CN113305882B - Rigidity reinforcing structure for tail end screw rod of robot and robot - Google Patents
Rigidity reinforcing structure for tail end screw rod of robot and robot Download PDFInfo
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- CN113305882B CN113305882B CN202110591257.9A CN202110591257A CN113305882B CN 113305882 B CN113305882 B CN 113305882B CN 202110591257 A CN202110591257 A CN 202110591257A CN 113305882 B CN113305882 B CN 113305882B
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- 230000003014 reinforcing effect Effects 0.000 title claims description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000005728 strengthening Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000002708 enhancing effect Effects 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 239000007787 solid Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a rigidity strengthening structure of a screw rod at the tail end of a robot and the robot, wherein the rigidity strengthening structure comprises a screw rod and an axial displacement driving assembly, the axial displacement driving assembly can drive the screw rod to axially extend and retract along the screw rod, the rigidity strengthening structure also comprises at least three elastic pieces, the first end of each elastic piece is connected with the screw rod, each elastic piece is arranged around the screw rod at intervals, in the extending process of the screw rod, the elastic pieces can apply axial force opposite to the extending direction of the screw rod and radial force deviating from the side of the axis of the screw rod to the screw rod, and the resultant force of the radial force applied by each elastic piece to the screw rod is zero. According to the invention, when the screw rod is in an extending state, the rigidity of the screw rod is improved, the shaking phenomenon at the tail end of the screw rod is relieved, and the stability of the screw rod is higher.
Description
Technical Field
The invention belongs to the technical field of industrial robot design, and particularly relates to a rigidity reinforcing structure for a screw rod at the tail end of a robot and the robot.
Background
At present, the tail end of the SCARA robot realizes the movement and the rotation of the robot in the vertical direction by means of a screw rod assembly. Because the robot often can carry eccentric load under actual operating mode, when the terminal extension of lead screw to great stroke or acceleration when too big, can lead to the terminal certain shake condition to appear of lead screw, especially when the robot lead screw rigidity is not enough, because the lead screw lacks corresponding support, can lead to the terminal shake condition aggravation of lead screw.
Disclosure of Invention
Therefore, the invention provides a rigidity reinforcing structure for a screw rod at the tail end of a robot and the robot, which are used for overcoming the defect that the terminal shaking condition of the screw rod is serious due to the fact that the tail end of the screw rod at the tail end of the robot in the related art extends out for a long distance or the rigidity is insufficient when the acceleration is too large.
In order to solve the above problems, the present invention provides a rigidity enhancing structure for a screw rod at a tail end of a robot, including a screw rod, an axial displacement driving assembly, and at least three elastic members, wherein the axial displacement driving assembly can drive the screw rod to axially extend and retract along the screw rod, a first end of each elastic member is connected to the screw rod, the elastic members are arranged at intervals around the screw rod, in an extending process of the screw rod, the elastic members can apply an axial force opposite to an extending direction of the screw rod and a radial force deviating from one side of an axis of the screw rod to the screw rod, and a resultant force of the radial forces applied by each elastic member to the screw rod is zero.
Preferably, the rigidity reinforcing structure for the screw rod at the tail end of the robot further comprises a rotary driving assembly, the rotary driving assembly comprises a spline housing in spline connection with the screw rod, and the second end of each elastic piece is connected with the spline housing; and/or all the elastic pieces are uniformly arranged around the screw rod at intervals.
Preferably, the second end of each elastic member is detachably connected with the spline housing through a first fixing ring.
Preferably, the outer ring wall of the first fixing ring is provided with a plurality of first lifting lugs, the number of the first lifting lugs is equal to that of the elastic pieces, and the second ends of the elastic pieces are respectively connected with the first lifting lugs in a one-to-one correspondence manner; and/or the outer ring wall of the first fixing ring is provided with a first connecting hole, and the connecting piece can connect the first fixing ring with the spline housing through the first connecting hole.
Preferably, terminal lead screw rigidity additional strengthening of robot still includes the terminal arm body, the rotary driving subassembly still includes first bearing housing, the spline housing is in the bearing hole that first bearing housing has, just the spline housing with the rolling element has between the first bearing housing, first bearing housing with terminal arm body fixed connection, the first end protrusion of spline housing extremely the outside of the terminal arm body, first solid fixed ring connect in the first end of spline housing is served.
Preferably, the second end of the spline housing is inside the end arm and the second end of the spline housing has a spline pulley.
Preferably, the first end of each elastic element is detachably connected with the screw rod through a second fixing ring.
Preferably, the outer ring wall of the second fixing ring is provided with a plurality of second lifting lugs, the number of the second lifting lugs is equal to that of the elastic pieces, and the first ends of the elastic pieces are respectively connected with the second lifting lugs in a one-to-one correspondence manner; and/or a second connecting hole is formed in the outer ring wall of the second fixing ring, and the connecting piece can connect the second fixing ring with the screw rod through the second connecting hole.
Preferably, the elastic member is a spring.
The invention also provides a robot, which comprises a tail end screw rod rigidity reinforcing structure, wherein the tail end screw rod rigidity reinforcing structure is the tail end screw rod rigidity reinforcing structure of the robot.
According to the rigidity strengthening structure of the screw rod at the tail end of the robot and the robot, when the screw rod is stretched, the elastic parts can apply axial force to the screw rod in the direction opposite to the stretching direction of the screw rod and radial force outward along the radial direction of the screw rod, the axial force and the radial force can offset external eccentric load force, and meanwhile the resultant force of the radial force applied to the screw rod by each elastic part is zero, so that when the screw rod is in a stretching state, the rigidity of the screw rod is improved, the shaking phenomenon at the tail end of the screw rod is relieved, and the stability of the screw rod is higher.
Drawings
FIG. 1 is a schematic diagram of an internal structure of a rigidity-enhancing structure of a screw rod at the tail end of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the first retaining ring of FIG. 1;
FIG. 3 is a perspective view of the second retaining ring of FIG. 1;
FIG. 4 is a schematic structural diagram of a robot according to an embodiment of the present invention, wherein the lead screw is in an initial position and the corresponding elastic member is not deformed;
fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present invention, in which when the lead screw is in an extending process, the corresponding elastic element deforms along with the extension of the lead screw, and applies corresponding axial force and radial force to the lead screw.
The reference numerals are represented as:
1. a screw rod; 2. an elastic member; 21. a first retaining ring; 211. a first lifting lug; 212. a first connection hole; 22. a second retaining ring; 221. a second lifting lug; 222. a second connection hole; 31. a spline housing; 32. a first bearing sleeve; 33. a spline pulley; 4. a distal arm body; 51. a nut; 52. a second bearing housing; 53. a nut belt wheel; 6. a limiting block; 71. a base; 72. an intermediate articulated arm; 73. a housing.
Detailed Description
At present, the tail end of the SCARA robot realizes the movement and the rotation of the robot in the vertical direction by means of a screw rod assembly, and because the robot usually carries an eccentric load under the actual working condition, when the tail end of the screw rod extends to a larger stroke or the acceleration is too large, the tail end of the screw rod can shake to a certain extent, especially when the rigidity of the screw rod of the robot is insufficient, the vibration of the tail end of the screw rod is aggravated because the screw rod lacks corresponding support, and the invention is provided for solving the problem.
Referring to fig. 1 to 5 in combination, according to an embodiment of the present invention, a terminal screw stiffness enhancing structure for a robot is provided, including a screw 1, an axial displacement driving assembly, a terminal arm 4, where the axial displacement driving assembly is mounted on the terminal arm 4 and can drive the screw 1 to axially extend and retract along the screw, and further including at least three elastic members 2, a first end of each elastic member 2 is connected to the screw 1, and each elastic member 2 is disposed around the screw 1 at intervals, and in an extending process of the screw 1, the elastic members 2 can apply an axial force opposite to an extending direction of the screw 1 and a radial force away from an axial center side of the screw 1 to the screw 1, and a resultant force of the radial forces applied by each elastic member 2 to the screw 1 is zero. In the technical scheme, when the screw rod 1 is extended (the rigidity is reduced to a certain degree), the elastic part 2 can apply axial force to the screw rod 1 in a direction opposite to the extending direction of the screw rod 1 and radial force outward in the radial direction of the screw rod 1, the axial force and the radial force can offset external eccentric load force, meanwhile, the resultant force of the radial force applied by the elastic part 2 to the screw rod 1 is zero, so that when the screw rod 1 is in an extending state, the rigidity of the screw rod 1 is improved, the shaking phenomenon at the tail end of the screw rod 1 is relieved, and the stability of the screw rod is higher. Preferably, the elastic members 2 are uniformly spaced around the screw rod 1, so that the axial force and the radial force are respectively equal in magnitude and symmetrical in direction, the installation layout of the corresponding elastic members 2 is simplified, and the stability of the screw rod 1 is improved.
In some embodiments, the axial displacement driving assembly includes a nut 51 in threaded connection with the lead screw 1, the nut 51 is fixedly connected with a nut pulley 53, the nut 51 can rotate relative to the end arm 4 under the driving of the nut pulley 53, the lead screw 1 can generate linear displacement along the axial direction thereof by the action of a nut-lead screw pair, and a ball (not shown in the figure) is arranged between the nut and the lead screw 1; a second bearing sleeve 52 is further sleeved outside the nut 51, a corresponding roller (e.g., a ball, not shown in the drawings) is disposed between the nut 51 and the second bearing sleeve 52, and the second bearing sleeve 52 is fixedly connected with the end arm 4 (or via other transfer structures, such as a mounting bracket, etc.) to axially position the axial displacement driving component without interfering with the rotation of the nut 51.
In some embodiments, the robot end screw stiffness enhancing structure further comprises a rotary driving assembly, the rotary driving assembly comprises a spline housing 31 in spline connection with the screw 1, and the second end of each elastic member 2 is connected with the spline housing 31. It can be understood that the second end of each elastic member 2 can be connected with the end arm 4, and since the first end of each elastic member 2 is fixedly connected with the lead screw 1, and the lead screw 1 has a rotation requirement, the connection between the second end of each elastic member 2 and the end arm 4 needs to consider adding a corresponding bearing and other parts at the connection position, which obviously complicates the structure and increases the cost.
In some embodiments, the rotary drive assembly further comprises a first bearing housing 32, the spline housing 31 being within a bearing bore provided in the first bearing housing 32, and rolling bodies (not shown) are provided between the spline housing 31 and the first bearing housing 32, the first bearing sleeve 32 is fixedly connected with the tail end arm body 4, a first end of the spline sleeve 31 protrudes to the outer side of the tail end arm body 4, the first fixing ring 21 is connected to the first end of the spline housing 31, and the second end of the elastic member 2 is connected to the portion of the spline housing 31 exposed outside the end arm 4, so that maintenance and replacement of the elastic member 2 can be facilitated (for example, the elastic member 2 with different elastic coefficients can be replaced according to different load conditions, and replacement is more convenient).
The second end of spline housing 31 is in the inboard of terminal arm body 4, just the second end of spline housing 31 has spline band pulley 33, will spline band pulley 33 set up in the inboard of terminal arm body 4 can prevent that it from exposing the operation incident that the outside probably brought, can also effectively prevent dust simultaneously, guarantees transmission efficiency.
In some embodiments, the second end of each elastic member 2 is detachably connected to the spline housing 31 via the first fixing ring 21. Specifically, a plurality of first lifting lugs 211 are arranged on the outer ring wall of the first fixing ring 21, the number of the first lifting lugs 211 is equal to the number of the elastic elements 2, the second ends of the elastic elements 2 are respectively connected with the first lifting lugs 211 in a one-to-one correspondence manner, the first lifting lugs 211 are provided with corresponding connecting holes, and the opposite end portions of the elastic elements 2 are connected with the connecting holes; and/or, the outer ring wall of the first fixing ring 21 is provided with a first connection hole 212, and a connection member (e.g. a screw) can connect the first fixing ring 21 and the spline housing 31 through the first connection hole 212, preferably, the first connection hole 212 is provided in a plurality, and the plurality of first connection holes 212 are uniformly spaced around the outer ring wall of the first fixing ring 21, so that the connection between the first fixing ring 21 and the lead screw 1 is more stable and reliable. Meanwhile, the first fixing ring 21 is positioned at the extending end part of the screw rod 1, so that the retracting stroke of the screw rod 1 can be limited. The other end of the screw rod 1 is also provided with a limiting block 6 so as to limit the extending stroke of the screw rod 1.
In some embodiments, the first end of each elastic element 2 is detachably connected to the screw rod 1 through a second fixing ring 22. Specifically, a plurality of second lifting lugs 221 are arranged on the outer annular wall of the second fixing ring 22, the number of the second lifting lugs 221 is equal to the number of the elastic pieces 2, and the first ends of the elastic pieces 2 are respectively connected with the second lifting lugs 221 in a one-to-one correspondence manner; and/or, a second connection hole 222 is provided on an outer circumferential wall of the second fixing ring 22, and a connection member can connect the second fixing ring 22 with the lead screw 1 through the second connection hole 222, and a design advantage of the second fixing ring 22 is similar to a design advantage of the first fixing ring 21, but it should be emphasized that, after the second fixing ring 22 and the first fixing ring 21 are respectively connected with an end portion of the elastic member 2, a radial distance from a first end of the elastic member 2 to an axis of the lead screw 1 is ensured to be smaller than a radial distance from a second end of the elastic member 2 to the axis of the lead screw 1, so that the elastic member 2 can provide the axial force and the radial force in a process of extending the lead screw 1. First solid fixed ring 21 with the solid fixed ring 22 of second can drive elastic component 2 with lead screw 1 synchronous revolution has guaranteed elastic component 2 connection stability, and can not take place the winding phenomenon of elastic component 2.
The first fixing ring 21 and the second fixing ring 22 can also be connected with the spline housing 31 and the screw rod 1 in an interference fit manner.
In some embodiments, the elastic member 2 is a spring, and it is understood that the elastic coefficient, material, etc. of the spring need to be selected according to the practical application condition of the robot tip, and the invention is not limited thereto.
The end arm 4 includes a corresponding cover 73 to cover the nut pulley 53, the spline pulley 33, and the driving parts (e.g., motor, belt) corresponding thereto, respectively, inside the end arm 4 without being exposed.
According to an embodiment of the present invention, there is also provided a robot, including a terminal screw stiffness enhancing structure, where the terminal screw stiffness enhancing structure is the terminal screw stiffness enhancing structure of the robot. In particular, the robot comprises a base 71, and the end arm 4 and the base 71 can form an indirect driving connection through one or more intermediate joint arms 72 to enrich the freedom of movement of the end arm 4.
The operation principle of the present invention will be further explained with reference to the accompanying drawings.
As can be seen from fig. 4, when the screw rod 1 is in the initial position, i.e. the state that the screw rod 1 is not extended, the elastic member 2 (specifically, for example, paralyzed) is in the relaxed state, and since the end of the screw rod in this state is mainly supported by the spline housing 31, the end of the screw rod is slightly shaken when receiving an external force. At this time, the rigidity reinforcing structure of the present invention only plays a role of connection, and does not need to support the screw rod 1. Because the screw rod 1, the first fixing ring 21 and the second fixing ring 22 can keep synchronous rotation movement, the rigidity reinforcing structure does not influence the movement of the screw rod 1; when the screw 1 is in an extended state, as shown in fig. 5, at this time, since the first fixing ring 21 is fixed (axially) to the spline housing 31, the first fixing ring 21 will be held at the original position, and since the second fixing ring 22 is fixed to the screw 1, the second fixing ring 22 will move downward along with the screw, so that the distance between the first fixing ring 21 and the second fixing ring 22 will become larger, thereby causing the spring to be stretched, and specifically, as shown in fig. 5, since the spring is stretched, a symmetrical tensile force in the spring stretching direction (shown by F1, F2 in fig. 5) will be generated between the first fixing ring 21 and the second fixing ring 22. Because the springs are uniformly distributed around the screw rod 1, the pulling forces are equal and symmetrical, and because the first fixing ring 21 is connected with the spline housing 31 and the second fixing ring 22 is connected with the tail end of the screw rod 1, the springs generate 4 equal and symmetrical pulling forces on the tail end of the screw rod 1. Continuing with FIG. 5, F External force Is directed from the left side of the figure to the right side of the figure when the screw rod 1 is subjected to F External force When the screw rod 1 is deformed, the tail end of the screw rod 1 is deviated towards the direction F2, and the tensile force of the spring is increased along with the increase of the stretching distance, so that the tensile force of the F1 is increasedThereby generating a part of the pulling force to counteract F External force . Therefore, due to the existence of the four uniformly distributed springs, when the screw rod is in an extension state, certain stability can be kept, so that the rigidity of the tail end of the screw rod 1 is increased in an auxiliary mode, the shaking condition of the tail end of the screw rod 1 is reduced, and in this condition, the rigidity strengthening structure does not influence the rotation movement of the screw rod 1.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a terminal lead screw rigidity additional strengthening of robot, includes lead screw (1), axial displacement drive assembly can drive lead screw (1) is flexible along the lead screw axial, its characterized in that, still includes three at least elastic component (2), each the first end of elastic component (2) with lead screw (1) is connected, each elastic component (2) encircle lead screw (1) interval sets up, in-process is stretched out in lead screw (1), elastic component (2) can be to lead screw (1) exert with the axial force that stretches out opposite direction of lead screw (1) and deviate from the radial force of axle center one side of lead screw (1), and each elastic component (2) are to lead screw (1) are applyed the resultant force of radial force is zero.
2. The robot end screw stiffness enhancing structure according to claim 1, further comprising a rotary drive assembly including a spline housing (31) splined to the screw (1), the second end of each elastic member (2) being connected to the spline housing (31); and/or the elastic pieces (2) are uniformly arranged around the screw rod (1) at intervals.
3. The robot end screw stiffness enhancing structure according to claim 2, wherein the second end of each elastic member (2) is detachably connected to the spline housing (31) through a first fixing ring (21).
4. The robot end screw stiffness enhancing structure according to claim 3, wherein a plurality of first lifting lugs (211) are arranged on an outer annular wall of the first fixing ring (21), the number of the first lifting lugs (211) is equal to the number of the elastic members (2), and the second ends of the elastic members (2) are respectively connected with the first lifting lugs (211) in a one-to-one correspondence manner; and/or an outer ring wall of the first fixing ring (21) is provided with a first connecting hole (212), and a connecting piece can connect the first fixing ring (21) with the spline sleeve (31) through the first connecting hole (212).
5. The robot end screw stiffness enhancing structure according to claim 3, further comprising an end arm body (4), wherein the rotary driving assembly further comprises a first bearing sleeve (32), the spline sleeve (31) is located in a bearing hole of the first bearing sleeve (32), rolling bodies are arranged between the spline sleeve (31) and the first bearing sleeve (32), the first bearing sleeve (32) is fixedly connected with the end arm body (4), a first end of the spline sleeve (31) protrudes to the outer side of the end arm body (4), and the first fixing ring (21) is connected to the first end of the spline sleeve (31).
6. Robot end screw stiffness reinforcement according to claim 5, characterized in that the second end of the spline housing (31) is inside the end arm (4) and the second end of the spline housing (31) has a spline pulley (33).
7. The robot end screw stiffness enhancing structure according to claim 1, wherein the first end of each elastic member (2) is detachably connected to the screw (1) through a second fixing ring (22).
8. The robot end screw rod rigidity reinforcing structure according to claim 7, wherein a plurality of second lifting lugs (221) are arranged on the outer ring wall of the second fixing ring (22), the number of the second lifting lugs (221) is equal to the number of the elastic members (2), and the first ends of the elastic members (2) are respectively connected with the second lifting lugs (221) in a one-to-one correspondence manner; and/or a second connecting hole (222) is formed in the outer ring wall of the second fixing ring (22), and a connecting piece can connect the second fixing ring (22) with the screw rod (1) through the second connecting hole (222).
9. Robot end screw stiffness reinforcement according to any of claims 1-8, characterized in that the elastic member (2) is a spring.
10. A robot comprising a tip screw stiffness enhancing structure, wherein the tip screw stiffness enhancing structure is the robot tip screw stiffness enhancing structure of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110591257.9A CN113305882B (en) | 2021-05-28 | 2021-05-28 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110591257.9A CN113305882B (en) | 2021-05-28 | 2021-05-28 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
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| Publication Number | Publication Date |
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| CN113305882A CN113305882A (en) | 2021-08-27 |
| CN113305882B true CN113305882B (en) | 2022-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110591257.9A Active CN113305882B (en) | 2021-05-28 | 2021-05-28 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101318330A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Two-in-parallel elastic driver |
| CN101637914A (en) * | 2009-08-24 | 2010-02-03 | 清华大学 | High-rigidity multi-stage expansion mechanism |
| CN105234959B (en) * | 2015-09-08 | 2018-01-26 | 微创（上海）医疗机器人有限公司 | The gravitational equilibrium mechanism of main manipulator |
| CN106002922B (en) * | 2016-07-14 | 2018-08-14 | 安徽艾塔智能科技有限公司 | A kind of building site carrying intelligent robot movable pulley |
| CN111148910B (en) * | 2017-09-27 | 2022-04-19 | 康斯博格汽车部件集团股份公司 | Cable end assembly |
| CN111878465B (en) * | 2020-08-20 | 2022-02-18 | 国网湖南省电力有限公司 | Axial flow fan based on quasi-zero rigidity vibration isolation |
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