CN208645337U - A kind of motor postposition formula high load mechanical arm - Google Patents
A kind of motor postposition formula high load mechanical arm Download PDFInfo
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- CN208645337U CN208645337U CN201821382531.1U CN201821382531U CN208645337U CN 208645337 U CN208645337 U CN 208645337U CN 201821382531 U CN201821382531 U CN 201821382531U CN 208645337 U CN208645337 U CN 208645337U
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Abstract
The utility model belongs to cooperation mechanical arm technical field, discloses a kind of motor postposition formula high load mechanical arm, including sequentially connected driving box, set axis horn, final drive head and end execute head.Driving box includes side's connection pedestal and cabinet；There are two brush direct current motors for the trailing flank setting of cabinet, the reduction gearing mechanism connecting respectively with two brush direct current motors is equipped in cabinet, covering axis horn includes internal layer output shaft and outer layer output shaft, outer layer output shaft is rotated coaxially with final drive head, internal layer output shaft executes head with end and connect transmission, end is set to execute head and the relative rotation of final drive head, end executes and is provided with performing steering wheel on head.The utility model structure is simple, is self-possessed small, at low cost, it can be achieved that than the similar longer arm exhibition of cooperation mechanical arm and bigger weight bearing；Each position is relatively independent, arm can be opened up or be loaded further promotion by the variation of hoisting power or transmission ratio, be with good expansibility.
Description
Technical field
The utility model belongs to cooperation mechanical arm technical field, and in particular to a kind of motor postposition formula high load mechanical arm.
Background technique
Mechanical arm be a multiple-input and multiple-output, nonlinearity, close coupling complication system.Because of its unique operation spirit
Activity, in industry assembling, the fields such as safety anti-explosive are used widely；Research and development, structure and essence are protruded into mechanical arm
Degree is greatly improved, and is not only applied in current field, and also expansion to many direct auxiliary people is operated
Technical field, or even the work of people can be partially replaced, in many industrial circles, including sensitive environment and complex environment, cooperate machine
Tool arm utilization can protection staff, guarantee the quality of production, improve efficiency and reduce equipment damage.Such as in AGV
(Automated Guided Vehicle, automated guided vehicle) technical field, cooperation mechanical arm can cooperate with AGV and make
With participating in every process, such as stacking, sorting, visual inspection of production automation etc..
Instantly cooperation mechanical arm requires the indexs such as speed, rigidity, working radius, load, positioning accuracy to reach as far as possible
Higher standard, so as to participate in the work of more areas.Cooperation mechanical arm generally comprises multiple working shafts, passes through phase interworking
The coordination operation for realizing multiple freedom degrees is closed, achievees the purpose that accurately to control direction, it is final to realize operational order movement.
It can be coexisted currently on the market with people, be roughly divided into two without specially dividing the small-sized machine arm of area of safety operaton
Class.
The first kind is the small-sized machine arm based on stepper motor or steering engine.Such mechanical arm due to use stepper motor or
Person's steering engine, control principle are opened loop controls, i.e., if motor is not reaching specified target, machine due to interfering or load etc.
Tool arm can not learn this feedback, therefore can not be adjusted to eliminate error.This has just been entirely limited the movement of such mechanical arm
Performance can only realize the mobile task put from a point to another, and cannot accurately from position, speed and accelerate
It spends in three indexs and follows a complete track.Furthermore after with additional weight bearing, due to only with opened loop control, such
Mechanical arm might have biggish steady-state error.In addition, due to using opened loop control, such mechanical arm cannot achieve collision detection
This function, therefore in order to be coexisted safely with people, can only by reducing power, even if reducing size to ensure to have met people,
Too major injury will not be caused, this visual inspection for causing such mechanical arm to be chiefly used in gently loading, electronic component sorting, Yi Jier
The fields such as virgin intellectual development can not undertake extensive industry and nonindustrial automation task.
Second class is the mechanical arm for being called " cooperation robot ".This kind of mechanical arm precision is high, Windsor, and due to energy
It coexists with people, is applied in all kinds of production lines by more and more.Current cooperation mechanical arm this kind of on the market is all using " power
Torque motor " or " disc type electric machine ".The advantages of such motor is that torque is big, can directly drive its load, without any biography
Dynamic device, such as gear, belt.But this kind of motor is maximum the disadvantage is that at high cost, and cost and torque magnitude are non-linear
Relationship.Therefore the cooperation mechanical arm based on torque motor, is all forced to be limited within the scope of one for cost consideration size, because
Once exceeding this range, it is necessary to carry the much higher torque motor of cost.In addition, this kind of design knot without using transmission system
Structure is exactly that ductility is very poor there are also a significant drawback.This is because each motor must pacify due to not having transmission system
Mounted in the position in joint itself, this results in the motor of low level to need to bear the quality of all high-order motors.Such as low level axis electricity
Machine will not only undertake the quality of end load, also undertake the self weight of high-order spindle motor.This makes the maximum weight bearing of mechanical arm very
Hardly possible improves, because to improve maximum weight bearing it is necessary to increase power and the self weight of each motor, but therefore bring is each
The self weight for the high-order motor that low level motor is born increases, and as a result exactly increased power has greatly also to be used in and hold
It carries in motor self weight.
Therefore, it needs to propose more reasonable to further increase the multinomial performance for the mechanical arm that cooperates in this field
Technical solution is resolved.
Utility model content
The utility model provides a kind of motor postposition formula high load mechanical arm, it is intended to change the structure of mechanical arm
Into, by mechanical arm part motor carry out postposition counterbalancing weight, reduce the invalid weight bearing of motor, improve the effective defeated of motor
Power out.
In order to realize said effect, the technology employed by the present utility model is
A kind of motor postposition formula high load mechanical arm, including sequentially connected driving box, set axis horn, final drive head and
End executes head.Specifically, driving box includes rectangular or circular connection pedestal and the cabinet on connection pedestal, cabinet
The top surface of side wall surface and arch including four rectangles；The trailing flank setting of cabinet is set in cabinet there are two brush direct current motor
Have a reduction gearing mechanism connecting respectively with two brush direct current motors, the set axis horn include respectively with reduction gearing mechanism
The internal layer output shaft and outer layer output shaft of transmission are connected, outer layer output axis connection final drive head simultaneously drives it to rotate coaxially, interior
Layer output shaft, which protrudes into inside final drive head and execute head with end by one-stage gear pair, connect transmission, make end execution head and
Final drive head relatively rotates, and end executes and is provided with performing steering wheel on head.
The utility model is by power mechanism of the driving box as entire mechanical arm, with reduction gearing mechanism, axle sleeve horn
With final drive head as transmission mechanism, head connection end effector is executed with end realizes and final execute movement.
Wherein, the brush direct current motor on driving box is transported by the inside and outside output shaft that reduction gearing mechanism controls set axis horn
Turn, the rotation of outer layer output shaft drives final drive head and end to execute head generation and rotates coaxially, and the rotation of internal layer output shaft
End can be driven to execute head and generate rotation normal thereto to realize the angular adjustment on other direction；The performing steering wheel of end
As drive actuator motions power device, can individual operation execute movement.
Further, the weight of mechanical arm is rationally controlled, can reduce the burden of motor, convenient for improving having for motor
Power and whole mechanical efficiency are imitated, therefore under the premise of not reducing integral strength, makes loss of weight appropriate on the robotic arm
Setting, loss of weight setting include weight loss groove or the lightening hole being arranged on the robotic arm.
Further, reduction gearing mechanism is set in the second driving box, and the power of two brush direct current motors is transferred to
Axis horn is covered, the internal layer output shaft and outer layer output shaft for covering axis horn realize coaxial relatively rotate；To this portion of techniques scheme into
Row refinement explanation, the reduction gearing mechanism include two groups of driving gear sets, and the driving gear set includes at least a master
Driving wheel and a driven wheel, are equipped with first rotating shaft and the second shaft in cabinet, two driving wheels respectively with two DC brush electricity
Machine connection, two driven wheels are separately positioned in first rotating shaft and the second shaft；First rotating shaft is rotated coaxially with internal layer output shaft,
Second shaft is rotated coaxially with outer layer output shaft.It is so able to achieve a brush direct current motor control outer layer output shaft operating,
Another brush direct current motor controls the operating of internal layer output shaft.
Further, for mechanical arm when execution acts, corresponding torque is different at different shafts, to shaft
Torque measures, and convenient for further correction setting, optimizes to above-mentioned technical proposal, the first rotating shaft and the
Torque sensor is provided in two shafts.Torque sensor generally uses piezoelectric transducer, is touched by pressure and generates electric signal,
To which the level of torque at this be calculated.
Further, the length for covering axis horn determines the working radius of entire mechanical arm to a certain extent, therefore different
Occasion switches over for convenience to the length requirement of axle sleeve horn difference, improves the compatible degree between components, keep away
To exempt to reduce efficiency, above-mentioned technical proposal is optimized, the outer layer output shaft includes head sections, extended segment and end segment,
The head sections are connect with reduction gearing mechanism, and the both ends of the extended segment are separately connected head sections and end segment, described
End segment connect final drive head；The head sections, extended segment and end segment rotate synchronously.
Further, above-mentioned technical proposal is optimized, to change the direction of motion that end executes head, the level-one
Gear pair include the first drive bevel gear being co-axially located on internal layer output shaft and be arranged in end execute head on first from
The taper of dynamic bevel gear, the first drive bevel gear and the first driven wheel of differential is 45 °, so that the rotation of internal layer output shaft is real
Existing 90 ° of steering transmitting.
Further, above-mentioned technical proposal is optimized, the final drive head includes exporting axis connection with outer layer
Fixed part, the main part that is connect with fixed part, main part inner hollow, and being provided on the side wall of main part for connecting end
End executes the axis hole of head.The fixed part includes casing and plate, and casing is socketed on outer layer output shaft, and plate is vertical with casing
It is fixed；Main part is affixed on plate.
Further, above-mentioned technical proposal is optimized, it includes rotating with final drive head that the end, which executes head,
The connecting plate of connection, the execution body being fixedly connected with connecting plate, the execution body are equipped with performs chamber, set on the side wall of performs chamber
There is through-hole, performing steering wheel is fixed in performs chamber, and the shaft of performing steering wheel is stretched out from through-hole.
Compared with prior art, the utility model has the following beneficial effects:
1. the utility model structure is simple, too fat to move huge motor setting is eliminated, so that fuselage self weight is small, and cost
It is low.
2. the brush direct current motor postposition of the utility model driving box, motor self weight does not become the burden of other motors, because
This may be implemented than the similar longer arm exhibition of cooperation mechanical arm and bigger weight bearing.
3. the utility model keeps each position relatively independent, and either motor or gear pair, reduction gearing mechanism or set
Arm can be opened up or be loaded further promotion by the variation of hoisting power or transmission ratio by axis horn, and hardly improve life
Cost is produced, therefore is with good expansibility.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings only shows the section Example of the utility model, therefore does not answer
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram at one visual angle of the utility model.
Fig. 2 is the overall structure diagram at another visual angle of the utility model.
Fig. 3 is the internal drive structural schematic diagram of driving box.
Fig. 4 is the overall structure diagram for covering axis horn.
Fig. 5 is the decomposition texture schematic diagram for covering axis horn.
Fig. 6 is the overall structure diagram at final drive head.
Fig. 7 is the internal drive structural schematic diagram of final drive head.
Fig. 8 is the drive mechanism schematic diagram of driving box, set axis horn, final drive head.
In figure: 1- driving box；101- connection pedestal；102- cabinet；2- covers axis horn；201- outer layer output shaft；201a- head
Section；The extended segment 201b-；201c- end segment；202- internal layer output shaft；3- final drive head；301- fixed part；302- main body
Portion；The end 4- executes head；5- performing steering wheel；6- brush direct current motor；The second shaft of 7-；8- first rotating shaft；9- torque sensor；
The first drive bevel gear of 10-；The first driven wheel of differential of 11-.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further explaination to the utility model.
Embodiment:
As shown in Figure 1 and Figure 2, present embodiment discloses a kind of motor postposition formula high load mechanical arm, a kind of motor postposition formulas
High load mechanical arm, including sequentially connected driving box 1, set axis horn 2, final drive head 3 and end execute head 4；Specifically
It says, driving box includes rectangular or circular connection pedestal 101 and the cabinet 102 on connection pedestal, and cabinet includes four squares
The side wall surface of shape and the top surface of arch；The trailing flank setting of cabinet is equipped with respectively with two there are two brush direct current motor 6, in cabinet
The reduction gearing mechanism of a brush direct current motor connection, the set axis horn include connecting transmission with reduction gearing mechanism respectively
Internal layer output shaft 202 and outer layer output shaft 201, outer layer output axis connection final drive head simultaneously drive it to rotate coaxially, and internal layer is defeated
Shaft, which protrudes into inside final drive head and executes head with end by one-stage gear pair, connect transmission, and end is made to execute head and end
Driving head relatively rotates, and end executes and is provided with performing steering wheel 9 on head.The peak torque of performing steering wheel is 50kgcm.Second
Two brush direct current motors on cabinet are the brushed DC motor of 40W, and motor itself has the planetary reduction gear of 51:1 speed ratio
Case.
The utility model is by power mechanism of the driving box as entire mechanical arm, with reduction gearing mechanism, axle sleeve horn
With final drive head as transmission mechanism, head connection end effector is executed with end realizes and final execute movement.The cooperation
Mechanical arm can be widely applied to every process, such as stacking, sorting, visual inspection of production automation etc..It furthermore can be with people
It is deployed in a workspace jointly, closely cooperates to realize the automation application other than industrial circle with people, such as brew coffee
Coffee is cooked, and health is supported etc..
The ontology of mechanical arm be full 3D printing PLA (polylactic acid polylactic acid) material, have it is light-weight, at
This low advantage.The structure design of entire mechanical arm is all allowed for and can be considered using the entire mechanical arm of 3D printing,
Certain biggish positions of stress have carried out Strengthening Design to 3D components, and it is some can be with the position of loss of weight, reduction as far as possible
The parameters such as the thickness of material.
Wherein, the brush direct current motor on driving box is transported by the inside and outside output shaft that reduction gearing mechanism controls set axis horn
Turn, the rotation of outer layer output shaft drives final drive head and end to execute head generation and rotates coaxially, and the rotation of internal layer output shaft
End can be driven to execute head and generate rotation normal thereto to realize the angular adjustment on other direction；The performing steering wheel of end
As drive actuator motions power device, can individual operation execute movement.
The weight of mechanical arm is rationally controlled, can reduce the burden of motor, convenient for improve motor effective power and
Whole mechanical efficiency, therefore under the premise of not reducing integral strength, loss of weight setting appropriate is made on the robotic arm.As
Light material is all made of on preferred scheme, final drive head and end execution head to be made, and uses hollow structure or setting
Weight loss groove, lightening hole.
As shown in figure 3, reduction gearing mechanism is set in driving box, the power of two brush direct current motors is transferred to set axis
Horn, the internal layer output shaft and outer layer output shaft for covering axis horn realize coaxial relatively rotate；This portion of techniques scheme is carried out thin
Change explanation, the reduction gearing mechanism includes two groups of driving gear sets, and the driving gear set includes a driving wheel and one
A driven wheel, cabinet is interior to be equipped with first rotating shaft 8 and the second shaft 7, and two driving wheels are connect with two brush direct current motors respectively,
Two driven wheels are separately positioned in first rotating shaft and the second shaft；First rotating shaft is rotated coaxially with internal layer output shaft, and second turn
Axis is rotated coaxially with outer layer output shaft.It is so able to achieve a brush direct current motor control outer layer output shaft operating, another
Brush direct current motor controls the operating of internal layer output shaft.
By using brush direct current motor, operation torque is limited, in order to meet high-torque output, is not changing motor itself
In the case where, it needs to improve driving gear set, therefore above-mentioned technical proposal is optimized, the driving gear set is
Spur gear pair, transmission ratio are equal to three.Axial force is not generated using spur gear pair, transmission stability is good, long service life；Transmission ratio
Equal to three, then the torque of motor is amplified three times, it can by the torque that gear pair is applied in first rotating shaft and the second shaft
Meet driving box work output demand.
For mechanical arm when execution acts, corresponding torque is different at different shafts, in order to carry out to the torque at shaft
Measurement, and convenient for further correction setting, above-mentioned technical proposal is optimized, in the first rotating shaft and the second shaft
It is provided with torque sensor 9.Torque sensor uses piezoelectric transducer, is touched by pressure and generates electric signal, to calculate
Level of torque at this out.
As shown in Figure 4, Figure 5, the length for covering axis horn determines the working radius of entire mechanical arm to a certain extent, therefore not
With occasion the length requirement of axle sleeve horn difference is switched over for convenience, improves agreeing between components
Degree is avoided reducing efficiency, be optimized to above-mentioned technical proposal, the outer layer output shaft includes head sections 201a, extended segment
201b and end segment 201c, the head sections are connect with reduction gearing mechanism, and the both ends of the extended segment are separately connected head
Section and end segment, the end segment connect final drive head；The head sections, extended segment and end segment rotate synchronously.
As shown in Fig. 6, Fig. 7, Fig. 8, above-mentioned technical proposal is optimized, to change the direction of motion that end executes head,
The one-stage gear pair includes that the first drive bevel gear 10 being co-axially located on internal layer output shaft and setting are executed in end
The taper of the first driven wheel of differential 11 on head, the first drive bevel gear and the first driven wheel of differential is 45 °, so by internal layer
90 ° of steering transmitting is realized in the rotation of output shaft.
Above-mentioned technical proposal is optimized, the final drive head includes the fixed part with outer layer output axis connection
301, the main part 302 being connect with fixed part, main part inner hollow, and be provided on the side wall of main part for connecting end
Execute the axis hole of head.The fixed part includes casing and plate, and casing is socketed on outer layer output shaft, and plate is vertical with casing solid
It is fixed；Main part is affixed on plate.
Above-mentioned technical proposal is optimized, it includes the connection with the rotation connection of final drive head that the end, which executes head,
Plate, the execution body being fixedly connected with connecting plate, the execution body are equipped with performs chamber, and the side wall of performs chamber is equipped with through-hole, holds
Row steering engine is fixed in performs chamber, and the shaft of performing steering wheel is stretched out from through-hole.
Above is the several embodiments that the utility model is enumerated, but the utility model is not limited to above-mentioned optional reality
Apply mode, those skilled in the art can obtain other numerous embodiments according to the mutual any combination of aforesaid way, anyone
Other various forms of embodiments can be all obtained under the enlightenment of the utility model.Above-mentioned specific embodiment should not be understood in pairs
The limitation of the protection scope of the utility model, the protection scope of the utility model should be subject to be defined in claims,
And specification can be used for interpreting the claims.
Claims (7)
1. a kind of motor postposition formula high load mechanical arm, including sequentially connected driving box (1), set axis horn (2), final drive
Head (3) and end execute head (4)；It is characterized by: driving box include rectangular or circular connection pedestal (101) and be set to connection
Cabinet (102) on pedestal, cabinet include the side wall surface of four rectangles and the top surface of arch；There are two the trailing flank settings of cabinet
Brush direct current motor (6), cabinet is interior to be equipped with the reduction gearing mechanism connecting respectively with two brush direct current motors, the deceleration
Transmission mechanism includes two groups of driving gear sets, and the driving gear set includes at least a driving wheel and a driven wheel, described
Set axis horn includes the internal layer output shaft (202) and outer layer output shaft (201) for connecting transmission with reduction gearing mechanism respectively, outer layer
Output axis connection final drive head simultaneously drives it to rotate coaxially, and internal layer output shaft protrudes into inside final drive head and by level-one tooth
Wheel set executes head with end and connect transmission, and end is made to execute head and the relative rotation of final drive head, and end executes to be provided on head
Performing steering wheel (5).
2. a kind of motor postposition formula high load mechanical arm according to claim 1, it is characterised in that: it is set in the cabinet
There are first rotating shaft (8) and the second shaft (7), two driving wheels are connect with two brush direct current motors respectively, two driven wheels point
It She Zhi not be in first rotating shaft and the second shaft；First rotating shaft is rotated coaxially with internal layer output shaft, and the second shaft and outer layer export
Axis rotates coaxially.
3. a kind of motor postposition formula high load mechanical arm according to claim 2, it is characterised in that: the first rotating shaft
With torque sensor (9) are provided in the second shaft.
4. a kind of motor postposition formula high load mechanical arm according to claim 1 or 2, it is characterised in that: the outer layer
Output shaft includes head sections (201a), extended segment (201b) and end segment (201c), the head sections and reduction gearing mechanism
Connection, the both ends of the extended segment are separately connected head sections and end segment, and the end segment connects final drive head；It is described
Head sections, extended segment and end segment rotate synchronously.
5. a kind of motor postposition formula high load mechanical arm according to claim 1, it is characterised in that: the one-stage gear
Pair include the first drive bevel gear (10) for being co-axially located on internal layer output shaft and be arranged on end execution head first from
The taper of dynamic bevel gear (11), the first drive bevel gear and the first driven wheel of differential is 45 °.
6. a kind of motor postposition formula high load mechanical arm according to claim 1, it is characterised in that: the final drive
Head include with the fixed part (301) of outer layer output axis connection, the main part (302) that is connect with fixed part, main part inner hollow,
And the axis hole that head is executed for connecting end is provided on the side wall of main part.
7. a kind of motor postposition formula high load mechanical arm according to claim 1, it is characterised in that: the end executes
Head includes being equipped with the connecting plate of final drive head rotation connection, the execution body being fixedly connected with connecting plate, the execution body
The side wall of performs chamber, performs chamber is equipped with through-hole, and performing steering wheel is fixed in performs chamber, and the shaft of performing steering wheel is stretched from through-hole
Out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821382531.1U CN208645337U (en) | 2018-08-24 | 2018-08-24 | A kind of motor postposition formula high load mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821382531.1U CN208645337U (en) | 2018-08-24 | 2018-08-24 | A kind of motor postposition formula high load mechanical arm |
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| CN208645337U true CN208645337U (en) | 2019-03-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110788848A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving type industrial robot with rear-mounted driving unit |
| WO2022121506A1 (en) * | 2020-12-11 | 2022-06-16 | 烟台盛利达工程技术有限公司 | Rear-mounted direct-drive type rotary mechanical arm |
-
2018
- 2018-08-24 CN CN201821382531.1U patent/CN208645337U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110788848A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving type industrial robot with rear-mounted driving unit |
| WO2022121506A1 (en) * | 2020-12-11 | 2022-06-16 | 烟台盛利达工程技术有限公司 | Rear-mounted direct-drive type rotary mechanical arm |
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Effective date of registration: 20230705 Address after: 201303 building C, No. 888, Huanhu West 2nd Road, Lingang New Area, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: SHANGHAI MITA NETWORK TECHNOLOGY Co.,Ltd. Address before: No. 505, 6 blocks, Tianfu Software Park D, 599 South Century Road, Chengdu High-tech Zone, Sichuan Province Patentee before: BEIJING METASOTA NETWORK TECHNOLOGY Co.,Ltd. |
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