CN108406754A - A kind of leading screw servo articulated mechanical arm - Google Patents
A kind of leading screw servo articulated mechanical arm Download PDFInfo
- Publication number
- CN108406754A CN108406754A CN201810542698.8A CN201810542698A CN108406754A CN 108406754 A CN108406754 A CN 108406754A CN 201810542698 A CN201810542698 A CN 201810542698A CN 108406754 A CN108406754 A CN 108406754A
- Authority
- CN
- China
- Prior art keywords
- leading screw
- mechanical arm
- screw servo
- articulated mechanical
- mobile base
- 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.)
- Pending
Links
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
The invention discloses a kind of leading screw servo articulated mechanical arms, including several sequentially connected cell cubes of section, one end of cell cube is provided with mounting flange, the other end of cell cube is provided with rotary flange corresponding with mounting flange, cell cube includes shell, shell is fixedly connected with mounting flange, leading screw servo unit is provided in shell, leading screw servo unit includes numerical-control motor, numerical-control motor is connected with Mobile base by ball-screw, Mobile base is connected with transmission mechanism, transmission mechanism includes rotating wheel and tensioning wheel and the transmission belt being arranged between rotating wheel and tensioning wheel, transmission belt is fixedly connected with Mobile base, rotating wheel is connected with output shaft, output shaft is fixedly connected with rotary flange.Beneficial effects of the present invention：Leading screw servo unit precision is high, and transmission efficiency, good impact resistance, cost is extremely low, is very suitable for prosthetic robot use.
Description
Technical field
The present invention relates to mechanical arm technical fields, it particularly relates to a kind of leading screw servo articulated mechanical arm.
Background technology
Modern industrialization production requirements are that rapidly and efficiently, industrial robot or mechanical arm can promote the efficiency of production
With the quality of product, labour is substituted, is present prior development direction.
Mechanical arm characteristics of demand is that accurate, fuselage is compact, is contributed big.But not being both according to load in practical applications cannot
Power of motor is improved simply to improve the strength finally needed.It so needs to execute using retarder connection power source and destination
Intermediate device between mechanism improves torque in the range of speed allows.
Ripe at present and standardized retarder has：Gear reduction unit, reducer of turbodrill, planetary reduction gear, cycloidal-pin wheel
RV retarders and harmonic speed reducer.
1）The advantages of gear reduction unit is at low cost, technology maturation, and disadvantage is to increase reduction ratio to increase volume on year-on-year basis
Or step of reduction, backlash causes precision to reduce and inevitable, and increases with the reduction ratio of level-one two level and be superimposed.
2）The advantages of reducer of turbodrill is compact-sized, and transmission ratio is big, and disadvantage is frictional drive, and efficiency is low.It leads simultaneously
Wheel side clearance is caused to increase, precision reduces and inevitable, and belongs to self-locking mechanism, limits application range.
3）The advantages of planetary reduction gear is small, light-weight, and bearing capacity is high, and transmission ratio is big, efficient, and disadvantage is
Gear back clearance leads to return difference.
4）The advantages of cycloidal-pin wheel RV retarders, is small to be big with reduction ratio.Transmission efficiency, impact resistance lack
Point is the amendment of Cycloidal Wheel flute profile, is not standard cycloid, ensures rotating accuracy, need to correct engagement flute profile, and back clearance leads to processing essence
Degree requirement is too high, and fitness also requires very high, device precision height, installation complexity of high cost.
5）Harmonic speed reducer is made of three parts：Harmonic oscillator, flexible opinion and firm gear, operation principle are sent out by harmonic wave
Raw device makes flexbile gear generate controllable flexible deformation, is engaged with firm gear by flexbile gear and carrys out passing power, and achievees the purpose that deceleration, excellent
Point is to transmit movement and power using the controllable flexible deformation of flexible member for harmonic wave, and small, precision is very high, disadvantage
It is relatively poor for flexbile gear restricted lifetime, not impact resistance, rigidity.
RV retarders are generally placed on the heavy duty position such as engine base, large arm, shoulder by existing articulated robot, and
Harmonic speed reducer is placed on forearm, wrist or hand.Both retarders belong to the kernel component of robot.But this
The core technology of two kinds of retarders rests in always in offshore company's hand, the best Nabtesco for surely belonging to Japan and
HarmonicDrive, which limit the fast developments of Chinese robot, thus early realize retarder production domesticization to close weight
It wants, and both retarders are expensive, causes the production cost of articulated robot higher.
For the problems in the relevant technologies, currently no effective solution has been proposed.
Invention content
For above-mentioned technical problem in the related technology, the present invention proposes a kind of leading screw servo articulated mechanical arm, can meet
The needs of articulated robot high-precision, large torque, low cost.
To realize the above-mentioned technical purpose, the technical proposal of the invention is realized in this way：
A kind of leading screw servo articulated mechanical arm, including several sequentially connected cell cubes of section, one end of the cell cube is provided with
The other end of mounting flange, the cell cube is provided with rotary flange corresponding with the mounting flange, the cell cube packet
Shell is included, the shell is fixedly connected with the mounting flange, and leading screw servo unit, the leading screw servo are provided in the shell
Unit includes numerical-control motor, and the numerical-control motor is connected with Mobile base by ball-screw, and the Mobile base is connected with driver
Structure, the transmission mechanism include rotating wheel and tensioning wheel and the transmission that is arranged between the rotating wheel and the tensioning wheel
Band, the transmission belt are fixedly connected with the Mobile base, and the rotating wheel is connected with output shaft, and the output shaft is fixedly connected with institute
State rotary flange.
Further, the numerical-control motor includes servo motor.
Further, the ball-screw includes leading screw and the ball nut that is arranged on the leading screw, the leading screw
The motor shaft of the numerical-control motor is connected by shaft coupling.
Further, the Mobile base is fixedly connected on the ball nut.
Further, the Mobile base is fixedly connected with the transmission belt by transmission belt fixed plate.
Further, the transmission mechanism further includes transmission belt carrying roller.
Further, the transmission mechanism further includes tensioning frame corresponding with the tensioning wheel.
Optionally, the rotary flange and the mounting flange are in the same plane.
Optionally, plane where the rotary flange and plane where the mounting flange are perpendicular.
Beneficial effects of the present invention：Leading screw servo unit precision is high, and transmission efficiency, good impact resistance, cost is extremely low, non-
Often suitable prosthetic robot uses.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the axonometric drawing of the leading screw servo articulated mechanical arm described according to embodiments of the present invention；
Fig. 2 is the front view of the cell cube described according to embodiments of the present invention；
Fig. 3 is the vertical view of the cell cube described according to embodiments of the present invention；
Fig. 4 is the A-A sectional views of cell cube according to Fig.2,.
In figure：
1, numerical-control motor；2, leading screw；3, Mobile base；4, rotating wheel；5, tensioning wheel；6, transmission belt；7, output shaft；8, ball spiral shell
It is female；9, transmission belt fixed plate；10, transmission belt carrying roller；11, tensioning frame；12, shaft coupling；13, mounting flange；14, rotary flange；
15, cell cube.
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, the every other embodiment that those of ordinary skill in the art are obtained belong to what the present invention protected
Range.
As shown in Figs 1-4, a kind of leading screw servo articulated mechanical arm according to embodiments of the present invention, including several sections according to
One end of the cell cube 15 of secondary connection, the cell cube 15 is provided with mounting flange 13, the other end setting of the cell cube 15
It includes shell to have rotary flange 14 corresponding with the mounting flange 13, the cell cube 15, and the shell is fixedly connected with institute
Mounting flange 13 is stated, leading screw servo unit is provided in the shell, the leading screw servo unit includes numerical-control motor 1, described
Numerical-control motor 1 is connected with Mobile base 3 by ball-screw, and the Mobile base 3 is connected with transmission mechanism, and the transmission mechanism includes
Rotating wheel 4 and tensioning wheel 5 and the transmission belt 6 being arranged between the rotating wheel 4 and the tensioning wheel 5, the transmission belt 6 with
The Mobile base 3 is fixedly connected, and the rotating wheel 4 is connected with output shaft 7, and the output shaft 7 is fixedly connected with the rotary flange
14。
In one particular embodiment of the present invention, the numerical-control motor 1 includes servo motor.
In one particular embodiment of the present invention, the ball-screw includes leading screw 2 and is arranged on the leading screw 2
Ball nut 8, the leading screw 2 connects the motor shaft of the numerical-control motor 1 by shaft coupling 12.
In one particular embodiment of the present invention, the Mobile base 3 is fixedly connected on the ball nut 8.
In one particular embodiment of the present invention, the Mobile base 3 is fixedly connected with the biography by transmission belt fixed plate 9
Dynamic band 6.
In one particular embodiment of the present invention, the transmission mechanism further includes transmission belt carrying roller 10.
In one particular embodiment of the present invention, the transmission mechanism further includes corresponding with the tensioning wheel 5
Tight frame 11.
In one particular embodiment of the present invention, the rotary flange 14 is generally aligned in the same plane with the mounting flange 13
On.Alternatively, 14 place plane of the rotary flange and 13 place plane of the mounting flange are perpendicular.
In order to facilitate understand the present invention above-mentioned technical proposal, below by way of in specifically used mode to the present invention it is above-mentioned
Technical solution is described in detail.
It is of the present invention be fixedly connected with mode and can be used the conventional technical means such as be bonded, be bolted.
Leading screw servo articulated mechanical arm is made of more piece cell cube, often save cell cube all have there are one leading screw servo unit.
Leading screw servo unit of the present invention includes numerical-control motor 1, leading screw 2, ball nut 8, connect with ball nut 8
Transmission belt 6, the rotating wheel 4 that is connect with transmission belt 6 and output shaft 7, leading screw servo unit, which is completed to slow down, increases the function of torque.
Wherein, numerical-control motor 1 includes but not limited to servo motor, and ball-screw can also use other transmission mechanisms to replace, for example go
Astral fiber thick stick etc., transmission belt 6 are synchronous belt, and synchronous belt could alternatively be the Flexible Transmissions device such as steel wire rope, steel band, carbon fiber.
Holder is provided in shell, tensioning frame 11 includes the sliding block being connect with bracket slide, be threaded on holder with
The corresponding jackscrew of sliding block, tensioning wheel 5 are spindle rotationally arranged on wheel seat, and wheel seat is fixedly connected with a slide block, when adjusting jackscrew,
Jackscrew pushes sliding block movement, and then tensioning wheel 5 is made to move, and realizes the tensioning of transmission belt 6.
The pitch diameter of tensioning wheel 5 is less than the pitch diameter of rotating wheel 4, and transmission belt carrying roller 10 makes for holding transmission belt 6
There are one horizontal segments for the tool of transmission belt 6, so as to when Mobile base 3 moves linearly, rotating wheel 4 be driven to rotate.
The reduction ratio of leading screw servo unit of the present invention depends on the screw pitch and 4 pitch circumference of rotating wheel of leading screw 2
Than.It is the leading screw 2 of 5mm such as to select screw pitch, and 4 pitch diameter 100mm of rotating wheel, pitch circumference 314mm, reduction ratio are at this time
62.8。
The reciprocating rotary angle of leading screw servo unit depends on the ratio of 4 pitch circumference of length and rotating wheel of leading screw 2.As passed
Movable belt pulley pitch diameter 100mm, pitch circumference 314mm, when reciprocating rotary 180 degree, the length of leading screw 2 is 157mm.
When flexible drive parts are synchronous belt or steel band, flexible transmission part is in winding cloth between rotating wheel 4 and tensioning wheel 5
It sets.
When flexible drive parts are steel wire rope or carbon fiber, one end of steel wire rope or carbon fiber is fixed in rotating wheel 4, another
End is fixed on after bypassing tensioning wheel 5 in rotating wheel 4 again.Steel wire rope or carbon fiber can wind several circles to increase in rotating wheel 4
Frictional force will not slip.
Mounting flange 13 can be generally aligned in the same plane with rotary flange 14 mutually to hang down with 14 place plane of rotary flange
Directly, and it is not limited to both of these case, mounting flange 13 can be fixed on any one place, user along the circumferential direction of shell
Can practical situations flexible modulation mounting flange 13 position, while increasing the flexibility ratio of mechanical arm.
When specifically used：Motor shaft is rigidly connected with leading screw 2, and motor shaft rotation driving leading screw 2 rotates, and makes ball nut 8
Drive 3 linear reciprocating motion of Mobile base.The linear motion of the top fixed conveyor band 6 of Mobile base 3, transmission belt 6 drives rotating wheel 4
Rotation, makes 7 reciprocating rotary of output shaft.
The advantages of leading screw servo unit：Precision depends on and 4 pitch circumference of leading screw 2 and rotating wheel.If leading screw 2 is according to national standard silk
Thick stick standard GB/T17587.3-1998 selects C7 (precision 0.05mm, general NC standard）, the pitch diameter of rotating wheel 4 at this time
For 100mm, then the error that can calculate leading screw servo unit is 0.005 second of arc.Such as the accuracy selection C3 of leading screw 2（Precision
0.008mm, high precision numerical control standard）, the error that can calculate leading screw servo unit is 0.0009 second of arc.Compare RV speed reducer arcs
The precision of classification can show that precision is high under leading screw servo unit desired transmission state, is similar to gapless.(as being to reduce body
Product increases reduction ratio, numerical-control motor 1 is changed into decelerating motor, the return difference of decelerating motor is also reduced by same reduction ratio).
The transmission efficiency of leading screw servo unit depends on ball-screw.The efficiency of ball-screw is 92% ~ 96%.Relative to row
Every grade of 5% or more the transmission efficiency loss of star speed reducer, same 60 reduction ratio, planetary reducer need 3 grades of transmissions, efficiency to be less than silk
Thick stick servo unit.
The impact resistance of leading screw servo unit depend on transmission belt 6, such as select circle-arc tooth 5m, the transmission belt 6 of width 25mm,
Shock resistance is much larger than use demand in 2000N.m or more.
Leading screw servo unit cost is extremely low and installation is simple, and replaceability is good.Leading screw 2 and transmission belt 6 are typicals products in mass production,
Cost is with compared with series RV speed reducers and harmonic wave speed reducing machine, less than 1/10.
In conclusion by means of the above-mentioned technical proposal of the present invention, leading screw servo unit precision is high, transmission efficiency, resists
Impact is good, and cost is extremely low, is very suitable for prosthetic robot use.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of leading screw servo articulated mechanical arm, which is characterized in that including several sequentially connected cell cubes of section（15）, the list
First body（15）One end be provided with mounting flange（13）, the cell cube（15）The other end be provided with and the mounting flange
（13）Corresponding rotary flange（14）, the cell cube（15）Including shell, the shell is fixedly connected with the mounting flange
（13）, leading screw servo unit is provided in the shell, and the leading screw servo unit includes numerical-control motor（1）, the numerical control electricity
Machine（1）It is connected with Mobile base by ball-screw（3）, the Mobile base（3）It is connected with transmission mechanism, the transmission mechanism includes
Rotating wheel（4）And tensioning wheel（5）And it is arranged in the rotating wheel（4）With the tensioning wheel（5）Between transmission belt（6）, institute
State transmission belt（6）With the Mobile base（3）It is fixedly connected, the rotating wheel（4）It is connected with output shaft（7）, the output shaft（7）
It is fixedly connected with the rotary flange（14）.
2. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the numerical-control motor（1）Including watching
Take motor.
3. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the ball-screw includes leading screw
（2）And it is arranged in the leading screw（2）On ball nut（8）, the leading screw（2）Pass through shaft coupling（12）Connect the numerical control
Motor（1）Motor shaft.
4. leading screw servo articulated mechanical arm according to claim 3, which is characterized in that the Mobile base（3）It is fixedly connected
In the ball nut（8）On.
5. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the Mobile base（3）Pass through transmission
Band fixed plate（9）It is fixedly connected with the transmission belt（6）.
6. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the transmission mechanism further includes transmission
Band carrying roller（10）.
7. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the transmission mechanism further includes and institute
State tensioning wheel（5）Corresponding tensioning frame（11）.
8. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the rotary flange（14）With it is described
Mounting flange（13）It is in the same plane.
9. leading screw servo articulated mechanical arm according to claim 1, which is characterized in that the rotary flange（14）Place is flat
Face and the mounting flange（13）Place plane is perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542698.8A CN108406754A (en) | 2018-05-30 | 2018-05-30 | A kind of leading screw servo articulated mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542698.8A CN108406754A (en) | 2018-05-30 | 2018-05-30 | A kind of leading screw servo articulated mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406754A true CN108406754A (en) | 2018-08-17 |
Family
ID=63140895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810542698.8A Pending CN108406754A (en) | 2018-05-30 | 2018-05-30 | A kind of leading screw servo articulated mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406754A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524161A (en) * | 2021-09-02 | 2021-10-22 | 杭州大牧医疗科技有限公司 | Rotary joint driving device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB578338A (en) * | 1944-02-25 | 1946-06-25 | Henry Fitzpatrick | Improvements relating to variable speed gears for cycles and the like |
| JPH09225882A (en) * | 1996-02-19 | 1997-09-02 | Plus Eng:Kk | Turning device for chuck in robot arm |
| CN101509543A (en) * | 2009-03-19 | 2009-08-19 | 北京理工大学 | Ball screw speed reducing mechanism for angle output |
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot |
| CN104786211A (en) * | 2015-05-04 | 2015-07-22 | 安徽华创智能装备有限公司 | Six-freedom-degree industrial robot with ball screw pairs |
| CN204772532U (en) * | 2015-05-19 | 2015-11-18 | 东莞市均利自动化科技有限公司 | Five -axle linkage robot |
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN208276910U (en) * | 2018-05-30 | 2018-12-25 | 北京三维精致科技有限责任公司 | A kind of lead screw servo articulated mechanical arm |
-
2018
- 2018-05-30 CN CN201810542698.8A patent/CN108406754A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB578338A (en) * | 1944-02-25 | 1946-06-25 | Henry Fitzpatrick | Improvements relating to variable speed gears for cycles and the like |
| JPH09225882A (en) * | 1996-02-19 | 1997-09-02 | Plus Eng:Kk | Turning device for chuck in robot arm |
| CN101509543A (en) * | 2009-03-19 | 2009-08-19 | 北京理工大学 | Ball screw speed reducing mechanism for angle output |
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot |
| CN104786211A (en) * | 2015-05-04 | 2015-07-22 | 安徽华创智能装备有限公司 | Six-freedom-degree industrial robot with ball screw pairs |
| CN204772532U (en) * | 2015-05-19 | 2015-11-18 | 东莞市均利自动化科技有限公司 | Five -axle linkage robot |
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN208276910U (en) * | 2018-05-30 | 2018-12-25 | 北京三维精致科技有限责任公司 | A kind of lead screw servo articulated mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524161A (en) * | 2021-09-02 | 2021-10-22 | 杭州大牧医疗科技有限公司 | Rotary joint driving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106903712B (en) | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission | |
| US20190390736A1 (en) | Thickness-variable transmission structure for robot joint | |
| CN106594220A (en) | Stroke-adjustable type intermittent movable mechanical device based on non-circular gear divider | |
| CN105041993A (en) | Reduction gear for SCARA industrial robot | |
| CN201034150Y (en) | Harmonic wave clutch stepless speed change device | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| CN101733478B (en) | Bench saw transmission mechanism | |
| CN208276910U (en) | A kind of lead screw servo articulated mechanical arm | |
| CN208203947U (en) | A kind of screw rod numerical control deceleration device | |
| CN203779520U (en) | Joint speed reducer of industrial robot | |
| CN108406754A (en) | A kind of leading screw servo articulated mechanical arm | |
| CN202895222U (en) | Double-arm transferring manipulator | |
| CN2215972Y (en) | Upper arm and wrist structure for robot | |
| CN109676594A (en) | A kind of four axis robot of high-precision | |
| CN204784506U (en) | Decelerator for SCARA industrial robot | |
| CN109939917B (en) | Double-shaft inertia vibration exciter | |
| Gang | Design and modeling of an impulse continuously variable transmission with a rotational swashplate | |
| CN101555932A (en) | Angular momentum mechanism | |
| CN209682189U (en) | A kind of four axis robot of high-precision | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN110056630B (en) | Stepless speed variator | |
| CN202468885U (en) | Crank connecting rod driving mechanism and punch press main driving system | |
| CN202165554U (en) | Magnetic coupling adjustable transmission | |
| CN207005206U (en) | Side dual-drive precise positioning transmission device | |
| CN111516776B (en) | Slewing mechanism and automatic guiding transport vehicle adopting same |
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 |