CN108621138A - A kind of robot manipulator of high stability - Google Patents
A kind of robot manipulator of high stability Download PDFInfo
- Publication number
- CN108621138A CN108621138A CN201810738094.0A CN201810738094A CN108621138A CN 108621138 A CN108621138 A CN 108621138A CN 201810738094 A CN201810738094 A CN 201810738094A CN 108621138 A CN108621138 A CN 108621138A
- Authority
- CN
- China
- Prior art keywords
- rotating arm
- driving device
- joint
- high stability
- telescopic rod
- 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.)
- Withdrawn
Links
- 238000013016 damping Methods 0.000 claims abstract description 13
- 238000003466 welding Methods 0.000 claims abstract description 4
- 239000003292 glue Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000872 buffer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot manipulators of high stability, including damping device, driving device, first rotating arm and take object hook, the damping device includes mounting seat, mounting plate, telescopic rod and cylinder, it is fixed at the center of the mounting plate upper surface and is installed by welding with telescopic rod, the telescopic rod top is fixedly connected with autobalance block, autobalance block top is fixedly connected with driving device, it is equipped with spring outside the driving device, the spring bottom end is equipped with eccentric adjusting nut, the driving device top is connected with first rotating arm, it is fixedly connected by locking bolt, it is connected with the first joint on front side of the first rotating arm, it is connected with the second rotating arm on first joint, the second rotating arm left end is movably connected on the first joint, right end is movably connected on second joint.The robot manipulator of the high stability, simple in structure, reasonable design, easy operation is adaptable, can be used with popularity.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of robot manipulator of high stability.
Background technology
Manipulator is the certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object or behaviour
Make the automatic pilot of tool；Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it
The heavy labor of people can be replaced to realize the mechanization and automation of production, can be operated under hostile environment to protect personal peace
Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy；Nowadays robot application is very wide
General but traditional robot architecture is complicated, and inconvenient, applicability is not strong, it is therefore desirable to improve.
Invention content
The purpose of the present invention is to provide a kind of robot manipulators of high stability, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the present invention provides the following technical solutions：A kind of robot manipulator of high stability, packet
It includes damping device, driving device, first rotating arm and takes object hook, the damping device includes mounting seat, mounting plate, telescopic rod
And cylinder, fix at the center of the mounting plate upper surface and be installed by welding with telescopic rod, the telescopic rod top be fixedly connected with from
Dynamic balance weight, autobalance block top are fixedly connected with driving device, spring, the bullet are equipped with outside the driving device
Spring bottom end is equipped with eccentric adjusting nut, and the driving device top is connected with first rotating arm, is fixedly connected by locking bolt,
It is connected with the first joint on front side of the first rotating arm, the second rotating arm is connected on first joint, it is described
Second rotating arm left end is movably connected on the first joint, and right end is movably connected on second joint, the second joint flexible connection
In the left end of third rotating arm, the third rotating arm right end, which is inlayed to be equipped with, takes object hook.
Preferably, the mounting seat upper surface is fixedly welded with four groups of telescopic rods, and described telescopic rod one end is vertically fixed
It is welded on mounting seat upper surface, the other end is vertically fixedly welded on mounting plate lower face, and the telescopic rod is separately positioned on peace
The quadrangle of pedestal upper surface is filled, cylinder is installed at the center of the mounting seat upper surface, the air cylinder base fixes weldering
It is connected on mounting seat upper surface, top is fixedly connected on mounting plate lower face.
Preferably, autobalance block both sides are connected with two groups of abrasionproof glue, and the abrasionproof glue is with the vertical of autobalance block
It is symmetrical arranged to axle center.
Preferably, the locking bolt is cylindrical hollow structure, and the locking bolt inner wall offers thread groove, the driving dress
It is set to cylindrical structure, the driving device apical lateral offers the thread groove with locking bolt cooperation installation, first rotation
Pivoted arm is cylindrical structure, and the first rotating arm Basolateral offers the thread groove with locking bolt cooperation installation, the lock
Determine bolt and be nested with to be screwed installation on driving device top and first rotating arm bottom end.
Preferably, the driving device is equipped with servo motor, and the servo motor is mounted on inside driving device.
The technique effect and advantage of the present invention：The robot manipulator of the high stability, driving device are equipped with bullet outside
Spring, when taking the taken weight of object of object hook small, spring is into row buffering, and when weight of object is excessive, spring carries out buffering for the first time will
After impact force weakens, biography sets lower section damping device, and telescopic rod carries out second and buffers, and impact force is thoroughly sustained by last cylinder,
Protect device without damage, damping device is cuboid structure, increases the contact area of the device, improves stability, from
Dynamic balance weight both sides are connected with two groups of abrasionproof glue, and abrasionproof glue is symmetrical arranged with the longitudinal axis center of autobalance block, protect automatic flat
The block that weighs is not frayed, and locking bolt is nested with to be screwed installation on driving device top and first rotating arm bottom end, increases structure
Fastness, the robot manipulator of the high stability, simple in structure, reasonable design, easy operation is adaptable, can be with
Popularity uses.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the damping device structural schematic diagram of the present invention；
Fig. 3 is the servo motor structural schematic diagram of the present invention.
In figure：1 damping device, 2 telescopic shafts, 3 abrasionproof glue, 4 autobalance blocks, 5 driving devices, 6 eccentric adjusting nuts, 7
Spring, 8 locking bolts, 9 first joints, 10 first rotating arms, 11 second rotating arms, 12 second joints, 13 third rotating arms, 14 take
Object hook, 101 mounting seats, 102 mounting plates, 103 telescopic rods, 104 cylinders, 1001 servo motors.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of robot manipulator of high stability as shown in Figs. 1-3, including damping device 1,
Driving device 5, first rotating arm 10 and object hook 14 is taken, the damping device 1 includes mounting seat 101, mounting plate 102, flexible
Bar 103 and cylinder 104 are fixed at 102 upper surface center of the mounting plate and are installed by welding with telescopic rod 103, the telescopic rod 103
Top is fixedly connected with autobalance block 4, and 4 top of autobalance block is fixedly connected with driving device 5, the driving device
It is equipped with spring 7 outside 5,7 bottom end of the spring is equipped with eccentric adjusting nut 6, and 5 top of the driving device is connected with the first rotation
Pivoted arm 10 is fixedly connected by locking bolt 8, and 10 front side of the first rotating arm is connected with the first joint 9, and described first closes
The second rotating arm 11 is connected on section 9,11 left end of the second rotating arm is movably connected on the first joint 9, right end activity
It is connected to second joint 12, the second joint 12 is movably connected on the left end of third rotating arm 13, the third rotating arm 13
Right end, which is inlayed to be equipped with, takes object hook 14.
Specifically, 101 upper surface of the mounting seat is fixedly welded with four groups of telescopic rods 103,103 one end of the telescopic rod
Vertical to be fixedly welded on 101 upper surface of mounting seat, the other end is vertically fixedly welded on 102 lower face of mounting plate, described flexible
Bar 103 is separately positioned on the quadrangle of 101 upper surface of mounting seat, and the mounting seat is installed at 101 upper surface center
Cylinder 104,104 pedestal of the cylinder are fixedly welded on 101 upper surface of mounting seat, and top is fixedly connected under mounting plate 102
End face.
Specifically, 4 both sides of autobalance block are connected with two groups of abrasionproof glue 3, the abrasionproof glue 3 is with autobalance block 4
Longitudinal axis center be symmetrical arranged.
Specifically, the locking bolt 8 is cylindrical hollow structure, 8 inner wall of the locking bolt offers thread groove, the driving
Device 5 is cylindrical structure, and 5 apical lateral of the driving device offers the thread groove with the cooperation installation of locking bolt 8, described the
One rotating arm 10 is cylindrical structure, and 10 Basolateral of the first rotating arm offers the screw thread with the cooperation installation of locking bolt 8
Slot, the locking bolt 8 is nested with to be screwed installation on 5 top of driving device and 10 bottom end of first rotating arm.
Specifically, the driving device 5 is equipped with servo motor 1001, the servo motor 1001 is mounted on driving device 5
It is internal.
Specifically, the robot manipulator of the high stability, telescopic rod 103 is separately positioned on 101 upper end of mounting seat
The quadrangle in face increases the stability of damping device 1, and 104 pedestal of cylinder is fixedly welded on 101 upper surface of mounting seat, to subtracting
It shakes device 1 and carries out second protection, can effectively dissolve when impact force is excessive, 103 top of telescopic rod is fixedly connected with automatic flat
Weigh block 4, and when taking 14 one side weight of object hook excessive, device can be recalled to equilibrium-like by autobalance block 4 by eccentric adjusting nut 6
State, 4 both sides of autobalance block are connected with two groups of abrasionproof glue 3, and abrasionproof glue 3 is symmetrical arranged with the longitudinal axis center of autobalance block 4, is prevented
Mill glue 3 can protect autobalance block 4 not frayed, and 5 top of driving device is connected with first rotating arm 10, passes through locking bolt 8
It is fixedly connected, 10 front side of first rotating arm is connected with the first joint 9, and the second rotating arm is connected on the first joint 9
11,11 left end of the second rotating arm is movably connected on the first joint 9, and right end is movably connected on second joint 12, and second joint 12 is lived
The dynamic left end for being connected to third rotating arm 13,13 right end of third rotating arm, which is inlayed to be equipped with, takes object hook 14, passes through first rotating arm
10, the second rotating arm 11 and third rotating arm 13 allow the robot of the high stability arbitrarily to rotate adjustment position with manipulator
It sets, does not take object in the regional area for being confined to traditional type, the robot manipulator of the high stability is simple in structure, and design is closed
Reason, it is easy to operate, it is adaptable, it can be used with popularity.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of robot manipulator of high stability, including damping device (1), driving device (5), first rotating arm (10)
With take object hook (14), it is characterised in that：The damping device (1) includes mounting seat (101), mounting plate (102), telescopic rod
(103) and cylinder (104) it, is fixed at mounting plate (102) the upper surface center and is installed by welding with telescopic rod (103), it is described to stretch
Contracting bar (103) top is fixedly connected with autobalance block (4), and autobalance block (4) top is fixedly connected with driving device
(5), it is equipped with spring (7) outside the driving device (5), spring (7) bottom end is equipped with eccentric adjusting nut (6), described
Driving device (5) top is connected with first rotating arm (10), is fixedly connected by locking bolt (8), the first rotating arm (10)
Front side is connected with the first joint (9), is connected with the second rotating arm (11) on first joint (9), and described second
Rotating arm (11) left end is movably connected on the first joint (9), and right end is movably connected on second joint (12), the second joint
(12) it is movably connected on the left end of third rotating arm (13), third rotating arm (13) right end, which is inlayed to be equipped with, takes object hook
(14)。
2. a kind of robot manipulator of high stability according to claim 1, it is characterised in that：The mounting seat
(101) upper surface is fixedly welded with four groups of telescopic rods (103), and described telescopic rod (103) one end is vertically fixedly welded on installation bottom
Seat (101) upper surface, the other end are vertically fixedly welded on mounting plate (102) lower face, and the telescopic rod (103) is separately positioned on
The quadrangle of mounting seat (101) upper surface is installed with cylinder (104), institute at mounting seat (101) the upper surface center
It states cylinder (104) pedestal and is fixedly welded on mounting seat (101) upper surface, top is fixedly connected on mounting plate (102) lower face.
3. a kind of robot manipulator of high stability according to claim 1, it is characterised in that：The autobalance
Block (4) both sides are connected with two groups of abrasionproof glue (3), and the abrasionproof glue (3) is symmetrical arranged with the longitudinal axis center of autobalance block (4).
4. a kind of robot manipulator of high stability according to claim 1, it is characterised in that：The locking bolt
(8) it is cylindrical hollow structure, locking bolt (8) inner wall offers thread groove, and the driving device (5) is cylindrical structure,
Driving device (5) apical lateral offers the thread groove with locking bolt (8) cooperation installation, and the first rotating arm (10) is
Cylindrical structure, first rotating arm (10) Basolateral offer the thread groove with locking bolt (8) cooperation installation, the lock
Determine bolt (8) and be nested with to be screwed installation on driving device (5) top and first rotating arm (10) bottom end.
5. a kind of robot manipulator of high stability according to claim 1, it is characterised in that：The driving device
(5) it is equipped with servo motor (1001), it is internal that the servo motor (1001) is mounted on driving device (5).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738094.0A CN108621138A (en) | 2018-07-06 | 2018-07-06 | A kind of robot manipulator of high stability |
| PCT/CN2018/104404 WO2020006857A1 (en) | 2018-07-06 | 2018-09-06 | High-stability robotic arm for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738094.0A CN108621138A (en) | 2018-07-06 | 2018-07-06 | A kind of robot manipulator of high stability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621138A true CN108621138A (en) | 2018-10-09 |
Family
ID=63689700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738094.0A Withdrawn CN108621138A (en) | 2018-07-06 | 2018-07-06 | A kind of robot manipulator of high stability |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108621138A (en) |
| WO (1) | WO2020006857A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561497A (en) * | 2019-08-30 | 2019-12-13 | 南京斯杩克机器人技术有限公司 | Industrial robot mount pad |
| WO2020006857A1 (en) * | 2018-07-06 | 2020-01-09 | 苏州宏奇锐自动化有限公司 | High-stability robotic arm for robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4775289A (en) * | 1987-09-25 | 1988-10-04 | Regents Of The University Of Minnesota | Statically-balanced direct-drive robot arm |
| CN202642855U (en) * | 2012-07-05 | 2013-01-02 | 李君辉 | Loading and unloading machine for bagged materials |
| CN206170073U (en) * | 2016-11-15 | 2017-05-17 | 昆山晨中和机械制造有限公司 | Articulated arm for machine -building convenient to dismantle and installation |
| CN107030465A (en) * | 2017-06-24 | 2017-08-11 | 安徽海之纳科技有限公司 | A kind of grid-like shield automation assembly and disassembly robot of LED lamp tube |
| CN206846212U (en) * | 2017-05-03 | 2018-01-05 | 泉州市佳蒋信息科技有限公司 | A kind of tunnel IMAQ robot Fast Installation adjustment structure |
| CN208483840U (en) * | 2018-07-06 | 2019-02-12 | 苏州宏奇锐自动化有限公司 | A kind of robot manipulator of high stability |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009262302A (en) * | 2008-04-28 | 2009-11-12 | Nachi Fujikoshi Corp | Cargo conveying device |
| CN202200307U (en) * | 2011-07-28 | 2012-04-25 | 成都慧拓自动控制技术有限公司 | Automatic lifting mechanical arm |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
| CN108621138A (en) * | 2018-07-06 | 2018-10-09 | 苏州宏奇锐自动化有限公司 | A kind of robot manipulator of high stability |
-
2018
- 2018-07-06 CN CN201810738094.0A patent/CN108621138A/en not_active Withdrawn
- 2018-09-06 WO PCT/CN2018/104404 patent/WO2020006857A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4775289A (en) * | 1987-09-25 | 1988-10-04 | Regents Of The University Of Minnesota | Statically-balanced direct-drive robot arm |
| CN202642855U (en) * | 2012-07-05 | 2013-01-02 | 李君辉 | Loading and unloading machine for bagged materials |
| CN206170073U (en) * | 2016-11-15 | 2017-05-17 | 昆山晨中和机械制造有限公司 | Articulated arm for machine -building convenient to dismantle and installation |
| CN206846212U (en) * | 2017-05-03 | 2018-01-05 | 泉州市佳蒋信息科技有限公司 | A kind of tunnel IMAQ robot Fast Installation adjustment structure |
| CN107030465A (en) * | 2017-06-24 | 2017-08-11 | 安徽海之纳科技有限公司 | A kind of grid-like shield automation assembly and disassembly robot of LED lamp tube |
| CN208483840U (en) * | 2018-07-06 | 2019-02-12 | 苏州宏奇锐自动化有限公司 | A kind of robot manipulator of high stability |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020006857A1 (en) * | 2018-07-06 | 2020-01-09 | 苏州宏奇锐自动化有限公司 | High-stability robotic arm for robot |
| CN110561497A (en) * | 2019-08-30 | 2019-12-13 | 南京斯杩克机器人技术有限公司 | Industrial robot mount pad |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020006857A1 (en) | 2020-01-09 |
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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: 20181009 |
|
| WW01 | Invention patent application withdrawn after publication |