CN109159147B - Double-section planetary idler triple-speed mechanical arm structure - Google Patents
Double-section planetary idler triple-speed mechanical arm structure Download PDFInfo
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- CN109159147B CN109159147B CN201810991464.1A CN201810991464A CN109159147B CN 109159147 B CN109159147 B CN 109159147B CN 201810991464 A CN201810991464 A CN 201810991464A CN 109159147 B CN109159147 B CN 109159147B
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- idler wheel
- fixed
- driving shaft
- planetary
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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
Abstract
The invention discloses a double-section planet idler triple-speed mechanical arm structure which comprises a fixed base, a driving shaft assembly, a driven shaft assembly, a motor transmission assembly and a planet idler assembly, wherein the motor transmission assembly drives the driving shaft assembly to axially move on the fixed base; the advantage is that its operating speed is fast, has better price/performance ratio under the condition of the same driving force.
Description
Technical Field
The invention relates to a mechanical arm structure, in particular to a double-section planet idler wheel triple-speed mechanical arm structure.
Background
Currently, the maximum telescoping speed of a double-section mechanical arm known in the industry can only reach twice the speed of a single-section mechanical arm. Although the running speed of the double-section mechanical arm is twice that of the single-section mechanical arm, the structure of the double-section mechanical arm is more complex than that of the single-section mechanical arm, and the manufacturing cost of the double-section mechanical arm is higher than that of the single-section mechanical arm; in addition, under the short special operating mode of duty cycle, the functioning speed of traditional two sections arms can not keep up with the operating mode beat sometimes, can only improve the functioning speed of two sections arms through increaseing mechanical ratio drive power under this kind of condition, however this manufacturing cost that can greatly increased two sections arms by accident, and then influenced the price/performance ratio of two sections arms.
Disclosure of Invention
The invention aims to solve the technical problem of providing a double-section planet idler wheel triple-speed mechanical arm structure which is high in running speed and has better cost performance under the condition of the same driving force.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a two sections planet idler triplex speed arm structure, includes fixed base, driving shaft subassembly, driven shaft subassembly, motor drive assembly drive the driving shaft subassembly be in fixed base on axial motion, its characterized in that: this arm structure has introduced planet idler subassembly, driving shaft subassembly axial motion during pass through planet idler subassembly drive driven shaft subassembly be in driving shaft subassembly on axial motion, planet idler subassembly include two fixed big idlers, two sets of little idler groups of planet, an opening hold-in range, little idler group of planet constitute by three little idler of planet, the opening hold-in range around locating two fixed big idler and two sets of little idler group of planet on just the both ends of opening hold-in range fix the back and constitute two sets of fixed pulleys and the running block structure of symmetry, make little idler group of planet move during 1 unit length driven shaft subassembly move 3 unit length.
One group of the small planetary idler wheel sets, one of the large fixed idler wheels, the other of the large fixed idler wheels and the other group of the small planetary idler wheel sets are sequentially arranged in a straight line from bottom to top, three small planetary idler wheels forming the small planetary idler wheel sets are arranged in an isosceles triangle structure in side view, one end of the open synchronous belt is fixed, the other end of the open synchronous belt downwards rounds one small planetary idler wheel positioned above in one group of the small planetary idler wheel sets anticlockwise, then rounds one large fixed idler wheel upwards anticlockwise, then rounds two small planetary idler wheels positioned below and arranged in front and back in one group of the small planetary idler wheel sets downwards, and then rounds two small planetary idler wheels positioned above and arranged in front and back in the other group of the small planetary idler wheel sets upwards anticlockwise, And then the planet carrier passes through the other fixed large idler wheel downwards anticlockwise and then passes through one planet small idler wheel positioned below in the other group of planet small idler wheel groups upwards anticlockwise, and then the planet small idler wheels are fixed. Through the specific winding mode of limiting the open synchronous belt, two groups of symmetrical fixed pulleys and movable pulley block structures are ensured to be formed, and the driven shaft component moves for 3 unit lengths when the planet small idler pulley group moves for 1 unit length.
The driving shaft assembly consists of a driving shaft, a driving shaft top plate fixed on the top of the driving shaft and a driving shaft bottom plate fixed on the bottom end of the driving shaft, the driving shaft is connected with the fixed base through a driving shaft guide rail pair, the motor transmission assembly is distributed on one side of the driving shaft to drive the driving shaft to axially move on the fixed base, the planet idler wheel assembly is arranged on the other side of the driving shaft, and the driving shaft top plate and the driving shaft bottom plate are respectively connected with the planet idler wheel assembly. The driving shaft guide rail pair is arranged between the fixed base and the driving shaft, so that the driving shaft can be driven to axially move relative to the fixed base when the motor transmission assembly works; the top plate of the driving shaft and the bottom plate of the driving shaft are mainly arranged to be connected with the planetary idler wheel assembly.
The guide rail in the driving shaft guide rail pair is fixedly connected with the driving shaft, and the sliding block in the driving shaft guide rail pair is fixedly connected with the fixed base.
The driven shaft assembly consists of a driven shaft and a connecting plate fixed on the driven shaft, and the connecting plate is connected with the driving shaft through a driven shaft guide rail pair. Because the driven shaft guide rail pair is arranged between the connecting plate and the driving shaft, the planet idle wheel assembly can drive the driven shaft to axially move relative to the driving shaft.
The guide rail in the driven shaft guide rail pair is fixedly connected with the driving shaft, and the sliding block in the driven shaft guide rail pair is fixedly connected with the connecting plate.
The planetary idler wheel assembly further comprises two planetary idler wheel frames and a fixed idler wheel frame, wherein one planetary idler wheel frame is fixedly connected with the bottom plate of the driving shaft, one group of planetary small idler wheel groups is connected in one planetary idler wheel frame through a connecting shaft, the other planetary idler wheel frame is fixedly connected with the top plate of the driving shaft, the other group of planetary small idler wheel groups is connected in the other planetary idler wheel frame through a connecting shaft, the fixed idler wheel frame is fixedly connected with the other side of the fixed base, a vertical through hole is formed in the fixed idler wheel frame, two pairs of connecting shaft grooves are symmetrically formed in the front face of the fixed idler wheel frame, which is positioned on two sides of the vertical through hole, and fixing screws matched with the connecting shaft grooves are mounted on the connecting shaft of the fixed large idler wheel frame, one fixed big idler pass through fixed screw fixed in a pair of the connecting shaft inslot, the both ends of opening hold-in range be fixed in through a hold-in range pinion rack respectively the back of fixed idler frame on, the opening hold-in range be located two sets of little idler of planet group between one section move the section through the cooperation of pinion rack and clamp plate with the driven shaft be connected, one side fixed connection of clamp plate and driven shaft, clamp plate and pinion rack cooperation fixed opening hold-in range.
The planetary idler wheel frames are provided with threaded holes, one of the planetary idler wheel frames is fixedly connected with the driving shaft bottom plate through the matching of the threaded holes and the tensioning screws, the other planetary idler wheel frame is fixedly connected with the driving shaft top plate through the matching of the threaded holes and the tensioning screws, and the matching of the threaded holes and the tensioning screws plays a role in adjusting the tensioning force of the opening synchronous belt. One of the tensioning screws pulls the planet idler assembly through the bottom plate of the drive shaft and the other tensioning screw pulls the planet idler assembly through the top plate of the drive shaft, primarily to keep the openings in the planet idler assembly synchronized with the proper operating tension.
The motor drive assembly constitute by motor, drive wheel and driving belt, the motor pass through the motor fixed bolster and be fixed in one side of fixed baseplate, the drive wheel set up in the transmission shaft of motor on, driving belt around locating the drive wheel on, driving belt's upper end be fixed in through a pinion rack subassembly the upper end of driving shaft, driving belt's lower extreme be fixed in through another pinion rack subassembly the lower extreme of driving shaft.
Compared with the prior art, the invention has the advantages that:
because the opening hold-in range is around locating on two fixed big idlers and two sets of little idler groups of planet and two sets of both ends of opening hold-in range constitute two sets of fixed pulley and the movable pulley group structure of symmetry after fixed, driven shaft subassembly and the removal section fixed connection of opening hold-in range, and two fixed big idlers link to each other with the opening hold-in range has three strands, consequently when little idler group of planet moves 1 unit length with the constant speed according to the assembly pulley theorem, the driven shaft subassembly has just moved 3 unit length, the driven shaft subassembly has produced the final functioning speed that is triple times motor drive subassembly speed, this arm structure can reach the triple speed of single section arm on the functioning speed promptly, and compare traditional two sections arm functioning speed and improved 50%, have better price/performance ratio under the same condition with traditional two sections arm driving force like this.
Drawings
FIG. 1 is a schematic diagram of a robotic arm structure of the present invention;
FIG. 2 is a schematic perspective view of a robotic arm structure of the present invention;
FIG. 3 is a schematic view of the robotic arm structure of the present invention after attachment of the working elements;
FIG. 4 is a schematic view of the robotic arm structure of the present invention secured to a stationary ground surface;
FIG. 5 is an exploded view of the robotic arm structure of the present invention;
fig. 6 is an exploded view of the planetary idler assembly of the robot arm structure of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The invention provides a double-section planet idler wheel triple-speed mechanical arm structure, which comprises a fixed base 1, a driving shaft component 2, a driven shaft component 3, a motor transmission component 4 and a planet idler wheel component 5, wherein the mechanical arm structure is fixed on a static ground through the fixed base 1, the motor transmission component 4 drives the driving shaft component 2 to axially move on the fixed base 1, the driving shaft component 2 drives the driven shaft component 3 to axially move on the driving shaft component 2 through the planet idler wheel component 5 when axially moving, the planet idler wheel component 5 comprises two large fixed idler wheels 51, two groups of planet small idler wheel groups 53 and an open synchronous belt 54, each group of planet small idler wheel group 53 consists of three planet small idler wheels 531, one group of planet small idler wheel groups 53, one large fixed idler wheel 51, the other large fixed idler wheel 51 and the other group of planet small idler wheel groups 53 are sequentially arranged in a straight line from bottom to top, three small planet idler gears 531 forming the small planet idler gear set 53 are arranged in an isosceles triangle structure in side view, one end of the open synchronous belt 54 is fixed, and the other end of the open synchronous belt 54 anticlockwise rounds one small planet idler gear 531 positioned above in one group of small planet idler gear set 53, then anticlockwise rounds one large fixed idler gear 51, then anticlockwise rounds two small planet idler gears 531 positioned below and arranged in front and back in one group of small planet idler gear set 53, then anticlockwise rounds two small planet idler gears 531 positioned above and arranged in front and back in the other group of small planet idler gear set 53, then anticlockwise rounds another large fixed idler gear 51, and then anticlockwise rounds one small planet idler gear 531 positioned below in the other group of small planet idler gear set 53, and then the open synchronous belt 54 is fixed around two fixed idler gears 51 and two groups of small planet idler gear set 53, and two ends of the open synchronous belt 54 are fixed to form symmetrical fixed pulleys and two groups of synchronous belts The movable pulley block structure, because the effective open synchronous belt 54 wound on the large fixed idle pulley 51 has 3 strands, as can be seen from the schematic diagram of fig. 1, the moving distance of the driven shaft assembly 3 fixed on the moving section of the open synchronous belt 54 according to the pulley block theorem is 3 times that of the small planetary idle pulley group 53, and the small planetary idle pulley group 53 is installed on the driving shaft assembly 2, so that the driven shaft assembly 3 moves 3 unit lengths when the small planetary idle pulley group 53 moves 1 unit length, that is, the 3-time speed moving effect is realized.
In this embodiment, the driving shaft assembly 2 is composed of a driving shaft 21, a driving shaft top plate 22 fixed on the top end of the driving shaft 21 and a driving shaft bottom plate 23 fixed on the bottom end of the driving shaft 21, the driving shaft 21 is in surface connection with the fixed base 1 through the driving shaft guide rail pair 7, the motor transmission assembly 4 is distributed on one side of the driving shaft 21 to drive the driving shaft 21 to axially move on the fixed base 1, the planetary idle gear assembly 5 is arranged on the other side of the driving shaft 21, and the driving shaft top plate 22 and the driving shaft bottom plate 23 are respectively connected with the planetary idle gear. Here, because the driving shaft guide rail pair 7 is arranged between the fixed base 1 and the driving shaft 21, the driving shaft 21 can be driven to move axially relative to the fixed base 1 when the motor transmission assembly 4 works; the top plate 22 and the bottom plate 23 of the driving shaft are mainly arranged for connecting the planet idle wheel assembly 5; the guide rail 71 in the driving shaft guide rail pair 7 is fixedly connected with the driving shaft 21, and the slide block 72 in the driving shaft guide rail pair 7 is fixedly connected with the fixed base 1.
In the embodiment, the driven shaft assembly 3 is composed of a driven shaft 31 and a connecting plate 32 fixed on the driven shaft 31, the connecting plate 32 is connected with the driving shaft 21 through a driven shaft guide rail pair 8, the driven shaft 31 is connected with the planetary idle gear assembly 5, and the bottom end of the driven shaft 31 is used for connecting the working component 9. Here, since the driven shaft guide rail pair 8 is arranged between the back surface of the connecting plate 32 and the front surface of the driving shaft 21, the planetary idle gear assembly 5 can drive the driven shaft 31 to move axially relative to the driving shaft 21; the guide rail 81 in the driven shaft guide rail pair 8 is fixedly connected with the driving shaft 21, and the sliding block 82 in the driven shaft guide rail pair 8 is fixedly connected with the connecting plate 32.
In this embodiment, the planetary idle gear assembly 5 further includes two planetary idle gear frames 55 and a fixed idle gear frame 56, wherein one planetary idle gear frame 55 is fixedly connected with the driving shaft bottom plate 23, one group of planetary small idle gear sets 53 is connected in one planetary idle gear frame 55 through a connecting shaft, the other planetary idle gear frame 55 is fixedly connected with the driving shaft top plate 22, the other group of planetary small idle gear sets 53 is connected in the other planetary idle gear frame 55 through a connecting shaft, the fixed idle gear frame 56 is fixedly connected with the other side of the fixed base 1, a vertical through hole 561 is formed on the fixed idle gear frame 56, two pairs of connecting shaft grooves 562 are symmetrically formed on the front surface of the fixed idle gear frame 56 at two sides of the vertical through hole 561, a connecting shaft 511 matched with the connecting shaft grooves 562 is mounted on the fixed large idle gear 51, the connecting shaft 511 of the fixed large idle gear 51 is matched with the connecting shaft grooves 562, the fixed large idle gear 51 is mounted in the pair of connecting shaft grooves 562 by using a fixing screw 563, the two ends of the opening synchronous belt 54 are fixed on the back of the fixed idler frame 56 through a synchronous belt toothed plate 57, one section of moving section of the opening synchronous belt 54 between the two sets of planet small idler groups 53 is connected with the driven shaft 31 through the matching of the toothed plate 58 and the pressing plate 59, the pressing plate 59 is fixedly connected with one side of the driven shaft 31, and the pressing plate 59 and the toothed plate 58 are matched with the fixed opening synchronous belt 54.
In the embodiment, the planetary idler frames 55 are provided with screw holes 551, one of the planetary idler frames 55 is fixedly connected with the driving shaft bottom plate 23 through the matching of the screw hole 551 and a tightening screw (not shown in the figure), the other planetary idler frame 55 is fixedly connected with the driving shaft top plate 22 through the matching of the screw hole 551 and the tightening screw, and the matching of the screw hole 551 and the tightening screw plays a role in adjusting the tightening force of the open timing belt 54.
In this embodiment, the motor transmission assembly 4 is composed of a motor 41, a transmission wheel 42 and a transmission belt 43, the motor 41 is fixed on one side of the fixed base 1 through a motor fixing bracket 44, the transmission wheel 42 is arranged on a transmission shaft of the motor 41, the transmission belt 43 is wound on the transmission wheel 42, the upper end of the transmission belt 43 is fixed on the upper end of the driving shaft 21 through one toothed plate assembly 45, and the lower end of the transmission belt 43 is fixed on the lower end of the driving shaft 21 through the other toothed plate assembly 45.
Claims (8)
1. The utility model provides a two sections planet idler triplex speed arm structure, includes fixed base, driving shaft subassembly, driven shaft subassembly, motor drive assembly drive the driving shaft subassembly be in fixed base on axial motion, its characterized in that: the mechanical arm structure introduces a planetary idler wheel assembly, the driving shaft assembly drives the driven shaft assembly to axially move on the driving shaft assembly through the planetary idler wheel assembly when axially moving, the planetary idler wheel assembly comprises two large fixed idler wheels, two groups of small planetary idler wheel sets and an open synchronous belt, the small planetary idler wheel set comprises three small planetary idler wheels, the open synchronous belt is wound on the two large fixed idler wheels and the two groups of small planetary idler wheel sets, and two ends of the open synchronous belt are fixed to form two symmetrical groups of fixed pulleys and movable pulley block structures, so that the driven shaft assembly moves for 3 unit lengths when the small planetary idler wheel set moves for 1 unit length;
one group of the small planetary idler wheel sets, one of the large fixed idler wheels, the other of the large fixed idler wheels and the other group of the small planetary idler wheel sets are sequentially arranged in a straight line from bottom to top, three small planetary idler wheels forming the small planetary idler wheel sets are arranged in an isosceles triangle structure in side view, one end of the open synchronous belt is fixed, the other end of the open synchronous belt downwards rounds one small planetary idler wheel positioned above in one group of the small planetary idler wheel sets anticlockwise, then rounds one large fixed idler wheel upwards anticlockwise, then rounds two small planetary idler wheels positioned below and arranged in front and back in one group of the small planetary idler wheel sets downwards, and then rounds two small planetary idler wheels positioned above and arranged in front and back in the other group of the small planetary idler wheel sets upwards anticlockwise, And then the planet carrier passes through the other fixed large idler wheel downwards anticlockwise and then passes through one planet small idler wheel positioned below in the other group of planet small idler wheel groups upwards anticlockwise, and then the planet small idler wheels are fixed.
2. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 1, wherein: the driving shaft assembly consists of a driving shaft, a driving shaft top plate fixed on the top of the driving shaft and a driving shaft bottom plate fixed on the bottom end of the driving shaft, the driving shaft is connected with the fixed base through a driving shaft guide rail pair, the motor transmission assembly is distributed on one side of the driving shaft to drive the driving shaft to axially move on the fixed base, the planet idler wheel assembly is arranged on the other side of the driving shaft, and the driving shaft top plate and the driving shaft bottom plate are respectively connected with the planet idler wheel assembly.
3. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 2, wherein: the guide rail in the driving shaft guide rail pair is fixedly connected with the driving shaft, and the sliding block in the driving shaft guide rail pair is fixedly connected with the fixed base.
4. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 2, wherein: the driven shaft assembly consists of a driven shaft and a connecting plate fixed on the driven shaft, and the connecting plate is connected with the driving shaft through a driven shaft guide rail pair.
5. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 4, wherein: the guide rail in the driven shaft guide rail pair is fixedly connected with the driving shaft, and the sliding block in the driven shaft guide rail pair is fixedly connected with the connecting plate.
6. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 4, wherein: the planetary idler wheel assembly further comprises two planetary idler wheel frames and a fixed idler wheel frame, wherein one planetary idler wheel frame is fixedly connected with the bottom plate of the driving shaft, one group of planetary small idler wheel sets is connected in one planetary idler wheel frame through a connecting shaft, the other planetary idler wheel frame is fixedly connected with the top plate of the driving shaft, the other group of planetary small idler wheel sets is connected in the other planetary idler wheel frame through a connecting shaft, the fixed idler wheel frame is fixedly connected with one side of the fixed base, a vertical through hole is formed in the fixed idler wheel frame, two pairs of connecting shaft grooves are symmetrically formed in the front face of the fixed idler wheel frame, which is positioned on two sides of the vertical through hole, fixing screws matched with the connecting shaft grooves are mounted on the connecting shaft of the fixed large idler wheel, and one fixed large idler wheel is fixed in one pair of the connecting shaft grooves through the fixing screws, the two ends of the opening synchronous belt are respectively fixed on the back of the fixed idler wheel frame through a synchronous belt toothed plate, and the opening synchronous belt is positioned between the two groups of planet small idler wheel groups, and one section of moving section is connected with the driven shaft through the matching of the toothed plate and the pressing plate.
7. The double-speed mechanical arm structure with the double-section planetary idler wheel as claimed in claim 6, wherein: the planetary idler wheel frames are provided with threaded holes, one of the planetary idler wheel frames is fixedly connected with the driving shaft bottom plate through the matching of the threaded holes and the tensioning screws, the other planetary idler wheel frame is fixedly connected with the driving shaft top plate through the matching of the threaded holes and the tensioning screws, and the matching of the threaded holes and the tensioning screws plays a role in adjusting the tensioning force of the opening synchronous belt.
8. The double-section planetary idler triple-speed mechanical arm structure as claimed in claim 6 or 7, wherein: the motor drive assembly constitute by motor, drive wheel and driving belt, the motor pass through the motor fixed bolster and be fixed in fixed baseplate's opposite side, the drive wheel set up in the transmission shaft of motor on, driving belt around locating the drive wheel on, driving belt's upper end be fixed in through a pinion rack subassembly the upper end of driving shaft, driving belt's lower extreme be fixed in through another pinion rack subassembly the lower extreme of driving shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810991464.1A CN109159147B (en) | 2018-08-29 | 2018-08-29 | Double-section planetary idler triple-speed mechanical arm structure |
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| CN201810991464.1A CN109159147B (en) | 2018-08-29 | 2018-08-29 | Double-section planetary idler triple-speed mechanical arm structure |
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| CN109159147B true CN109159147B (en) | 2020-10-27 |
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| JP2955384B2 (en) * | 1991-04-26 | 1999-10-04 | キヤノン株式会社 | Image recording device |
| CN202517313U (en) * | 2012-03-26 | 2012-11-07 | 长安大学 | Pulley block speed multiplication mechanism for hydraulic cylinder |
| US9539130B2 (en) * | 2012-10-29 | 2017-01-10 | Cook Medical Technologies Llc | Low profile stepped delivery system |
| CN203401496U (en) * | 2013-06-26 | 2014-01-22 | 广东伯朗特智能装备股份有限公司 | Speed-multiplying mechanical arm device |
| CN204529209U (en) * | 2015-02-12 | 2015-08-05 | 山东全欧环境产业有限公司 | A kind ofly be applied to the differential type pulley jacking system that catch-basin bilge well draws clearly machine |
| CN205817294U (en) * | 2016-05-31 | 2016-12-21 | 青岛科捷机器人有限公司 | A kind of concertina type mechanism |
| CN106142114B (en) * | 2016-07-28 | 2018-10-30 | 青岛大学 | Triple speed tire captures robot |
| CN106531226A (en) * | 2016-11-28 | 2017-03-22 | 洛阳利维科技有限公司 | Multifunctional sliding table capable of moving at triple speed |
| CN106695776A (en) * | 2017-01-23 | 2017-05-24 | 王安基 | Manipulator and production line |
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Address after: 315801 518 xiaojiajiang Middle Road, Beilun District, Ningbo City, Zhejiang Province Patentee after: Ningbo Haitian Drive Technology Co.,Ltd. Address before: 315801 518 xiaojiajiang Middle Road, Beilun District, Ningbo City, Zhejiang Province Patentee before: NINGBO HAIMAIKE AUTOMATION TECHNOLOGY Co.,Ltd. |