CN112894878B - High-speed heavy-load mechanical arm - Google Patents

Abstract

The invention discloses a high-speed heavy-duty 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 plurality of vertical support columns; the vertical column is arranged on the base in a single-degree-of-freedom rotation mode along the central axis of the vertical column, the inner end thread of the cantilever is sleeved outside the vertical column and is vertical to the vertical column, the vertical driving assembly comprises a vertical driving motor which is fixed on the base and is in transmission fit with the vertical column, the rotation driving assembly comprises a rotation driving motor, a revolution vertical rod and a revolution gear ring, the rotation driving motor is horizontally arranged, the shell is rotatably arranged on the base in a single-degree-of-freedom rotation mode around the central axis of the vertical column, and an output shaft of the rotation driving motor is in transmission fit with the revolution vertical rod in a turbine worm mode; 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

High-speed and heavy-duty robotic arm

Technical field

The invention relates to the field of robots, and in particular to a high-speed, heavy-load robotic arm.

Background technique

The robotic arm of a robot is an indispensable and important part of automation equipment. The efficient and safe work of the robotic arm is of great significance to both production and life. At present, with the development trend of high speed and heavy load of mechanical equipment, higher and higher requirements are put forward for the stable performance and safety performance of mechanical arms. For example, in the stone processing and production process, the robot arm is required to perform a large amount of translational and rotational or compound motion. Although the horizontal motion drive can easily achieve high-speed and heavy-load drive, the driving force of the existing rotational heavy-load drive is generally matched with a motor and deceleration. Although the hydraulic drive can meet the requirements of heavy-duty driving, the driving speed is relatively slow. In the existing technology of a motor with a reducer drive structure, the high-speed braking inertia during rotational driving is large, the self-locking property is poor, and the motor It is easy to be damaged, and the rotation stroke control accuracy is not high.

Contents of the invention

In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a high-speed and heavy-load robotic arm that can realize high-speed and heavy-load operation of the robotic arm and is low-cost and has a simple and compact structure.

A high-speed heavy-load mechanical arm of the present invention includes a base body, a vertical column, a cantilever, a vertical drive assembly and a rotary drive assembly; the vertical column is installed on the base body in a single-degree-of-freedom rotation along its own central axis. On the top, the inner end of the cantilever is threaded around the vertical column and is perpendicular to the vertical column. The vertical drive assembly includes a vertical drive motor that is fixed on the base and drives in cooperation with the vertical column. The rotary drive assembly includes a rotary drive assembly. The drive motor, the revolving vertical rod and the revolving ring gear. The rotary drive motor is horizontally mounted and the housing is mounted on the base body in a single degree of freedom rotation around the central axis of the vertical column. The output shaft of the rotary drive motor and the revolving vertical rod are The transmission is matched in the form of a worm gear. The output shaft of the rotary drive motor and the revolving vertical rod maintain stable transmission through a vertical retaining sleeve wrapped around the connection. A rotary drive hole is provided at the inner end of the cantilever, and the revolving vertical rod rotates inside It is placed in the rotation drive hole and slides vertically with the cantilever. The end of the revolution vertical rod is fixed with a revolution drive gear. The revolution drive gear meshes with the revolution ring gear fixed on the base and is used to drive the revolution vertical pole to revolve. .

Further, the revolving driving gear includes an upper revolving driving gear and a lower revolving driving gear. The upper and lower revolving driving gears are respectively located at both ends of the revolving vertical rod and are both provided with revolving ring gears.

Further, a turntable is provided at the bottom of the base body, and the rotation drive motor is fixed on the turntable.

Further, the base body includes a bottom plate, a high vertical plate, a low vertical plate, an upper horizontal plate and a lower horizontal plate. The high vertical plate and the low vertical plate are arranged on both sides of the bottom plate, and the upper horizontal plate is fixed to the high vertical plate. The top end of the lower vertical plate is opposite to the lower horizontal plate fixed on the top of the low vertical plate. The vertical column is installed between the upper horizontal plate and the lower horizontal plate. A gap is formed between the lower horizontal plate and the high vertical plate for the passage of the revolving vertical pole. gap.

Further, the revolving ring gears corresponding to the upper and lower revolving drives are respectively fixed on the bottom surface of the upper transverse plate and the top surface of the bottom plate.

Furthermore, a vertical drive motor mounting bracket is fixedly provided on the top surface of the upper horizontal plate.

Further, a ball bearing is installed in the rotation drive hole.

Further, a thrust bearing is installed between the bottom of the vertical column and the lower horizontal plate.

Furthermore, the vertical holding sleeves are two double sleeve structures that are vertically arranged and fixed at intervals along the center line.

Further, a ball bearing is provided in the vertical holding sleeve corresponding to the rod body; a roller is provided on the bottom end surface of the revolving vertical rod.

The beneficial effects of the present invention are: the high-speed heavy-load mechanical arm disclosed by the present invention uses a vertical column as a screw to drive the lifting movement of the cantilever, and the rotational drive motor drives the revolving vertical rod to rotate through the turbine worm combined with the revolving ring gear. , drives the cantilever to swing and realize the rotational motion of the cantilever, and both the lifting and rotating motions have self-locking functions, which is conducive to realizing high-speed and heavy-load driving, and has high control accuracy, low cost, and simple and compact structure.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings and examples:

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic structural diagram of the vertical retaining sleeve in the present invention.

Detailed ways

Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the vertical retaining sleeve of the present invention. As shown in the figure, a high-speed heavy-load mechanical arm in this embodiment includes a base, a vertical column 1, and a cantilever. 2. Vertical drive assembly and rotation drive assembly; the vertical column 1 is installed on the base body in a manner of rotating with a single degree of freedom along its central axis, and the inner end of the cantilever 2 is threaded around the vertical column 1 and connected with the base body. The vertical column 1 is vertical, and the vertical drive assembly includes a vertical drive motor 3 that is fixed on the base and drives in cooperation with the vertical column 1. The rotary drive assembly includes a rotary drive motor 4, a revolving vertical rod 5, and a revolving ring gear. The rotary drive motor 4 lies horizontally and the housing is mounted on the base body in a single degree of freedom rotation around the central axis of the vertical column 1. The output shaft 6 of the rotary drive motor 4 and the revolving vertical rod 5 are driven by a worm gear. In cooperation, the output shaft of the rotary drive motor acts as a worm. Stable transmission is maintained between the output shaft 6 of the rotary drive motor 4 and the revolution vertical rod 5 through a vertical retaining sleeve 7 that is wrapped around the connection. A rotary shaft is provided at the inner end of the cantilever 2. The revolving vertical rod 5 is rotated in the driving hole and is slidably matched with the cantilever 2 in the vertical direction. The end of the revolving vertical rod 5 is fixed with a revolving drive gear. The revolution ring gear engages and is used to drive the revolution vertical rod 5 to revolve; the outer end of the cantilever 2 is equipped with other working parts such as mechanical claws or cutters. The vertical drive motor 3 and the rotation drive motor 4 are both ordinary motors. By using the vertical Column 1 acts as a screw to drive the lifting movement of cantilever 2, while the rotational driving motor 4 drives the revolving vertical rod 5 to rotate through the turbine worm combined with the revolving ring gear, and at the same time drives the cantilever 2 to swing, realizing the rotational movement of cantilever 2, as well as the lifting and rotational movements. All have a self-locking function, which is conducive to realizing high-speed and heavy-load driving, and has high control accuracy, low cost, and a simple and compact structure; of course, when controlling the rotational drive of the cantilever 2, the vertical rod rotation can be used to control the rotation during the rotation control process. Height change compensation belongs to the existing technology and will not be described in detail here.

In this embodiment, the revolving driving gear includes an upper revolving driving gear 8 and a lower revolving driving gear 9. The upper and lower revolving driving gears are respectively located at both ends of the revolving vertical rod 5 and are both equipped with revolving ring gears; The ring gear includes an upper revolving ring gear 10 and a lower revolving ring gear 11. This structure is conducive to the force balance of the revolving vertical rod 5 and stable operation. The bottom end surface of the revolving vertical rod 5 is provided with a roller (not shown). The roller It is a universal wheel.

In this embodiment, a turntable 12 is provided at the bottom of the base, and the rotation drive motor 4 is fixed on the turntable 12 .

In this embodiment, the base includes a bottom plate 13, a high vertical plate 14, a low vertical plate 15, an upper horizontal plate 16 and a lower horizontal plate 17. The high vertical plates and low vertical plates are arranged on both sides of the bottom plate. The upper horizontal plate is fixed on the top of the high vertical plate and is opposite to the lower horizontal plate fixed on the top of the low vertical plate. The vertical column 1 is installed between the upper horizontal plate and the lower horizontal plate. A gap is formed for the passage of the revolving vertical rod 5; the turntable is located on the underside of the lower horizontal plate, and the structural base has good stability and is convenient for the installation of various parts.

In this embodiment, the revolving ring gears corresponding to the upper and lower revolving drives are respectively fixed on the bottom surface of the upper horizontal plate and the top surface of the bottom plate; the top surface of the upper horizontal plate is fixed with a vertical drive motor 3 mounting bracket 18 ; A ball bearing is installed in the rotation drive hole; a thrust bearing is installed between the bottom of the vertical column 1 and the lower horizontal plate; which is beneficial to the smoother operation of the mechanical arm.

In this embodiment, the vertical retaining sleeves 7 are two double-sleeve structures arranged vertically and fixedly at intervals along the center line; the vertical retaining sleeves 7 are beneficial to ensuring the stability of the turbine worm transmission structure; the vertical retaining sleeves 7 correspond to The rod body is provided with a ball bearing; of course, the interior of the vertical retaining sleeve 7 can also be provided with a thrust bearing for preventing the axial transmission of each rod through existing technology. This thrust bearing belongs to the existing technology and will not be described again here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified. Modifications or equivalent substitutions without departing from the spirit and scope of the technical solution of the present invention shall be included in the scope of the claims of the present invention.

Claims (8)

1. The utility model provides a high-speed heavy load arm which characterized in that: the vertical column 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 in a single-degree-of-freedom rotation mode along the central axis of the vertical column, the inner end thread of the cantilever is sleeved outside the vertical column and is vertical to the vertical column, the vertical driving assembly comprises a vertical driving motor which is fixed on the base and is in transmission fit with the vertical column, the rotation driving assembly comprises a rotation driving motor, a revolution vertical rod and a revolution gear ring, the rotation driving motor is horizontally arranged and the shell is rotationally arranged on the base in a single-degree-of-freedom rotation mode around the central axis of the vertical column, an output shaft of the rotation driving motor is in transmission fit with the revolution vertical rod in a turbine worm mode, the output shaft of the rotation driving motor and the revolution vertical rod are kept in stable transmission through a vertical retaining sleeve sleeved at the joint, a rotation driving hole is formed in the inner end of the cantilever, the revolution vertical rod is rotationally sleeved in the rotation driving hole and is in vertical sliding fit with the cantilever, and a revolution driving gear is fixedly arranged at the end part of the revolution vertical rod and is meshed with the gear ring fixed on the base and used for driving revolution. The upper revolution driving gear and the lower revolution driving gear are respectively positioned at two ends of the revolution vertical rod and are respectively provided with a revolution gear ring in a matched manner; the bottom of the seat body is provided with a rotary table, and the rotary driving motor is fixed on the rotary table.

2. The high speed, heavy duty mechanical arm of claim 1, wherein: the seat body comprises a bottom plate, a high vertical plate, a low vertical plate, an upper transverse plate and a lower transverse plate, wherein 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 arranged between the upper transverse plate and the lower transverse plate, and a gap for passing through a revolution vertical rod is formed between the lower transverse plate and the high vertical plate.

3. The high speed, heavy duty mechanical arm of claim 2, 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.

4. The high speed, heavy duty robotic arm of claim 3, wherein: the top surface of going up the diaphragm is fixed to be provided with vertical driving motor mounting bracket.

5. The high speed, heavy duty robotic arm of claim 4, wherein: and a ball bearing is arranged in the rotary driving hole.

6. The high speed, heavy duty robotic arm of claim 5, wherein: and a thrust bearing is arranged between the bottom of the vertical column and the lower transverse plate.

7. The high speed, heavy duty robotic arm of claim 6, wherein: the vertical retaining sleeve is of a double sleeve structure with two vertical center lines which are arranged at intervals and fixed.

8. The high speed, heavy duty robotic arm of claim 7, wherein: ball bearings are arranged in the vertical retaining sleeves corresponding to the rod bodies; the bottom end surface of the revolution vertical rod is provided with a roller.