CN114673873A - Single-degree-of-freedom robot holder lifting arm based on modular design - Google Patents
Single-degree-of-freedom robot holder lifting arm based on modular design Download PDFInfo
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- CN114673873A CN114673873A CN202210226287.4A CN202210226287A CN114673873A CN 114673873 A CN114673873 A CN 114673873A CN 202210226287 A CN202210226287 A CN 202210226287A CN 114673873 A CN114673873 A CN 114673873A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 7
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- 210000000245 forearm Anatomy 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000007689 inspection Methods 0.000 description 4
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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Abstract
The invention discloses a single-degree-of-freedom robot holder lifting arm based on modular design, wherein the holder lifting arm is a mechanical arm driven by a single motor and comprises a base, a lower end lifting arm, a motion joint, an upper end lifting arm and a holder joint seat, the holder joint seat is used for placing a holder, and the base is fixed on a bottom plate; the lower end lifting arm and the upper end lifting arm are connected through a kinematic joint; the base comprises a left fixed seat, a first bearing, a right fixed seat and a motor of a driving part; threaded holes are respectively formed in the bottoms of the left fixing seat and the right fixing seat and used for achieving connection with the bottom plate; and the left fixing seat and the right fixing seat are respectively provided with an arc-shaped track which is matched with the lower end lifting arm, so that the limit position of the mechanical arm is limited. The integral symmetrical mechanical arm arrangement scheme and the joint gear transmission design ensure the stable lifting of the holder; the number of the connecting rods between the two arms can be increased and decreased conveniently, the rigidity and the quality are adjusted, and the applicability is enlarged.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a single-degree-of-freedom robot holder lifting arm based on modular design.
Background
With the continuous development of the inspection robot technology, the fixing mode of the robot holder is gradually developed from an initial fixed holder support frame to a lifting mode capable of moving vertically and freely. Compare in fixed cloud platform support frame, adopt over-and-under type arm can effectively increase the working range of cloud platform camera for it detects the equipment operating condition of not co-altitude to patrol and examine robot accessible arm lift cloud platform, like the on-off state of each device on the switch board in the transformer substation, the safety inspection of different height appearance equipment in the garden etc..
At present, the cloud platform of patrolling and examining robot mostly adopts fixed support, like patent number CN206598277U, and the working range of its cloud platform is limited only to certain fixed height, has certain limitation. In order to facilitate the realization of the movement of the pan-tilt in the vertical direction and expand the working range thereof, patent numbers CN211729192U and CN208068248U both use a mechanical arm to drive the pan-tilt. The mechanical arm in patent No. CN211729192U is driven by a single motor, the upper arm and the lower arm are distributed in a cross manner, and the cantilever cross distribution mode enables the holder to shake in the lifting process, thereby influencing the structural rigidity characteristic; in the patent No. CN208068248U, a six-degree-of-freedom mechanical arm is adopted, which has more operation space in the working range and more stable structural performance, but the overall control procedure is more complicated and the cost is higher.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a single-degree-of-freedom robot holder lifting arm based on modular design so as to solve the problems mentioned in the background technology.
In order to realize the purpose, the invention adopts the following technical scheme:
the tripod head lifting arm is a mechanical arm driven by a single motor and comprises a base, a lower end lifting arm, a motion joint, an upper end lifting arm and a tripod head joint seat, wherein the tripod head joint seat is used for placing a tripod head, and the base is fixed on a bottom plate; the lower end lifting arm and the upper end lifting arm are connected through a kinematic joint; the base comprises a left fixed seat, a first bearing, a right fixed seat and a motor of a driving part; the bottoms of the left fixed seat and the right fixed seat are respectively provided with a threaded hole for realizing the connection with the bottom plate; and the left fixing seat and the right fixing seat are respectively provided with an arc-shaped track which is matched with the lower end lifting arm, so that the limit position of the mechanical arm is limited.
Preferably, the lower end lifting arm is mounted on the left fixed seat through a first bearing, and plays a role in supporting and improving rigidity; the lower end lifting arm comprises a lower end lifting small arm and a lower end lifting large arm; the lower end lift forearm includes: the lower end small arm, the first connecting rod, the positioning shaft sleeve, the lower end lifting arm check ring, the small arm supporting shaft and the small arm supporting shaft sleeve are arranged on the lower end of the lower arm; the lower end small arm is provided with a threaded hole for matching with a first connecting rod, and the number of the required first connecting rods can be adjusted according to the actual working condition so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the positioning shaft sleeves are arranged on two sides of the lower end small arm, are concentric with the mounting hole on the lower end small arm and can ensure the distance between the two lower end small arms; the lower end lifting arm check ring is used for axially positioning the left fixed seat at the base; the small arm supporting shaft is connected and matched with the first bearing at the base to form a rotating pair at the small arm; the small arm supporting shaft sleeves are mounted on shaft shoulders on two sides of the small arm supporting shaft in pairs and used for ensuring the distance between the small arm supporting shaft and the first bearing at the base.
More preferably, the lower end elevating arm comprises: the left lower end large arm, the first gear, the right lower end large arm, the first connecting rod, the lower end lifting arm retaining ring, the left end connecting shaft and the large arm limiting shaft are arranged on the left lower end large arm; the left lower end large arm is provided with a threaded hole for matching with a first connecting rod, a first gear, a left end connecting shaft and a large arm limiting shaft, and the number of the first connecting rods can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the first gear is used for realizing the function of transmitting the torque of the motor, and a threaded hole is formed in the first gear so as to realize the fixed connection with the left lower end large arm and the right lower end large arm; the right lower end large arm is provided with a threaded hole for matching with a first connecting rod, a first gear and a left end connecting shaft; the left end connecting shaft is fixedly connected with the left lower end large arm through a screw and is connected and matched with the first bearing at the base to form a rotating pair at the large arm; the large arm limiting shaft is fixedly connected with the left lower end large arm and the right lower end large arm through screws, and the position of the mechanical arm is limited through the matching of the thin shafts at the two ends of the large arm limiting shaft and the arc-shaped tracks on the left fixing seat and the right fixing seat at the base.
Preferably, the upper end lifting arm comprises an upper end lifting small arm and an upper end lifting large arm; the upper end lifting large arm comprises an upper end large arm, a second gear, a positioning shaft sleeve and a second connecting rod; the upper end large arm is provided with a threaded hole for matching with a second connecting rod, and the number of the required second connecting rods can be adjusted according to the actual working condition so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the second gear is provided with a threaded hole and is fixedly connected with the upper end large arms at two sides of the second gear through a connecting piece; the positioning shaft sleeve is arranged on the other side, opposite to the second gear, of the upper end large arm and is concentric with the mounting hole in the upper end large arm, and the distance between the two upper end large arms is guaranteed.
More preferably, the upper end lifting small arm comprises a positioning shaft sleeve, a second connecting rod and an upper end small arm; the positioning shaft sleeves are arranged at two ends of the upper small arm, are concentric with the mounting hole on the upper large arm, are used for ensuring the distance between the two upper small arms, and are rotatably connected with the tripod head joint seat; the upper end forearm is provided with a threaded hole used for being matched with the connecting rod, and the number of the required second connecting rods can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure.
Preferably, the pan-tilt joint base comprises: the cradle head joint retaining ring, the cradle head left support plate, the connecting shaft, the third bearing, the cradle head lifting plate, the right lifting plate and the jacking seat shaft sleeve are arranged on the cradle head joint retaining ring; the left lifting plate is provided with a positioning hole for connecting and installing a third bearing and a threaded hole connected with the holder lifting plate so as to realize the fixed connection with the holder lifting plate; the lifting seat connecting shaft is used for matching a third bearing and an upper end lifting arm which are arranged on the positioning holes at the two tripod head lifting plates, so that a revolute pair is formed; the cradle head lifting plate is provided with a threaded hole for connecting the left lifting plate, the right lifting plate and the cradle head, and the cradle head is fixedly connected through a connecting piece; and the right lifting plate is provided with a positioning hole for connecting the lifting seat connecting rod and a threaded hole of the cradle head lifting plate, and is used for realizing the fixed connection with the cradle head lifting plate.
More preferably, the tripod head lifting arm is a three-joint lifting arm, the kinematic joint is a module kinematic joint, the module kinematic joint is connected with the lower end lifting arm and the upper end lifting arm, and the overall lifting function of the device is realized through the gear transmission meshing of the lower end lifting arm and the upper end lifting arm.
More preferably, the modular kinematic joint comprises: the first joint connecting shaft, the moving joint retainer ring, the left joint plate, the fixed connecting plate, the joint shaft sleeve, the second bearing and the right joint plate; the first joint connecting shaft is matched with the lower end lifting arm and the upper end lifting arm through a second bearing and a moving joint check ring to form a rotating pair; the single first joint connecting shaft comprises a left joint plate, a moving joint retaining ring, a second bearing, a joint shaft sleeve, a first joint connecting shaft, a joint shaft sleeve, a second bearing, a moving joint retaining ring and a right joint plate which are sequentially connected from left to right; the left joint plate is provided with a threaded hole for matching the fixed connecting plate with the first joint connecting shaft, and is used for realizing the fixed connection with the fixed connecting plate and the positioning of the connecting rod; the fixed connecting plate is used for realizing the fixed connection with the left joint plate and the right joint plate and ensuring the distance between the left joint plate and the right joint plate; and the right joint plate is provided with a threaded hole and a mounting hole which are used for matching the fixed connecting plate and the joint connecting rod, and is used for realizing the fixation of the fixed connecting plate and the joint connecting rod.
More preferably, the tripod head lifting arm is a multi-joint lifting arm, the tripod head lifting arm further comprises a transition lifting arm, the motion joint comprises a plurality of transition motion joints, and the transition motion joints are used for connecting the lower end lifting arm and the transition lifting arm, realizing gear engagement of the lower end lifting arm and the transition lifting arm and realizing the integral lifting function of the device; the transitional motion joint comprises a motion joint retaining ring, a left triaxial joint plate, a fourth bearing, a fixed connecting plate, a second joint connecting shaft, a shaft sleeve and a right triaxial joint plate which are sequentially connected from left to right. The left three-axis joint plate is provided with a threaded hole for matching with the fixed connecting plate and a mounting hole of the fourth bearing, so that the fixed connection with the fixed connecting plate and the positioning of the second joint connecting shaft are realized; the fixed connecting plate is used for realizing the fixed connection with the left three-axis joint plate and the right three-axis joint plate and ensuring the distance between the left three-axis joint plate and the right three-axis joint plate; the second joint connecting shaft is combined with the kinematic joint check ring through a fourth bearing and is matched with the transition lifting arm to form a revolute pair, and the installation mode of the second joint connecting shaft is similar to that of the first joint connecting shaft at the kinematic joint; the shaft sleeves are mounted on the inner side of the joint of the second joint connecting shaft and the bearing in pairs and used for ensuring the distance between the second joint connecting shaft and the bearing; and the right three-axis joint plate is provided with a threaded hole for matching with the fixed connecting plate and a mounting hole for the fourth bearing, and is used for realizing the fixation of the fixed connecting plate and the positioning of the second joint connecting shaft.
More preferably, the transitional lifting arm is used for realizing transitional connection between the lower lifting arm and the upper lifting arm and simultaneously increasing the lifting range of the whole device; the transition lifting arm comprises a left two-shaft lifting plate, a middle-end large arm, a third connecting rod, a third gear, a third joint connecting shaft, a bearing, a transition lifting arm check ring, a fixed connecting plate and a right two-shaft joint plate; the left second joint plate is provided with a threaded hole for matching with the fixed connecting plate and a mounting hole of the bearing, and is used for realizing the fixed connection with the fixed connecting plate and the positioning of the third joint connecting shaft; the middle-end large arm is provided with a threaded hole for matching with a third connecting rod and a threaded hole for matching with the connecting rod, and the number of the required third connecting rods can be adjusted according to actual working conditions so as to achieve the effect of adjusting rigidity and weight; the third gear is used for realizing the lifting function of the whole device, is provided with threaded holes and is fixedly connected with two sides of the two pairs of middle-end large arms through connecting pieces; the third joint connecting shaft is combined with a transition lifting arm check ring through a bearing and matched with the middle-end large arm to form a revolute pair; the fixed connecting plate is used for realizing the fixed connection with the left two-axis joint plate and the right three-axis joint plate and ensuring the distance between the left two-axis joint plate and the right three-axis joint plate; and the right two-axis joint plate is provided with a threaded hole for matching with the fixed connecting plate and a mounting hole of the bearing, and is used for realizing the fixation with the fixed connecting plate and the positioning of the third joint connecting shaft.
Compared with the prior art, the invention has the following beneficial effects:
aiming at the defects of the existing tripod head supporting mode in the inspection trolley, the invention provides a single-degree-of-freedom robot tripod head lifting arm based on modular design, namely, the vertical lifting of a tripod head can be realized only by a single motor. The whole lifting mechanical arm is symmetrically arranged, and has higher stability compared with a cross arrangement mode; the symmetrical mechanical arm arrangement scheme and the joint gear transmission design ensure the stability of the lifting process of the tail end holder; the design of symmetrical formula arm can conveniently increase and decrease the connecting rod figure between two arms, adjusts overall structure rigidity and quality, enlarges overall structure's suitability.
In addition, this lift arm also can be according to concrete operating mode, adjusts overall structure rigidity and quality through the figure of adjusting arm department connecting rod, also can adjust the working range of cloud platform through modular increase and decrease joint and arm quantity. The modular design for conveniently adjust cloud platform working stroke wantonly, adaptation site work environment requirement through increase and decrease joint and arm quantity.
The single-degree-of-freedom cradle head lifting arm designed by the invention realizes the vertical movement of the tail end of the mechanical arm by utilizing the connecting rod mechanism and the gear transmission mechanism, thereby realizing the vertical lifting function of the camera cradle head. The whole device is symmetrically arranged, so that the stability of the device in the vertical direction is ensured, and the possibility of side turning of the inspection robot during running on an unstable road is reduced; meanwhile, the lifting arms at the lower end and the upper end can adjust the integral rigidity and weight of the device by adjusting the number of the connecting rods so as to deal with different working conditions. In addition, the base is provided with an arc-shaped guide groove which can be matched with the lower end lifting arm to realize the limit on a mechanical structure, and the integral rotation angle of the mechanical arm is ensured to be 0-85 degrees.
According to the technical scheme, the simplicity of the transmission mechanism, the reliability of load torque and the size of the actual driving motor are considered, the motor positions are reasonably distributed, the transmission mechanism is designed, and the excellent comprehensive performance of the whole mechanical arm is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic axial view of example 1 of the present invention;
FIG. 3 is a schematic view of the movement state of embodiment 1 of the present invention;
fig. 4 is a schematic overall structure diagram of a base according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of the overall structure of a lower lifting arm according to embodiment 1 of the present invention;
FIG. 6 is a schematic view of the explosive installation at the lower end lift forearm hinge in example 1 of the present invention;
FIG. 7 is a schematic view of the explosive installation at the rotating shaft of the lower lifting boom in embodiment 1 of the present invention;
FIG. 8 is a schematic view showing the overall construction of a modular kinematic joint according to embodiment 1 of the present invention;
FIG. 9 is an assembled sectional view of a module joint according to embodiment 1 of the present invention;
FIG. 10 is a schematic view showing the overall structure of an upper lift arm according to embodiment 1 of the present invention;
fig. 11 is an overall structural schematic view of a pan/tilt head lifting seat according to embodiment 1 of the present invention;
FIG. 12 is a schematic view of the overall structure of embodiment 2 of the present invention;
FIG. 13 is an axial view showing the structure of embodiment 2 of the present invention;
fig. 14 is an overall configuration diagram of a transitional motion joint according to embodiment 2 of the present invention;
fig. 15 is a schematic view of the overall structure of a transition lift arm according to embodiment 2 of the present invention.
In the figures, the various reference numbers are:
1-a base; 11-a left fixed seat; 12-a first bearing; 13-right fixed seat; 14-a motor; 15-a reducer; 2-a lower end lifting arm; 21-lower end forearm; 22-first connecting rod; 23-positioning the shaft sleeve; 24-left lower end large arm; 25-a first gear; 26-right lower end big arm; 27-lower end lift arm retainer ring; 28-left end connecting shaft; 29-big arm limit shaft; 210-forearm support shaft; 211-forearm support shaft sleeve; 3-modular kinematic joints; 31-a first articulation axis; 32-a kinematic joint collar; 33-left joint plate; 34-fixing the connecting plate; 35-joint shaft sleeve; 36-a second bearing; 37-right articular plate; 4-upper end lifting arm; 41-upper end big arm; 42-a second gear; 43-positioning the shaft sleeve; 44-a second connecting rod; 45-upper small arm; 5-a tripod head joint seat; 51-a tripod head joint retainer ring; 52-left support plate of the pan-tilt head; 53-a connecting shaft; 54-a third bearing; 55-a pan-tilt lifting plate; 56-right lifting plate; 57-jacking seat shaft sleeve; 6-transitional kinematic joints; 61-a kinematic joint check ring; 62-a left three-axis articulating plate; 63-a fourth bearing; 64-fixing the connecting plate; 65-a second articulation axis; 66-shaft sleeve; 67-right three-axis articulation plate; 7-a transitional lifting arm; 71-left two-shaft lifting plate; 72-middle big arm; 73-a third connecting rod; 74-third gear; 75-a third joint connection shaft; 76-a fifth bearing; 77-transition lift arm retainer ring; 78-fixing the connecting plate; 79-right biaxial joint plate; 8-a pan-tilt head; 9-bottom plate.
Detailed Description
In order to more clearly illustrate the present invention, the present invention will be further described in detail with reference to the following examples and drawings. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, and integral connections; can be mechanically or electrically connected; they may be directly connected, indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Example 1:
as shown in fig. 1-11, the tripod head lifting arm of the single-degree-of-freedom robot based on the modular design in this embodiment is a three-joint lifting arm, and includes a base 1, a lower end lifting arm 2, a kinematic joint, an upper end lifting arm 4, and a tripod head joint seat 5, which are sequentially connected from top to bottom, wherein a tripod head 8 is installed on the tripod head joint seat 5, and the base 1 is fixed on a bottom plate 9. The whole tripod head lifting arm is a three-degree-of-freedom mechanical arm driven by a single motor, and can realize vertical lifting of the tripod head 8. Wherein, each joint revolute pair department all is furnished with bearing and retaining ring to guarantee the bearing capacity in joint global rigidity and the vertical direction.
The base 1 comprises a left fixed seat 11, a first bearing 12, a right fixed seat 13, a motor 14 of a driving part and a speed reducer 15. The reducer 15 is mounted on the right fixed seat 13 and connected with the motor 14. The bottoms of the left fixed seat 11 and the right fixed seat 13 are respectively provided with a threaded hole for realizing the connection with the bottom plate 9; meanwhile, the left fixing seat 11 and the right fixing seat 13 are both provided with arc-shaped rails, and limit positions of the mechanical arm are limited by the cooperation of the arc-shaped rails and the large arm limiting shaft 29 at the lower end lifting arm 2. The first bearing 12 is matched with a lower end lifting arm check ring 27 at the position of the lower end lifting arm 2 and is arranged on the left fixed seat 11, and the functions of supporting and improving rigidity are achieved.
The lower end lifting arm 2 mainly comprises a lower end lifting small arm and a lower end lifting large arm.
The lower extreme lift forearm includes: the lower end small arm 21, the first connecting rod 22, the positioning shaft sleeve 23, the lower end lifting arm retainer ring 27, the small arm supporting shaft 210 and the small arm supporting shaft sleeve 211. The lower end small arm 21 is provided with a threaded hole for matching with the first connecting rod 22, and the number of the required first connecting rods 22 can be adjusted according to the actual working condition so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the positioning shaft sleeves 23 are arranged on two sides of the lower end small arm 21, are concentric with the mounting holes of the lower end small arm 21, and can ensure the distance between the two lower end small arms 21; the lower end lifting arm retainer ring 27 is used for axially positioning the left fixed seat 11 at the base 1; the small arm supporting shaft 210 is connected and matched with the first bearing 12 at the base 1, and forms a rotating pair at the lower end small arm 21; the forearm support shaft sleeves 211 are mounted in pairs on both side shoulders of the forearm support shaft 210 for securing a distance between the forearm support shaft 210 and the first bearing 12 at the base 1.
The big arm of lower extreme lift includes: the device comprises a left lower end large arm 24, a first gear 25, a right lower end large arm 26, a first connecting rod 22, a lower end lifting arm retainer ring 27, a left end connecting shaft 28 and a large arm limiting shaft 29. The left lower end large arm 24 is provided with threaded holes for matching the first connecting rods 22, the first gear 25, the left end connecting shaft 28 and the large arm limiting shaft 29, and the number of the required first connecting rods 22 can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the first gear 25 is used for realizing the function of transmitting the torque of the motor, and is provided with a threaded hole to realize the fixed connection with the left lower end large arm 24 and the right lower end large arm 26; the right lower end big arm 26 is provided with a threaded hole for matching the first connecting rod 22, the first gear 25, the left end connecting shaft 28 and the speed reducer 15 at the base 1; the left end connecting shaft 28 is fixedly connected with the left lower end large arm 24 through a screw, and is connected and matched with the first bearing 12 at the base 1 to form a revolute pair at the large arm. The large arm limiting shaft 29 is fixedly connected with the left lower end large arm 24 and the right lower end large arm 26 through screws, and the position of the mechanical arm is limited through the matching of thin shafts at two ends of the large arm limiting shaft 29 and circular arc-shaped rails on the left fixing seat 11 and the right fixing seat 13 at the base 1.
The module movement joint 3 is used for realizing the connection of the lower end lifting arm 2 and the upper end lifting arm 4, and finally realizes the integral lifting function of the device through the meshing of the first gear 25 at the lower end lifting arm 2 and the second gear 42 at the upper end lifting arm 4. The method comprises the following steps: a first joint connecting shaft 31, a kinematic joint retainer ring 32, a left joint plate 33, a fixed connecting plate 34, a joint shaft sleeve 35, a second bearing 36 and a right joint plate 37. The first joint connecting shaft 31, the lower end lifting arm 2 and the upper end lifting arm 5 are matched through a second bearing 36 and a kinematic joint retaining ring 32 to form a revolute pair. Which are mounted in a symmetrical arrangement, the connection combination of the single first articulation shaft 31 is, from left to right, in sequence: the left joint plate 33, the moving joint retainer ring 32, the second bearing 36, the joint shaft sleeve 35, the first joint connecting shaft 31, the joint shaft sleeve 35, the second bearing 36, the moving joint retainer ring 32 and the right joint plate 37 are connected in a manner similar to the connecting shaft 53 of the tripod head joint seat 5, the second joint connecting shaft 65 at the transitional moving joint 6 and the third joint connecting shaft 75 at the transitional lifting arm 7. The left joint plate 33 is provided with a threaded hole for matching the fixed connecting plate 34 with the first joint connecting shaft 31, and is used for realizing the fixed connection with the fixed connecting plate 34 and the positioning of the connecting rod 35; the fixed connecting plate 35 is used for realizing the fixed connection with the left joint plate 33 and the right joint plate 37 and ensuring the distance between the two; the right joint plate 37 is provided with a threaded hole and a mounting hole for matching the fixed connecting plate 34 and the joint connecting rod 31, and is used for realizing the fixation of the fixed connecting plate 34 and the positioning of the joint connecting rod 35.
The upper end lifting arm 4 mainly comprises an upper end lifting small arm and an upper end lifting large arm. Wherein, the main component part of the big arm of upper end lift has: an upper end large arm 41, a second gear 42, a positioning shaft sleeve 43 and a second connecting rod 44. The upper end large arm 41 is provided with a threaded hole for matching with the second connecting rod 44, and the number of the required second connecting rods 44 can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the second gear 42 is provided with a threaded hole and fixedly connected with the upper end large arms 41 at two sides of the second gear through a connecting piece 42; the positioning shaft sleeve 43 is mounted on the other side of the upper end large arm opposite to the second gear 42, is concentric with the mounting hole on the upper end large arm 41, is used for ensuring the distance between the two upper end large arms 41, and is matched with the connecting shaft 53 on the lower part of the pan-tilt joint seat 5 to realize the connection with the pan-tilt joint seat 5 to form a revolute pair, and the mounting mode of the revolute pair is similar to that of the first joint connecting shaft 31 on the module kinematic joint 3. The main components of the upper end lifting small arm are as follows: a positioning shaft sleeve 43, a second connecting rod 44 and an upper end small arm 45. The positioning shaft sleeves 43 are mounted at two ends of the upper small arm 45, are concentric with the mounting hole on the upper large arm 45, are used for ensuring the distance between the two upper small arms 41, and are matched with the connecting shaft 53 on the tripod head joint seat 5 to realize the connection with the tripod head joint seat 5 to form a revolute pair, and the mounting mode of the revolute pair is similar to that of the first joint connecting shaft 31 on the module kinematic joint 3; the upper end small arm 45 is provided with a threaded hole for matching the connecting rod 42, and the number of the required second connecting rods 44 can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure.
The cradle head joint seat 5 mainly comprises the following components: the cradle head comprises a cradle head joint retainer ring 51, a cradle head left support plate 52, a connecting shaft 53, a third bearing 54, a cradle head lifting plate 55, a right lifting plate 56 and a lifting seat shaft sleeve 57. The holder left lifting plate 52 is provided with a positioning hole for connecting and installing the third bearing 54 and a threaded hole connected with the holder lifting plate 55, and is used for realizing the fixed connection with the holder lifting plate 55; the lifting seat connecting shaft 53 is used for matching a third bearing 54 arranged on a positioning hole at the two lifting plates and a lifting big arm and a lifting small arm at the upper end lifting arm 4, so that a rotating pair at the lifting seat of the holder is realized, and the mounting mode of the rotating pair is similar to that of the first joint connecting shaft 31 at the module moving joint 3. The tripod head lifting plate 55 is provided with a threaded hole for connecting the left lifting plate 52, the right lifting plate 56 and the tripod head, and the connection is realized through a connecting piece; the right lifting plate 56 is provided with a positioning hole for connecting the lifting seat connecting rod 53 and a threaded hole of the pan/tilt/lift plate 55, and is used for realizing the fixed connection with the pan/tilt/lift plate 55.
The overall specific working process of the three-joint lifting arm comprises the following steps: a motor at the base 1 drives a lower end lifting arm connected with the motor through a speed reducer, and the lifting of the module moving joint 3 is realized based on a parallelogram four-bar mechanism; further, the lower end lifting arm 2 and the upper end lifting arm 4 realize constant-speed reverse lifting through a gear pair at the module movement joint 3; and the lifting joint seat 5 finally realizes the lifting of the holder in the vertical direction under the action of the lifting arm 4 at the upper end.
Example 2:
as shown in fig. 12 to 15, the working range of the pan/tilt head is adjusted by increasing or decreasing the number of joints and mechanical arms in a modularized manner in the embodiment. The motion joint is a transition motion joint 6, a transition lifting arm 7 is added between the lower end lifting arm 2 and the upper end lifting arm 4, and other structures are basically the same as those of the embodiment 1; wherein the transitional kinematic joint 6 is substantially identical in structure and composition to the modular kinematic joint 3 of embodiment 1.
The transitional motion joint 6 is used for connecting the lower end lifting arm 2 and the transitional lifting arm 7, and the first gear 25 at the lower end lifting arm 2 is matched with the third gear 74 at the transitional lifting arm 7, so that the integral lifting function of the device is finally realized. The transitional motion joint 6 includes: a kinematic joint retaining ring 61, a left triaxial joint plate 62, a fourth bearing 63, a fixed connecting plate 64, a second joint connecting shaft 65, a shaft sleeve 66 and a right triaxial joint plate 67. The left three-axis joint plate 62 is provided with a threaded hole for matching the fixed connecting plate 64 and a mounting hole of the fourth bearing 63, and is used for realizing the fixed connection with the fixed connecting plate 64 and the positioning of the second joint connecting shaft 65; the fixed connecting plate 64 is used for realizing the fixed connection with the left three-axis joint plate 62 and the right three-axis joint plate 67 and ensuring the distance between the two; the second articulation shaft 65 is combined with the kinematic joint collar 61 by means of the fourth bearing 63 and forms a revolute pair in cooperation with the middle large arm 72 of the transitional lifting arm 7, in a manner similar to the first articulation shaft 31 at the modular kinematic joint 3. The shaft sleeves 66 are installed in pairs on the inner side of the joint of the second articulation shaft 65 and the bearing, for ensuring the distance between the second articulation shaft 65 and the bearing 66; and a threaded hole for matching the fixing connecting plate 64 and a mounting hole of the fourth bearing 63 are formed in the right three-axis joint plate 67, so that the fixing of the fixing connecting plate 64 and the positioning of the second joint connecting shaft 65 are realized.
The transition lifting arm 7 is used for realizing transition connection between the lower end lifting arm 2 and the upper end lifting arm 4 and simultaneously is used for increasing the lifting range of the whole device. The method comprises the following steps: the device comprises a left second shaft lifting plate 71, a middle end large arm 72, a third connecting rod 73, a third gear 74, a third joint connecting shaft 75, a bearing 76, a transition lifting arm retainer ring 77, a fixed connecting plate 78 and a right second shaft joint plate 79. The left second-axis joint plate 71 is provided with a threaded hole for matching the fixed connecting plate 78 with a mounting hole of the bearing 76, and is used for realizing the fixed connection with the fixed connecting plate 78 and the positioning of the third joint connecting shaft 75; the middle-end large arm 72 is provided with a threaded hole for matching with the third connecting rod 73, and the number of the required third connecting rods 73 can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the weight; the third gear 74 is used for realizing the lifting function of the whole device, is provided with a threaded hole and is fixedly connected with two sides of the two pairs of middle-end large arms 72 through connecting pieces; the third joint connecting shaft 75 is combined with a transitional lifting arm retaining ring 77 through a bearing 76 and is matched with the middle-end large arm 72 to form a revolute pair, and the installation mode of the third joint connecting shaft is similar to that of the first joint connecting shaft 31 at the module motion joint 3. The fixed connecting plate 78 is used for realizing the fixed connection with the left two-axis joint plate 71 and the right three-axis joint plate 75 and ensuring the distance between the two; the right two-axis joint plate 79 is provided with a threaded hole for matching the fixed connecting plate 78 and a mounting hole of the bearing 76, and is used for realizing the fixation with the fixed connecting plate 78 and the positioning of the third joint connecting shaft 75.
The overall specific working process of the multi-joint lifting arm comprises the following steps: a motor 14 at the base 1 drives a lower end lifting arm 2 connected with the motor through a speed reducer 15, and the three-shaft lifting joint 6 at the lower end is lifted based on a four-bar mechanism of a parallelogram; further, the lower end lifting arm 2 and the transition lifting arm 7 realize constant-speed reverse lifting through a gear pair at the three-axis module movement joint 3; furthermore, the upper end lifting arm 4 and the transition lifting arm 7 realize constant-speed reverse lifting through a gear pair at the three-shaft lifting joint 6; and finally realizing the vertical lifting of the holder under the action of the lifting joint seat 5 and the lifting arm 4 at the upper end.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all the embodiments of the present invention are not exhaustive, and all the obvious variations or modifications which are introduced in the technical scheme of the present invention are within the scope of the present invention.
Claims (10)
1. The tripod head lifting arm of the single-degree-of-freedom robot based on modular design is characterized in that the tripod head lifting arm is a mechanical arm driven by a single motor and comprises a base (1), a lower end lifting arm (2), a motion joint, an upper end lifting arm (4) and a tripod head joint seat (5), wherein the tripod head joint seat (5) is used for placing a tripod head (8), and the base (1) is fixed on a bottom plate (9); the lower end lifting arm (2) is connected with the upper end lifting arm (4) through a motion joint; the base (1) comprises a left fixed seat (11), a first bearing (12), a right fixed seat (13) and a motor (14) of a driving part; threaded holes are formed in the bottoms of the left fixing seat (11) and the right fixing seat (13) respectively and used for achieving connection with the bottom plate (9); and the left fixing seat (11) and the right fixing seat (13) are respectively provided with a circular arc-shaped track which is matched with the lower end lifting arm (2) to limit the limit position of the mechanical arm.
2. The modular design based single degree of freedom robot pan-tilt lifting arm of claim 1, characterized in that the lower end lifting arm (2) is mounted on the left fixed base (11) through a first bearing (12); the lower end lifting arm (2) comprises a lower end lifting small arm and a lower end lifting large arm; the lower end lift forearm includes: the lower end small arm (21), a first connecting rod (22), a positioning shaft sleeve (23), a lower end lifting arm retainer ring (27), a small arm supporting shaft (210) and a small arm supporting shaft sleeve (211); the lower end small arm (21) is provided with a threaded hole for matching with a first connecting rod (22); the positioning shaft sleeves (23) are arranged on two sides of the lower end small arm (21), are concentric with the mounting hole on the lower end small arm (21), and can ensure the distance between the two lower end small arms (21); the lower end lifting arm check ring (27) is used for axially positioning the left fixed seat (11) at the base (1);
the small arm supporting shaft (210) is connected and matched with the first bearing (12) at the base (1) to form a rotating pair at the small arm; the small arm supporting shaft sleeves (211) are mounted on shaft shoulders on two sides of the small arm supporting shaft (210) in pairs and used for ensuring the distance between the small arm supporting shaft (210) and the first bearing (12) on the base (1).
3. The modular design-based single-degree-of-freedom robot holder lifting arm according to claim 2, wherein the lower end lifting large arm comprises: the device comprises a left lower end large arm (24), a first gear (25), a right lower end large arm (26), a first connecting rod (22), a lower end lifting arm retaining ring (27), a left end connecting shaft (28) and a large arm limiting shaft (29);
the left lower end large arm (24) is provided with threaded holes used for being matched with a first connecting rod (22), a first gear (25), a left end connecting shaft (28) and a large arm limiting shaft (29), and the number of the required first connecting rods (22) can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the first gear (25) is used for realizing the function of transmitting the torque of the motor (14), and threaded holes are formed in the first gear (25) so as to realize the fixed connection with the left lower end large arm (24) and the right lower end large arm (26); the right lower end large arm (26) is provided with a threaded hole for matching a first connecting rod (22), a first gear (25) and a left end connecting shaft (28); the left end connecting shaft (28) is fixedly connected with the left lower end large arm (24) through a screw and is connected and matched with the first bearing (12) at the base (1) to form a revolute pair at the large arm; the large arm limiting shaft (29) is fixedly connected with the left lower end large arm (24) and the right lower end large arm (26) through screws, and the positions of the mechanical arms are limited through the matching of thin shafts at two ends of the large arm limiting shaft (29) and arc-shaped tracks on the left fixing seat (11) and the right fixing seat (13) at the base (1).
4. The modular design based single degree of freedom robot pan-tilt lifting arm of claim 1, characterized in that the upper end lifting arm (4) consists of an upper end lifting small arm and an upper end lifting large arm; the upper end lifting large arm comprises an upper end large arm (41), a second gear (42), a positioning shaft sleeve (43) and a second connecting rod (44); the upper end large arm (41) is provided with threaded holes for matching with the second connecting rods (44), and the number of the required second connecting rods (44) can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure; the second gear (42) is provided with a threaded hole and is fixedly connected with the upper end large arms (41) at two sides of the second gear through a connecting piece (42); and a positioning shaft sleeve (43) is arranged on the other side, opposite to the second gear (42), of the upper end large arm and is concentric with the mounting hole in the upper end large arm (41) for ensuring the distance between the two upper end large arms (41).
5. The modular design based single degree of freedom robot pan-tilt lifting arm of claim 4, characterized in that the upper end lifting small arm comprises a positioning shaft sleeve (43), a second connecting rod (44), an upper end small arm (45); the positioning shaft sleeves (43) are arranged at two ends of the upper end small arm (45), are concentric with the mounting hole on the upper end large arm (45), are used for ensuring the distance between the two upper end small arms (41), and are rotatably connected with the tripod head joint seat (5); and threaded holes used for being matched with the connecting rods (42) are formed in the upper end small arm (45), and the number of the required second connecting rods (44) can be adjusted according to actual working conditions so as to achieve the effect of adjusting the rigidity and the quality of the whole structure.
6. Single degree of freedom robot head lifting arm based on modular design according to claim 1, characterized in that the head joint seat (5) comprises: a holder joint retainer ring (51), a holder left support plate (52), a connecting shaft (53), a third bearing (54), a holder lifting plate (55), a right lifting plate (56) and a jacking seat shaft sleeve (57); the left lifting plate (52) is provided with a positioning hole for connecting and installing a third bearing (54) and a threaded hole connected with the holder lifting plate (55) so as to realize the fixed connection with the holder lifting plate (55); the lifting seat connecting shaft (53) is used for matching a third bearing (54) and an upper end lifting arm (4) which are arranged on positioning holes at the positions of the two tripod head lifting plates (55) so as to form a revolute pair; the cradle head lifting plate (55) is provided with a threaded hole for connecting the left lifting plate (52), the right lifting plate (56) and the cradle head, and the cradle head is fixedly connected through a connecting piece; and the right lifting plate (56) is provided with a positioning hole for connecting the lifting seat connecting rod (53) and a threaded hole of the holder lifting plate (55) for realizing the fixed connection with the holder lifting plate (55).
7. The modular design-based single-freedom-degree robot pan-tilt lifting arm according to any one of claims 1-6, characterized in that the pan-tilt lifting arm is a three-joint lifting arm, the kinematic joint is a module kinematic joint (3), the module kinematic joint (3) is connected with the lower end lifting arm (2) and the upper end lifting arm (4), and the lifting function of the whole device is realized through the gear transmission engagement of the lower end lifting arm (2) and the upper end lifting arm (4).
8. Single degree of freedom robot head lifting arm based on modular design according to claim 7, characterized by the fact that the module kinematic joint (3) comprises: the device comprises a first joint connecting shaft (31), a moving joint retainer ring (32), a left joint plate (33), a fixed connecting plate (34), a joint shaft sleeve (35), a second bearing (36) and a right joint plate (37); the first joint connecting shaft (31) is matched with the lower end lifting arm (2) and the upper end lifting arm (4) through a second bearing (36) and a kinematic joint check ring (32) to form a revolute pair; the single first joint connecting shaft (31) comprises a left joint plate (33), a moving joint retaining ring (32), a second bearing (36), a joint shaft sleeve (35), a first joint connecting shaft (31), a joint shaft sleeve (35), a second bearing (36), a moving joint retaining ring (32) and a right joint plate (37) which are sequentially connected from left to right; the left joint plate (33) is provided with a threaded hole for matching the fixed connecting plate (34) with the first joint connecting shaft (31) and is used for realizing the fixed connection with the fixed connecting plate (34) and the positioning of the connecting rod (35); the fixed connecting plate (35) is used for realizing the fixed connection with the left joint plate (33) and the right joint plate (37) and ensuring the distance between the two; and the right joint plate (37) is provided with a threaded hole and a mounting hole which are used for matching the fixed connecting plate (34) with the joint connecting rod (31) and used for realizing the fixation with the fixed connecting plate (34) and the positioning of the joint connecting rod (35).
9. The modular design based single-degree-of-freedom robot pan-tilt lifting arm according to any one of claims 1-6, wherein the pan-tilt lifting arm is a multi-joint lifting arm, the pan-tilt lifting arm further comprises a transition lifting arm (7), the kinematic joint comprises a plurality of transition kinematic joints (6), and the transition kinematic joint (6) is used for connecting the lower end lifting arm (2) and the transition lifting arm (7) and realizing gear engagement of the lower end lifting arm (2) and the transition lifting arm (7) so as to realize the lifting function of the whole device; the transitional motion joint (6) comprises a motion joint retaining ring (61), a left triaxial joint plate (62), a fourth bearing (63), a fixed connecting plate (64), a second joint connecting shaft (65), a shaft sleeve (66) and a right triaxial joint plate (67) which are sequentially connected from left to right. The left three-axis joint plate (62) is provided with a threaded hole for matching with a fixed connecting plate (64) and a mounting hole of a fourth bearing (63) so as to realize the fixed connection with the fixed connecting plate (64) and the positioning of a second joint connecting shaft (65); the fixed connecting plate (64) is used for realizing the fixed connection with the left three-axis joint plate (62) and the right three-axis joint plate (67) and ensuring the distance between the two; the second joint connecting shaft (65) is combined with the kinematic joint retainer ring (61) through a fourth bearing (63) and is matched with the transition lifting arm (7) to form a revolute pair, and the installation mode of the second joint connecting shaft is similar to that of the first joint connecting shaft (31) at the kinematic joint (7); the shaft sleeves (66) are mounted on the inner sides of the joints of the second joint connecting shafts (65) and the bearings in pairs and used for ensuring the distance between the second joint connecting shafts (65) and the bearings (66); and a threaded hole for matching with the fixed connecting plate (64) and a mounting hole of the fourth bearing (63) are formed in the right three-axis joint plate (67) and used for fixedly connecting the fixed connecting plate (64) and positioning the second joint connecting shaft (65).
10. The single-degree-of-freedom robot pan-tilt lifting arm based on modular design according to claim 9, wherein the transition lifting arm (7) is used for realizing transition connection between the lower end lifting arm (2) and the upper end lifting arm (4) and simultaneously increasing the lifting range of the whole device; the transition lifting arm (7) comprises a left second-shaft lifting plate (71), a middle-end large arm (72), a third connecting rod (73), a third gear (74), a third joint connecting shaft (75), a bearing (76), a transition lifting arm retaining ring (77), a fixed connecting plate (78) and a right second-shaft joint plate (79); the left second-shaft joint plate (71) is provided with a threaded hole for matching with a fixed connecting plate (78) and a mounting hole of a bearing (76) and is used for realizing the fixed connection with the fixed connecting plate (78) and the positioning of a third joint connecting shaft (75); the middle-end large arm (72) is provided with threaded holes for matching with the third connecting rods (73) and for matching with the connecting rods, and the number of the required third connecting rods (73) can be adjusted according to actual working conditions to achieve the effect of adjusting rigidity and weight; the third gear (74) is used for realizing the lifting function of the whole device, is provided with threaded holes and is fixedly connected with two sides of the two pairs of middle-end large arms (72) through connecting pieces; the third joint connecting shaft (75) is combined with a transition lifting arm retainer ring (77) through a bearing (76) and is matched with a middle-end large arm (72) to form a rotating pair; the fixed connecting plate (78) is used for realizing the fixed connection with the left two-axis joint plate (71) and the right three-axis joint plate (75) and ensuring the distance between the two plates; and the right two-axis joint plate (79) is provided with a mounting hole for matching a threaded hole of the fixed connecting plate (78) with the bearing (76) so as to realize the fixed connection with the fixed connecting plate (78) and the positioning of the third joint connecting shaft (75).
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| CN202210226287.4A CN114673873A (en) | 2022-03-09 | 2022-03-09 | Single-degree-of-freedom robot holder lifting arm based on modular design |
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| US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
| KR20130029914A (en) * | 2011-09-16 | 2013-03-26 | 주식회사 에스엠이씨 | Joint arm robot type elevation apparatus |
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