating block through a transmission mechanism. The invention provides a device for improving the stability of double manipulators, which can ensure the stability of the double manipulators when an enterprise uses the double manipulators to grab a product, thereby improving the processing precision of the product and avoiding the problems of poor production and reduced product percent of pass.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to a device for improving the stability of two manipulators.
Background
The manipulator is an automatic operating device which can imitate certain action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, can replace heavy labor of people to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, and is widely applied to the industrial fields of mechanical manufacturing and the like.
At present, in order to improve the production efficiency of a production line, an enterprise adopts two manipulators to grab the product simultaneously, and the grabbing of the two manipulators can actually improve the production efficiency, but because the manipulator needs to rotate occasionally in the use process, the positions of the two manipulators are slightly changed easily after the rotation process, so that the grabbing stability of the manipulator is influenced, the processing precision is reduced, and the problems of poor production, product percent of pass reduction and the like easily occur.
Disclosure of Invention
The device overcomes the defects of the prior art, and the stability of the double manipulators is improved, so that when an enterprise uses the double manipulators to grab products, the stability of the double manipulators can be ensured, the processing precision of the products is improved, and the problems of poor production and reduced product percent of pass are avoided.
In order to achieve the purpose, the invention adopts the technical scheme that: a double-manipulator stability improving device comprises a manipulator main body and a driving mechanism; the number of the manipulator main bodies is two, the manipulator main bodies are the same in shape, and each manipulator main body comprises a 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 the driving mechanism is connected with the outer rotating block through a transmission mechanism.
In a preferred embodiment of the present invention, the manipulator main body further includes a grabbing mechanism, and the grabbing mechanism is connected to the outer rotating block through a connecting shaft.
In a preferred embodiment of the present invention, the driving mechanism includes a driving motor; the transmission mechanism comprises a driving gear and two driven gears; the driving gear is located the pivot end of driving motor, a driven gear cup joints in a outer rotation piece surface, another driven gear cup joints in another outer rotation piece surface, the driving gear meshes with two driven gear.
In a preferred embodiment of the present invention, the driving motor is a servo motor, the driving gear is coaxially connected to a rotating shaft of the driving motor, and the driven gear is coaxially connected to the outer rotating block.
In a preferred embodiment of the present invention, the robot body is connected to another robot body through a fixing base, and the driving mechanism is located on the fixing base.
In a preferred embodiment of the invention, the device further comprises a connecting plate; the hollow cantilever is connected with an external mechanism through a 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.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) when the manipulator main body is in an unstable state, the hollow cantilever has a tendency of deviating from the self axis, and the outer 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, so that the tendency of deviating from the self axis of the hollow cantilever is reduced by the outer rotating block, and the stability of the manipulator is improved;
(2) the outer rotating block is connected with the inner rotating block through the connecting rod, so that the inner rotating block is synchronously driven to rotate at a high speed by the outer rotating block in the high-speed rotating process, and meanwhile, the inner rotating block is always movably connected with the hollow cantilever in the high-speed rotating process, so that the inner rotating block can be matched with the outer rotating block to reduce the tendency that the hollow cantilever deviates from the axis line of the inner 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) the driving motor can drive the two outer rotating blocks to rotate simultaneously in a mode that the driving gear is meshed with the two driven gears, so that the stability of the two manipulators is improved;
(7) the driving motor is matched with the transmission mechanism, the stability of the two manipulators is improved, and the cost consumption is reduced;
(8) the driving motor adopts the servo motor, and the servo motor has the advantages of high rotating speed, high precision, high stability and the like, so that the driving gear can be accurately and stably driven to rotate, the outer rotating block is driven to rotate, and the stability of the manipulator is improved.
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 manipulator main body; 2. a connecting plate; 3. a hollow cantilever; 31. an inner annular groove; 32. an outer protruding block; 4. an inner turning block; 41. an inward turning convex block; 5. an outer turning block; 51. an outer annular groove; 6. a connecting rod; 7. a connecting shaft; 8. a grabbing mechanism; 9. a driving gear; 10. a driven gear; 11. a drive motor; 12. a fixed seat.
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 double-manipulator stability improving apparatus includes a manipulator main body 1 and a driving mechanism; the manipulator main bodies 1 are two and have the same shape, the two manipulators work simultaneously, the grabbing efficiency can be greatly improved, and the manipulator main bodies 1 comprise hollow cantilevers 3; the manipulator is characterized in that an inner rotating block 4 movably connected with the hollow cantilever 3 is arranged in the hollow cantilever 3, an outer rotating block 5 movably connected with the hollow cantilever 3 is arranged outside the hollow cantilever 3, the outer rotating block 5 is connected with the inner rotating block 4 through a connecting rod 6, the outer rotating block 5, the inner rotating block 4 and the hollow cantilever 3 are coaxially arranged, a driving mechanism is connected with the outer rotating block 5 through a transmission mechanism, the number of the inner rotating block 4 and the outer rotating block 5 is consistent with that of the manipulator main body 1, the driving mechanism can drive the outer rotating block 5 to rotate at a high speed through the transmission mechanism, when the manipulator main body 1 is in an unstable state, the hollow cantilever 3 has a tendency of deviating from the axis of the manipulator, because the outer rotating block 5 in the high-speed rotating process has high stability, and the outer rotating block 5 is always movably connected with the hollow cantilever 3 in the high-speed rotating process, the outer rotating block 5 reduces the tendency of deviating from the axis of the hollow cantilever 3, because the outer rotating block 5 is connected with the inner rotating block 4 through the connecting rod 6, the outer rotating block 5 synchronously rotates the inner rotating block 4 at a high speed in the high-speed rotation process, and meanwhile, the inner rotating block 4 is always movably connected with the hollow cantilever 3 in the high-speed rotation process, so that the inner rotating block 4 can be matched with the outer rotating block 5 to reduce the tendency of the hollow cantilever 3 deviating from the axis line of the hollow cantilever 3, and finally the stability of the manipulator is improved The position of the outer turning block 5 relative to the hollow cantilever 3 is changed.
Further, the manipulator main body 1 further comprises a grabbing mechanism 8, and the grabbing mechanism 8 is connected with the outer rotating block 5 through a connecting shaft 7.
Specifically, the drive mechanism includes a drive motor 11; the transmission mechanism comprises a driving gear 9 and two driven gears 10; the driving gear 9 is located at a rotating shaft end of the driving motor 11, the driven gear 10 is sleeved on the outer surface of the outer rotating block 5, the other driven gear 10 is sleeved on the outer surface of the other outer rotating block 5, the driving gear 9 is meshed with the two driven gears 10, and the driving motor 11 can simultaneously drive the two outer rotating blocks 5 to rotate in a mode that the driving gear 9 is meshed with the two driven gears 10, so that the stability of the two manipulators is improved.
Specifically, the driving motor 11 is a servo motor, the driving gear 9 is coaxially connected with a rotating shaft of the driving motor 11, the driven gear 10 is coaxially connected with the outer rotating block 5, the driving motor 11 is a servo motor, and the servo motor has the advantages of good rotating speed, high precision, strong stability and the like, so that the driving gear 9 can be accurately and stably driven to rotate, the outer rotating block 5 is further driven to rotate, the stability of the manipulator is improved, the driving gear 9 is coaxially connected with the rotating shaft of the driving motor 11, and the deviation of the position of the driving gear 9 in the rotating process is avoided.
As shown in fig. 1, in some embodiments of the present invention, the robot body 1 is connected to another robot body 1 through a fixing base 12, the driving mechanism is located on the fixing base 12, and the fixing base 12 connects the two robot bodies 1 and fixes the driving motor 11.
Further, the device also comprises a connecting plate 2; the hollow cantilever 3 is connected with an external mechanism through the connecting plate 2, and the hollow cantilever 3 is convenient to be connected with the external mechanism by using the connecting plate 2.
As shown in fig. 2, in some embodiments of the present invention, an inner annular groove 31 is formed on an inner wall of the hollow cantilever 3, an inner turning protruding block 41 which is matched with the inner annular groove 31 is formed on an outer surface of the inner turning block 4, and the inner annular groove 31 is matched with the inner turning protruding block 41, so that the inner turning block 4 is always movably connected with the hollow cantilever 3 during high-speed rotation, 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 block 32 is disposed on an outer surface of the hollow cantilever 3, an outer annular groove 51 is disposed on an inner wall of the outer rotation block 5 and is matched with the outer protrusion block 32, and the outer protrusion block 32 is matched with the outer annular groove 51, so that the outer rotation block 5 is always movably connected with the hollow cantilever 3 during high-speed rotation, and the stability of the manipulator can be smoothly improved.
Further, the inner annular groove 31 and the inner turning convex block 41 are movably connected and have the same number.
Further, the outer protruding block 32 is movably connected with the outer annular groove 51, and the number of the outer protruding block and the outer annular groove is the same.
In summary, when the manipulator body 1 is in an unstable state, the hollow cantilever 3 has a tendency to deviate from its own axis, at this time, because the inner rotating block 4 and the outer rotating block 5 in a high-speed rotation state have high stability, and the inner rotating block 4 and the outer rotating block 5 are always movably connected with the hollow cantilever 3, the inner rotating block 4 and the outer rotating block 5 can both reduce the tendency of the hollow cantilever 3 to deviate from its own axis, and improve the stability of the manipulator body 1, and because the driving motor 11 drives the outer rotating blocks 5 on the two manipulator bodies 1 to rotate simultaneously through the transmission mechanism, the present invention can simultaneously improve the stability of the two manipulator bodies 1, and when an enterprise uses the manipulator to grab a product, the stability of the two manipulators can be ensured, thereby improving the processing precision of the product, and avoiding the occurrence of poor production, and poor production of the product, The product percent of pass is reduced.
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 (10)
1. The utility model provides a two manipulator stability improving device which characterized in that: comprises a manipulator main body and a driving mechanism; the number of the manipulator main bodies is two, the manipulator main bodies are the same in shape, and each manipulator main body comprises a hollow cantilever; an inner rotating block is arranged in the hollow cantilever, an outer rotating block is arranged outside the hollow cantilever, the outer rotating block is connected with the inner rotating block through a connecting rod, the driving mechanism is connected with the outer rotating block through a transmission mechanism, the driving mechanism drives the outer rotating block to rotate through the transmission mechanism, and the outer rotating block is movably connected with the hollow cantilever in the rotating process; the outer rotating block drives the inner rotating block to rotate through the connecting rod in the rotating process, and the inner rotating block is movably connected with the hollow cantilever in the rotating process; the outer rotating block and the inner rotating block are coaxially arranged with the hollow cantilever, and the positions of the outer rotating block and the inner rotating block relative to the hollow cantilever in the rotating process cannot be changed.
2. The double-robot stability improvement device according to claim 1, wherein: the manipulator main body further comprises a grabbing mechanism, and the grabbing mechanism is connected with the outer rotating block through a connecting shaft.
3. The double-robot stability improvement device according to claim 1, wherein: the driving mechanism comprises a driving motor; the transmission mechanism comprises a driving gear and two driven gears; the driving gear is located the pivot end of driving motor, a driven gear cup joints in a outer rotation piece surface, another driven gear cup joints in another outer rotation piece surface, the driving gear meshes with two driven gear.
4. The double-robot stability improvement device according to claim 3, wherein: the driving motor is a servo motor, the driving gear is coaxially connected with a rotating shaft of the driving motor, and the driven gear is coaxially connected with the outer rotating block.
5. The double-robot stability improvement device according to claim 1, wherein: the manipulator main body is connected with the other manipulator main body through a fixed seat, and the driving mechanism is positioned on the fixed seat.
6. The double-robot stability improvement device according to claim 1, wherein: the device also comprises a connecting plate; the hollow cantilever is connected with an external mechanism through a connecting plate.
7. The double-robot stability improvement device according to claim 1, wherein: 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 protruding block matched with the inner annular groove.
8. The double-robot stability improvement device according to claim 1, wherein: the outer surface of the hollow cantilever is provided with an outer protruding block, and the inner wall of the outer rotating block is provided with an outer annular groove matched with the outer protruding block.
9. The apparatus according to claim 7, 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.
10. The apparatus according to claim 8, 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.
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 CN108789396A (en) | 2018-11-13 |
| CN108789396B true CN108789396B (en) | 2021-12-14 |
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| CN201810617439.7A Active CN108789396B (en) | 2018-06-15 | 2018-06-15 | Double-manipulator stability improving device |
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| 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 |
| CN102991965B (en) * | 2011-09-14 | 2015-06-03 | 鸿富锦精密工业（深圳）有限公司 | Load shifting mechanism |
| FR3036302B1 (en) * | 2015-05-20 | 2017-06-02 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | TELEOPERATED MANUAL WELDING METHOD AND WELDING ROBOT USING 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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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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