CN112664415A - Articulated manipulator potential energy recovery device - Google Patents
Articulated manipulator potential energy recovery device Download PDFInfo
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- CN112664415A CN112664415A CN202011580713.1A CN202011580713A CN112664415A CN 112664415 A CN112664415 A CN 112664415A CN 202011580713 A CN202011580713 A CN 202011580713A CN 112664415 A CN112664415 A CN 112664415A
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- shaft
- rotary drive
- power storage
- arm
- small arm
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- 238000005381 potential energy Methods 0.000 title claims abstract description 22
- 238000011084 recovery Methods 0.000 title claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims description 44
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention discloses a joint type manipulator potential energy recovery device, and belongs to the technical field of engineering machinery. The defects that lifting capacity is reduced and gravitational potential energy is wasted in a traditional articulated manipulator in the prior art are overcome. The main structure of the mechanical arm comprises a mechanical arm base, wherein a first shaft rotary drive is arranged on the mechanical arm base, a second shaft rotary drive mounting seat is arranged on the first shaft rotary drive, a second shaft rotary drive and a large arm power storage device are arranged on the second shaft rotary drive mounting seat, the second shaft rotary drive is connected with a large arm through a large arm connecting device, the large arm is connected with a third shaft rotary drive through a third shaft rotary drive mounting seat, the third shaft rotary drive is connected with a fourth shaft rotary drive through a small arm connecting device, the fourth shaft rotary drive is connected with a clamping jaw device through a small arm, and the third shaft rotary drive is further provided with a small arm power storage device. The invention is mainly used for lifting heavy objects.
Description
The technical field is as follows:
the invention belongs to the technical field of engineering machinery, and particularly relates to a potential energy recovery device for an articulated manipulator.
Background art:
at present, the joint type mechanical arm is widely applied because the joint type mechanical arm can well replace manual work to complete simple and repeated work with high labor intensity, such as automatic welding, automatic assembly, automatic feeding and discharging, material carrying and other occasions.
The existing articulated manipulator is designed by simulating a human hand, the large arm joint and the small arm joint are connected and driven by adopting an RV reducer and a motor, and a gravitational potential energy recovery device is not used.
The invention content is as follows:
the technical problem to be solved by the invention is to overcome the defects of the prior art, and provide a potential energy recovery device for an articulated manipulator, which realizes automatic recovery and release compensation of lifting power required by the articulated manipulator, realizes power output and release of an articulated shaft through rotation drive of each shaft, realizes self-locking of the articulated shaft by utilizing the self-locking function of a worm gear, greatly improves the lifting capacity of the articulated manipulator, and effectively recovers the gravitational potential energy.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
the utility model provides an articulated manipulator potential energy recovery unit, includes the manipulator base, be equipped with a rotary drive on the manipulator base, be equipped with two rotary drive mount pads on the rotary drive of an axle, be equipped with two rotary drive and big arm on the two rotary drive mount pads and hold power device, two rotary drive are connected with big arm through big arm connecting device, big arm is connected with three-axis rotary drive through three-axis rotary drive mount pad, and three-axis rotary drive is connected with four-axis rotary drive through forearm connecting device, and four-axis rotary drive is connected with clamping jaw device through the forearm again, still be equipped with the forearm on the three-axis rotary drive and hold power device.
Preferably, the large arm power storage device comprises a large arm power storage spring guide shaft, a large arm rack, a large arm power storage spring and a large arm reset spring, the large arm power storage spring guide shaft is installed in a guide shaft installation hole A on the two-shaft rotary drive installation seat, the large arm power storage spring and the large arm reset spring are respectively installed on the large arm power storage spring guide shaft, and the large arm rack is installed on the large arm power storage spring guide shaft through a fixing block A.
Preferably, the forearm power storage device comprises a forearm reset spring, a forearm rack, a forearm power storage spring guide shaft, a forearm power storage spring and a forearm power storage device mounting seat, the forearm power storage device mounting seat is mounted on a shell driven by three-axis rotation, the forearm power storage spring guide shaft is mounted in a guide shaft mounting hole B in the forearm power storage device mounting seat, the forearm reset spring and the forearm power storage spring are respectively mounted on the forearm power storage spring guide shaft, and the forearm rack is mounted on the forearm power storage spring guide shaft through a fixing block B.
Preferably, the large arm connecting device is provided with a gear A, and the gear A is in meshing transmission connection with the large arm rack; and the small arm connecting device is provided with a gear B, and the gear B is in meshed transmission connection with the small arm rack.
Preferably, a first shaft supporting shaft is arranged on the first shaft rotary drive, the first shaft supporting shaft penetrates through the first shaft rotary drive, the upper end of the first shaft supporting shaft is fixedly connected with the two shaft rotary drive mounting seats, and the lower end of the first shaft supporting shaft is connected with the manipulator base.
Preferably, the two-shaft rotary drive is provided with a two-shaft supporting shaft, the two-shaft supporting shaft sequentially penetrates through the two-shaft rotary drive mounting seat, the large arm connecting device and the two-shaft rotary drive, and two ends of the two-shaft supporting shaft are connected with the two-shaft rotary drive mounting seat.
Preferably, the forearm connecting device is provided with a three-shaft supporting shaft, the three-shaft supporting shaft penetrates through the three-shaft rotation driving device, and the three-shaft supporting shaft is installed on the three-shaft rotation driving installation seat.
Preferably, the four-axis rotary drive is provided with a small arm supporting shaft, the small arm supporting shaft penetrates through the four-axis rotary drive, one end of the small arm supporting shaft is connected with the small arm connecting device, and the other end of the small arm supporting shaft is connected with the small arm.
Preferably, the first shaft rotary drive is connected with the first shaft motor through a first shaft speed reducer, the second shaft rotary drive is connected with the second shaft motor through a second shaft speed reducer, the third shaft rotary drive is connected with the third shaft motor through a third shaft speed reducer, and the fourth shaft rotary drive is connected with the fourth shaft motor through a fourth shaft speed reducer.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the large arm force storage device and the small arm force storage device are used for realizing automatic recovery and release compensation of lifting power required by the articulated manipulator, the power output and release of the articulated shaft are realized through the rotation drive of each shaft, and meanwhile, the self-locking function of the worm gear is utilized for realizing the self-locking of the articulated shaft, so that the lifting capacity of the articulated manipulator is greatly improved, and the gravitational potential energy is effectively recovered.
Description of the drawings:
FIG. 1 is a first isometric view of the present invention;
FIG. 2 is a second isometric view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a left side view of the present invention;
fig. 5 is a diagram illustrating the principle of energy storage according to the present invention.
In the figure: 1. a manipulator base; 2. a shaft is driven to rotate; 3. a shaft motor; 4. a first shaft reducer; 5. a four-axis motor; 6. a four-axis speed reducer; 7. a jaw arrangement; 8. a small arm; 9. four-axis rotation driving; 10. a forearm connection means; 12. two-axis rotation driving; 13. a biaxial reducer; 14. a two-axis motor; 15. a two-axis rotation driving mounting seat; 16. a three-axis motor; 17. a three-axis speed reducer; 18. a forearm return spring; 19. a small arm rack; 20. a small arm force-storage spring guide shaft; 21. a small arm power storage spring; 22. a small arm support bearing; 23. a small arm supporting shaft; 24. a large arm power storage spring guide shaft; 25. a large arm rack; 26. a large arm power storage spring; 27. a large arm return spring; 28. a three-shaft support bearing; 29. a three-axis support shaft; 30. two shafts support the bearing; 31. a two-axis support shaft; 32. a shaft supporting the shaft; 33. a shaft support bearing; 34. a forearm force storage device mounting base; 35. driving by three-axis rotation; 36. a three-axis rotation driving mounting seat; 37. a large arm; 38. a large arm connecting device; 39. a guide shaft mounting hole A; 40. a fixed block A; 41. a guide shaft mounting hole B; 42. a fixed block B; 43. a gear A; 44. and a gear B.
The specific implementation mode is as follows:
the invention is further illustrated by the following specific examples in combination with the accompanying drawings.
Example 1:
as shown in fig. 1-4, an articulated manipulator potential energy recovery device comprises a manipulator base 1, wherein a first shaft rotary drive 2 is arranged on the manipulator base 1, a shell of the first shaft rotary drive 2 is fixed on the manipulator base 1 through a bolt, a second shaft rotary drive mounting seat 15 is arranged on the first shaft rotary drive 2, the second shaft rotary drive mounting seat 15 is fixed on a turbine of the first shaft rotary drive 2 through a bolt, a second shaft rotary drive 12 and a large arm force storage device are arranged on the second shaft rotary drive mounting seat 15, the second shaft rotary drive mounting seat 15 is connected with the shell of the second shaft rotary drive 12 through a bolt, the second shaft rotary drive 12 is connected with a large arm 37 through a large arm connecting device 38, the large arm 37 is fixed on the large arm connecting device 38 through a bolt, the large arm connecting device 38 is fixed on the turbine of the second shaft rotary drive 12 through a bolt, big arm 37 is connected with triaxial rotary drive 35 through triaxial rotary drive mount pad 36, triaxial rotary drive mount pad 36 passes through the bolt fastening on big arm 37, the casing of triaxial rotary drive 35 passes through the bolt fastening on triaxial rotary drive mount pad 36, triaxial rotary drive 35 passes through forearm connecting device 10 and is connected with four-axis rotary drive 9, forearm connecting device 10 passes through the bolt fastening on the turbine of triaxial rotary drive 35, four-axis rotary drive 9 is connected with clamping jaw device 7 through forearm 8 again, the casing of four-axis rotary drive 9 passes through the bolt fastening on forearm connecting device 10, forearm 8 passes through the bolt fastening on the turbine of four-axis rotary drive 9, clamping jaw device 7 passes through the bolt fastening on forearm 8, still be equipped with forearm power storage device on triaxial rotary drive 35.
The structure of the first-shaft rotation drive 2, the second-shaft rotation drive 12, the third-shaft rotation drive 35 and the fourth-shaft rotation drive 9 comprises a shell, a worm gear, a worm, balls, an inner support ring and the like, wherein the worm gear is installed on the shell and meshed with the worm gear, the worm gear is matched with the inner support ring through the balls, and the inner support ring is fixed on the shell through bolts.
Example 2:
a large-arm power storage device comprises a large-arm power storage spring guide shaft 24, a large-arm rack 25, a large-arm power storage spring 26 and a large-arm return spring 27, wherein the large-arm power storage spring guide shaft 24 is installed in a guide shaft installation hole A39 on a two-shaft rotary driving installation seat 15, the large-arm power storage spring 26 and the large-arm return spring 27 are respectively installed on the large-arm power storage spring guide shaft 24, the large-arm rack 25 is installed on the large-arm power storage spring guide shaft 24 through a fixing block A40, and the fixing block A40 is installed on the large-arm power storage spring guide shaft 24 in a reciprocating sliding mode.
The small arm power storage device comprises a small arm return spring 18, a small arm rack 19, a small arm power storage spring guide shaft 20, a small arm power storage spring 21 and a small arm power storage device mounting seat 34, wherein the small arm power storage device mounting seat 34 is mounted on a shell of a three-axis rotary drive 35 through bolts, the small arm power storage spring guide shaft 20 is mounted in a guide shaft mounting hole B41 on the small arm power storage device mounting seat 34, the small arm return spring 18 and the small arm power storage spring 21 are respectively mounted on the small arm power storage spring guide shaft 20, the small arm rack 19 is mounted on the small arm power storage spring guide shaft 20 through a fixing block B42, and the fixing block B42 can be mounted on the small arm power storage spring guide shaft 20 in a back-and-forth sliding manner.
The large arm connecting device 38 is provided with a gear A43, the gear A43 is in meshing transmission connection with the large arm rack 25, and the gear A43 compresses the large arm power storage spring 26 by matching with the large arm rack 25 to recover potential energy; the small arm connecting device 10 is provided with a gear B44, the gear B44 is in meshing transmission connection with the small arm rack 19, and the gear B44 compresses the small arm force storage spring 21 through being matched with the small arm rack 19 to recover potential energy.
The first shaft rotary drive 2 is provided with a first shaft support shaft 32, the first shaft support shaft 32 penetrates through the first shaft rotary drive 2, the upper end of the first shaft support shaft 32 is fixedly connected with the second shaft rotary drive mounting seat 15 through a bolt, and the lower end of the first shaft support shaft 32 is connected with the manipulator base 1 through a first shaft support bearing 33.
The two-shaft rotary drive 12 is provided with a two-shaft support shaft 31, the two-shaft support shaft 31 sequentially penetrates through the two-shaft rotary drive mounting seat 15, the large arm connecting device 38 and the two-shaft rotary drive 12, and two ends of the two-shaft support shaft 31 are connected with the two-shaft rotary drive mounting seat 15 through two-shaft support bearings 30.
Be equipped with triaxial support shaft 29 on forearm connecting device 10, triaxial support shaft 29 runs through triaxial swing drive 35, and triaxial support shaft 29 installs on triaxial swing drive mount pad 36 through triaxial journal bearing 28.
Be equipped with forearm back shaft 23 on the four-axis rotary drive 9, forearm back shaft 23 runs through four-axis rotary drive 9, and the one end of forearm back shaft 23 is passed through forearm support bearing 22 and is connected with forearm connecting device 10, and the other end is connected with forearm 8.
One shaft rotary drive 2 is connected with one shaft motor 3 through one shaft speed reducer 4, two shaft rotary drive 12 is connected with two shaft motor 14 through two shaft speed reducer 13, three shaft rotary drive 35 is connected with three shaft motor 16 through three shaft speed reducer 17, four shaft rotary drive 9 is connected with four shaft motor 5 through four shaft speed reducer 6. The other portions are the same as in example 1.
The working principle of the invention is as follows:
as shown in fig. 5, the large arm 37 is energy-storing and works: when the large arm 37 rotates from the vertical state to the horizontal state, the gear A43 on the large arm connecting device 38 is meshed with the large arm rack 25, so that the large arm rack 25 moves relatively along the large arm power storage spring guide shaft 24, the large arm power storage spring 26 is compressed to store power, and the required power is generated by the self weight of the mechanical arm, the two-shaft motor 14 and the two-shaft speed reducer 13 which drive the two-shaft rotation drive 12 to rotate forwards.
The working principle of energy release of the large arm 37 is as follows: when the big arm 37 rotates from the horizontal state to the vertical state for lifting, the two-shaft motor 14 and the two-shaft speed reducer 13 drive the two-shaft rotation drive 12 to rotate reversely, and meanwhile, the big arm power storage spring 26 releases energy and drives the big arm rack 25 and the gear A43 meshed with the big arm rack to drive the big arm connecting device 38 to reset and rotate, so that the lifting of the mechanical arm and the heavy object is realized.
The working principle of energy storage and energy release of the small arm 8 is the same as that of the large arm 37, and the reciprocating operation is performed, so that the recovery and the release of the articulated manipulator are realized, and the automatic compensation of the lifting power is realized.
Claims (9)
1. The utility model provides an articulated manipulator potential energy recovery unit, includes manipulator base (1), its characterized in that: be equipped with one axle rotary drive (2) on manipulator base (1), be equipped with two axle rotary drive mount pads (15) on one axle rotary drive (2), be equipped with two axle rotary drive (12) and big arm power storage device on two axle rotary drive mount pads (15), two axle rotary drive (12) are connected with big arm (37) through big arm connecting device (38), big arm (37) are connected with triaxial rotary drive (35) through triaxial rotary drive mount pad (36), and triaxial rotary drive (35) are connected with four-axis rotary drive (9) through forearm connecting device (10), and four-axis rotary drive (9) are connected with clamping jaw device (7) through forearm (8) again, still be equipped with the forearm on triaxial rotary drive (35) and hold the power device.
2. The articulated manipulator potential energy recovery device of claim 1, wherein: the large arm power storage device comprises a large arm power storage spring guide shaft (24), a large arm rack (25), a large arm power storage spring (26) and a large arm reset spring (27), wherein the large arm power storage spring guide shaft (24) is installed in a guide shaft installation hole A (39) on a two-shaft rotary driving installation seat (15), the large arm power storage spring (26) and the large arm reset spring (27) are respectively installed on the large arm power storage spring guide shaft (24), and the large arm rack (25) is installed on the large arm power storage spring guide shaft (24) through a fixing block A (40).
3. The articulated manipulator potential energy recovery device of claim 2, wherein: the small arm power storage device comprises a small arm reset spring (18), a small arm rack (19), a small arm power storage spring guide shaft (20), a small arm power storage spring (21) and a small arm power storage device mounting seat (34), wherein the small arm power storage device mounting seat (34) is installed on a shell of a three-axis rotary drive (35), the small arm power storage spring guide shaft (20) is installed in a guide shaft mounting hole B (41) in the small arm power storage device mounting seat (34), the small arm reset spring (18) and the small arm power storage spring (21) are respectively installed on the small arm power storage spring guide shaft (20), and the small arm rack (19) is installed on the small arm power storage spring guide shaft (20) through a fixing block B (42).
4. The articulated manipulator potential energy recovery device of claim 3, wherein: the large arm connecting device (38) is provided with a gear A (43), and the gear A (43) is in meshing transmission connection with the large arm rack (25); the small arm connecting device (10) is provided with a gear B (44), and the gear B (44) is in meshed transmission connection with the small arm rack (19).
5. The articulated manipulator potential energy recovery device of claim 4, wherein: the manipulator is characterized in that a first shaft supporting shaft (32) is arranged on the first shaft rotary drive (2), the first shaft supporting shaft (32) penetrates through the first shaft rotary drive (2), the upper end of the first shaft supporting shaft (32) is fixedly connected with the second shaft rotary drive mounting seat (15), and the lower end of the first shaft supporting shaft is connected with the manipulator base (1).
6. The articulated manipulator potential energy recovery device of claim 5, wherein: be equipped with two back shafts (31) on two rotary drive (12), two back shafts (31) run through two rotary drive mount pads (15), big arm connecting device (38) and two rotary drive (12) in proper order, and the both ends and the two rotary drive mount pads (15) of two back shafts (31) are connected.
7. The articulated manipulator potential energy recovery device of claim 6, wherein: be equipped with triaxial support shaft (29) on forearm connecting device (10), triaxial support shaft (29) run through triaxial rotary drive (35), and install on triaxial rotary drive mount pad (36) triaxial support shaft (29).
8. The articulated manipulator potential energy recovery device of claim 7, wherein: be equipped with forearm back shaft (23) on four-axis rotary drive (9), four-axis rotary drive (9) is run through in forearm back shaft (23), and the one end and the forearm connecting device (10) of forearm back shaft (23) are connected, and the other end is connected with forearm (8).
9. The articulated manipulator potential energy recovery device of any one of claims 1-8, wherein: one shaft rotary drive (2) is connected with one shaft motor (3) through one shaft speed reducer (4), two shaft rotary drive (12) are connected with two shaft motor (14) through two shaft speed reducer (13), three shaft rotary drive (35) are connected with three shaft motor (16) through three shaft speed reducer (17), four shaft rotary drive (9) are connected with four shaft motor (5) through four shaft speed reducer (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011580713.1A CN112664415A (en) | 2020-12-28 | 2020-12-28 | Articulated manipulator potential energy recovery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011580713.1A CN112664415A (en) | 2020-12-28 | 2020-12-28 | Articulated manipulator potential energy recovery device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112664415A true CN112664415A (en) | 2021-04-16 |
Family
ID=75410850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011580713.1A Withdrawn CN112664415A (en) | 2020-12-28 | 2020-12-28 | Articulated manipulator potential energy recovery device |
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| Country | Link |
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| CN (1) | CN112664415A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4659280A (en) * | 1985-01-22 | 1987-04-21 | Gmf Robotics Corporation | Robot with balancing mechanism having a variable counterbalance force |
| CN103978483A (en) * | 2014-05-05 | 2014-08-13 | 重庆优楷科技有限公司 | Industrial joint robot body |
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN107053182A (en) * | 2017-06-12 | 2017-08-18 | 北京镁伽机器人科技有限公司 | A kind of robot with potential energy compensation function |
| CN109366465A (en) * | 2018-11-16 | 2019-02-22 | 北京镁伽机器人科技有限公司 | A kind of robot |
| CN214196569U (en) * | 2020-12-28 | 2021-09-14 | 山东临工工程机械有限公司 | Articulated manipulator potential energy recovery device |
-
2020
- 2020-12-28 CN CN202011580713.1A patent/CN112664415A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4659280A (en) * | 1985-01-22 | 1987-04-21 | Gmf Robotics Corporation | Robot with balancing mechanism having a variable counterbalance force |
| CN103978483A (en) * | 2014-05-05 | 2014-08-13 | 重庆优楷科技有限公司 | Industrial joint robot body |
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN107053182A (en) * | 2017-06-12 | 2017-08-18 | 北京镁伽机器人科技有限公司 | A kind of robot with potential energy compensation function |
| CN109366465A (en) * | 2018-11-16 | 2019-02-22 | 北京镁伽机器人科技有限公司 | A kind of robot |
| CN214196569U (en) * | 2020-12-28 | 2021-09-14 | 山东临工工程机械有限公司 | Articulated manipulator potential energy recovery device |
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Effective date of registration: 20220930 Address after: 276023 the intersection of Huaxia Road and Kunming Road, Linyi Economic and Technological Development Zone, Shandong Province Applicant after: LINYI LINGONG INTELLIGENT INFORMATION TECHNOLOGY Co.,Ltd. Address before: 276023 Shandong Lingong Construction Machinery Co., Ltd., No. 126, Lingong Road, economic and Technological Development Zone, Linyi City, Shandong Province Applicant before: SHANDONG LINGONG CONSTRUCTION MACHINERY Co.,Ltd. |
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Application publication date: 20210416 |