High-stability manipulator base

Abstract

The utility model discloses a stable grabbing type manipulator, which belongs to the field of manipulators, and is characterized in that the stable grabbing type manipulator comprises a supporting seat, and further comprises a manipulator body mounted on the supporting seat; the stabilizing assembly is mounted on the supporting seat; wherein the stabilizing assembly comprises a stabilizing cavity, a balance weight disc, balance weight boxes, a flow dividing assembly, a water inlet box and a water draining assembly, the stabilizing cavity is formed in the supporting base, the balance weight disc is installed in the stabilizing cavity, the balance weight boxes are installed on the balance weight disc, and the multiple balance weight boxes are evenly distributed around the axis of the balance weight disc; the distribution assembly is installed on the balance weight box, the water inlet box is installed on the distribution assembly, and the drainage assembly is installed on the supporting seat. According to the mechanical arm, position deviation of the base can be avoided when the mechanical arm works, and the working stability and safety of the mechanical arm are better.

Description

Technical Field

[0001] This application belongs to the field of manipulators, and particularly relates to a manipulator base with high stability. Background Art

[0002] The robotic arm is an automated mechanical device that has been most widely applied in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, and other fields. A grasping device is required during industrial manufacturing.

[0003] The existing publication number CN207465220U discloses a grasping manipulator, which includes a fixed seat, a driving device, an arm, a reduction device, and a grasping mechanism. The arm seat is driven to perform a horizontal rotation movement through the turbine mechanism on the driving device, the support arm is driven to perform an inclination movement through a servo motor, and the grasping mechanism is driven to perform a clamping and releasing action through the reduction device. The motor drives the worm and gear, and the turbine drives the rotating boss and the arm seat to rotate 360°. The reduction motor controls the central shaft to drive the V-shaped grasping pliers to clamp or release.

[0004] Although the above-mentioned manipulator can achieve fixed handling and loading / unloading by using the method of repeated grasping and transportation, with low labor intensity, the base of the manipulator is not stable enough during operation, and it is easy to produce position deviation during the operation of the manipulator. Summary of the Utility Model

[0005] The purpose of this application is to address the above-mentioned existing technical problems and provide a manipulator base with high stability, which can avoid the position deviation of the base during the operation of the manipulator, making the operation of the manipulator more stable and safe.

[0006] This application provides a manipulator base with high stability, including a support base, and further including:

[0007] A manipulator body, which is installed on the support base;

[0008] A stability component, which is installed on the support base;

[0009] Among them, the stability component includes a stability cavity, a counterweight disk, a counterweight box, a flow splitting component, a water inlet box, and a drainage component. The stability cavity is arranged on the support base, the counterweight disk is installed in the stability cavity, the counterweight box is installed on the counterweight disk, several counterweight boxes are evenly distributed around the axis of the counterweight disk in a circumferential manner, the flow splitting component is installed on the counterweight box, the water inlet box is installed on the flow splitting component, and the drainage component is installed on the support base.

[0010] When it is determined that the manipulator base needs to be driven to work, water is injected into the water inlet box. After the water enters the water inlet box, it is divided by the flow dividing component and enters the counterweight boxes evenly distributed around the axis of the counterweight disk. When the water in each counterweight box is full, the counterweight boxes are all arranged on the outer ring of the counterweight disk, which can prevent the manipulator from tipping over or shifting during operation, making the operation of the manipulator more stable and safe.

[0011] Further, the flow dividing component includes:

[0012] A flow dividing cylinder, which is installed on the counterweight box;

[0013] A flow dividing cavity, which is arranged on the flow dividing cylinder. There are several flow dividing cavities, and an opening is arranged at the upper end of the counterweight box and is connected to the flow dividing cavity.

[0014] Since the flow dividing component includes a flow dividing cylinder and a flow dividing cavity, the flow dividing cylinder is installed on the counterweight box, the flow dividing cavity is arranged on the flow dividing cylinder, there are several flow dividing cavities, and an opening is arranged at the upper end of the counterweight box and is connected to the flow dividing cavity. When the water passes through the water inlet box and enters the flow dividing cylinder, it evenly flows into the counterweight boxes through each flow dividing cavity, so that each counterweight box can complete the water filling at the same time when injecting water, avoiding the overflow of water due to the premature filling of a single counterweight box and affecting the work of filling the counterweight box, making the filling of water in the counterweight box more stable and efficient when the counterweight box needs to provide a stable supporting force for the manipulator.

[0015] Further, the water inlet box includes:

[0016] A water delivery pipe, which is installed on the water inlet box;

[0017] A flow dividing pipe, which is installed on the water delivery pipe.

[0018] Since the water inlet box includes a water delivery pipe and a flow dividing pipe, the water delivery pipe is installed on the water inlet box, and the flow dividing pipe is installed on the water delivery pipe. When it is necessary to inject water into the water inlet box to fill the counterweight box, the water is poured into the water delivery pipe, and the water poured into the water delivery pipe is sprayed out through the flow division of the flow dividing pipe, making the water enter the flow dividing cavity more evenly.

[0019] Further, the drainage component includes:

[0020] A driving component, which is installed on the support base;

[0021] A drainage disk, which is installed on the driving component;

[0022] Water filtering holes, which are arranged on the drainage disk. There are several water filtering holes.

[0023] The drainage component includes a drive component, a drainage tray, and water filtering holes. The drive component is installed on the support frame, the drainage tray is installed on the drive component, the water filtering holes are provided on the drainage tray, and there are several water filtering holes. The lower end of the counterweight box is provided with an opening. When filling with water, the opening on the counterweight box is blocked by the drainage tray, and the water in the counterweight box will not flow out. When it is necessary to drain the water in the counterweight box, the drive component drives the drainage tray to rotate until the water filtering holes on the drainage tray are aligned with the opening at the lower end of the counterweight box. At this time, the water in the counterweight box can be drained through the water filtering holes on the drainage tray. By adjusting the position of the water filtering holes on the drainage tray, it is possible to control whether the water in the counterweight box can be drained, making the drainage of the counterweight box more convenient and efficient.

[0024] Furthermore, the drainage component further includes:

[0025] A water diversion slope, which is provided on the stable cavity;

[0026] A water outlet pipe, which is installed on the stable cavity.

[0027] Furthermore, the drainage component further includes a water diversion slope and a water outlet pipe. The water diversion slope is provided on the stable cavity, and the water outlet pipe is installed on the stable cavity. The water diversion slope has a certain slope, so that the water drained from the counterweight box can flow towards the side where the water outlet pipe is provided under the influence of the slope of the water diversion slope, and finally be drained through the water outlet pipe. The water diversion slope prevents water from accumulating in the stable cavity and avoids excessive water accumulation in the stable cavity affecting the next drainage of the counterweight box.

[0028] Furthermore, the drive component includes:

[0029] A drive cavity, which is provided on the support base;

[0030] A first rotating shaft, one end of which is installed on the drive cavity and the other end is installed on the drainage tray;

[0031] A first bevel gear, which is installed on the first rotating shaft;

[0032] A second rotating shaft, which is installed on the drive cavity;

[0033] A second bevel gear, which is installed on the second rotating shaft;

[0034] A drive motor, which is installed on the support base, and the output shaft of the drive motor is connected to the second rotating shaft.

[0035] When it is necessary to drive the drainage tray to rotate to control the drainage of the counterweight box, the drive motor starts to work to drive the second rotating shaft to rotate. The rotation of the second rotating shaft drives the second bevel gear to rotate. The second bevel gear meshes with the first bevel gear. When the second bevel gear rotates, the first bevel gear is also driven to rotate. The rotation of the first bevel gear drives the first rotating shaft to rotate. The rotation of the first rotating shaft can drive the drainage tray connected to the first rotating shaft to rotate. The drive assembly makes the drainage assembly work more automatically and reduces the labor intensity of the user.

[0036] The beneficial effects of this application are:

[0037] 1. When the water in each counterweight box is full, the counterweight boxes are all arranged on the outer circle of the counterweight disk, which can prevent the manipulator from tipping over or shifting in position during operation, making the operation of the manipulator more stable and safe;

[0038] 2. When injecting water, each counterweight box can complete the water injection simultaneously, avoiding the overflow of water due to a single counterweight box being filled with water in advance, which affects the work of filling the counterweight box, and making the water filling in the counterweight box more stable and efficient when the counterweight box needs to provide a stable supporting force for the manipulator;

[0039] 3. When it is necessary to inject water into the water inlet box to fill the counterweight box, the water is poured into the water delivery pipe. The water poured into the water delivery pipe is sprayed out through the diversion of the diversion pipe, making the water enter the diversion cavity more evenly. Description of the Drawings

[0040] Figure 1 is a schematic diagram of the overall structure of this application;

[0041] Figure 2 is a cross-sectional view of the support base of this application;

[0042] Figure 3 is of this application Figure 2 partial enlarged view of part A;

[0043] Figure 4 is a schematic diagram of the structure of the counterweight box of this application;

[0044] The reference numerals in the figure are: 100, support base; 200, manipulator body; 300, stabilizing assembly; 310, stabilizing cavity; 320, counterweight disk; 330, counterweight box; 340, flow splitting assembly; 341, flow splitting cylinder; 342, flow splitting cavity; 350, water inlet box; 351, water delivery pipe; 352, flow splitting pipe; 360, drainage assembly; 361, drive assembly; 362, drainage disk; 363, water filtering holes; 364, water diversion slope; 365, water outlet pipe; 371, drive cavity; 372, first rotating shaft; 373, first bevel gear; 374, second rotating shaft; 375, second bevel gear; 376, drive motor. Specific embodiments

[0045] The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0046] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order different from those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object may be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the related objects before and after.

[0047] The embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0048] Embodiment 1:

[0049] As Figure 1 、 Figure 2 、 Figure 4 shown, the embodiment of the present application provides a highly stable manipulator base, including a support base 100, and further including:

[0050] A manipulator body 200, which is installed on the support base 100;

[0051] A stabilizing assembly 300, which is installed on the support base 100;

[0052] Among them, the stability component 300 includes a stability chamber 310, a counterweight disk 320, a counterweight box 330, a flow splitting component 340, a water inlet box 350, and a drainage component 360. The stability chamber 310 is arranged on the support base 100. The counterweight disk 320 is installed in the stability chamber 310. The counterweight box 330 is installed on the counterweight disk 320. A plurality of counterweight boxes 330 are evenly distributed around the axis of the counterweight disk 320 in a circumferential manner. The flow splitting component 340 is installed on the counterweight box 330. The water inlet box 350 is installed on the flow splitting component 340. The drainage component 360 is installed on the support base 100.

[0053] When it is determined that the position of the robot base needs to drive the robot to work, water is injected into the water inlet box 350. After the water enters the water inlet box 350, it is split by the flow splitting component 340 and enters the counterweight boxes 330 that are evenly distributed around the axis of the counterweight disk 320 in a circumferential manner. When the water in each counterweight box 330 is full, the counterweight boxes 330 are all arranged on the outer ring of the counterweight disk 320, which can prevent the robot from tipping or shifting during operation, making the stability and safety of the robot work better.

[0054] Embodiment 2:

[0055] As Figure 3 、 Figure 4 shown, the embodiment of the present application provides a robot base with high stability. In addition to including the above technical features, the flow splitting component 340 includes:

[0056] A flow splitting cylinder 341, which is installed on the counterweight box 330;

[0057] A flow splitting chamber 342, which is arranged on the flow splitting cylinder 341. A plurality of flow splitting chambers 342 are provided. An opening is provided at the upper end of the counterweight box 330 and is connected to the flow splitting chamber 342.

[0058] Since the flow splitting component 340 includes a flow splitting cylinder 341 and a flow splitting chamber 342, the flow splitting cylinder 341 is installed on the counterweight box 330, the flow splitting chamber 342 is arranged on the flow splitting cylinder 341, a plurality of flow splitting chambers 342 are provided, and an opening is provided at the upper end of the counterweight box 330 and is connected to the flow splitting chamber 342. When the water passes through the water inlet box 350 and enters the flow splitting cylinder 341, it evenly flows into the counterweight boxes 330 through each flow splitting chamber 342, enabling the water filling of each counterweight box 330 to be completed simultaneously when injecting water, avoiding the overflow of water due to a single counterweight box 330 being filled with water in advance and affecting the work of filling the counterweight box 330, and making the filling of water in the counterweight box 330 more stable and efficient when the counterweight box 330 needs to provide a stable supporting force for the robot.

[0059] Embodiment 3:

[0060] As shown Figure 3 in the figure, an embodiment of the present application provides a high-stability manipulator base. In addition to including the above technical features, the water inlet box 350 includes:

[0061] A water delivery pipe 351, which is installed on the water inlet box 350;

[0062] A flow dividing pipe 352, which is installed on the water delivery pipe 351.

[0063] Since the water inlet box 350 includes the water delivery pipe 351 and the flow dividing pipe 352, the water delivery pipe 351 is installed on the water inlet box 350, and the flow dividing pipe 352 is installed on the water delivery pipe 351. When it is necessary to pour water into the water inlet box 350 to fill the counterweight box 330, the water is poured into the water delivery pipe 351, and the water poured into the water delivery pipe 351 is sprayed out through the flow division of the flow dividing pipe 352, so that the water enters the flow division cavity 342 more evenly.

[0064] Embodiment 4:

[0065] As shown Figure 1 in Figure 2 and Figure 4 the figure, an embodiment of the present application provides a high-stability manipulator base. In addition to including the above technical features, the drainage assembly 360 includes:

[0066] A driving assembly 361, which is installed on the support base 100;

[0067] A drainage tray 362, which is installed on the driving assembly 361;

[0068] Water filtering holes 363, which are arranged on the drainage tray 362, and a plurality of water filtering holes 363 are provided.

[0069] The drainage assembly 360 includes a drive assembly 361, a drainage tray 362, and water filtering holes 363. The drive assembly 361 is installed on the support frame, the drainage tray 362 is installed on the drive assembly 361, the water filtering holes 363 are provided on the drainage tray 362, and a plurality of water filtering holes 363 are provided. The lower end of the counterweight box 330 is provided with an opening. When filling with water, the opening on the counterweight box 330 is blocked by the drainage tray 362, and the water in the counterweight box 330 will not flow out. When it is necessary to drain the water in the counterweight box 330, the drive assembly 361 drives the drainage tray 362 to rotate until the water filtering holes 363 on the drainage tray 362 are aligned with the opening at the lower end of the counterweight box 330. At this time, the water in the counterweight box 330 can be drained through the water filtering holes 363 on the drainage tray 362. By adjusting the position of the water filtering holes 363 on the drainage tray 362, it is possible to control whether the water in the counterweight box 330 can be drained, making the drainage of the counterweight box 330 more convenient and efficient.

[0070] Embodiment 5:

[0071] As Figure 2 shown, the embodiment of the present application provides a highly stable robot arm base. In addition to including the above technical features, the drainage assembly 360 further includes:

[0072] A water diversion slope 364, which is provided on the stable cavity 310;

[0073] A water outlet pipe 365, which is installed on the stable cavity 310.

[0074] Since the drainage assembly 360 further includes a water diversion slope 364 and a water outlet pipe 365, the water diversion slope 364 is provided on the stable cavity 310, and the water outlet pipe 365 is installed on the stable cavity 310. The water diversion slope 364 has a certain slope, so that the water drained from the counterweight box 330 can flow toward the side where the water outlet pipe 365 is provided under the influence of the slope of the water diversion slope 364, and finally is drained through the water outlet pipe 365. The water diversion slope 364 prevents water from accumulating in the stable cavity 310 and avoids the excessive accumulation of water in the stable cavity 310 from affecting the next drainage of the counterweight box 330.

[0075] Embodiment 6:

[0076] As Figure 2 shown, the embodiment of the present application provides a highly stable robot arm base. In addition to including the above technical features, the drive assembly 361 includes:

[0077] A drive cavity 371, which is provided on the support base 100;

[0078] A first rotating shaft 372, one end of which is installed on the drive cavity 371 and the other end is installed on the drainage tray 362;

[0079] The first bevel gear 373, which is mounted on the first rotating shaft 372;

[0080] The second rotating shaft 374, which is mounted on the drive cavity 371;

[0081] The second bevel gear 375, which is mounted on the second rotating shaft 374;

[0082] The drive motor 376, which is mounted on the support base 100, and the output shaft of the drive motor 376 is connected to the second rotating shaft 374.

[0083] When it is necessary to drive the drainage tray 362 to rotate to control the drainage operation of the counterweight box 330, the drive motor 376 starts to work to drive the second rotating shaft 374 to rotate. The rotation of the second rotating shaft 374 drives the second bevel gear 375 to rotate. The second bevel gear 375 meshes with the first bevel gear 373. When the second bevel gear 375 rotates, the first bevel gear 373 is also driven to rotate. The rotation of the first bevel gear 373 drives the first rotating shaft 372 to rotate. The rotation of the first rotating shaft 372 can drive the drainage tray 362 connected to the first rotating shaft 372 to rotate. The drive assembly 361 makes the drainage assembly 360 work more automatically and reduces the labor intensity of the user.

[0084] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0085] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A high-stability manipulator base, comprising a support base (100), characterized in that , also includes: A manipulator body (200), wherein the manipulator body (200) is mounted on a support base (100); A stabilizing assembly (300), wherein the stabilizing assembly (300) is mounted on the supporting base (100); The stabilizing component (300) comprises a stabilizing chamber (310), a counterweight plate (320), a counterweight box (330), a flow diversion component (340), a water inlet box (350), and a drainage component (360); the stabilizing chamber (310) is arranged on a support seat (100); the counterweight plate (320) is installed in the stabilizing chamber (310); the counterweight box (330) is installed on the counterweight plate (320); a plurality of counterweight boxes (330) are evenly distributed around the axis of the counterweight plate (320); the flow diversion component (340) is installed on the counterweight box (330); the water inlet box (350) is installed on the flow diversion component (340); and the drainage component (360) is installed on the support seat (100).

2. A high stability manipulator base according to claim 1, characterized in that: The flow dividing component (340) comprises: A flow dividing tube (341), wherein the flow dividing tube (341) is installed on the counterweight box (330); The diversion chamber (342) is arranged on the diversion cylinder (341), and a plurality of the diversion chambers (342) are arranged. The upper end of the counterweight box (330) is provided with an opening connected to the diversion chamber (342).

3. A high stability manipulator base according to claim 2, characterized in that: The water inlet box (350) comprises: A water delivery pipe (351), wherein the water delivery pipe (351) is installed on the water inlet box (350); A shunt pipe (352), wherein the shunt pipe (352) is installed on the water delivery pipe (351).

4. A high stability manipulator base according to claim 3, characterized in that: The drainage assembly (360) comprises: A driving assembly (361), wherein the driving assembly (361) is mounted on the supporting base (100); A drain pan (362), wherein the drain pan (362) is mounted on the drive assembly (361); A water filter hole (363), wherein the water filter hole (363) is arranged on the drain pan (362), and a plurality of the water filter holes (363) are arranged.

5. A high stability manipulator base according to claim 4, characterized in that: The drainage assembly (360) further includes: A water diversion slope (364), wherein the water diversion slope (364) is arranged on the stabilization chamber (310); A water outlet pipe (365), wherein the water outlet pipe (365) is installed on the stabilization chamber (310).

6. A high stability manipulator base according to claim 5, characterized in that: The driving assembly (361) comprises: A driving chamber (371), wherein the driving chamber (371) is arranged on the supporting seat (100); A first rotating shaft (372), one end of the first rotating shaft (372) being mounted on the driving chamber (371) and the other end of the first rotating shaft (372) being mounted on the drain pan (362); A first bevel gear (373), wherein the first bevel gear (373) is mounted on the first rotating shaft (372); A second rotating shaft (374), wherein the second rotating shaft (374) is mounted on the driving chamber (371); A second bevel gear (375), wherein the second bevel gear (375) is mounted on the second rotating shaft (374); A driving motor (376), wherein the driving motor (376) is mounted on the support seat (100), and an output shaft of the driving motor (376) is connected to the second rotating shaft (374).

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