CN111152208A - Rotating device and manipulator - Google Patents
Rotating device and manipulator Download PDFInfo
- Publication number
- CN111152208A CN111152208A CN202010079418.1A CN202010079418A CN111152208A CN 111152208 A CN111152208 A CN 111152208A CN 202010079418 A CN202010079418 A CN 202010079418A CN 111152208 A CN111152208 A CN 111152208A
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- China
- Prior art keywords
- bearing
- base
- driving mechanism
- rotating
- rotating shaft
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- 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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- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automation equipment, in particular to a rotating device and a manipulator. The rotating device comprises a base and a driving mechanism, the base is provided with a mounting position for mounting the external device, the driving mechanism is mounted on the base, and the driving mechanism is used for driving the grabbing device to rotate relative to the base. According to the rotating device and the manipulator provided by the invention, the base is arranged, and the driving mechanism drives the gripping device to rotate relative to the base, namely, when the gripping device rotates, the base does not rotate along with the gripping device, and when a device which does not need to rotate is required to be externally connected, the device which does not need to rotate is arranged on the mounting position on the base.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a rotating device and a manipulator.
Background
When a rotating device in the existing manipulator drives the manipulator to rotate, the whole manipulator rotates, and a device which does not need to rotate cannot be additionally arranged on the manipulator.
Disclosure of Invention
The first objective of the present invention is to provide a rotating device to alleviate the technical problem of the prior art that the device which does not need to rotate cannot be externally connected.
A second object of the present invention is to provide a manipulator, which can solve the technical problem of the prior art that a device which does not need to be rotated cannot be externally connected.
Based on the first purpose, the invention provides a rotating device, which comprises a base and a driving mechanism, wherein the base is provided with a mounting position for mounting an external device, the driving mechanism is mounted on the base, and the driving mechanism is used for driving a grabbing device to rotate relative to the base.
Further, in some optional embodiments, the rotating device further comprises a support and a transmission mechanism, the transmission mechanism comprises a speed reducer and a rotating shaft, the support is fixedly mounted on the base, the speed reducer is mounted on the support, the driving mechanism is in transmission connection with one end of the speed reducer, and the other end of the speed reducer is connected with one end of the rotating shaft; the base is provided with the through-hole, the pivot passes the through-hole, just the pivot with the base passes through the bearing and connects, the other end of pivot with grabbing device fixed connection.
Further, in some optional embodiments, the bracket is provided with a position sensor, and the rotating shaft is provided with a positioning indicator, and the positioning indicator is matched with the position sensor to indicate the direction and the position of the rotating shaft returning to the origin.
Further, in some optional embodiments, the positioning indicator is made of metal.
Further, in some optional embodiments, the positioning indicator is a positioning nut, and the positioning nut is fixedly connected with the rotating shaft.
Further, in certain alternative embodiments, the number of the bearings is two, namely a first bearing and a second bearing, the first bearing being located above the second bearing; the outer sleeve of pivot is equipped with the axle sleeve, the bearing is located first bearing with between the second bearing.
Further, in some optional embodiments, the rotating device further comprises a mounting plate, the mounting plate is sleeved on the rotating shaft, the mounting plate is fixedly connected with the rotating shaft, and the mounting plate is used for being fixedly connected with the power control device of the gripping device.
Further, in certain alternative embodiments, the rotating device further comprises a reinforcing plate;
the one end that is close to of pivot grabbing device is provided with the annular slab, the reinforcing plate pressure fastening is in the mounting panel with between the annular slab.
Further, in some optional embodiments, the driving mechanism is a brake stepping motor, the speed reducer is a worm gear speed reducer, and the bearing is a thrust bearing.
Based on the second purpose, the invention further provides a manipulator, which comprises a gripping device and the rotating device, wherein the driving mechanism is in transmission connection with the gripping device.
Compared with the prior art, the invention has the following beneficial effects:
the rotating device provided by the invention comprises a base and a driving mechanism, wherein the base is provided with an installation position for installing an external device, the driving mechanism is installed on the base, and the driving mechanism is used for driving a grabbing device to rotate relative to the base.
Based on the structure, the rotating device and the manipulator provided by the invention have the advantages that the base is arranged, the driving mechanism drives the grabbing device to rotate relative to the base, namely, the base does not rotate along with the grabbing device when the grabbing device rotates, and when a device which does not need to rotate is required to be externally connected, the device which does not need to rotate is arranged on the installation position on the base.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a rotating apparatus according to an embodiment of the present invention;
FIG. 2 is a partial cross-sectional view of a rotary apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot according to a second embodiment of the present invention.
Icon: 101-a base; 102-a drive mechanism; 103-a gripping device; 104-a scaffold; 105-a reducer; 106-a rotating shaft; 107-a support plate; 108-a sleeve; 109-a position sensor; 110-a positioning indicator; 111-a first bearing; 112-a second bearing; 113-mounting a pole; 114-a mounting plate; 115-a reinforcement plate; 116-an annular plate; 117-power control means; 118-a spring.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. 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.
Example one
Referring to fig. 1 and 2, the present embodiment provides a rotating device, which includes a base 101 and a driving mechanism 102, wherein the base 101 is provided with a mounting position for mounting an external device, the driving mechanism is mounted on the base 101, and the driving mechanism is used for driving the gripping device 103 to rotate relative to the base 101.
Based on the structure, the rotating device provided by the embodiment is provided with the base 101, and the driving mechanism drives the gripping device 103 to rotate relative to the base 101, that is, when the gripping device 103 rotates, the base 101 does not rotate along with the gripping device 103, and when a device which does not need to rotate needs to be externally connected, the device which does not need to rotate needs to be installed on an installation position on the base 101.
In this embodiment, the base 101 is fixedly provided with a mounting rod 113, the mounting rod 113 is located at the mounting position, and the mounting rod 113 is used for externally connecting a device which does not need to be rotated. Optionally, the mounting rod 113 is sleeved with a spring 118, which can play a role of buffering and reduce impact on an external device which does not need to rotate. The spring 118 in this embodiment is a compression spring.
Further, in some optional embodiments, the rotating device further includes a bracket 104 and a transmission mechanism, the transmission mechanism includes a speed reducer 105 and a rotating shaft 106, the bracket 104 is fixedly mounted on the base 101, the speed reducer 105 is mounted on the bracket 104, the driving mechanism is in transmission connection with one end of the speed reducer 105, and the other end of the speed reducer 105 is connected with one end of the rotating shaft 106; the base 101 is provided with a through hole, the rotating shaft 106 penetrates through the through hole, the rotating shaft 106 is connected with the base 101 through a bearing, and the other end of the rotating shaft 106 is fixedly connected with the grabbing device 103.
Specifically, the base 101 includes a support plate 107 and a sleeve 108, a through hole is provided on the support plate 107, both ends of the sleeve 108 are open, the sleeve 108 and the support plate 107 are fixedly connected by a fastening bolt, and the opening of the sleeve 108 is communicated with the through hole; the other end of the rotating shaft 106 passes through the through hole and the sleeve 108 and is fixedly connected with the gripping device 103. When the driving mechanism drives the rotating shaft 106 to rotate, the gripping device 103 can rotate together with the rotating shaft 106.
The other end of the speed reducer 105 in this embodiment is keyed to one end of the rotating shaft 106.
Further, in certain alternative embodiments, the drive mechanism is a brake stepper motor, the reducer 105 is a worm gear reducer, and the bearing is a thrust bearing.
Because the friction coefficient is reduced by the thrust bearing, the worm and gear reducer has a high reduction ratio, and can amplify the driving torque of the driving mechanism for sufficient driving. The thrust bearing with low friction coefficient and high bearing capacity is adopted, and an object to be rotated with the weight of hundreds of kilograms can be driven to rotate; meanwhile, the locking of the brake stepping motor and the self-locking performance of the worm gear reducer can ensure that the rotation stops in place immediately, and certain impact resistance is achieved.
Further, in certain alternative embodiments, the bracket 104 is provided with a position sensor 109, the shaft 106 is provided with a positioning indicator 110, and the positioning indicator 110 cooperates with the position sensor 109 to indicate the direction and position of the shaft 106 to the origin.
By providing the position sensor 109 and the positioning indicator 110, it can be determined that the shaft 106 can ensure that the brake stepper motor can be rotated back to the origin to ensure accuracy. For example, when the positioning indicator 110 is aligned with the position sensor 109, the brake stepper motor is not operating, and at this time, the brake stepper motor is in the home position. According to the moving direction of the positioning indicator 110 relative to the position sensor 109, the forward rotation and the reverse rotation of the brake stepping motor can be judged in real time so as to judge the direction of the rotating shaft 106 returning to the original point.
Further, in some alternative embodiments, the positioning indicator 110 is made of metal.
Specifically, the position sensor 109 in this embodiment is metal sensing, and therefore, the positioning indicator 110 is made of metal.
Optionally, the position sensor 109 in this embodiment is a proximity switch.
Further, in some alternative embodiments, the positioning indicator 110 is a lock nut that is fixedly coupled to the shaft 106. The lock nut can fix the rotation shaft 106 in the axial direction.
The number of the locking nuts can be one or more. In this embodiment, the number of the locking nuts is two, the two locking nuts are arranged side by side along the axis of the rotating shaft 106, and the rotating shaft 106 is provided with an external thread matched with the locking nuts.
Further, in certain alternative embodiments, referring to fig. 2, power control 117 is shown in fig. 2. The number of the bearings is two, namely a first bearing 111 and a second bearing 112, wherein the first bearing 111 is positioned above the second bearing 112; the shaft 106 is sleeved with a bushing, and the bearing is located between the first bearing 111 and the second bearing 112.
Through setting up two bearings, can improve rotatory stability. Specifically, the outer ring of the first bearing 111 and the outer ring of the second bearing 112 are both fixedly connected to the inner wall of the sleeve 108, and the inner ring of the first bearing 111 and the inner ring of the second bearing 112 are both fixedly connected to the rotating shaft 106.
Specifically, the upper surface of the sleeve 108 is provided with a first step surface, and the first bearing 111 is located on the first step surface; the lower surface of the sleeve 108 is provided with a second step surface, the rotating shaft 106 is provided with a third step surface, the third step surface is arranged opposite to the second step surface, and the second bearing 112 is positioned between the second step surface and the third step surface.
Further, in some optional embodiments, the rotating device further includes a mounting plate 114, the mounting plate 114 is disposed on the rotating shaft 106, the mounting plate 114 is fixedly connected to the rotating shaft 106, and the mounting plate 114 is configured to be fixedly connected to the power control device 117 of the gripping device 103.
Specifically, the mounting plate 114 is provided with a mounting hole, the rotating shaft 106 passes through the mounting hole, and the rotating shaft 106 is fixedly connected with the mounting plate 114.
Further, in certain alternative embodiments, the rotating device further comprises a reinforcing plate 115; an annular plate 116 is arranged at one end of the rotating shaft 106 close to the grabbing device 103, and a reinforcing plate 115 is tightly fixed between the mounting plate 114 and the annular plate 116.
Specifically, the present embodiment fixedly connects the mounting plate 114, the reinforcing plate 115, and the annular plate 116 together using bolts and nuts.
Optionally, the annular plate 116 is integrally formed with the shaft 106.
The thrust bearing makes the rotational force required for the rotating means small, so that the rotating shaft 106 can transmit the rotational force to the mounting plate 114 through the reinforcing plate 115.
It should be noted that the driving mechanism in this embodiment may also be a servo motor or other type of motor. The reducer 105 in this embodiment may also be a planetary gear reducer or other type of reducer. The bearing in this embodiment may also be an angular contact bearing or other bearing.
Example two
Referring to fig. 3, the present embodiment provides a manipulator, which includes a gripping device 103 and a rotating device provided in the first embodiment of the present invention, and a driving mechanism is in transmission connection with the gripping device 103.
In the manipulator provided by this embodiment, because the rotating device provided by the first embodiment of the present invention is used, when the gripping device 103 rotates, the base 101 does not rotate along with the gripping device 103, and when a device that does not need to rotate needs to be externally connected, the device that does not need to rotate needs to be installed on the installation position on the base 101.
It should be noted that the grasping device 103 may be a grasping device in the prior art, and will not be described in detail herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The rotating device is characterized by comprising a base and a driving mechanism, wherein the base is provided with a mounting position for mounting an external device, the driving mechanism is mounted on the base, and the driving mechanism is used for driving a grabbing device to rotate relative to the base.
2. The rotating device according to claim 1, further comprising a bracket and a transmission mechanism, wherein the transmission mechanism comprises a speed reducer and a rotating shaft, the bracket is fixedly mounted on the base, the speed reducer is mounted on the bracket, the driving mechanism is in transmission connection with one end of the speed reducer, and the other end of the speed reducer is connected with one end of the rotating shaft; the base is provided with the through-hole, the pivot passes the through-hole, just the pivot with the base passes through the bearing and connects, the other end of pivot with grabbing device fixed connection.
3. A rotary apparatus according to claim 2, wherein the support is provided with a position sensor and the rotary shaft is provided with a position indicator which cooperates with the position sensor to indicate the direction and position of the rotary shaft home point.
4. The rotary device as claimed in claim 3, wherein the positioning indicator is made of metal.
5. The rotary device as claimed in claim 4, wherein the positioning indicator is a positioning nut fixedly connected to the rotary shaft.
6. A rotary device according to claim 2, wherein the number of the bearings is two, respectively a first bearing and a second bearing, the first bearing being located above the second bearing; the outer sleeve of pivot is equipped with the axle sleeve, the bearing is located first bearing with between the second bearing.
7. The rotating device according to claim 2, further comprising a mounting plate, wherein the mounting plate is sleeved on the rotating shaft and is fixedly connected with the rotating shaft, and the mounting plate is fixedly connected with the power control device of the gripping device.
8. The rotary device of claim 7, further comprising a reinforcing plate;
the one end that is close to of pivot grabbing device is provided with the annular slab, the reinforcing plate pressure fastening is in the mounting panel with between the annular slab.
9. The rotary device of any one of claims 2 to 8, wherein the drive mechanism is a brake stepper motor, the reducer is a worm gear reducer, and the bearing is a thrust bearing.
10. A manipulator, comprising a gripping device and a rotating device according to any of claims 1 to 9, wherein the drive mechanism is in driving connection with the gripping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010079418.1A CN111152208A (en) | 2020-02-03 | 2020-02-03 | Rotating device and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010079418.1A CN111152208A (en) | 2020-02-03 | 2020-02-03 | Rotating device and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111152208A true CN111152208A (en) | 2020-05-15 |
Family
ID=70565218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010079418.1A Pending CN111152208A (en) | 2020-02-03 | 2020-02-03 | Rotating device and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111152208A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004017208A (en) * | 2002-06-14 | 2004-01-22 | Kondo Seisakusho:Kk | Double chuck unit |
| CN104440876A (en) * | 2014-11-06 | 2015-03-25 | 同高先进制造科技（太仓）有限公司 | Five-axis composite movement power-assisting arm |
| CN204645922U (en) * | 2015-05-25 | 2015-09-16 | 鹤山天山金属材料制品有限公司 | A kind of concealed Pinless hinge with guide member of door leaf |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN206265846U (en) * | 2016-11-30 | 2017-06-20 | 帝麦克斯(苏州)医疗科技有限公司 | A kind of whirligig and capture apparatus |
| CN107618428A (en) * | 2017-10-24 | 2018-01-23 | 安徽星马专用汽车有限公司 | A kind of AUTOMATIC ZONING shelf and lorry for boxcar |
| CN108466285A (en) * | 2018-06-11 | 2018-08-31 | 昆山宇辰光通自动化科技有限公司 | Adjustable positioning clamping mechanical hand |
| CN208773628U (en) * | 2018-08-30 | 2019-04-23 | 江苏盛国宏贝智能自动化工程有限公司 | A kind of three axis truss manipulator clamping devices |
| CN209905935U (en) * | 2019-05-07 | 2020-01-07 | 河南天香面业有限公司 | Rotary mechanism of flour finished product stacking device |
| CN211565899U (en) * | 2020-02-03 | 2020-09-25 | 深圳市时维智能装备有限公司 | Rotating device and manipulator |
-
2020
- 2020-02-03 CN CN202010079418.1A patent/CN111152208A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004017208A (en) * | 2002-06-14 | 2004-01-22 | Kondo Seisakusho:Kk | Double chuck unit |
| CN104440876A (en) * | 2014-11-06 | 2015-03-25 | 同高先进制造科技（太仓）有限公司 | Five-axis composite movement power-assisting arm |
| CN204645922U (en) * | 2015-05-25 | 2015-09-16 | 鹤山天山金属材料制品有限公司 | A kind of concealed Pinless hinge with guide member of door leaf |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN206265846U (en) * | 2016-11-30 | 2017-06-20 | 帝麦克斯(苏州)医疗科技有限公司 | A kind of whirligig and capture apparatus |
| CN107618428A (en) * | 2017-10-24 | 2018-01-23 | 安徽星马专用汽车有限公司 | A kind of AUTOMATIC ZONING shelf and lorry for boxcar |
| CN108466285A (en) * | 2018-06-11 | 2018-08-31 | 昆山宇辰光通自动化科技有限公司 | Adjustable positioning clamping mechanical hand |
| CN208773628U (en) * | 2018-08-30 | 2019-04-23 | 江苏盛国宏贝智能自动化工程有限公司 | A kind of three axis truss manipulator clamping devices |
| CN209905935U (en) * | 2019-05-07 | 2020-01-07 | 河南天香面业有限公司 | Rotary mechanism of flour finished product stacking device |
| CN211565899U (en) * | 2020-02-03 | 2020-09-25 | 深圳市时维智能装备有限公司 | Rotating device and manipulator |
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