CN112894878B - High-speed heavy-load mechanical arm - Google Patents
High-speed heavy-load mechanical arm Download PDFInfo
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- CN112894878B CN112894878B CN202110070628.9A CN202110070628A CN112894878B CN 112894878 B CN112894878 B CN 112894878B CN 202110070628 A CN202110070628 A CN 202110070628A CN 112894878 B CN112894878 B CN 112894878B
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- vertical
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- vertical column
- plate
- driving motor
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- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 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
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
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- 238000012545 processing Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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-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
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 the 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 put forward on the working stability and safety performance of the mechanical arm. For example, in the stone material processing production process, a large amount of translation and rotation or compound motion is required by the mechanical arm, although the horizontal motion is easy to realize high-speed heavy-load driving, the driving force of the existing rotary heavy-load driving is generally driven or hydraulically driven by a motor matched with a speed reducer, the driving speed is slower although the hydraulic driving can meet the heavy-load driving, and in the motor matched with the speed reducer driving structure in the prior art, the high-speed braking inertia during the rotary driving is larger, the self-locking property is poor, the motor is easy to damage, and the control precision of the rotary stroke is not high.
Disclosure of Invention
Therefore, the invention aims to overcome the defects in the prior art, and provides the high-speed heavy-load mechanical arm which can realize the high-speed heavy-load work of the mechanical arm, and has the advantages of low cost and simple and compact structure.
The invention relates to 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 fixed on the base and 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 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 outside the connecting part, 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 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.
Further, 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 positioned at two ends of the revolution vertical rod and are both provided with a revolution gear ring in a matched mode.
Further, a turntable is arranged at the bottom of the base body, and the rotary driving motor is fixed on the turntable.
Further, the pedestal includes bottom plate, high riser, low riser, goes up diaphragm and lower diaphragm, high riser and low riser branch are listed as in the both sides of bottom plate, go up the diaphragm and be fixed in the top of high riser and be fixed in the lower diaphragm on low riser top relatively, vertical post is installed between last diaphragm and lower diaphragm, forms the clearance that is used for revolution montant to pass through between lower diaphragm and the high riser.
Further, the revolution gear rings corresponding to the upper revolution drive and the lower revolution drive 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 to be 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 retaining sleeve is of a double sleeve structure with two vertical and central lines arranged at intervals and fixed.
Further, 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.
The beneficial effects of the invention are as follows: according to the high-speed heavy-duty mechanical arm disclosed by the invention, the vertical column is used as the lead screw to drive the cantilever to lift, the rotary driving motor drives the revolution vertical rod to rotate through the combination of the worm gear and the revolution gear ring, and meanwhile, the cantilever is driven to swing, so that the rotation of the cantilever is realized, the lifting movement and the rotation have self-locking functions, the high-speed heavy-duty driving is facilitated, 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 accompanying drawings and examples:
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic view of the structure of the vertical holding sleeve in the present invention.
Detailed Description
FIG. 1 is a schematic diagram of the structure of the present invention; fig. 2 is a schematic structural view of a vertical retaining sleeve according to the present invention, and as shown in the drawing, a high-speed heavy-duty mechanical arm in this embodiment includes a base, a vertical column 1, a cantilever 2, a vertical driving assembly and a rotary driving assembly; the vertical column 1 is arranged on the base body in a mode of rotating along a central axis of the vertical column 1 in a single degree of freedom manner, the inner end thread of the cantilever 2 is sleeved on the vertical column 1 and is vertical to the vertical column 1, the vertical driving assembly comprises a vertical driving motor 3 fixed on the base body and in transmission fit with the vertical column 1, the vertical 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 in a shell body rotating along the central axis of the vertical column 1 in a single degree of freedom manner, an output shaft 6 of the rotary driving motor 4 is in transmission fit with the revolution vertical rod 5 in a turbine worm manner, the output shaft of the rotary driving motor is used as a worm, a vertical retaining sleeve 7 sleeved at a connecting position between the output shaft 6 of the rotary driving motor 4 and the revolution vertical rod 5 keeps stable transmission, the inner end of the cantilever 2 is provided with a rotary driving hole, the vertical rod 5 is rotationally sleeved in the rotary driving hole and is in vertical sliding fit with the cantilever 2, and a revolution driving gear is fixedly arranged at the end of the vertical rod 5 and is meshed with the revolution gear ring 5 fixed on the base body and used for driving the revolution vertical rod 5; the outer end of the cantilever 2 is provided with other working parts 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 screw rod to drive the cantilever 2 to move up and down, the rotary driving motor 4 drives the cantilever 2 to swing when driving the revolution vertical rod 5 to rotate through the combination of a turbine worm and a revolution gear ring, the rotary motion of the cantilever 2 is realized, the lifting motion and the rotary motion have self-locking functions, the realization of high-speed heavy-load driving is facilitated, the control precision is high, the cost is low, and the structure is simple and compact; of course, when the cantilever 2 is controlled to rotate, the rotation of the vertical rod can be controlled to realize the height change compensation in the rotation control process, which belongs to the prior art and is not described herein.
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 respectively 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 favorable for the stress balance of the revolution vertical rod 5, the operation is stable, the bottom end surface of the revolution vertical rod 5 is provided with rollers (not shown), and the rollers are universal wheels.
In this embodiment, the bottom of the base is provided with a turntable 12, and the rotary driving 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, where the high vertical plate and the low vertical plate are separately arranged on two sides of the bottom plate, the upper horizontal plate is fixed on the top end of the high vertical plate and opposite to the lower horizontal plate fixed on the top end of the low vertical plate, the vertical column 1 is installed between the upper horizontal plate and the lower horizontal plate, and a gap for passing through the revolution vertical rod 5 is formed between the lower horizontal plate and the high vertical plate; the rotary table is positioned on the lower side of the lower transverse plate, so that the structural seat body is good in stability and convenient for installing various parts.
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; the top surface of the upper transverse plate is fixedly provided with a vertical driving motor 3 mounting frame 18; 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 smoothly.
In this embodiment, the vertical retaining sleeve 7 has two vertical double sleeve structures with fixed central lines arranged at intervals; the vertical retaining sleeve 7 is beneficial to ensuring the stability of a worm and wheel transmission structure; ball bearings are arranged in the vertical retaining sleeves 7 corresponding to the rod bodies; of course, the inside of the vertical retaining sleeve 7 can also be provided with thrust bearings for preventing the corresponding axial transmission of the shafts by means of the prior art, which are not described in detail here.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and 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 and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by 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.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112894878A CN112894878A (en) | 2021-06-04 |
| CN112894878B true CN112894878B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110070628.9A Active CN112894878B (en) | 2021-01-19 | 2021-01-19 | High-speed heavy-load mechanical arm |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 | Priority date | Publication date | Assignee | Title |
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| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN103753523A (en) * | 2013-12-20 | 2014-04-30 | 江苏大学 | Thermoformed loading and unloading mechanical arm |
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| 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 |
| CN208451631U (en) * | 2018-06-19 | 2019-02-01 | 东莞市东启智能设备有限公司 | A kind of manipulator of lifting and rotation combination |
| CN208773635U (en) * | 2018-09-06 | 2019-04-23 | 伊瓦特机器人设备制造有限公司 | A kind of manipulator swing type mechanical arm |
| 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 |
| CN210025291U (en) * | 2019-05-23 | 2020-02-07 | 三峡大学 | Two-degree-of-freedom mechanical arm |
| CN210148093U (en) * | 2019-06-21 | 2020-03-17 | 哈工大机器人（合肥）国际创新研究院 | Omnidirectional movement double-arm robot |
| WO2020070412A1 (en) * | 2018-10-01 | 2020-04-09 | Université Le Havre Normandie | Robotic system, comprising an articulated arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9076830B2 (en) * | 2011-11-03 | 2015-07-07 | Applied Materials, Inc. | Robot systems and apparatus adapted to transport dual substrates in electronic device manufacturing with wrist drive motors mounted to upper arm |
-
2021
- 2021-01-19 CN CN202110070628.9A patent/CN112894878B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| 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 |
| CN208451631U (en) * | 2018-06-19 | 2019-02-01 | 东莞市东启智能设备有限公司 | A kind of manipulator of lifting and rotation combination |
| CN208773635U (en) * | 2018-09-06 | 2019-04-23 | 伊瓦特机器人设备制造有限公司 | A kind of manipulator swing type mechanical arm |
| WO2020070412A1 (en) * | 2018-10-01 | 2020-04-09 | Université Le Havre Normandie | Robotic system, comprising an articulated arm |
| CN210025291U (en) * | 2019-05-23 | 2020-02-07 | 三峡大学 | Two-degree-of-freedom mechanical arm |
| CN210148093U (en) * | 2019-06-21 | 2020-03-17 | 哈工大机器人（合肥）国际创新研究院 | Omnidirectional movement double-arm robot |
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| CN112894878A (en) | 2021-06-04 |
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