CN112894878A - High-speed heavy-load mechanical arm - Google Patents
High-speed heavy-load mechanical arm Download PDFInfo
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- CN112894878A CN112894878A CN202110070628.9A CN202110070628A CN112894878A CN 112894878 A CN112894878 A CN 112894878A CN 202110070628 A CN202110070628 A CN 202110070628A CN 112894878 A CN112894878 A CN 112894878A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Classifications
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a high-speed heavy-load mechanical arm which comprises a base body, a vertical column, a cantilever, a vertical driving assembly and a rotary driving assembly, wherein the base body is provided with a vertical column; the vertical column is mounted on the base body in a single-degree-of-freedom rotating mode along the central axis of the vertical column, the inner end threads of the cantilever are sleeved outside the vertical column and are perpendicular to the vertical column, the vertical driving assembly comprises a vertical driving motor which is fixed on the base body and is in transmission fit with the vertical column, the rotary driving assembly comprises a rotary driving motor, a revolution vertical rod and a revolution gear ring, the rotary driving motor is horizontally arranged on the base body, the shell is rotatably mounted on the base body in a single-degree-of-freedom rotating mode around the central axis of the vertical column, and an output shaft of the rotary driving motor is in transmission fit with the; the high-speed heavy-load work of the mechanical arm can be realized, the cost is low, and the structure is simple and compact.
Description
Technical Field
The invention relates to the field of robots, in particular to a high-speed heavy-load mechanical arm.
Background
The mechanical arm of the robot is an indispensable important component of automatic equipment, and the efficient and safe operation of the mechanical arm has very important significance for production and life. At present, with the development trend of high speed and heavy load of mechanical equipment, higher and higher requirements are provided for the working stability and safety performance of the mechanical arm. For example, in the process of processing and producing stone materials, a mechanical arm is required to perform a large amount of translation and rotation or compound motion, although the horizontal motion drive easily realizes high-speed heavy-load drive, the driving force of the existing rotary heavy-load drive is generally driven by a motor matched with a speed reducer or is driven by hydraulic pressure, although the hydraulic drive can meet the heavy-load drive, the driving speed is slow, and in the driving structure of the motor matched with the speed reducer in the prior art, the high-speed braking inertia during the rotary drive is large, the self-locking performance is poor, the motor is easy to damage, and the control precision of the rotary stroke is not.
Disclosure of Invention
In view of this, the present invention is to overcome the defects in the prior art, and provide a high-speed heavy-load robot arm, which can implement high-speed heavy-load operation of the robot arm, and has low cost and simple and compact structure.
The invention discloses a high-speed heavy-load mechanical arm which comprises a base body, a vertical column, a cantilever, a vertical driving assembly and a rotary driving assembly, wherein the base body is provided with a vertical column; the vertical column is arranged on the base body in a single-degree-of-freedom rotating mode along the central axis of the vertical column, the inner end thread of the cantilever is externally sleeved on the vertical column and is perpendicular to the vertical column, the vertical driving component comprises a vertical driving motor which is fixed on the base body and is in transmission fit with the vertical column, the rotary driving component comprises a rotary driving motor, a revolution vertical rod and a revolution gear ring, the rotary driving motor is horizontally arranged, a shell is rotatably arranged on the base body in a single-degree-of-freedom rotating mode around the central axis of the vertical column, an output shaft of the rotary driving motor is in transmission fit with the revolution vertical rod in a worm way, the output shaft of the rotary driving motor and the revolution vertical rod are in stable transmission through a vertical retaining sleeve which is externally sleeved at a joint, a rotary driving hole is formed in the inner end of the cantilever, and a revolution driving gear is fixedly arranged at the end part of the revolution vertical rod, and the revolution driving gear is meshed with a revolution gear ring fixed on the seat body and is used for driving the revolution vertical rod to revolve.
Furthermore, revolution drive gear includes upper revolution drive gear and lower revolution drive gear, upper and lower revolution drive gear is located the both ends of revolution montant respectively and all cooperates and is provided with the revolution ring gear.
Further, a rotary table is arranged at the bottom of the base body, and the rotary driving motor is fixed on the rotary table.
Further, the base body comprises a bottom plate, a high vertical plate, a low vertical plate, an upper transverse plate and a lower transverse plate, the high vertical plate and the low vertical plate are respectively arranged on two sides of the bottom plate, the upper transverse plate is fixed on the top end of the high vertical plate and is opposite to the lower transverse plate fixed on the top end of the low vertical plate, the vertical column is installed between the upper transverse plate and the lower transverse plate, and a gap for the revolution vertical rod to pass through is formed between the lower transverse plate and the high vertical plate.
Furthermore, revolution gear rings corresponding to the upper and lower revolution drives are respectively fixed on the bottom surface of the upper transverse plate and the top surface of the bottom plate.
Further, the top surface of going up the diaphragm is fixed and is provided with vertical driving motor mounting bracket.
Further, a ball bearing is installed in the rotation driving hole.
Further, a thrust bearing is installed between the bottom of the vertical column and the lower transverse plate.
Further, the vertical holding sleeve is of a double-sleeve structure which is vertical and fixed at intervals on the central line.
Further, a ball bearing is arranged in the vertical retaining sleeve corresponding to the rod body; and the bottom end surface of the revolution vertical rod is provided with a roller.
The invention has the beneficial effects that: according to the high-speed heavy-load mechanical arm disclosed by the invention, the vertical column is used as the lead screw to drive the cantilever to move up and down, the rotary driving motor drives the revolution vertical rod to rotate by combining the worm gear and the revolution gear ring, and simultaneously drives the cantilever to swing, so that the rotary motion of the cantilever is realized, and the lifting motion and the rotary motion have self-locking functions, so that the high-speed heavy-load driving is favorably realized, the control precision is high, the cost is low, and the structure is simple and compact.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the structure of the vertical retaining sleeve of the present invention.
Detailed Description
FIG. 1 is a schematic structural view of the present invention; fig. 2 is a schematic structural diagram of a vertical retaining sleeve according to the present invention, and as shown in the drawing, the high-speed heavy-duty mechanical arm in the present embodiment includes a base, a vertical column 1, a cantilever 2, a vertical driving assembly, and a rotation driving assembly; the vertical column 1 is arranged on the base body in a single-degree-of-freedom rotating mode along the central axis of the vertical column 1, the inner end threads of the cantilever 2 are sleeved outside the vertical column 1 and are perpendicular to the vertical column 1, the vertical driving assembly comprises a vertical driving motor 3 which is fixed on the base body and is in transmission fit with the vertical column 1, the rotary driving assembly comprises a rotary driving motor 4, a revolution vertical rod 5 and a revolution gear ring, the rotary driving motor 4 is horizontally arranged on the base body, a shell is rotatably arranged on the base body in the single-degree-of-freedom rotating mode around the central axis of the vertical column 1, an output shaft 6 of the rotary driving motor 4 is in transmission fit with the revolution vertical rod 5 in a turbine worm mode, an output shaft of the rotary driving motor is used as a worm, the output shaft 6 of the rotary driving motor 4 and the revolution vertical rod 5 are in stable transmission through, the revolution vertical rod 5 is rotatably sleeved in the rotation driving hole and is in sliding fit with the cantilever 2 along the vertical direction, a revolution driving gear is fixedly arranged at the end part of the revolution vertical rod 5, and the revolution driving gear is meshed with a revolution gear ring fixed on the seat body and is used for driving the revolution vertical rod 5 to revolve; the outer end of the cantilever 2 is provided with other working components such as a mechanical claw or a cutter, the vertical driving motor 3 and the rotary driving motor 4 are both common motors, the vertical column 1 is used as a lead screw to drive the cantilever 2 to move up and down, the rotary driving motor 4 drives the revolution vertical rod 5 to rotate through the combination of a turbine and a worm and a revolution gear ring, and simultaneously drives the cantilever 2 to swing, so that the rotary motion of the cantilever 2 is realized, and the lifting motion and the rotary motion have self-locking functions, thereby being beneficial to realizing high-speed heavy-load driving, having high control precision, low cost and simple and compact structure; of course, when the cantilever 2 is controlled to rotate and drive, the height variation compensation in the rotation control process can be realized by utilizing the control vertical rod to rotate, which belongs to the prior art and is not described herein again.
In this embodiment, the revolution driving gear includes an upper revolution driving gear 8 and a lower revolution driving gear 9, and the upper and lower revolution driving gears are respectively located at two ends of the revolution vertical rod 5 and are both provided with a revolution gear ring in a matching manner; the revolution gear ring comprises an upper revolution gear ring 10 and a lower revolution gear ring 11, the structure is beneficial to the stress balance of the revolution vertical rod 5, the operation is stable, the bottom end face of the revolution vertical rod 5 is provided with a roller (not shown), and the roller is a universal wheel.
In this embodiment, a rotary table 12 is disposed at the bottom of the base, and the rotation driving motor 4 is fixed on the rotary table 12.
In this embodiment, the base body comprises a bottom plate 13, a high vertical plate 14, a low vertical plate 15, an upper transverse plate 16 and a lower transverse plate 17, the high vertical plate and the low vertical plate are respectively arranged at two sides of the bottom plate, the upper transverse plate is fixed at the top end of the high vertical plate and is opposite to the lower transverse plate fixed at the top end of the low vertical plate, the vertical column 1 is installed between the upper transverse plate and the lower transverse plate, and a gap for the revolution vertical rod 5 to pass through is formed between the lower transverse plate and the high vertical plate; the revolving stage is located the downside of diaphragm down, and this structure pedestal steadiness is good, makes things convenient for each part installation.
In this embodiment, the revolution gear rings corresponding to the upper and lower revolution drives are respectively fixed on the bottom surface of the upper transverse plate and the top surface of the bottom plate; a vertical driving motor 3 mounting frame 18 is fixedly arranged on the top surface of the upper transverse plate; a ball bearing is arranged in the rotary driving hole; a thrust bearing is arranged between the bottom of the vertical column 1 and the lower transverse plate; the mechanical arm can run more smoothly.
In this embodiment, the vertical retaining sleeves 7 are two vertical double-sleeve structures with fixed and spaced central lines; the vertical retaining sleeve 7 is beneficial to ensuring the stability of the worm and gear transmission structure; a ball bearing is arranged in the vertical retaining sleeve 7 corresponding to the rod body; of course, the interior of the vertical retaining sleeve 7 may also be provided with a thrust bearing for preventing axial transmission of the corresponding rod through the prior art, and the thrust bearing belongs to the prior art and is not described in detail herein.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a high-speed heavy load arm which characterized in that: the device comprises a seat body, a vertical column, a cantilever, a vertical driving assembly and a rotary driving assembly; the vertical column is arranged on the base body in a single-degree-of-freedom rotating mode along the central axis of the vertical column, the inner end thread of the cantilever is externally sleeved on the vertical column and is perpendicular to the vertical column, the vertical driving component comprises a vertical driving motor which is fixed on the base body and is in transmission fit with the vertical column, the rotary driving component comprises a rotary driving motor, a revolution vertical rod and a revolution gear ring, the rotary driving motor is horizontally arranged, a shell is rotatably arranged on the base body in a single-degree-of-freedom rotating mode around the central axis of the vertical column, an output shaft of the rotary driving motor is in transmission fit with the revolution vertical rod in a worm way, the output shaft of the rotary driving motor and the revolution vertical rod are in stable transmission through a vertical retaining sleeve which is externally sleeved at a joint, a rotary driving hole is formed in the inner end of the cantilever, and a revolution driving gear is fixedly arranged at the end part of the revolution vertical rod, and the revolution driving gear is meshed with a revolution gear ring fixed on the seat body and is used for driving the revolution vertical rod to revolve.
2. The high speed heavy duty robotic arm of claim 1, wherein: the revolution driving gear comprises an upper revolution driving gear and a lower revolution driving gear, and the upper revolution driving gear and the lower revolution driving gear are respectively located at two ends of the revolution vertical rod and are respectively provided with a revolution gear ring in a matching mode.
3. The high speed heavy duty robotic arm of claim 2, wherein: the rotary table is arranged at the bottom of the base body, and the rotary driving motor is fixed on the rotary table.
4. The high speed heavy duty robotic arm of claim 3, wherein: the base body comprises a bottom plate, a high vertical plate, a low vertical plate, an upper transverse plate and a lower transverse plate, the high vertical plate and the low vertical plate are respectively arranged on two sides of the bottom plate, the upper transverse plate is fixed on the top end of the high vertical plate and is opposite to the lower transverse plate fixed on the top end of the low vertical plate, the vertical column is installed between the upper transverse plate and the lower transverse plate, and a gap for the revolution vertical rod to pass through is formed between the lower transverse plate and the high vertical plate.
5. The high speed heavy duty robotic arm of claim 4, wherein: and the revolution gear rings corresponding to the upper and lower revolution drives are respectively fixed on the bottom surface of the upper transverse plate and the top surface of the bottom plate.
6. The high speed heavy duty robotic arm of claim 5, wherein: and a vertical driving motor mounting frame is fixedly arranged on the top surface of the upper transverse plate.
7. The high speed heavy duty robotic arm of claim 6, wherein: and a ball bearing is arranged in the rotary driving hole.
8. The high speed heavy duty robotic arm of claim 7, wherein: and a thrust bearing is arranged between the bottom of the vertical column and the lower transverse plate.
9. The high speed heavy duty robotic arm of claim 8, wherein: the vertical retaining sleeves are two double-sleeve structures which are vertical and fixed at intervals on the central line.
10. The high speed heavy duty robotic arm of claim 9, wherein: a ball bearing is arranged in the vertical retaining sleeve corresponding to the rod body; and the bottom end surface of the revolution vertical rod is provided with a roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110070628.9A CN112894878B (en) | 2021-01-19 | 2021-01-19 | High-speed heavy-load mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110070628.9A CN112894878B (en) | 2021-01-19 | 2021-01-19 | High-speed heavy-load mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN112894878A true CN112894878A (en) | 2021-06-04 |
| CN112894878B CN112894878B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110070628.9A Active CN112894878B (en) | 2021-01-19 | 2021-01-19 | High-speed heavy-load mechanical arm |
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| CN (1) | CN112894878B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894877A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | Self-locking type high-load mechanical arm |
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| WO2020070412A1 (en) * | 2018-10-01 | 2020-04-09 | Université Le Havre Normandie | Robotic system, comprising an articulated arm |
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2021
- 2021-01-19 CN CN202110070628.9A patent/CN112894878B/en active Active
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|---|---|---|---|---|
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four degrees of freedom full decoupling linear transmission cylindrical coordinate manipulator |
| US20130115028A1 (en) * | 2011-11-03 | 2013-05-09 | Applied Materials, Inc. | Robot systems, apparatus, and methods adapted to transport dual substrates in electronic device manufacturing |
| CN103753523A (en) * | 2013-12-20 | 2014-04-30 | 江苏大学 | Thermoformed loading and unloading mechanical arm |
| CN104227713A (en) * | 2014-09-26 | 2014-12-24 | 福建农林大学 | Crop handling device based on Arduino single chip microprocessor |
| CN207736285U (en) * | 2017-08-24 | 2018-08-17 | 深圳汉邦自动化设备有限公司 | A kind of SCARA robots improving load capacity |
| CN208880692U (en) * | 2017-12-06 | 2019-05-21 | 翟家怡 | A kind of tree trunk white paining robot adapting to a variety of landform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894877A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | Self-locking type high-load mechanical arm |
| CN112894877B (en) * | 2021-01-19 | 2024-01-30 | 重庆文理学院 | Self-locking high-load mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN112894878B (en) | 2024-01-30 |
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Application publication date: 20210604 Assignee: Maomao (Chongqing) automobile drive system Co.,Ltd. Assignor: CHONGQING University OF ARTS AND SCIENCES Contract record no.: X2024980020729 Denomination of invention: High speed heavy-duty robotic arm Granted publication date: 20240130 License type: Common License Record date: 20241112 Application publication date: 20210604 Assignee: Chongqing Chuanda Mechanical Equipment Manufacturing Co.,Ltd. Assignor: CHONGQING University OF ARTS AND SCIENCES Contract record no.: X2024980020727 Denomination of invention: High speed heavy-duty robotic arm Granted publication date: 20240130 License type: Common License Record date: 20241112 Application publication date: 20210604 Assignee: Chongqing Kaimeijia Road Maintenance Engineering Co.,Ltd. Assignor: CHONGQING University OF ARTS AND SCIENCES Contract record no.: X2024980020726 Denomination of invention: High speed heavy-duty robotic arm Granted publication date: 20240130 License type: Common License Record date: 20241112 Application publication date: 20210604 Assignee: CHONGQING XINGJI GEAR Co.,Ltd. Assignor: CHONGQING University OF ARTS AND SCIENCES Contract record no.: X2024980020721 Denomination of invention: High speed heavy-duty robotic arm Granted publication date: 20240130 License type: Common License Record date: 20241112 |
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Application publication date: 20210604 Assignee: Chongqing Lingsheng Industrial Co.,Ltd. Assignor: CHONGQING University OF ARTS AND SCIENCES Contract record no.: X2024980021264 Denomination of invention: High speed heavy-duty robotic arm Granted publication date: 20240130 License type: Common License Record date: 20241118 |
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