CN114833815A

CN114833815A - Lightweight linear motion device

Info

Publication number: CN114833815A
Application number: CN202210656325.XA
Authority: CN
Inventors: 冀浩宇; 刘超; 张旭龙; 李佳豪
Original assignee: Realman Intelligent Technology Beijing Co ltd
Current assignee: Realman Intelligent Technology Beijing Co ltd
Priority date: 2022-05-17
Filing date: 2022-06-10
Publication date: 2022-08-02

Abstract

The invention provides a lightweight linear motion device which is used for controlling the motion of a robot. The device comprises a shell part, a moving part and a driving module; the moving part comprises a synchronous belt transmission mechanism and a screw rod nut mechanism; the motor fixing plate is fixedly connected with the bottom plate, and a space is reserved between the motor fixing plate and the bottom plate and used for mounting a synchronous belt transmission mechanism; the motor is arranged on the motor fixing plate; an output shaft of the motor is fixedly connected with a main synchronous belt wheel, and a secondary synchronous belt wheel is fixedly connected with the lower end of the screw rod; the screw rod is provided with a screw rod nut and a sliding block, and when the screw rod rotates, the screw rod nut drives the sliding block to move up and down along the screw rod; the part of the sliding block extending out of the shell can be used for fixing the controller box and the mechanical arm. The motor is internally provided with an intelligent alternating current servo driver with high integration level and high power density, and only needs low-voltage power supply. The device has small volume and light weight, can ensure that the part has larger moving space in height, can be matched with most AGV trolleys for use, and is suitable for more types of mechanical arms.

Description

Lightweight linear motion device

Technical Field

The invention relates to the technical field of robots, in particular to a lightweight linear motion device.

Background

The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. However, when the existing mechanical arm is used, only a human hand can be simulated to perform some mechanical operations, and the height of the mechanical arm cannot be adjusted according to actual requirements, so that the clamping jaw device is difficult to operate or even cannot operate when some objects which are too high or too low are taken. Because the length of the mechanical arm is limited, the mechanical arm cannot touch the mechanical arm at a far position, and the mechanical arm can be matched with an AGV (automatic guided vehicle) to realize functions sometimes. But most bulky at present elevating gear, the weight is also great, and when collocation AGV dolly, the load of AGV dolly is big, makes AGV dolly turn on one's side easily. In addition, the existing lifting device mostly needs high-voltage driving, and most AGV trolleys cannot meet the requirement. Therefore, the problem that the existing lifting device is large in size and weight limits the use of the lifting device matched with the AGV, and the application requirement of the mechanical arm matched with the AGV cannot be met.

Disclosure of Invention

Aiming at the problems of the existing lifting device and the limited application of the AGV trolley, the invention provides the light-weight linear movement device, which can drive a part such as a mechanical arm to move in a wider range in an upper and lower height space, has the advantages of small size and light weight, meets the application requirement of the lifting device matched with the AGV trolley, and also meets the requirement of the mechanical arm matched with the AGV trolley.

The invention provides a lightweight linear motion device which comprises a shell part, a motion part and a driving module.

The shell part comprises a motor fixing plate, a shell, a bottom plate and a top plate. The motor fixing plate is fixed on the bottom plate through a connecting piece, and a space is reserved between the motor fixing plate and the bottom plate. The motor fixing plate is used for fixedly mounting a motor.

The moving part comprises a synchronous belt transmission mechanism and a lead screw and nut mechanism. The synchronous belt transmission mechanism is arranged in the space between the motor fixing plate and the bottom plate. The output shaft of the motor is fixedly connected with a main synchronous belt wheel of the synchronous belt transmission mechanism. The secondary synchronous belt wheel of the synchronous belt transmission mechanism is fixedly connected with the lower end of the screw rod through the adapter sleeve. The upper end of the screw rod is provided with a bearing which is fixed with an upper bearing seat fixed on the shell; a bearing is assembled on the lower end of the screw rod and the upper surface of the joint of the switching shaft sleeve and is fixed with a lower bearing seat fixed on the shell. The spatial position of the screw rod is fixed through the bearings at the upper end and the lower end, so that the screw rod can only rotate. And a screw rod nut is assembled on the screw rod and is fixedly connected with the sliding block. One end of the sliding block is provided with a part extending out of the shell, and the controller box fixing seat is fixedly connected to the part. Two sliding blocks are respectively fixed on the left side and the right side of the other end of each sliding block, and the sliding blocks move in a matched manner with two guide rails fixed on the inner side of the shell. When the lead screw rotates, the lead screw nut drives the sliding block to generate linear motion. The controller box is fixed on the controller box fixing seat, and the external component can be fixed on the controller box and moves up and down along with the sliding block.

The driving module comprises a motor and a motor driver; the motor driver adopts an intelligent alternating current servo driver with high integration level and high power density, and is integrated in the motor.

The inventive device also comprises a cable part. The cable part comprises a drag chain and a drag chain fixing plate. The tow chain fixing plate is fixed on the side face of the shell, one end of the tow chain is fixed on the controller box, and the other end of the tow chain is fixed on the tow chain fixing plate.

The invention has the advantages and positive effects that:

(1) the device has the advantages that the motor is small in size and large in torque, the whole device is small in size and light in weight, the use is more flexible, the application scene of the AGV is expanded, and the application requirements of the mechanical arm matched with the AGV are met;

(2) the device can lead the external parts such as the mechanical arm to have larger movement space in height; compared with the telescopic column used by the existing lifting platform, the moving device has the advantages of long stroke and small volume, and the stroke of the telescopic column is approximate to that of the device, so that the device can be used from the top end to the bottom end of the device.

(3) The device reduces the load of the AGV trolley, is suitable for matching various types of AGV trolleys, meets the matching use of the mechanical arm, the lifting device and the AGV trolley, and ensures that the AGV trolley is stable and does not turn on one side due to low load.

Drawings

FIG. 1 is a schematic perspective view of the device of the present invention at an angle;

FIG. 2 is a schematic perspective view of the device of the present invention at another angle;

FIG. 3 is a cross-sectional view of the device of the present invention in the direction A shown in FIG. 1;

fig. 4 is a cross-sectional view of the inventive device in the direction B shown in fig. 3.

In the figure:

1-motor fixing plate, 2-controller box, 3-protective cover, 4-drag chain, 5-drag chain fixing plate, 6-rib plate, 7-exchanger fastener,

8-DC power supply, 9-exchanger, 10-motor power supply, 11-backboard, 12-primary synchronous pulley, 13-synchronous belt, 14-motor,

15-synchronous belt wheel, 16-switching shaft sleeve, 17-lower bearing seat, 18-emergency stop button, 19-screw rod nut, 20-sliding block,

21-controller box fixing seat, 22-sliding block, 23-shell, 24-upper bearing seat, 25-bottom plate and 26-top plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1 to 4, a lightweight linear motion device according to an embodiment of the present invention mainly includes a driving module, a motion portion, a cable portion, and a housing portion. Wherein, the drive module mainly includes the motor. The moving part mainly comprises a synchronous belt transmission mechanism and a screw rod nut mechanism. The cable part mainly comprises a drag chain. The shell part mainly comprises a shell, a motor fixing plate and the like. In the embodiment of the present invention, the external component that needs to move up and down is a robot arm, but is not limited to a robot arm.

As shown in fig. 1 to 3, the housing part mainly includes a motor fixing plate 1, a housing 23, a bottom plate 25 and a top plate 26. The lower end of the shell 23 is fixed on the motor fixing plate 1, and the upper end is fixed with a top plate 26. The motor fixing plate 1 is fixed on the base plate 25 by a connector and partially protrudes out of the housing 23. A part of space is reserved between the motor fixing plate 1 and the bottom plate 25, and a synchronous belt transmission mechanism is placed in the space. The motor 14 is fixed to a position where the motor fixing plate 1 protrudes out of the housing 23.

As shown in fig. 3, the synchronous belt drive mechanism includes a primary synchronous pulley 12, a synchronous belt 13, and a secondary synchronous pulley 15. The output shaft of the motor 14 is fixed with the primary synchronous pulley 12. The secondary timing pulley 15 is located on the left side of the primary timing pulley 12. The primary timing pulley 12 and the secondary timing pulley 15 are connected to each other via a timing belt 13. The secondary synchronous pulley 15 is fixedly connected with the lower end of the screw rod through a transfer sleeve 16.

As shown in fig. 3, the adapter sleeve 16 is fixedly connected with the lower end of the screw rod, a bearing is arranged above the connection part, the screw rod is fixed with the inner ring of the bearing, the outer ring of the bearing is fixed on the lower bearing seat 17, and the lower bearing seat 17 is fixed on the shell 23. A bearing is also fitted at the upper end of the screw and is secured in the same manner to the housing 23 by means of an upper bearing block 24. The two bearings are used for fixing the spatial position of the screw rod so that the screw rod can only rotate, and meanwhile, the friction of the screw rod during rotation is reduced.

As shown in fig. 3 and 4, a lead screw nut 19 is assembled on the lead screw, and the lead screw nut 19 is fixedly connected with a sliding block 20. The slide block 20 is mainly located inside the housing 23, partially protruding from the housing 23. One end of the sliding block 20 extends out of the shell, a controller box fixing seat 21 is fixed on the part extending out of the shell, four sliding blocks 22 are fixed on the left side and the right side of the other end of the sliding block 20 respectively, the four sliding blocks are distributed in a shape like Chinese character 'tian', the left side is two, and the right side is two. Set up two from top to bottom and reduce rocking of sliding block in upper and lower direction, set up two sets of sliders about and reduce rocking of sliding block in left and right directions. Two guide rails are arranged on the inner side of the shell 23, and the sliding block moves in a matching way with the guide rails. The center of the sliding block 20 is fixed with a screw nut 19, the screw nut 19 is matched with the screw rod, and when the screw rod rotates, the screw nut 19 is fixed on the sliding block 20 and does not rotate, so that the screw nut 19 drives the sliding block 20 to do linear motion. The controller box fixing seat 21 is fixed on the part of the sliding block 20 exposed out of the casing 23, the controller box 2 is fixed on the controller box fixing seat 21, and the mechanical arm can be fixed on the controller box 2 through a screw. The controller box 2 drives the mechanical arm to move up and down along with the sliding block 20. A development board is provided in the controller box 2. Some mechanical arms have a vision system, so a development board is arranged for the mechanical arm matched with the vision system.

As shown in FIG. 3, the upper bearing block 24 is located at the top end of the lead screw, near the top plate 26; the lower bearing seat 17 is positioned at the lower end of the screw rod; the lead screw nut 9 can move on the lead screw from the upper bearing seat 24 to the lower bearing seat 17, and the stroke is the stroke of the lead screw 5.

As shown in fig. 2, a back plate 11 is installed on the rear side of the housing 23 opposite to the controller box 2, two rib plates 6 are installed on two sides of the back plate 11, an emergency stop button 18 is installed on the back plate 11, the emergency stop button 18 is used for controlling the on-off of the motor 14, and the device can be stopped by the emergency stop button when an emergency occurs. An exchanger 9 is arranged below the emergency stop button 18, the exchanger 9 is fixed on the rib plate 6 through an exchanger clamping piece 7, and a direct-current power supply is fixedly arranged on the exchanger clamping piece 7 and used for supplying power to the exchanger. The switch 9 provides a network signal forwarding port, and the development board, the network cable of the mechanical arm and the external network cable are connected to the switch 9 to realize network communication. A direct current motor power supply 8 is fixed on the rib plate on the other side, high voltage is converted into low voltage required by a motor 14, power is supplied to the motor 14, and the motor 14 can be directly supplied with power by the AGV if the AGV is matched with the AGV. The exchange 9 is in an upper position with respect to the motor 14. As shown in fig. 1, the bare space at the switch 9 and the motor 14 is covered with a protective cover 3.

The motor 14 of the embodiment of the present invention is a frameless torque motor. The frameless torque motor has large torsion output and can meet the torque requirement of the device, the motor only needs low-voltage power supply, most AGV trolleys can be provided, and the AGV trolleys are convenient to match and use. The low voltage refers to a voltage below 36V. The motor of the embodiment of the invention needs 24V voltage.

Generally, the driver of the motor is externally arranged, the size is large and the motor is inconvenient, but the driver of the motor 14 used in the present invention is integrated inside the motor, and the driver of the frameless torque motor used in the embodiment of the present invention adopts an intelligent ac servo driver with high integration and high power density, and the specific implementation of the driver can be referred to as "an intelligent ac servo driver with high integration and high power density" published as 2018.11.23 under publication No. CN 108880122A. The driver is integrated on a circuit board and comprises a power supply conversion unit, a battery charging unit, an STM32F4 main control unit, an isolation communication module, an isolation power driving unit, an encoder unit, an EEPROM chip, a safety protection unit and a sensing acquisition unit. This driver is integrated many circles of absolute value encoder acquisition circuit on motor drive, just laminates the motor installation, passes through slotted form physics as far as with logic signal and power signal on circuit layout and keeps apart, optimizes the partial heat dissipation design of power, improves the interference killing feature of circuit. The motor 14 of the embodiment of the invention has the advantages of small size and light weight, so that the weight of the whole moving device is smaller, and the load of the AGV is reduced. Although the motor 14 has a small volume, the motor still has a large torque, and can meet the use requirement. For example, the motor realized by the embodiment of the invention has the weight of only 650g, the outer diameter of 70mm and the height of 90mm, and compared with the existing motor, the weight and the volume are greatly reduced, so that the weight and the volume of the moving device are greatly reduced, the moving device can be matched with AGV trolleys of various types, and the problem that the AGV trolleys are heavy in load and easy to turn on one side is solved.

As shown in fig. 1, a tow chain 4 and a tow chain fixing plate 5 are assembled at the right side of the housing 23. One end of the drag chain 4 is fixed on the moving controller box 2, and the other end is fixed on the drag chain fixing plate 5. The controller box end and the external connecting line pass through the drag chain 4, so that the line cannot be scattered in the moving process. The drag chain fixing plate 5 can limit the track of the drag chain in the motion process, so that the drag chain can move regularly.

As can be seen from fig. 1 to 4 and the above structural description, when the motor 14 works, the moving device implemented by the present invention drives the primary synchronous pulley 12 to rotate, the primary synchronous pulley 12 drives the secondary synchronous pulley 15 to rotate, and further drives the adaptor sleeve 16 and the lead screw to rotate, the rotation of the lead screw enables the sliding block 22 to move linearly up and down along the sliding rail, and the lead screw nut 19 drives the sliding block 20 to move linearly up and down, and further drives the controller box 2 and the mechanical arm to move up and down. The stroke of the mechanical arm capable of moving up and down is the stroke of the slide block 22 moving up and down along the guide rail, namely the stroke of the screw rod 5, so that the up-and-down operation from the top end to the bottom end of the device can be realized, and the connected mechanical arm can have larger activity space in height. The moving device provided by the invention has the advantages that the whole weight and the whole volume are reduced under the action of the designed small driving module, so that the moving device can be applied to scenes with high requirements on load or weight or scenes with low requirements on AGV trolley conditions, and larger load, higher stroke, larger functions and the like are realized. The moving device is flexible to use, and meets the use requirements of mechanical arms matched with the conventional AGV.

In addition to the technical features described in the specification, the technology is known to those skilled in the art. Descriptions of well-known components and techniques are omitted so as to not unnecessarily obscure the present invention. The embodiments described in the above embodiments do not represent all embodiments consistent with the present application, and various modifications or variations which may be made by those skilled in the art without inventive efforts based on the technical solution of the present invention are still within the protective scope of the present invention.

Claims

1. A lightweight linear motion device, comprising a housing portion, a motion portion, and a drive module;

the shell part comprises a motor fixing plate, a shell, a bottom plate and a top plate; the motor fixing plate is fixed on the bottom plate through a connecting piece, and a space is reserved between the motor fixing plate and the bottom plate; a motor is fixed on the motor fixing plate;

the moving part comprises a synchronous belt transmission mechanism and a screw rod nut mechanism; the feed screw nut mechanism comprises a feed screw, a feed screw nut, a sliding block and a sliding block; the synchronous belt transmission mechanism is arranged in a space between the motor fixing plate and the bottom plate; an output shaft of the motor is fixedly connected with a main synchronous belt wheel of the synchronous belt transmission mechanism; the secondary synchronous belt wheel of the synchronous belt transmission mechanism is fixedly connected with the lower end of the screw rod through a switching shaft sleeve; the upper end and the lower end of the screw rod are respectively provided with a bearing which is respectively fixed with an upper bearing seat and a lower bearing seat fixed on the shell; the spatial position of the screw rod is fixed through bearings at the upper end and the lower end, so that the screw rod can only rotate; a screw rod nut is assembled on the screw rod and fixedly connected with the sliding block; one end of the sliding block is provided with a part extending out of the shell, and the controller box fixing seat is fixedly connected to the part; a controller box is fixed on the controller box fixing seat, and an external component needing to be moved is fixed on the controller box; two sliding blocks are respectively fixed on the left side and the right side of the other end of each sliding block, and the two groups of sliding blocks are respectively matched with two guide rails fixed on the inner side of the shell to move; when the screw rod rotates, the screw rod nut drives the sliding block to generate linear motion;

the driving module comprises a motor and a motor driver, and the motor driver is integrated in the motor.

2. The exercise apparatus according to claim 1, wherein the lead screw is provided with a bearing at the junction with the adapter sleeve for fixing with the lower bearing seat.

3. The exercise apparatus according to claim 1, wherein the apparatus further comprises a cable section, the line section comprising a tow chain and a tow chain fixing plate; the tow chain fixing plate is fixed on the side face of the shell, one end of the tow chain is fixed on the controller box, and the other end of the tow chain is fixed on the tow chain fixing plate.

4. The exercise device according to claim 1, wherein a back plate is mounted on the side surface of the housing opposite to the controller box, and two rib plates are arranged on two sides of the back plate; the exchanger is fixed on the rib plate through the exchanger clamping piece, and a direct-current power supply is fixedly arranged on the exchanger clamping piece and used for supplying power to the exchanger; the direct current motor power supply is fixedly arranged on the rib plate on one side; the emergency stop button is arranged on the back plate.

5. The exercise apparatus of claim 1 or 3, wherein the controller box has a development board disposed therein for use with a robotic arm having a vision system.

6. The exercise apparatus according to claim 1 or 2, wherein the upper bearing seat is located at the top end of the screw rod, close to the top plate; the feed screw nut moves in the height space between the upper bearing seat to the lower bearing seat on the feed screw.

7. The exercise apparatus according to claim 1, wherein the drive module further comprises a switch and a dc motor power supply; the power supply of the direct current motor is converted to output the low voltage required by the motor.

8. The exercise apparatus according to claim 1, wherein the motor driver employs a highly integrated high power density intelligent ac servo driver.