CN113601492A - Robot arm assembly and robot - Google Patents
Robot arm assembly and robot Download PDFInfo
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- CN113601492A CN113601492A CN202110951440.5A CN202110951440A CN113601492A CN 113601492 A CN113601492 A CN 113601492A CN 202110951440 A CN202110951440 A CN 202110951440A CN 113601492 A CN113601492 A CN 113601492A
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- preset
- transmission rod
- mechanical arm
- robot
- supporting seat
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot arm assembly and a robot, wherein the robot arm assembly comprises: the mechanical arm is rotatably arranged around a preset axis, and the extending direction of the preset axis is vertical to the distribution direction of the connecting end and the free end of the preset mechanical arm; the supporting seat and the preset mechanical arm are arranged at intervals along a preset direction and movably arranged along the preset direction, and the preset direction is parallel to the extending direction of the preset axis; the transmission rod is in threaded connection with the free end of the preset mechanical arm and is rotatably connected with the supporting seat. Through setting up supporting seat and transfer line to alleviate or avoid predetermineeing the free end of arm and rock the phenomenon.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot arm assembly and a robot.
Background
At present, the SCARA robot is mainly applied to high-speed high-precision occasions, and in the use process of actual high-speed occasions, the SCARA robot has the problem that the tail end mechanical arm shakes because of overlarge inertia force.
The problem of shaking seriously influences the positioning precision of the tail end mechanical arm in a high-speed use occasion, causes that the SCARA robot cannot meet the requirements of high speed, high precision and high load at the same time, and limits the use occasion of the SCARA robot, so that the SCARA robot can only meet the requirements of low-speed large load and high-speed light load.
Disclosure of Invention
The invention mainly aims to provide a robot arm assembly and a robot, and aims to solve the problem that a tail end mechanical arm of an SCARA robot in the prior art shakes.
To achieve the above object, according to one aspect of the present invention, there is provided a robot arm assembly including: the preset mechanical arm is rotatably arranged around a preset axis, and the extending direction of the preset axis is vertical to the distribution direction of the connecting end and the free end of the preset mechanical arm; the supporting seat and the preset mechanical arm are arranged at intervals along a preset direction and movably arranged along the preset direction, and the preset direction is parallel to the extending direction of the preset axis; and the transmission rod is in threaded connection with the free end of the preset mechanical arm and is rotatably connected with the supporting seat.
Furthermore, the transmission rod penetrates through the supporting seat, and a bearing part is arranged between the transmission rod and the supporting seat so that the transmission rod can rotate relative to the supporting seat.
Further, the bearing member includes: the inner ring of the first bearing is connected with the transmission rod, and the outer ring of the first bearing is connected with the supporting seat; and/or, the magnetic bearing, the drive link is suspended and worn in the middle of the magnetic bearing, and make the drive link in its central axis and coincident precalculated position of central axis of the magnetic bearing; the outer wall of the magnetic bearing is connected with the supporting seat.
Further, the bearing component further includes: the sensing part of the detection piece is arranged towards the transmission rod so as to detect whether the transmission rod deviates from the preset position and the deviation displacement information of the transmission rod; when the detecting piece detects that the transmission rod deviates, the electromagnetic force generated by the magnetic bearing and acting on the transmission rod is changed by controlling the current supplied to the magnetic bearing.
Further, the robot arm assembly further comprises: a link connected to the driving rod and adapted to be connected to a load, the link being at an initial position when the driving rod is at a predetermined position thereof; the detection piece is provided with a sensing part facing the connecting piece so as to detect whether the transmission rod deviates from the preset position of the transmission rod by detecting whether the connecting piece deviates from the initial position of the connecting piece or not and acquire the deviation displacement information of the transmission rod by detecting the deviation displacement information of the connecting piece; when the detector detects the deviation of the connector, the electromagnetic force generated by the magnetic bearing and acting on the transmission rod is changed by controlling the current supplied to the magnetic bearing.
Further, the robot arm assembly further comprises a screw connector connected with the free end of the preset mechanical arm, the transmission rod comprises a screw section, and the screw connector is sleeved on the screw section.
Further, the robot arm assembly further comprises a ball screw, and a screw rod and a nut of the ball screw form a transmission rod and a screw connector respectively.
Furthermore, the robot arm assembly further comprises a slide rail and a sliding part which is slidably arranged on the slide rail, and the slide rail extends along the preset direction; the sliding part is connected with the free end of the preset mechanical arm, and the sliding rail is connected with the supporting seat so that the supporting seat can move relative to the preset mechanical arm; or the sliding part is connected with the supporting seat, and the sliding rail is connected with the free end of the preset mechanical arm, so that the supporting seat can move relative to the preset mechanical arm.
Further, the robot arm assembly further comprises: the two groups of sliding groups are respectively arranged on two sides of the preset mechanical arm along the width direction of the preset mechanical arm; the sliding rails and the sliding parts are arranged in pairs, and each sliding group comprises at least one pair of sliding rails and sliding parts; the width direction of the preset mechanical arm is perpendicular to the extending direction of the preset axis and perpendicular to the distribution direction of the connecting end and the free end of the preset mechanical arm.
According to another aspect of the present invention, there is provided a robot comprising the robot arm assembly described above.
By applying the technical scheme, the robot arm assembly comprises the preset mechanical arm, a supporting seat and a transmission rod, the preset mechanical arm is rotatably arranged around the preset axis, and the extending direction of the preset axis is vertical to the distribution direction of the connecting end and the free end of the preset mechanical arm, so that the free end of the preset mechanical arm can shake in the operation process of the preset mechanical arm; the supporting seat and the preset mechanical arm are arranged at intervals along a preset direction and movably arranged along the preset direction, the preset direction is parallel to the extending direction of the preset axis, and the transmission rod is in threaded connection with the free end of the preset mechanical arm and is rotatably connected with the supporting seat; through setting up supporting seat and transfer line to alleviate or avoid predetermineeing the free end of arm and rock the phenomenon.
Specifically, the transmission rod is in threaded connection with the free end of the preset mechanical arm, and the extending direction of the transmission rod is parallel to the extending direction of the preset axis, so that when the preset mechanical arm rotates, the preset mechanical arm can drive the transmission rod to rotate around the central axis of the transmission rod, and the preset mechanical arm and the transmission rod are enabled to rotate relatively; the transmission rod is in threaded connection with the free end of the preset mechanical arm, so that relative rotation motion between the preset mechanical arm and the transmission rod can be converted into linear motion between the preset mechanical arm and the transmission rod along the extension direction of the transmission rod, and the transmission rod drives the supporting seat to perform linear motion along the extension direction of the transmission rod due to the connection between the transmission rod and the supporting seat; when the transmission rod rotates around the central axis of the transmission rod, the transmission rod rotates relative to the supporting seat. It is thus clear that when the free end of predetermineeing the arm takes place the inertial rotation phenomenon, the transfer line and the supporting seat of setting can weaken the inertial rotation phenomenon of predetermineeing the arm, and play the supporting role in order to improve the rigidity of predetermineeing the arm to the free end of predetermineeing the arm, and then alleviate or avoid predetermineeing the phenomenon of rocking of arm, make the SCARA robot include the robot arm subassembly of this application, predetermine the arm and be the terminal arm of SCARA robot, in order to solve the SCARA robot in high-speed occasion use, terminal arm appears rocking problem because of inertial force is too big, make the SCARA robot can satisfy high-speed, high accuracy, the requirement of high load simultaneously, the problem that the terminal arm of SCARA robot exists and rocks among the prior art has been solved effectively.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
figure 1 shows a schematic structural view of a robot arm assembly according to the invention;
FIG. 2 shows a side view of the robot arm assembly of FIG. 1;
figure 3 shows a schematic structural view of a robot according to the invention;
fig. 4 shows a side view of the robot in fig. 3.
Wherein the figures include the following reference numerals:
10. presetting a mechanical arm; 20. a supporting seat; 30. a ball screw; 31. a transmission rod; 32. a screw member; 41. a first bearing; 411. a bearing seat; 42. a magnetic bearing; 43. a detection member; 50. a connecting member; 61. a slide rail; 62. a sliding part; 63. a support;
210. a first robot arm; 220. a second mechanical arm; 230. a base.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention provides a robot arm assembly, please refer to fig. 1 and fig. 2, the robot arm assembly comprises a preset mechanical arm 10, a support seat 20 and a transmission rod 31, the preset mechanical arm 10 is rotatably arranged around a preset axis, and the extending direction of the preset axis is perpendicular to the distribution direction of the connecting end and the free end of the preset mechanical arm 10; the supporting seat 20 and the preset mechanical arm 10 are arranged at intervals along a preset direction and movably arranged along the preset direction, and the preset direction is parallel to the extending direction of a preset axis; the transmission rod 31 is screwed to the free end of the preset mechanical arm 10 and rotatably connected to the support base 20.
In the robot arm assembly of the invention, the preset mechanical arm 10 is rotatably arranged around the preset axis, and the extending direction of the preset axis is perpendicular to the distribution direction of the connecting end and the free end of the preset mechanical arm 10, so that the free end of the preset mechanical arm 10 can shake in the operation process of the preset mechanical arm 10; specifically, since the transmission rod 31 is in threaded connection with the free end of the preset mechanical arm 10, and the extending direction of the transmission rod 31 is parallel to the extending direction of the preset axis, when the preset mechanical arm 10 rotates, the preset mechanical arm 10 drives the transmission rod 31 to rotate around the central axis thereof, and the preset mechanical arm 10 and the transmission rod 31 rotate relatively; since the transmission rod 31 is in threaded connection with the free end of the preset mechanical arm 10, the relative rotational motion between the preset mechanical arm 10 and the transmission rod 31 can be converted into the linear motion between the preset mechanical arm 10 and the transmission rod 31 along the extension direction of the transmission rod 31, and then the transmission rod 31 drives the supporting seat 20 to perform the linear motion along the extension direction of the transmission rod 31 due to the connection between the transmission rod 31 and the supporting seat 20; when the driving lever 31 rotates about its central axis, the driving lever 31 rotates relative to the support base 20. It can be seen that, when the free end of presetting arm 10 takes place the inertial rotation phenomenon, the transfer line 31 and the supporting seat 20 that set up can weaken the inertial rotation phenomenon of presetting arm 10, and play the supporting role in order to improve the rigidity of presetting arm 10 to the free end of presetting arm 10, and then alleviate or avoid the phenomenon of rocking of presetting arm 10, make the SCARA robot include the robot arm subassembly of this application, it is the terminal arm of SCARA robot to preset arm 10, in order to solve the SCARA robot in high-speed occasion use, terminal arm appears rocking because of inertial force is too big problem, make the SCARA robot can satisfy high-speed, high accuracy, the requirement of high load simultaneously, the problem that the terminal arm of SCARA robot exists and rocks among the prior art has been solved effectively.
It should be noted that, if the support seat 20 is removed, the free end of the preset mechanical arm 10 may also drive the transmission rod 31 to rock when rocking, that is, the transmission rod 31 generates an inertial rotation phenomenon, so that the support seat 20 may weaken the inertial rotation phenomenon of the transmission rod 31 and support the transmission rod 31, so as to reduce or avoid the rocking phenomenon of the transmission rod 31.
In a specific implementation process, when the free end of the preset mechanical arm 10 largely shakes, that is, when the rotation amplitude of the free end of the preset mechanical arm 10 is large, the preset mechanical arm 10 drives the transmission rod 31 to rotate around the central axis thereof and enables the preset mechanical arm 10 and the transmission rod 31 to relatively rotate; when the swing amplitude of the free end of the preset mechanical arm 10 is small, that is, the free end of the preset mechanical arm 10 swings in a small amplitude, and when the rotation amplitude of the free end of the preset mechanical arm 10 is small, the preset mechanical arm 10 cannot drive the transmission rod 31 to rotate around the central axis thereof, and only relative rotation between the preset mechanical arm 10 and the transmission rod 31 is caused.
It should be noted that, the support seat 20 and the preset mechanical arm 10 are arranged at intervals along a preset direction, and the preset direction is parallel to the extending direction of the preset axis; the transmission rod 31 is connected to both the preset mechanical arm 10 and the support base 20, so that the transmission rod 31 extends along a preset direction, and the extending direction of the transmission rod is parallel to the extending direction of the preset axis.
It should be noted that the connecting end of the preset mechanical arm 10 is used for connecting with other mechanical arms, and the free end of the preset mechanical arm 10 is also the tail end of the preset mechanical arm 10.
Optionally, the preset axis extends in a vertical direction, and the preset direction is the vertical direction.
In this embodiment, the transmission rod 31 is disposed through the support seat 20, and a bearing member is disposed between the transmission rod 31 and the support seat 20 to enable the transmission rod 31 to rotate relative to the support seat 20.
Specifically, the bearing member includes a first bearing 41, an inner race of the first bearing 41 is coupled to the driving rod 31, and an outer race of the first bearing 41 is coupled to the support base 20 so that the driving rod 31 is rotatable with respect to the support base 20.
Optionally, the first bearing 41 is a deep groove ball bearing.
Specifically, the supporting seat 20 is provided with a first mounting groove, the bearing component further includes a bearing seat 411, the bearing seat 411 is fixedly disposed in the first mounting groove, and the outer ring of the first bearing 41 is connected with the bearing seat 411, that is, the first bearing 41 is disposed inside the bearing seat 411.
In the present embodiment, the bearing component further includes a magnetic bearing 42, the transmission rod 31 is suspended and inserted through the middle of the magnetic bearing 42, and the transmission rod 31 is in a predetermined position where the central axis thereof coincides with the central axis of the magnetic bearing 42; the outer wall of the magnetic bearing 42 is connected to the support base 20 so that the driving rod 31 is rotatable relative to the support base 20.
Specifically, since the transmission rod 31 is suspended and inserted in the middle of the magnetic bearing 42, when the free end of the preset mechanical arm 10 shakes by a small amount, that is, when the preset mechanical arm 10 and the transmission rod 31 rotate relatively, the transmission rod 31 may deviate from a predetermined position, and when the transmission rod 31 deviates from the predetermined position, the central axis of the transmission rod 31 does not coincide with the central axis of the magnetic bearing 42; the bearing component further comprises a detection piece 43, wherein a sensing part of the detection piece 43 is arranged towards the transmission rod 31 so as to detect whether the transmission rod 31 deviates from the preset position and the deviation displacement information of the transmission rod 31; when the detecting member 43 detects that the driving rod 31 is deviated, the magnitude of the current supplied to the magnetic bearing 42 is controlled according to the deviation displacement information of the driving rod 31 detected by the detecting member 43 to change the magnitude and/or direction of the electromagnetic force generated by the magnetic bearing 42, and the electromagnetic force generated by the magnetic bearing 42 acts on the driving rod 31 to move the driving rod 31 to the predetermined position thereof, so that the driving rod 31 is located at the predetermined position thereof again.
When the transmission rod 31 is suspended through the magnetic bearing 42, there is no mechanical contact between the transmission rod 31 and the magnetic bearing 42, and the transmission rod 31 and the magnetic bearing 42 are separated by controlling the magnetic field force generated by the magnetic bearing 42.
Specifically, the detecting member 43 is a sensor; for example, the detecting member 43 is an eddy current sensor, and when the eddy current sensor detects that the driving lever 31 is deviated, the voltage of the eddy current sensor changes, and when the deviation displacement of the driving lever 31 is large, the voltage change amount of the eddy current sensor increases.
Note that, the offset displacement of the drive rod 31 referred to in the present application means a displacement in which the central axis of the drive rod 31 is offset from the central axis of the magnetic bearing 42 in a direction perpendicular to the central axis of the magnetic bearing 42.
In particular, the robot arm assembly further comprises a link 50, the link 50 being connected to the transmission rod 31 and being intended to be connected to a load, the link 50 being in its initial position when the transmission rod 31 is in its predetermined position; the sensing part of the sensing member 43 is disposed toward the link member 50 to sense whether the driving lever 31 is deviated from a predetermined position thereof by sensing whether the link member 50 is deviated from an initial position thereof, and to acquire deviation displacement information of the driving lever 31 by sensing deviation displacement information of the link member 50. When the detecting member 43 detects that the connecting member 50 is deviated, that is, the transmission rod 31 is deviated, the deviation displacement information of the transmission rod 31 is obtained according to the deviation displacement information of the connecting member 50 detected by the detecting member 43, and the magnitude of the current supplied to the magnetic bearing 42 is controlled to change the magnitude and/or direction of the electromagnetic force generated by the magnetic bearing 42, and the electromagnetic force generated by the magnetic bearing 42 acts on the transmission rod 31 to move the transmission rod 31 to a predetermined position thereof.
Specifically, the detection piece 43 is located on one side of the transmission lever 31 in a direction perpendicular to the extending direction of the transmission lever 31; the detecting member 43 is provided on the support base 20.
Specifically, the link 50 is provided on the transmission lever 31 on one side of the transmission lever 31 in a direction perpendicular to the extending direction of the transmission lever 31.
In the specific implementation process, since the diameter of the transmission rod 31 is smaller than the width of the detection piece 43, and the width direction of the detection piece 43 is parallel to the radial direction of the transmission rod 31, when the deviation amplitude of the transmission rod 31 is small, if the sensing part of the detection piece 43 is directly arranged towards the transmission rod 31, the problem that the detection piece 43 is difficult to detect the deviation signal of the transmission rod 31 exists; in order to ensure that the detecting member 43 can accurately detect the deviation signal of the transmission rod 31, the sensing part of the detecting member 43 is disposed toward the connecting member 50 to detect the deviation signal of the connecting member 50, thereby obtaining the deviation signal of the transmission rod 31.
Specifically, the connector 50 is a transfer flange.
Specifically, the robot arm assembly further includes a control part electrically connected to the detecting member 43 to acquire deviation information detected by the detecting member 43 and control the magnitude of the current supplied to the magnetic bearing 42 according to the received deviation information.
In this embodiment, the robot arm assembly further comprises a screw member 32 connected to the free end of the preset robot arm 10, and the transmission rod 31 comprises a screw section, and the screw member 32 is sleeved on the screw section to realize the threaded connection between the transmission rod 31 and the preset robot arm 10.
Specifically, in the extending direction of the transmission rod 31, the transmission rod 31 comprises a first rod segment and a second rod segment connected with each other, and the exterior of the first rod segment is provided with an external thread, so that the first rod segment forms a screw segment; the second rod section is a smooth shaft section, the second rod section is arranged on the supporting seat 20 in a penetrating mode, namely the second rod section is connected with the inner ring of the first bearing 41, the second rod section is arranged in a penetrating mode in the middle of the magnetic bearing 42 in a suspending mode, and the connecting piece 50 is arranged on the second rod section.
In particular, the robot arm assembly further comprises a ball screw 30, the screw and nut of the ball screw 30 forming a transmission rod 31 and a screw joint 32, respectively.
Specifically, the support base 20 is provided with a second mounting groove, and the magnetic bearing 42 is disposed in the second mounting groove.
Specifically, the magnetic bearing 42 and the first bearing 41 are distributed in the same direction as the preset direction, and the magnetic bearing 42 is located on the side of the first bearing 41 far from the preset robot arm 10.
Specifically, an end surface of the magnetic bearing 42 away from the preset robot arm 10 is flush with an end surface of the joint 50 away from the preset robot arm 10.
Specifically, there is a gap between the connector 50 and the magnetic bearing 42.
In the present embodiment, the robot arm assembly further includes a slide rail 61 and a sliding portion 62 slidably disposed on the slide rail 61, the slide rail 61 being disposed to extend in a preset direction; the sliding part 62 is connected with the free end of the preset mechanical arm 10, and the slide rail 61 is connected with the support base 20, so that the support base 20 can move in a preset direction relative to the preset mechanical arm 10; or the sliding part 62 is connected to the support base 20 and the slide rail 61 is connected to the free end of the preset robot arm 10, so that the support base 20 is movable in a preset direction with respect to the preset robot arm 10. The support of the support 20 for the free end of the preset mechanical arm 10 and the transmission rod 31 is also enhanced by the provision of the slide rails 61 and the slide portions 62.
Specifically, the slide rail 61 is a linear slide rail.
Specifically, the robot arm assembly further includes a bracket 63, the bracket 63 is fixedly disposed at the free end of the preset robot arm 10, and the slide rail 61 or the slide part 62 is connected to the bracket 63.
Specifically, the robot arm assembly further comprises two groups of sliding groups, and the two groups of sliding groups are respectively arranged on two sides of the preset robot arm 10 along the width direction of the preset robot arm 10; the slide rails 61 and the slide portions 62 are provided in pairs, each slide group including at least one pair of the slide rails 61 and the slide portions 62; wherein, the width direction of presetting arm 10 is perpendicular with the extending direction of presetting the axis and perpendicular with the distribution direction of presetting the link and the free end of arm 10.
Specifically, when each slide group includes a plurality of pairs of slide rails 61 and slide parts 62; the plurality of pairs of slide rails 61 and the slide portion 62 are sequentially arranged along the length direction of the preset mechanical arm 10, and the length direction of the preset mechanical arm 10 is the same as the distribution direction of the connecting end and the free end of the preset mechanical arm 10.
The invention also provides a robot, which comprises the robot arm assembly. In particular, the robot is a SCARA robot.
Specifically, as shown in fig. 3 and 4, the robot includes a first robot arm 210 and a second robot arm 220, a connection end of the second robot arm 220 is connected to one end of the first robot arm 210, the second robot arm 220 is the preset robot arm 10, and the second robot arm 220 is rotatably disposed with respect to the first robot arm 210.
Specifically, the first robot arm 210 is a large rotating arm, and the second robot arm 220 is a small rotating arm.
Specifically, the robot further includes a base 230, and the first robot arm 210 is mounted on the base 230.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
in the robot arm assembly of the invention, the robot arm assembly comprises a preset mechanical arm 10, a supporting seat 20 and a transmission rod 31, wherein the preset mechanical arm 10 is rotatably arranged around a preset axis, and the extending direction of the preset axis is vertical to the distribution direction of a connecting end and a free end of the preset mechanical arm 10, so that the free end of the preset mechanical arm 10 can shake in the operation process of the preset mechanical arm 10; the supporting seat 20 and the preset mechanical arm 10 are arranged at intervals along a preset direction and movably arranged along the preset direction, the preset direction is parallel to the extending direction of the preset axis, and the transmission rod 31 is in threaded connection with the free end of the preset mechanical arm 10 and is rotatably connected with the supporting seat 20; by arranging the supporting seat 20 and the transmission rod 31, the shaking phenomenon of the free end of the preset mechanical arm 10 is reduced or avoided.
Specifically, since the transmission rod 31 is in threaded connection with the free end of the preset mechanical arm 10, and the extending direction of the transmission rod 31 is parallel to the extending direction of the preset axis, when the preset mechanical arm 10 rotates, the preset mechanical arm 10 drives the transmission rod 31 to rotate around the central axis thereof, and the preset mechanical arm 10 and the transmission rod 31 rotate relatively; since the transmission rod 31 is in threaded connection with the free end of the preset mechanical arm 10, the relative rotational motion between the preset mechanical arm 10 and the transmission rod 31 can be converted into the linear motion between the preset mechanical arm 10 and the transmission rod 31 along the extension direction of the transmission rod 31, and then the transmission rod 31 drives the supporting seat 20 to perform the linear motion along the extension direction of the transmission rod 31 due to the connection between the transmission rod 31 and the supporting seat 20; when the driving lever 31 rotates about its central axis, the driving lever 31 rotates relative to the support base 20. It can be seen that, when the free end of presetting arm 10 takes place the inertial rotation phenomenon, the transfer line 31 and the supporting seat 20 that set up can weaken the inertial rotation phenomenon of presetting arm 10, and play the supporting role in order to improve the rigidity of presetting arm 10 to the free end of presetting arm 10, and then alleviate or avoid the phenomenon of rocking of presetting arm 10, make the SCARA robot include the robot arm subassembly of this application, it is the terminal arm of SCARA robot to preset arm 10, in order to solve the SCARA robot in high-speed occasion use, terminal arm appears rocking because of inertial force is too big problem, make the SCARA robot can satisfy high-speed, high accuracy, the requirement of high load simultaneously, the problem that the terminal arm of SCARA robot exists and rocks among the prior art has been solved effectively.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot arm assembly, comprising:
the mechanical arm assembly comprises a preset mechanical arm (10), wherein the preset mechanical arm (10) is rotatably arranged around a preset axis, and the extending direction of the preset axis is vertical to the distribution direction of a connecting end and a free end of the preset mechanical arm (10);
the supporting seat (20) and the preset mechanical arm (10) are arranged at intervals along a preset direction and movably arranged along the preset direction, and the preset direction is parallel to the extending direction of the preset axis;
the transmission rod (31), the transmission rod (31) with the free end threaded connection of predetermineeing arm (10) and with supporting seat (20) are rotationally connected.
2. The robot arm assembly according to claim 1, characterized in that the transmission rod (31) is arranged through the support base (20), and that a bearing member is arranged between the transmission rod (31) and the support base (20) for rotating the transmission rod (31) relative to the support base (20).
3. The robot arm assembly of claim 2, wherein the bearing component comprises:
the inner ring of the first bearing (41) is connected with the transmission rod (31), and the outer ring of the first bearing (41) is connected with the supporting seat (20); and/or
The transmission rod (31) is arranged in the middle of the magnetic bearing (42) in a suspending mode, and the transmission rod (31) is located at a preset position with the central axis coinciding with the central axis of the magnetic bearing (42); the outer wall of the magnetic bearing (42) is connected with the supporting seat (20).
4. The robot arm assembly of claim 3, wherein the bearing component further comprises:
a detecting member (43), wherein a sensing part of the detecting member (43) is arranged towards the transmission rod (31) so as to detect whether the transmission rod (31) deviates from a preset position and deviation displacement information of the transmission rod (31);
when the detecting piece (43) detects that the transmission rod (31) deviates, the electromagnetic force generated by the magnetic bearing (42) and acting on the transmission rod (31) is changed by controlling the magnitude of the current supplied to the magnetic bearing (42).
5. The robot arm assembly of claim 3, further comprising:
-a link (50), said link (50) being connected to said driving rod (31) and being intended to be connected to a load, said link (50) being in its initial position when said driving rod (31) is in its predetermined position;
a detecting member (43) having a sensing portion disposed toward the link member (50) to detect whether the driving lever (31) is deviated from a predetermined position thereof by detecting whether the link member (50) is deviated from an initial position thereof, and to acquire deviation displacement information of the driving lever (31) by detecting deviation displacement information of the link member (50);
when the detecting piece (43) detects that the connecting piece (50) deviates, the electromagnetic force generated by the magnetic bearing (42) and acting on the transmission rod (31) is changed by controlling the magnitude of the current supplied to the magnetic bearing (42).
6. The robot arm assembly according to claim 1, characterized in that it further comprises a screw (32) connected to the free end of the preset robot arm (10), the transmission rod (31) comprising a screw section on which the screw (32) is fitted.
7. The robot arm assembly according to claim 6, characterized in that it further comprises a ball screw (30), the screw and nut of the ball screw (30) forming the transmission rod (31) and the screw joint (32), respectively.
8. The robot arm assembly according to claim 1, characterized in that it further comprises a slide rail (61) and a sliding portion (62) slidably arranged on said slide rail (61), said slide rail (61) being arranged extending along said preset direction;
the sliding part (62) is connected with the free end of the preset mechanical arm (10), and the sliding rail (61) is connected with the supporting seat (20) so that the supporting seat (20) can move relative to the preset mechanical arm (10); or
The sliding part (62) is connected with the supporting seat (20), and the sliding rail (61) is connected with the free end of the preset mechanical arm (10) so that the supporting seat (20) can move relative to the preset mechanical arm (10).
9. The robot arm assembly of claim 8, further comprising:
the two sliding groups are respectively arranged on two sides of the preset mechanical arm (10) along the width direction of the preset mechanical arm (10); the slide rails (61) and the sliding parts (62) are arranged in pairs, each slide group comprising at least one pair of slide rails (61) and sliding parts (62); the width direction of the preset mechanical arm (10) is perpendicular to the extending direction of the preset axis and perpendicular to the distribution direction of the connecting end and the free end of the preset mechanical arm (10).
10. A robot, characterized by comprising a robot arm assembly according to any of claims 1-9.
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| CN202110951440.5A CN113601492A (en) | 2021-08-18 | 2021-08-18 | Robot arm assembly and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114474048A (en) * | 2021-12-28 | 2022-05-13 | 珠海格力电器股份有限公司 | Holding mechanism and SCARA robot capable of restraining tail end from shaking |
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