CN116423484A - Multi-axis positioning mechanical arm and robot - Google Patents
Multi-axis positioning mechanical arm and robot Download PDFInfo
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- CN116423484A CN116423484A CN202310688338.XA CN202310688338A CN116423484A CN 116423484 A CN116423484 A CN 116423484A CN 202310688338 A CN202310688338 A CN 202310688338A CN 116423484 A CN116423484 A CN 116423484A
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- 238000005461 lubrication Methods 0.000 claims abstract description 67
- 230000001502 supplementing effect Effects 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 95
- 238000003825 pressing Methods 0.000 claims description 25
- 230000007704 transition Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000001050 lubricating effect Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims 1
- 235000017491 Bambusa tulda Nutrition 0.000 claims 1
- 241001330002 Bambuseae Species 0.000 claims 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims 1
- 239000011425 bamboo Substances 0.000 claims 1
- 239000013589 supplement Substances 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 64
- 239000010687 lubricating oil Substances 0.000 description 34
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005574 cross-species transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 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
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J19/0062—Lubrication means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to the technical field of mechanical arms, in particular to a multi-axis positioning mechanical arm and a robot. This multiaxis location arm and robot through setting up automatic oil supplementing device, can be automatically to the lubrication intraductal lubrication oil that supplements, in the lubrication channel can be entered into through advance oil channel and defeated oil channel, along with the rotation of connecting axle, lubrication channel can do the circumference in the connecting ring to carry out the circumference to the junction of connecting axle and connecting ring and lubricate, need not to manually operate, make lubrication work more in time effective, also alleviateed staff's work burden simultaneously, improved lubrication efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-axis positioning mechanical arm and a robot.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc. The greater the number of arms in the robotic arm, the more flexible the robotic arm. Currently, the multi-axis positioning mechanical arm is widely applied to the fields of warehouse logistics, agricultural picking, industrial production and the like.
In the using process of the mechanical arm, if the friction force between two adjacent movable arms is too large, the sensitivity and the accuracy of the mechanical arm during positioning are affected, so that the joint connection between the movable arms is required to be lubricated, at present, the mechanical arm is required to be lubricated manually, parts on the movable arms are required to be detached during lubrication, the joint hinge points are exposed, the parts are pressed after lubrication, and as the number of the movable arms in the multi-axis positioning mechanical arm is large, the work required to be carried out during lubrication is more, the steps are complicated, and the lubrication time is long; in addition, the traditional lubrication mode is difficult to judge whether machinery needs lubrication or not, lubrication can not be guaranteed to be carried out on each joint in time, friction force at the joint is often caused to be too large, operation sensitivity is affected, and abrasion can be caused at the joint. In view of this, we propose a multi-axis positioning robot arm and robot.
Disclosure of Invention
The invention aims to provide a multi-axis positioning mechanical arm and a robot, which solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the multi-axis positioning mechanical arm comprises a first movable arm and a second movable arm, wherein a connecting ring is fixedly connected to the first movable arm, a connecting shaft is rotatably connected to the inner wall of the connecting ring, one end, away from the first movable arm, of the connecting shaft is fixedly connected with the second movable arm, and a lubricating mechanism is arranged on the connecting ring;
the lubricating mechanism comprises a sealing cylinder, a piston on the inner wall of the sealing cylinder is connected with a control plug, and an automatic oil supplementing device is arranged on the control plug;
the oil feeding passageway has been seted up to the one end that first movable arm was kept away from to the connecting axle, oil transportation passageway has been seted up to the inside of connecting axle, lubrication channel has been seted up on the surface of connecting axle, oil transportation passageway's one end and lubrication channel intercommunication, oil transportation passageway's the other end and oil feeding passageway intercommunication, oil feeding passageway's the other end intercommunication has lubricated pipe, oil feeding passageway's one end and sealing cylinder intercommunication are kept away from to lubricated pipe.
Preferably, one end of the sealing cylinder is fixedly connected with the connecting ring, a cavity is formed in the sealing cylinder, a first sealing plug is connected to the inner wall of the cavity in a piston manner, the bottom end of the first sealing plug is elastically connected with the inner wall of the sealing cylinder through a spring, a through hole is formed in the first sealing plug, one end of the through hole is communicated with one end of the lubricating pipe, which is far away from the oil inlet channel, and the other end of the through hole is communicated with a transition pipe.
Preferably, the sealing cylinder is fixedly connected with an external cylinder, one end of the external cylinder is communicated with the sealing cylinder through a connecting pipe, a piston is connected with a second sealing plug on the inner wall of the external cylinder, the external cylinder is communicated with one end of the transition pipe away from the sealing cylinder, an oil inlet pipe is communicated with the external cylinder, one end of the oil inlet pipe away from the external cylinder is communicated with an oil tank, and the oil tank is fixedly installed on the first movable arm.
Preferably, the automatic oil supplementing device comprises a pressing plate, one end of the pressing plate is fixedly connected with one end of the control plug, the surface of the pressing plate is in sliding connection with the inner wall of the sealing cylinder, one end, far away from the control plug, of the pressing plate penetrates through the sealing cylinder, a chute is formed in the pressing plate, a guide block is connected onto the inner wall of the chute in a sliding manner, a rack is fixedly connected with one end of the guide block, and a gear is meshed with the surface of the rack.
Preferably, the automatic oil supplementing device further comprises a transmission rod and a driving arc plate, an annular groove is formed in the connecting ring, one side of the driving arc plate is in contact with the inner wall of the annular groove, an anti-slip surface is arranged on the other side of the driving arc plate and is in contact with the surface of the connecting shaft, one end of the transmission rod is located in the annular groove, a connecting rod is fixedly connected to the other end of the transmission rod, and the surface of the connecting rod is fixedly connected with the inner wall of the gear.
Preferably, the automatic oil supplementing device further comprises a supporting plate, the supporting plate is fixedly connected with the connecting ring, one end of the connecting rod is rotatably installed on the supporting plate, a fixing block is fixedly connected to the supporting plate, the fixing block is elastically connected with the transmission rod through a spring, a folding rod is fixedly connected to the supporting plate, and one end of the folding rod is slidably connected with the inner wall of the rack.
Preferably, the first movable arm is fixedly provided with a motor, and the output end of the motor is fixedly connected with one end of the connecting shaft.
Preferably, the surface cover of lubrication tube is equipped with the sealing block, the surface of sealing block with the inner wall laminating of connecting axle, the surface of lubrication tube is located one side fixedly connected with backing plate of sealing block, the surface rotation of lubrication tube is connected with the screw thread piece, the surface of screw thread piece with the inner wall threaded connection of connecting axle, the inner wall of screw thread piece is kept away from with the backing plate one side contact of connecting axle.
Preferably, the inner wall of the first movable arm is respectively fitted with a first sealing ring and a second sealing ring, one side, away from the first movable arm, of the first sealing ring is fitted with the inner wall of the connecting ring, and one side, away from the first movable arm, of the second sealing ring is fitted with the inner wall of the connecting shaft.
A multi-axis positioning robot comprises the multi-axis positioning mechanical arm.
By means of the technical scheme, the invention provides the multi-axis positioning mechanical arm and the robot. The method has at least the following beneficial effects:
(1) This multiaxis location arm and robot through setting up automatic oil supplementing device, can be automatically to the lubrication intraductal lubrication oil that supplements, in lubricating oil can enter into the lubrication channel through advance oil channel and defeated oil channel, along with the rotation of connecting axle, lubrication channel can do the circumference in the connecting ring to carry out the circumference lubrication to the junction of connecting axle and connecting ring, need not manual operation, make lubrication work more in time effective, also alleviateed staff's work burden simultaneously, improved lubrication efficiency.
(2) This multiaxis location arm and robot through seting up the ring channel in the connecting ring to set up the drive arc board in the ring channel, can drive the motion of drive arc board through the frictional force between connecting axle and the antiskid face, and provide power for the operation of automatic oil supplementing device, thereby can in time supply lubricating oil in the lubrication channel when connecting axle surface lubrication degree is not enough, avoid leading to joint department frictional force too big because of lubrication is untimely.
(3) This multiaxis location arm and robot is used through the cooperation of first sealing plug and second sealing plug for the lubricating oil of taking at every turn does not surpass the volume of transition pipe, thereby can avoid the waste of lubricating oil, also can prevent simultaneously that the oil mass is too much and lead to the lubricating oil outwards to spill over, through setting up the second sealing washer, can avoid lubricating oil and motor shaft contact, thereby prevent that lubricating oil from entering into in the motor, cause the damage to the motor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a partial structure of the present invention;
FIG. 3 is a cross-sectional view of a boom in accordance with the present invention;
FIG. 4 is a cross-sectional view of a connecting shaft and connecting ring according to the present invention;
FIG. 5 is an enlarged view of the structure of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic view of a screw block according to the present invention;
FIG. 7 is a cross-sectional view of a lubrication mechanism according to the present invention;
FIG. 8 is a cross-sectional view of an automatic oil refill apparatus according to the present invention;
fig. 9 is a schematic view of a connecting shaft according to the present invention.
In the figure: 1. a first boom; 2. a second boom; 3. a connecting ring; 31. an annular groove; 4. a connecting shaft; 41. an oil inlet passage; 42. an oil delivery passage; 43. a lubrication channel; 5. a motor; 6. a lubrication mechanism; 61. a sealing cylinder; 62. a first sealing plug; 621. a through hole; 63. a transition pipe; 64. a second sealing plug; 65. an oil inlet pipe; 66. an oil tank; 67. a connecting pipe; 68. a control plug; 69. an automatic oil supplementing device; 691. a pressing plate; 692. a guide block; 693. a rack; 694. a gear; 695. a support plate; 696. a connecting rod; 697. a transmission rod; 698. a fixed block; 699. driving an arc plate; 6910. folding the rod; 610. an external cylinder; 7. a lubrication tube; 8. a first seal ring; 9. a second seal ring; 10. a sealing block; 11. a backing plate; 12. a threaded block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 9, the present invention provides a technical solution:
the utility model provides a multiaxis location arm, includes first movable arm 1 and second movable arm 2, fixedly connected with go-between 3 on the first movable arm 1, rotates on the inner wall of go-between 3 and is connected with connecting axle 4, and the one end and the second movable arm 2 fixed connection of first movable arm 1 are kept away from to connecting axle 4, and fixed mounting has motor 5 on the first movable arm 1, and motor 5's output and connecting axle 4's one end fixed connection can drive connecting axle 4 through motor 5 and rotate in the go-between 3, and then drive second movable arm 2 and rotate.
As shown in fig. 1, the multi-axis positioning mechanical arm in the present embodiment is composed of a plurality of movable arms, wherein the structures between two adjacent movable arms are identical, and the multi-axis positioning function is realized by the plurality of movable arms. If the friction force between two adjacent movable arms is too large, the sensitivity and the accuracy of the mechanical arm during positioning are affected, so that the connection points between the movable arms need to be lubricated. Because the quantity of movable arms is more in the multiaxis location arm, and all need dismantle some structures at every turn manual lubrication, need carry out work more when leading to lubrication, lubrication time overlength also is difficult to guarantee simultaneously in time to lubricate each joint.
Thus, in the present embodiment, the lubrication mechanism 6 is provided on each of the connection rings 3.
The lubrication mechanism 6 comprises a sealing cylinder 61, a control plug 68 is connected to the piston on the inner wall of the sealing cylinder 61, and an automatic oil supplementing device 69 is arranged on the control plug 68 and can automatically add lubricating oil to the joints of the movable arms.
In this embodiment, the oil inlet channel 41 is provided at one end of the connecting shaft 4 far away from the first movable arm 1, the oil inlet channel 41 is located on the axis of the connecting shaft 4, the oil delivery channel 42 is provided inside the connecting shaft 4, the oil delivery channel 42 is located on a certain section diameter of the connecting shaft 4, the lubrication channel 43 is provided on the surface of the connecting shaft 4, one end of the oil delivery channel 42 is communicated with the lubrication channel 43, the other end of the oil delivery channel 42 is communicated with the oil inlet channel 41, the other end of the oil inlet channel 41 is communicated with the lubrication pipe 7, and one end of the lubrication pipe 7 far away from the oil inlet channel 41 is communicated with the sealing cylinder 61. The lubrication mechanism 6 can intermittently supplement lubricating oil into the lubrication pipe 7, the lubricating oil sequentially passes through the oil inlet channel 41 and the oil delivery channel 42 and enters the lubrication channel 43, oil in the lubrication channel 43 can be in contact with the inner wall of the connecting ring 3, and the inner wall of the connecting ring 3 can be circumferentially oiled along with the rotation of the connecting shaft 4, so that the purpose of automatically lubricating the joint of the connecting ring 3 and the connecting shaft 4 is achieved.
In order to achieve the purpose of adding lubricating oil into the lubricating tube 7 a small amount each time, in this embodiment, one end of the sealing cylinder 61 is fixedly connected with the connecting ring 3, a cavity is formed in the sealing cylinder 61, a first sealing plug 62 is connected to the inner wall of the cavity in a piston manner, the bottom end of the first sealing plug 62 is elastically connected to the inner wall of the sealing cylinder 61 through a spring, a through hole 621 is formed in the first sealing plug 62, one end of the through hole 621 is communicated with one end of the lubricating tube 7 far away from the oil inlet channel 41, and the other end of the through hole 621 is communicated with the transition tube 63. The first sealing plug 62 is movable along the axial direction of the sealing cylinder 61, and when the through hole 621 in the first sealing plug 62 is aligned with the lubrication duct 7 and the transition duct 63, the lubricating oil can enter the lubrication duct 7 through the transition duct 63, and when the through hole 621 in the first sealing plug 62 is not aligned with the lubrication duct 7 and the transition duct 63, the lubricating oil cannot enter the lubrication duct 7 from the transition duct 63, so that the oil intake amount can be controlled. The bottom wall of the sealing barrel 61 is fixedly connected with a limiting rod, and the inner wall of the first sealing plug 62 is slidably connected with the surface of the limiting rod, so that the first sealing plug 62 can be prevented from rotating in the sealing barrel 61, and the through hole 621 can be aligned with the lubrication pipe 7 and the transition pipe 63. The external cylinder 610 is fixedly connected to the sealing cylinder 61, one end of the external cylinder 610 is communicated with the sealing cylinder 61 through the connecting pipe 67, a piston is connected to the inner wall of the external cylinder 610, one end of the second sealing plug 64 is elastically connected with the inner wall of the external cylinder 610 through a spring, the external cylinder 610 is communicated with one end of the transition pipe 63 far away from the sealing cylinder 61, the oil inlet pipe 65 is communicated to the external cylinder 610, when the second sealing plug 64 moves to one end inside the external cylinder 610, the oil inlet end of the transition pipe 63 and the oil outlet end of the oil inlet pipe 65 can be simultaneously sealed, after the second sealing plug 64 moves to a designated position to one side, sealing effects are contacted, and lubricating oil can enter the transition pipe 63 through the oil inlet pipe 65. The oil inlet pipe 65 is far away from the end of the external cylinder 610 and is communicated with an oil tank 66, lubricating oil is contained in the oil tank 66, and the oil tank 66 is fixedly arranged on the first movable arm 1. Through the cooperation of the first sealing plug 62 and the second sealing plug 64, the volume of the transition pipe 63 is not exceeded by the lubricating oil taken each time, so that the waste of the lubricating oil can be avoided, and meanwhile, the excessive oil quantity can be prevented from causing the outward overflow of the lubricating oil.
In this embodiment, the automatic oil supplementing device 69 includes a pressing plate 691, one end of the pressing plate 691 is fixedly connected with one end of the control plug 68, the surface of the pressing plate 691 is slidably connected with the inner wall of the sealing cylinder 61, a sliding groove for the pressing plate 691 to slide up and down is formed in the inner wall of the sealing cylinder 61, the inner wall of the sliding groove is attached to the surface of the pressing plate 691, the purpose of limiting the pressing plate 691 can be achieved, and the pressing plate 691 can only move along the axial direction of the sealing cylinder 61. One end of the pressing plate 691 far away from the control plug 68 penetrates through the sealing cylinder 61, a chute is formed in the pressing plate 691, a guide block 692 is connected to the inner wall of the chute in a sliding mode, and the chute is arranged to change the motion transmission direction, so that the motion track of the guide block 692 is perpendicular to the motion track of the pressing plate 691. One end of the guide block 692 is fixedly connected with a rack 693, a gear 694 is meshed with the surface of the rack 693, and the rack 693 can be driven to move by the rotation of the gear 694, so that the guide block 692 is driven to move. The automatic oil supplementing device 69 further comprises a transmission rod 697 and a driving arc plate 699, the annular groove 31 is formed in the connecting ring 3, one side of the driving arc plate 699 is in contact with the inner wall of the annular groove 31, an anti-slip surface is arranged on the other side of the driving arc plate 699 and is in contact with the surface of the connecting shaft 4, the anti-slip surface is a structure which protrudes, is a groove or a rubber sleeve and the like and can improve the surface roughness of the driving arc plate 699, and the friction force between the connecting shaft 4 and the driving arc plate 699 is larger than the friction force between the driving arc plate 699 and the inner wall of the connecting ring 3, so that the driving arc plate 699 can rotate along with the connecting shaft 4. When the friction between the connecting shaft 4 and the driving arc plate 699 is smaller than the friction between the driving arc plate 699 and the inner wall of the connecting ring 3 due to lubrication, the connecting shaft 4 can not drive the driving arc plate 699 to rotate when rotating.
Specifically, after the lubricating oil enters the lubrication channel 43, the lubricating oil can extend from the gap between the connection ring 3 and the connection shaft 4 to the positions on the surface of the connection shaft 4 along with the circumferential rotation of the lubrication channel 43 in the connection ring 3, so that the connection shaft 4 and the driving arc plate 699 are lubricated, and the driving arc plate 699 has a certain thickness, so that the lubricating oil is not easy to enter between the driving arc plate 699 and the inner wall of the annular groove 31, the lubrication speed between the driving arc plate 699 and the connection shaft 4 is faster, the friction force is smaller, and the connection shaft 4 is difficult to drive the driving arc plate 699 to move through friction force during rotation. After the connecting shaft 4 is used for a period of time, the lubricating oil in the lubricating channel 43 is consumed, and because the connecting shaft 4 always rotates on the surface of the driving arc plate 699, the lubricating oil between the connecting shaft 4 and the driving arc plate 699 is gradually consumed, the friction force is gradually increased, and when the friction force between the connecting shaft 4 and the driving arc plate 699 reaches a certain value, the connecting shaft 4 can drive the driving arc plate 699 to move. To better achieve this effect, the number of the oil delivery channels 42 is two, the two oil delivery channels 42 are symmetrically distributed with the center line of the driving arc plate 699 as a symmetrical axis, and the ends of the two oil delivery channels 42 are all communicated with the lubrication channels 43, and the two lubrication channels 43 are separately arranged on two sides of the annular groove 31, so that lubricating oil is easier to enter between the driving arc plate 699 and the connecting shaft 4.
Further, one end of the transmission rod 697 is located in the annular groove 31, the other end of the transmission rod 697 is fixedly connected with a connecting rod 696, and the surface of the connecting rod 696 is fixedly connected with the inner wall of the gear 694. Automatic oil supplementing device 69 still includes backup pad 695, backup pad 695 and go-between 3 fixed connection, the one end rotation of connecting rod 696 is installed on backup pad 695, fixedly connected with fixed block 698 on the backup pad 695, fixed block 698 passes through spring and transfer line 697 elastic connection, through setting up the spring, make transfer line 697 can automatic re-setting after losing external force, fixedly connected with book pole 6910 on backup pad 695, book pole 6910's one end and rack 693's inner wall sliding connection, spacing spout has been seted up along rack 693's length direction on the rack 693, cooperation through spacing spout and book pole 6910 can be spacing rack 693, avoid rack 693 to reciprocate.
In this embodiment, the surface cover of lubricated pipe 7 is equipped with sealing block 10, sealing block 10's surface and the laminating of the inner wall of connecting axle 4 to avoid lubricating oil to leak from connecting axle 4 one end, the surface of lubricated pipe 7 is located one side fixedly connected with backing plate 11 of sealing block 10, be used for compressing tightly sealing block 10, and the surface rotation of lubricated pipe 7 is connected with screw thread piece 12, screw thread piece 12's surface and the inner wall threaded connection of connecting axle 4, screw thread piece 12's inner wall and backing plate 11 keep away from the contact of one side of connecting axle 4, through setting up screw thread piece 12, be convenient for install and dismantle lubricated pipe 7.
In this embodiment, laminating respectively has first sealing washer 8 and second sealing washer 9 on the inner wall of first movable arm 1, and one side that first sealing washer 8 kept away from first movable arm 1 is laminated with the inner wall of go-between 3, avoids lubricating oil to leak to first movable arm 1 in, and one side that second sealing washer 9 kept away from first movable arm 1 is laminated with the inner wall of connecting axle 4 to can avoid lubricating oil and motor shaft contact, prevent that lubricating oil from entering into motor 5.
When the multi-axis positioning mechanical arm is used, the output shaft of the motor 5 can drive the connecting shaft 4 to rotate in the connecting ring 3, the connecting shaft 4 can be in contact with the inner side of the driving arc plate 699 in the rotating process, when the surface lubricity of the connecting shaft 4 is insufficient, the friction force between the connecting shaft 4 and the driving arc plate 699 can be larger than the friction force between the driving arc plate 699 and the inner wall of the annular groove 31, and at the moment, the connecting shaft 4 can drive the driving arc plate 699 to rotate together through the friction force in the rotating process. After the driving arc plate 699 rotates to a designated angle to one side, the driving arc plate 699 can be in contact with the transmission rod 697, when the friction force between the connecting shaft 4 and the driving arc plate 699 reaches a certain value, the driving arc plate 699 can drive the transmission rod 697 to rotate by taking the axis of the connecting rod 696 as the center, the transmission rod 697 drives the gear 694 to rotate through the transmission rod 697, the gear 694 drives the rack 693 to rotate through meshing, the rack 693 drives the guide block 692 to rotate, the guide block 692 drives the pressing plate 691 to move upwards through the chute, the pressing plate 691 drives the control plug 68 to move upwards, the cavity at the bottom of the control plug 68 is in a negative pressure state, and therefore the first sealing plug 62 is upwards attracted, and the through hole 621 on the first sealing plug 62 is not communicated with the lubricating pipe 7 and the transition pipe 63. Meanwhile, the second sealing plug 64 is attracted to one side of the connecting pipe 67 to move, so that negative pressure is generated at one end of the external cylinder 610, and further lubricating oil in the oil inlet pipe 65 automatically enters the external cylinder 610, and the lubricating oil enters the transition pipe 63 from the external cylinder 610 for storage. When the driving arc plate 699 is separated from the driving rod 697, the driving rod 697 automatically resets under the elasticity of the spring and drives the connecting rod 696 to rotate reversely, the connecting rod 696 drives the gear 694 to rotate reversely, the gear 694 drives the rack 693 to move reversely, the rack 693 drives the guide block 692 to move reversely, the guide block 692 pushes the pressing plate 691 downwards through the chute, the pressing plate 691 drives the control plug 68 to move downwards synchronously, so that the air pressure in the cavity is increased, thereby pushing the first sealing plug 62 and the second sealing plug 64 to the side far away from the control plug 68, and the second sealing plug 64 seals one ends of the transition pipe 63 and the oil inlet pipe 65, so that the lubricating oil in the oil tank 66 does not flow into the external cylinder 610 any more, and the waste of the lubricating oil is avoided. The first sealing plug 62 moves downward so that both ends of the through hole 621 communicate with the lubrication pipe 7 and the transition pipe 63, respectively, and the lubricating oil in the transition pipe 63 enters the lubrication pipe 7 through the through hole 621 and enters the lubrication passage 43 through the oil feed passage 41 and the oil delivery passage 42. With the rotation of the connecting shaft 4, the lubricating oil can be contacted with the inner wall of the connecting ring 3, thereby realizing automatic lubrication.
The invention also provides a technical scheme that:
a multi-axis positioning robot comprises the multi-axis positioning mechanical arm.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The multi-axis positioning mechanical arm comprises a first movable arm (1) and a second movable arm (2), and is characterized in that a connecting ring (3) is fixedly connected to the first movable arm (1), a connecting shaft (4) is rotatably connected to the inner wall of the connecting ring (3), one end, far away from the first movable arm (1), of the connecting shaft (4) is fixedly connected with the second movable arm (2), and a lubricating mechanism (6) is arranged on the connecting ring (3);
the lubricating mechanism (6) comprises a sealing cylinder (61), a control plug (68) is connected to a piston on the inner wall of the sealing cylinder (61), and an automatic oil supplementing device (69) is arranged on the control plug (68);
oil feed passageway (41) have been seted up to the one end that first movable arm (1) was kept away from to connecting axle (4), oil transportation passageway (42) have been seted up to the inside of connecting axle (4), lubrication channel (43) have been seted up on the surface of connecting axle (4), the one end and the lubrication channel (43) of oil transportation passageway (42) communicate, the other end and the oil feed passageway (41) of oil transportation passageway (42) communicate, the other end intercommunication of oil feed passageway (41) has lubrication tube (7), the one end and sealed section of thick bamboo (61) intercommunication that oil feed passageway (41) were kept away from to lubrication tube (7).
2. The multi-axis positioning mechanical arm according to claim 1, wherein one end of the sealing cylinder (61) is fixedly connected with the connecting ring (3), a cavity is formed in the sealing cylinder (61), a first sealing plug (62) is connected to an upper piston of the inner wall of the cavity, the bottom end of the first sealing plug (62) is elastically connected with the inner wall of the sealing cylinder (61) through a spring, a through hole (621) is formed in the first sealing plug (62), one end of the through hole (621) is communicated with one end, far away from the oil inlet channel (41), of the lubricating pipe (7), and a transition pipe (63) is communicated with the other end of the through hole (621).
3. The multi-axis positioning mechanical arm according to claim 2, wherein an external cylinder (610) is fixedly connected to the sealing cylinder (61), one end of the external cylinder (610) is communicated with the sealing cylinder (61) through a connecting pipe (67), a second sealing plug (64) is connected to an upper piston of the inner wall of the external cylinder (610), the external cylinder (610) is communicated with one end, far away from the sealing cylinder (61), of the transition pipe (63), an oil inlet pipe (65) is communicated with the external cylinder (610), an oil tank (66) is communicated with one end, far away from the external cylinder (610), of the oil inlet pipe (65), and the oil tank (66) is fixedly installed on the first movable arm (1).
4. The multi-axis positioning mechanical arm according to claim 3, wherein the automatic oil supplementing device (69) comprises a pressing plate (691), one end of the pressing plate (691) is fixedly connected with one end of the control plug (68), the surface of the pressing plate (691) is slidably connected with the inner wall of the sealing cylinder (61), one end of the pressing plate (691) away from the control plug (68) penetrates through the sealing cylinder (61), a chute is formed in the pressing plate (691), a guide block (692) is slidably connected onto the inner wall of the chute, a rack (693) is fixedly connected with one end of the guide block (692), and a gear (694) is meshed with the surface of the rack (693).
5. The multi-axis positioning mechanical arm according to claim 4, wherein the automatic oil supplementing device (69) further comprises a transmission rod (697) and a driving arc plate (699), an annular groove (31) is formed in the connecting ring (3), one side of the driving arc plate (699) is in contact with the inner wall of the annular groove (31), an anti-slip surface is arranged on the other side of the driving arc plate (699), the anti-slip surface is in contact with the surface of the connecting shaft (4), one end of the transmission rod (697) is located in the annular groove (31), a connecting rod (696) is fixedly connected to the other end of the transmission rod (697), and the surface of the connecting rod (696) is fixedly connected with the inner wall of the gear (694).
6. The multi-axis positioning mechanical arm according to claim 5, wherein the automatic oil supplementing device (69) further comprises a supporting plate (695), the supporting plate (695) is fixedly connected with the connecting ring (3), one end of the connecting rod (696) is rotatably installed on the supporting plate (695), a fixing block (698) is fixedly connected to the supporting plate (695), the fixing block (698) is elastically connected with the transmission rod (697) through a spring, a folding rod (6910) is fixedly connected to the supporting plate (695), and one end of the folding rod (6910) is slidably connected with the inner wall of the rack (693).
7. The multi-axis positioning mechanical arm according to claim 1, wherein a motor (5) is fixedly installed on the first movable arm (1), and an output end of the motor (5) is fixedly connected with one end of the connecting shaft (4).
8. The multi-axis positioning mechanical arm according to claim 1, wherein a sealing block (10) is sleeved on the surface of the lubrication pipe (7), the surface of the sealing block (10) is attached to the inner wall of the connecting shaft (4), a base plate (11) is fixedly connected to one side of the surface of the lubrication pipe (7) located on the sealing block (10), a threaded block (12) is rotatably connected to the surface of the lubrication pipe (7), the surface of the threaded block (12) is in threaded connection with the inner wall of the connecting shaft (4), and the inner wall of the threaded block (12) is in contact with one side of the base plate (11) away from the connecting shaft (4).
9. The multi-axis positioning mechanical arm according to claim 1, wherein a first sealing ring (8) and a second sealing ring (9) are respectively attached to the inner wall of the first movable arm (1), one side, away from the first movable arm (1), of the first sealing ring (8) is attached to the inner wall of the connecting ring (3), and one side, away from the first movable arm (1), of the second sealing ring (9) is attached to the inner wall of the connecting shaft (4).
10. A multi-axis positioning robot comprising the multi-axis positioning robot arm of any of claims 1-9.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117699453A (en) * | 2024-02-05 | 2024-03-15 | 山东明宇重工机械有限公司 | Marine loader manipulator |
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| CN117699453B (en) * | 2024-02-05 | 2024-04-26 | 山东明宇重工机械有限公司 | Marine loader manipulator |
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|---|---|
| CN116423484B (en) | 2023-08-04 |
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