CN202964667U - Accurate positioning high-speed mechanical arm - Google Patents
Accurate positioning high-speed mechanical arm Download PDFInfo
- Publication number
- CN202964667U CN202964667U CN 201220584996 CN201220584996U CN202964667U CN 202964667 U CN202964667 U CN 202964667U CN 201220584996 CN201220584996 CN 201220584996 CN 201220584996 U CN201220584996 U CN 201220584996U CN 202964667 U CN202964667 U CN 202964667U
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- reel
- cable wire
- chute
- holder
- mechanical arm
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Abstract
The utility model discloses an accurate positioning high-speed mechanical arm, which comprises a motor, a driving component, a frame and a slide block, wherein the frame is provided with a sliding chute; the slide block is arranged in the sliding chute; and the driving component is used for driving the slide block to move along the sliding chute. The accurate positioning high-speed mechanical arm is characterized in that the driving component comprises a winding drum and a steel cable wound on the winding drum; the winding drum is provided with a threaded groove; the steel cable is coiled in the threaded groove; the steel cable is arranged between the winding drum and the sliding chute, so that a running loop is constructed; and the steel cable is fixed together with the bottom of the slide block through one section of the steel cable arranged in the sliding chute. A servo motor is adopted for driving the winding drum provided with the threaded groove, and the steel cable is accurately uncoiled from the winding drum, i.e., the linear moving distance of the steel cable is transformed along with the perimeter of the winding drum once the winding drum rotates by one circle, so that the speed of the steel cable is much higher than the speed of a lead screw nut pair of which the linear distance is transformed through a thread pitch at the same revolving speed; and the positioning control over the slide block can be realized by accurately controlling the rotating speed and rotation start/stop through the servo motor.
Description
[technical field]
The utility model relates to the automated arm field, relates in particular to the high speed machine arm assembly of the linear module of single shaft.
[background technology]
Mechanical arm is applied to automation technolo, the Partial Replacement manually-operated, can be according to manufacturing technique requirent, follow transmission and handling that certain hour and location rule complete workpiece, and the high speed that can complete long distance is carried, and require registration, it is high that speed is controlled adjustable degree, conveying such as part in the flowing water assembling work at big machinery, location, assembling, the drive unit of the high-speed motion picture camera that dash road, stadium side is installed, it is all the application of loaded and high speed mechanical arm, the mechanical arm of producing at present and using generally adopts ball nut-screw mandrel and these two kinds of kinds of drive of Timing Belt, rolling lead screw-nut kinematic pair is that gyration is converted into to the transmission device that rectilinear motion is commonly used, rolling lead screw nut drive mechanism transmission efficiency is high, frictional resistance is little, transmission accuracy is high, from mechanism's transmission principle, to be converted into the rectilinear motion of nut by the rotational motion of leading screw, the mechanical arm speed be arranged on nut depends on helical pitch and leading screw rotating speed, velocity ratio is lower, and the scope that this mechanism can slide and the length of leading screw have relation, and the length of leading screw must be controlled within the specific limits, leading screw length surpasses certain limit and can produce and rock and cause mechanism's integral body unstable.Existing nut screw type mechanical arm speed is not high, and positioning precision is low, and structure length is limited.
[summary of the invention]
The utility model has proposed a kind of energy precise positioning, high-speed motion, the long mechanical arm of mobile range for above problem.
The technical solution of the utility model is: a kind of precise positioning loaded and high speed mechanical arm, comprise motor, driver part, frame and slide block, there is chute on described frame, described slide block is arranged in chute, described driver part drives described slide block along runner movement, described driver part comprises reel and around the cable wire on reel, there is thread groove on reel, cable wire is coiled in thread groove, described cable wire is arranged between reel and chute and forms a running loop, and a section of being arranged in chute of cable wire is fixed with slider bottom.
Described slide block is arranged in chute, along chute, slide, there is the cable wire of twice to the different directions operation in chute below slide block, in chute, the section that is connected and fixed is set at slider bottom, the described section of being connected and fixed is a pair of fixed edge of difference corresponding twice cable wire position, and one of them fixed edge and cable wire are fixed together.
On described frame, an end is provided with driver part, and the other end is provided with a regulating wheel in chute, and described cable wire is arranged on the regulating wheel of chute.
Reel axial direction in described driver part is parallel with chute, also be provided with the left and right directive wheel of guiding cable wire between reel and chute, the first tangential direction of described left and right directive wheel and regulating wheel be in the same level height, the opposed thread groove at reel of the second tangential direction that the left and right directive wheel is vertical with the first tangential direction; Described driver part also comprises rack-mounted holder, and reel is arranged on frame by holder, there is external screw thread on described holder, at the reel inwall, internal thread is arranged, described reel one end is enclosed within internal and external threads on holder and is connected, and on the pitch of holder and reel inwall and reel, the groove width of thread groove is identical.
Reel axial direction in described driver part is vertical with chute, the tangent line of reel and regulating wheel are in the same level height, cable wire is directly on the thread groove that twists in reel, described driver part also comprises rack-mounted holder, and reel is arranged on frame by holder, there is external screw thread on described holder, at the reel inwall, internal thread is arranged, described reel one end is enclosed within internal and external threads on holder and is connected, and on the pitch of holder and reel inwall and reel, the groove width of thread groove is identical.
Pass through synchronizing wheel transmission and ball spline transmission between motor and driver part, the driving wheel interlock of motor and synchronizing wheel, and driven pulley drives ball spline, described ball spline fixedly becomes an integral body by screw and reel, the other end of reel and holder threaded engagement.
Described motor is servo motor, and described cable wire need be with selecting cylindrical encapsulate inner core to adopt stainless steel wire according to using, and its tensile strength is high, drawing coefficient is little, and length variations is small, guarantees kinematic accuracy.
Precise positioning loaded and high speed mechanical arm in the utility model, adopt servo motor driven to be threaded the reel of groove, accurately unreel cable wire from reel, be that the air line distance that the every rotation one circle cable wire of reel moves is the girth conversion of reel, under identical rotating speed, the speed of the screw pair that cable wire speed transforms by pitch higher than air line distance far away, and accurately control rotating speed and rotate start and stop by servo motor, just can realize the positioning control to slide block, cable wire by the regulating wheel tensioning is tightened, cable wire is without play, and the length range of integrated model is larger.
[accompanying drawing explanation]
Fig. 1 is the utility model precise positioning high speed machine hand the first example structure front view;
Fig. 2 is the utility model precise positioning high speed machine hand the first embodiment top view;
Fig. 3 is the utility model precise positioning high speed machine hand the first embodiment drive part structural representation;
Fig. 4 is the utility model precise positioning high speed machine hand the second example structure figure;
Fig. 5 is the utility model precise positioning high speed machine hand the second embodiment drive part structural representation.
Wherein: 10,20, loaded and high speed mechanical arm; 11, frame; 12, slide block; 121, be connected and fixed section; 1211, fixed edge; 13,23, chute; 14,24, driver part; 141,241, reel; 1411,2411, thread groove; 142,242, cable wire; 143, directive wheel; 144, the first tangential direction; 145, the second tangential direction; 15,25, regulating wheel; 16, holder; 17, synchronizing wheel; 18, ball spline; 19, servo motor.
[specific embodiment]
Below in conjunction with drawings and Examples, high speed machine hand of the present utility model and the high speed machine hand method of operation are described in further detail.
It is mobile that original mechanical arm need to complete location, because technological operation is higher to position accuracy demand, mechanical arm will meet mobile precision requirement, so original mechanical arm has adopted rolling lead screw-nut kinematic pair structure, ball-screw rotates by driven by motor, the nut of the rotation drive of ball-screw and ball-screw engagement moves, be that ball-screw-nut kinematic pair is to change into the traveling priority of nut with the rotation of ball-screw, the distance of traveling priority is the pitch movable length brought due to rotation that ball-screw equals ball-screw in same time.Original structure can guarantee displacement accuracy, but speed is low, and, by the limited length of ball-screw, has limited to the effective moving range of mechanical arm.
Embodiment 1:
Please refer to Fig. 1 and Fig. 2, the precise positioning loaded and high speed mechanical arm 10 that the present embodiment proposes, comprise motor, driver part 14, frame 11 and slide block 12, there is chute 13 on described frame 11, described slide block 12 is arranged in chute 13, described driver part 14 drives described slide block 12 to move along chute 13, it is characterized in that, described driver part 14 comprises reel 141 and around the cable wire 142 on this reel 141, there is thread groove 1411 on this reel 141, cable wire 142 is coiled in thread groove 1411, described cable wire 142 is arranged between reel 141 and chute 13 and forms a running loop, one section of being arranged in chute 13 of cable wire 142 is fixed with slide block 12 bottoms.Change original ball-screw-nut kinematic pair structure and adopt cable wire directly to be with movable slider, the flexible characteristic compatible rotational motion of energy of cable wire 142 own and rectilinear motion, and rotational motion is converted into to rectilinear motion.
Described slide block 12 is arranged in chute 13, along chute 13, slide, the cable wire 142 that there are two different directions operations below slide block 12 in chute 13, be connected and fixed section 121 in slide block 12 bottoms to the interior setting of chute 13, the described section 121 that is connected and fixed is twice fixed edges of distinguishing corresponding twice cable wire position, and wherein one fixed edge 1211 is fixed together with cable wire 142.
Described slide block 12 can be selected according to concrete industry condition with the fixed form of cable wire 142, can be that welding or screw tightening are fixed, connected mode need to keep between slide block 12 and cable wire 142 without relative motion, and 12 cable wires 142 with a direction motion of slide block are fixing.
On described frame 11, an end is provided with driver part 14, and the other end is provided with a regulating wheel 15 in chute 13, and described cable wire 142 is arranged on the regulating wheel 15 of chute 13.The driving force of cable wire 142 and precise positioning all depend on the tensioning degree of cable wire 142 own, and under tensioning state cable wire 142 rotate and rectilinear motion between conversion accurate and effective rate more, described cable wire is to adopt tensile strength is high, drawing coefficient the is little cylindrical encapsulate cable wire of stainless steel wire inside.
The reel of driver part is tandem type in the present embodiment, be that chute is parallel with the reel axial direction in driver part, namely the cable wire direction of motion in chute is parallel with the reel axial direction, in order to allow cable wire around twisting on reel, also be provided with the left and right directive wheel 143 of guiding cable wire between reel and chute, the first tangential direction 144 of described left and right directive wheel 143 with regulating wheel in the same level height, the opposed thread groove at reel of the second tangential direction 145 that left and right directive wheel 143 is vertical with the first tangential direction 144; Described driver part 14 also comprises the holder 16 be arranged on frame 11, and reel 141 is arranged on frame 11 by holder 16, there is external screw thread on described holder 16, at the reel inwall, internal thread is arranged, described reel one end is enclosed within internal and external threads on holder and is connected, and on the pitch of holder and reel inwall and reel, the groove width of thread groove is identical.
Described driver part mainly completes with reel band running wire and moves, there is the thread groove of applicable cable wire around volume on reel, often around the volume one the circle cable wire all correspondence be installed in every one thread groove, being cable wire has clear and definite corresponding relation around the number of turns of volume with the distance that cable wire is wound around on reel, and cable wire is wound around the distance of enclosing, passing through a pitch of reel.
Holder in driver part coordinates rotation with reel by screw-threaded engagement, external screw thread is arranged above holder, and reel inside has internal thread, between holder and reel, the pitch of the thread groove of the pitch of matching thread and reel periphery is the same, the effect that this spline structure can be realized is: by cable wire, around the position mark on reel, be initially primary importance, and when the position of cable wire after reel one circle is labeled as the second place, shift length between primary importance and the second place, equal the displacement that reel oppositely moves on holder, it is the same with reel rotational angular velocity on holder that cable wire rotates on reel, just can guarantee cable wire always in space same position around being rolled onto on reel, and the left and right directive wheel is exactly to determine the device of fixed point around volume, the left and right directive wheel changes angle by the cable wire of the direction of motion and reel axial direction and becomes along the applicable direction around volume of thread groove direction, the first tangential direction of left and right directive wheel lambda line depends on the level height of regulating wheel, the left and right directive wheel keeps the cable wire horizontal movement, the second tangential direction of left and right directive wheel depends on that reel is around the volume position, the first tangential direction roughly presents vertical with the second tangential direction, a low-angle is arranged slightly, this low-angle depends on the angle between reel thread groove and axial line, on commercial Application, because this angle is very small with respect to integrated model, basically can ignore, the direction of left and right directive wheel guiding is aligning tangential direction along thread groove on the volume position.
Pass through synchronizing wheel 17 transmissions and ball spline 18 transmissions between motor and driver part, the driving wheel interlock of motor and synchronizing wheel 17, and driven pulley drives ball spline, described ball spline fixedly becomes an integral body by screw and reel, the other end of reel and holder 16 threaded engagement.
Described motor is servo motor 19, adopt servo motor and to rotate the number of turns and precisely to control rotating speed, the number of turns that reel rotates with cable wire unreel/accurately corresponding around the number of turns of volume, can calculate the length that cable wire moves, by to servo motor rotating speed and on off control, controlling speed and the stop position of high speed machine hand, realization is accurately controlled the movement of manipulator, the diameter of reel has determined that the size (stroke=drum diameter that reel often turns around * π) of stroke is if the servo motor rotating speed is 3000 rev/mins, 50 revolutions per seconds, when speed will reach 10 meter per seconds, 10.000m ÷ 50=200mm namely, often turn around as 200mm, just can reach the speed of desired 10 meter per seconds, by common calculating: outside barrel diameter
can be clear and definite from above Computer Corp.: when we need the mechanical arm of a high-speed motion, can be by the anti-reel size pushed away around the coil rope of the requirement to its speed, certainly power and the rotating speed of servo motor are also variables, set up such function corresponding relation, the movement velocity of mechanical arm is not only controlled but also accurate.
Embodiment 2:
Please refer to Fig. 3, loaded and high speed mechanical arm 20 basic system structures in the present embodiment are identical with embodiment 1, its difference is, in this driver part 24, by reel 241, the mode with its axially vertical chute arranges, the tangent line of reel 241 and regulating wheel are in the same level height, cable wire 242 directly, on the thread groove 2411 that twists in reel 241, has omitted the left and right wheel design.In the present embodiment, reel also is arranged on one above holder, along with reel rotates, this moves reel on holder, on holder, have external screw thread, in reel inside, internal thread is arranged, drum sheath is on holder, and the thread groove width on holder is consistent with the thread groove width of reel itself, the displacement of reel itself and allow cable wire mobile distance on reel cancel out each other because reel rotates, keep the cable wire position can not be offset.
Precise positioning loaded and high speed mechanical arm in the utility model, adopt servo motor driven to be threaded the reel of groove, accurately unreel cable wire from reel, be that the air line distance that the every rotation one circle cable wire of reel moves is the girth conversion of reel, under identical rotating speed, the speed of the screw pair that cable wire speed transforms by pitch higher than air line distance far away, and accurately control rotating speed and rotate start and stop by servo motor, just can realize the positioning control to slide block, cable wire by the regulating wheel tensioning is tightened, cable wire is without play, and the length range of integrated model is larger.
The above, it is only the utility model preferred embodiment, not the utility model is done to any pro forma restriction, although the utility model discloses as above with preferred embodiment, yet not in order to limit the utility model, any those skilled in the art, within not breaking away from the technical solutions of the utility model scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solutions of the utility model content, refer to any simple modification that above embodiment is done according to the utility model technology, equivalent variations and modification, all belong in the scope of technical solutions of the utility model.
Claims (7)
1. a precise positioning loaded and high speed mechanical arm, comprise motor, driver part, frame and slide block, there is chute on described frame, described slide block is arranged in chute, described driver part drives described slide block along runner movement, it is characterized in that, described driver part comprises reel and around the cable wire on reel, there is thread groove on reel, cable wire is coiled in thread groove, described cable wire is arranged between reel and chute and forms a running loop, and cable wire is fixed with slider bottom with a section of being arranged in chute.
2. precise positioning loaded and high speed mechanical arm according to claim 1, it is characterized in that, described slide block is arranged in chute, along chute, slide, there is the cable wire of twice to the different directions operation in chute below slide block, in chute, the section that is connected and fixed is set at slider bottom, the described section of being connected and fixed is a pair of fixed edge of difference corresponding twice cable wire position, and one of them fixed edge and cable wire are fixed together.
3. precise positioning loaded and high speed mechanical arm according to claim 1, is characterized in that, on described frame, an end is provided with driver part, and the other end is provided with a regulating wheel in chute, and described cable wire is arranged on the regulating wheel of chute.
4. precise positioning loaded and high speed mechanical arm according to claim 3, it is characterized in that, reel axial direction in described driver part is parallel with chute, also be provided with the left and right directive wheel of guiding cable wire between reel and chute, the first tangential direction of described left and right directive wheel and regulating wheel be in the same level height, the opposed thread groove at reel of the second tangential direction that the left and right directive wheel is vertical with the first tangential direction; Described driver part also comprises rack-mounted holder, and reel is arranged on frame by holder, there is external screw thread on described holder, at the reel inwall, internal thread is arranged, described reel one end is enclosed within internal and external threads on holder and is connected, and on the pitch of holder and reel inwall and reel, the groove width of thread groove is identical.
5. precise positioning loaded and high speed mechanical arm according to claim 3, it is characterized in that, reel axial direction in described driver part is vertical with chute, the tangent line of reel and regulating wheel are in the same level height, cable wire is directly on the thread groove that twists in reel, described driver part also comprises rack-mounted holder, and reel is arranged on frame by holder, there is external screw thread on described holder, at the reel inwall, internal thread is arranged, described reel one end is enclosed within internal and external threads on holder and is connected, on the pitch of holder and reel inwall and reel, the groove width of thread groove is identical.
6. according to the described precise positioning loaded and high speed mechanical arm of claim 4 or 5, it is characterized in that, pass through synchronizing wheel transmission and ball spline transmission between motor and driver part, the driving wheel interlock of motor and synchronizing wheel, and driven pulley drives ball spline, described ball spline fixedly becomes an integral body by screw and reel, the other end of reel and holder threaded engagement.
7. precise positioning loaded and high speed mechanical arm according to claim 1, is characterized in that, described motor is servo motor, and described cable wire is to adopt tensile strength is high, drawing coefficient the is little cylindrical encapsulate cable wire of stainless steel wire inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584996 CN202964667U (en) | 2012-11-08 | 2012-11-08 | Accurate positioning high-speed mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584996 CN202964667U (en) | 2012-11-08 | 2012-11-08 | Accurate positioning high-speed mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN202964667U true CN202964667U (en) | 2013-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220584996 Expired - Fee Related CN202964667U (en) | 2012-11-08 | 2012-11-08 | Accurate positioning high-speed mechanical arm |
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| CN (1) | CN202964667U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103615495A (en) * | 2013-11-07 | 2014-03-05 | 安凯 | Mechanical arm vibration abatement device and method |
| CN103802129A (en) * | 2012-11-08 | 2014-05-21 | 深圳市艾而特工业自动化设备有限公司 | High-speed mechanical arm with precise positioning function |
| CN106476007A (en) * | 2016-12-21 | 2017-03-08 | 北京灵铱科技有限公司 | A kind of wire cylinders kind of drive for mechanical arm |
| WO2017197825A1 (en) * | 2016-05-16 | 2017-11-23 | 奥马迪机器人有限公司 | Metering line retractor |
| CN111300394A (en) * | 2020-04-09 | 2020-06-19 | 浙江大学 | Automatic tensioning and controllable-tensioning-force line transmission device |
-
2012
- 2012-11-08 CN CN 201220584996 patent/CN202964667U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802129A (en) * | 2012-11-08 | 2014-05-21 | 深圳市艾而特工业自动化设备有限公司 | High-speed mechanical arm with precise positioning function |
| CN103802129B (en) * | 2012-11-08 | 2016-04-20 | 深圳市艾而特工业自动化设备有限公司 | Precise positioning loaded and high speed mechanical arm |
| CN103615495A (en) * | 2013-11-07 | 2014-03-05 | 安凯 | Mechanical arm vibration abatement device and method |
| CN103615495B (en) * | 2013-11-07 | 2015-08-05 | 安凯 | A kind of mechanical arm equipment for inhibiting of vibration and suppressing method thereof |
| WO2017197825A1 (en) * | 2016-05-16 | 2017-11-23 | 奥马迪机器人有限公司 | Metering line retractor |
| CN106476007A (en) * | 2016-12-21 | 2017-03-08 | 北京灵铱科技有限公司 | A kind of wire cylinders kind of drive for mechanical arm |
| CN111300394A (en) * | 2020-04-09 | 2020-06-19 | 浙江大学 | Automatic tensioning and controllable-tensioning-force line transmission device |
| CN111300394B (en) * | 2020-04-09 | 2021-03-23 | 浙江大学 | Automatic tensioning and controllable-tensioning-force line transmission device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20151108 |
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| EXPY | Termination of patent right or utility model |