CN210790980U - Spring balance weight gravity center rear-mounted crank slide bar mechanical arm - Google Patents
Spring balance weight gravity center rear-mounted crank slide bar mechanical arm Download PDFInfo
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- CN210790980U CN210790980U CN201921345282.3U CN201921345282U CN210790980U CN 210790980 U CN210790980 U CN 210790980U CN 201921345282 U CN201921345282 U CN 201921345282U CN 210790980 U CN210790980 U CN 210790980U
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Abstract
The utility model discloses a spring balance weight focus rear-mounted crank slide bar arm, including the base, install in the waist at base top, install in the big arm on waist top with install in the forearm of big arm one end, big arm with through two spring elastic connection between the waist. This project organization modularization, by the motor, output such as electronic jar is as drive power, do worker fast and easily meticulous operation, installed thrust bearing in joint department, deep groove ball bearing and external bearing frame have effectively prevented axial and radial drunkenness, and alleviateed the friction loss, and spring counter weight formula design has effectively reduced motor power consumption moreover, therefore the whole power consumption of this robot arm is lower, and this elastic connection spare can cushion drive power effectively simultaneously, lets the atress balanced between the joint, realizes the high-efficient meticulous operation of snatching, the utility model discloses both simplified work flow, improved work efficiency.
Description
Technical Field
The utility model relates to an electronic jar driving mechanical arm joint field, in particular to rear-mounted crank slide bar arm of spring counter weight focus.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the end pose is formed in a cascading manner, and the mechanical arm plays an important role in industrial production.
The most driving mode of traditional arm application is the form of motor with the reduction gear, and the arm exhibition of this form is very little with self weight ratio, leads to whole arm weight and volume increase after the arm exhibition extension, and load capacity also increases, and is not matched very much under the operating mode of some light load, long arm exhibition.
This is novel in order to solve above-mentioned problem, for can be under complicated operating mode environment such as heavy load, long arm exhibition stable, high-efficient work design a spring counter weight focus rear-mounted crank slide bar arm.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a spring counter weight focus rear-mounted crank slide bar arm to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a spring balance weight gravity center rear-mounted crank slide bar mechanical arm comprises a base, a waist mounted at the top of the base, a large arm mounted at the top of the waist and a small arm mounted at one end of the large arm, wherein the large arm and the waist are connected through two spring elastic connections, the top of the base is connected with a connecting piece in a sliding manner, the base and the waist are connected through the connecting piece in a sliding manner, a first electric cylinder is mounted at one side of the waist, the first electric cylinder is connected with the waist in a rotating manner through a bearing, a shaft sleeve is sleeved at the outer side of the bearing, a snap ring is mounted on the shaft sleeve, two ends of a spring are respectively fixedly connected with the large arm and the connecting piece, the top of the waist and the large arm are connected in a rotating manner through a first deep groove ball bearing, and a first external bearing seat is mounted, two thrust bearings are installed on the inner side of the top end of the waist, and two first horizontal optical axis supports are installed on the inner side of the large arm.
As a preferred technical scheme of the utility model, the outside of big arm bottom sets up the outer formula bearing frame of second, the inboard of big arm bottom is provided with fourth deep groove ball bearing, the electronic jar of second is installed to fourth deep groove ball bearing, the flexible end of the electronic jar of second with rotate through the fisheye bearing between the forearm and connect, the horizontal optical axis support of two seconds of inboard installation of forearm one end.
As an optimal technical scheme of the utility model, the top of big arm with rotate through third deep groove ball bearing between the forearm and connect, two external bearing frames of third are installed in the outside on big arm top, two horizontal optical axis supports of third are installed to the inboard of forearm, thrust bearing is installed in the outside of forearm.
As an optimal technical scheme of the utility model, the flexible end of first electronic jar with rotate through second deep groove ball bearing between the bottom of big arm and connect.
As a preferred technical scheme of the utility model, the waist is closed side tubular product, the both sides of waist are provided with the curb plate, two through connecting optical axis fixed connection between the curb plate.
As a preferred technical scheme of the utility model, one side of base is provided with the tank chain, the one end of tank chain with first electronic jar fixed connection, the electric wire has been worn to the inside of tank chain, first electronic jar passes through electric wire and external power source electric connection.
As the motor rotation angle algorithm of the spring balance weight gravity center rear-mounted crank slide rod mechanical arm, the algorithm of the corresponding relation between the motor rotation angle and the rotation angle of a robot joint is as follows: step 1: integrating the motion of the whole mechanism into a triangle;
step 2: obtaining the relation between the length of the electric cylinder and the joint angle of the mechanical arm through the cosine law;
Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a spring counter weight focus rear-mounted crank slide bar arm, this project organization modularization, by the motor, output such as electronic jar is as drive power, do work fast and easily meticulous operation, thrust bearing has been installed in joint department, deep groove ball bearing and external bearing frame have effectively prevented axial and radial drunkenness, and alleviateed the friction loss, and spring counter weight formula design has effectively reduced motor power consumption, consequently, the whole power consumption of this robot arm is lower, this elastic connecting piece can be effectively drive power buffering simultaneously, let the atress balanced between the joint, realize the high-efficient meticulous operation of snatching.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the waist of the present invention;
FIG. 3 is a schematic structural view of the middle and large arm of the present invention;
FIG. 4 is a schematic structural view of the middle and small arms of the present invention;
FIG. 5 is a schematic view of the waist top of the present invention;
figure 6 is the utility model discloses well algorithm mechanical arm structure attached drawing of resolving.
In the figure: 1. a base; 2. a connecting member; 3. a waist part; 4. a shaft sleeve; 5. connecting the optical axis; 6. a first electric cylinder; 7. a tank chain; 8. a first external bearing seat; 9. a first horizontal optical axis support; 10. a first deep groove ball bearing; 11. a second outboard bearing mount; 12. a second electric cylinder; 13. a fisheye bearing; 14. A second horizontal optical axis support; 15. a small arm; 16. a third external bearing seat; 17. a thrust bearing; 18. A third horizontal optical axis support; 19. a wrist joint motor base; 20. a spring; 21. a large arm; 100. a second joint; 300. a first joint; 500. a first solving triangle; 600. the second solving triangle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a spring-weighted gravity center-of-gravity rear-mounted crank-slide rod mechanical arm, which comprises a base 1, a waist portion 3 mounted on the top of the base 1, a large arm 21 mounted on the top end of the waist portion 3, and a small arm 15 mounted on one end of the large arm 21, wherein the large arm 21 and the waist portion 3 are elastically connected by two springs 20.
Preferably, base 1's top sliding connection has connecting piece 2, through connecting piece 2 sliding connection between base 1 and the waist 3, first electronic jar 6 is installed to one side of waist 3, rotates through the bearing between first electronic jar 6 and the waist 3 and connects, and the outside cover of bearing is equipped with axle sleeve 4, installs the snap ring on the axle sleeve 4, and spring 20's both ends are fixed connection in big arm 21 and connecting piece 2 respectively, and the design of spring counter weight formula reduces motor power.
Preferably, the top end of the waist 3 is rotatably connected with the large arm 21 through a first deep groove ball bearing 10, a first external bearing seat 8 is arranged on the outer side of the top end of the waist 3, two thrust bearings 17 are arranged on the inner side of the top end of the waist 3, two first horizontal optical axis supports 9 are arranged on the inner side of the large arm 21, a second external bearing seat 11 is arranged on the outer side of the bottom end of the large arm 21, a fourth deep groove ball bearing is arranged on the inner side of the bottom end of the large arm 21, a second electric cylinder 12 is arranged on the fourth deep groove ball bearing, the telescopic end of the second electric cylinder 12 is rotatably connected with the small arm 15 through a fisheye bearing 13, two second horizontal optical axis supports 14 are arranged on the inner side of one end of the small arm 15, the top end of the large arm 21 is rotatably connected with the small arm 15 through a third deep groove ball bearing, two third external bearing seats 16 are arranged on the outer side of the top end, the thrust bearing 17 is installed on the outer side of the small arm 15, the telescopic end of the first electric cylinder 6 is rotatably connected with the bottom end of the large arm 21 through the second deep groove ball bearing, the linear electric cylinder is driven, the center of gravity of an upper load in the structural design of the large arm 21 is arranged at the rear position, the rotational inertia of the robot arm in the operation process is reduced, the thrust bearing, the deep groove ball bearing and the external bearing seat are arranged at joints, axial and radial play is effectively prevented, and friction loss is reduced.
Preferably, waist 3 is closed side's tubular product, and the both sides of waist 3 are provided with the curb plate, through connecting 5 fixed connection of optical axis between two curb plates, and two curb plates play the supporting role, and middle rectangle tubular product plays and resists torsional deformation effect.
Preferably, one side of base 1 is provided with tank chain 7, and the electric wire has been worn to the one end and the 6 fixed connection of first electronic jar of tank chain 7, and first electronic jar 6 passes through electric wire and external power source electric connection, and tank chain 7 plays effects such as the threading is wear-resisting, high tenacity, can high-speed operation.
Preferably, wrist joint motor cabinet 19 is installed to the forearm 15 other end, passes through bolt fixed connection between wrist joint motor cabinet 19 and the big arm 21, the utility model discloses terminal tongs and the separation design of festival arm can be according to the terminal tongs of different worker usefulness of different demands installation under operating modes such as different fineness, environment for cost greatly reduced.
The algorithm for resolving the relationship between the electric cylinder motor angle and the robot joint angle is as follows:
in robot arm figure 1 and the corresponding algorithm of resolving attached figure 6, the utility model aims to solve the corresponding relation between the turned angle and the joint angle of motor in the electronic jar driven arm. When the joint angles of the mechanical arm required to be achieved by forward and reverse kinematics of the robot are known, the corresponding motor rotation angle can be calculated through algorithm solution; when the required joint angular velocity of the robot is known, the corresponding rotation speed of the motor can be calculated through algorithm.
The mechanism principle of the robot joint driven by the electric cylinder is a crank sliding rod mechanism, and a push rod of the electric cylinder rotates around a fixed point and moves linearly along the direction of the push rod, so that the motion of the push rod of the electric cylinder is plane compound motion with fixed axis rotation and translation; the movement of the robot joint is a fixed axis rotational movement that rotates around a fixed axis. The rotation of the motor of the electric cylinder can make the push rod generate linear motion, so that the whole length of the electric cylinder is changed, and the rotation around the fixed shaft can also be generated, thereby causing the change of the angle. The motion of the whole mechanism is integrated in a triangle, and three sides of the triangle are respectively as follows: electronic jar, articulated arm and fixed link, through the length of adjusting electronic jar, arouse the inside angle change of triangle-shaped, the angle change between articulated arm and the fixed link to make the arm joint take place dead axle pivoted motion.
In the triangle that changes, we can try to get the relation wherein through the cosine theorem, the relation between the joint angle of length and the arm of electronic jar promptly, can try to get the angle between joint bar and the fixed link rod in the triangle through the joint angle, and the length of joint bar and fixed link rod is known moreover, can try to get the length of electronic jar through the cosine theorem, and the number of turns that electronic jar motor rotated can be got to initial length and the helical pitch through electronic jar at last.
The relationship between the speed of the push rod of the electric cylinder and the angular speed of the joint can be obtained by differentiation, the relationship between the push rod of the electric cylinder and the angle of the joint can be known in a changing triangle, then the differentiation is carried out, the relationship between the speeds can be obtained, and the result shows that the relationship between the angular speed of the joint and the speed of the push rod is determined by a coefficient taking the length of the electric cylinder as a variable.
The specific implementation mode is as follows:
the specific implementation process of the algorithm is described in detail below with reference to the accompanying drawings. As shown in the schematic diagram of the mechanical arm in fig. 1, the electric cylinder is a driving device, the joint arm is an executing device, the joint arm is driven to rotate by the expansion and contraction of the electric cylinder, and the joint arm can be driven to reach different angles according to the expansion and contraction amount of the electric cylinder.
The specific resolving process is as follows:
first, to establish the relationship between the electric cylinder and the joint angle, β and θ 1 are established as Φ in the diagram of the angle between the connecting rod and the housing, as can be seen in the first joint 300 as shown in the above figure:
α1-theta1-Φ+β1+ψ1＝180°
therefore:
theta1＝180°-α1+Φ-β1-ψ1
β1＝180°-α1+Φ-theta1-ψ1
in the first solving triangle 500, it can be known from the cosine theorem that:
cos(β1)＝(b1^2+c1^2–m1^2)/2*b1*c1
to obtain:
m1＝[b1^2+c1^2-2*b1*c1*cos(β1)]1/2
substitution of β 1 gives:
m1＝[b1^2+c1^2-2*b1*c1*cos(180°-α1+Φ-theta1-ψ 1)]1/2
since the initial length of the first electric cylinder 6 is known, the movement length of the motor 1 can be obtained, and the rotation angle of the motor can be obtained from the movement length and the lead of the motor 1, thereby establishing the relationship between the rotation angle of the motor 1 and the angle of the first robot joint 300.
First, to establish the relationship between the cylinder and joint angles, β and θ 2 are established, as can be seen in the above figure at the second joint 100:
α2-theta2+β2+ψ2＝180°
therefore:
theta2＝180°-α2-Φ-β2-ψ2
β2＝180°-α2-Φ-theta2-ψ2
in the second solving triangle 600, it can be known from the cosine theorem that:
cos(β2)＝(b2^2+c2^2–m2^2)/2*b2*c2
to obtain:
m2＝[b2^2+c2^2-2*b2*c2*cos(β2)]1/2
substitution of β 2 gives:
m2＝[b2^2+c2^2-2*b2*c2*cos(180°-α2-Φ-theta2-ψ2)]1/2
since the initial length of the second electric cylinder 12 is known, the movement length of the motor 2 can be obtained, and the rotation angle of the motor 2 can be obtained from the movement length and the lead of the motor 2, thereby establishing the relationship between the rotation angle of the motor 2 and the angle of the second joint 100 of the robot.
And deducing the relation between the speed of the electric cylinder push rod and the actual joint angular speed according to the relation between the speed of the supplementary angle of the actual joint angle and the total length of the electric cylinder rod:
1. according to the cosine theorem:
2. the speed relation is obtained:
3. simplifying to obtain:
from the above equation, it can be seen that the relationship between the joint angle and the speed of the electric push rod is mainly determined by the coefficients:
4. when x is different values, it can be seen from the coefficient map between the joint angular velocity and the velocity of the electric lever pusher that the coefficient is the minimum value when the joint angle is 90 °, and the coefficients both trend upward as the joint angle increases or decreases from 90 °, and take two limit values at the limit positions.
When in specific use, the utility model relates to a spring counter weight focus rear-mounted crank slide bar arm, the flexible end of first electronic jar 6 is when extending, the one end of big arm 21 moves down, when the flexible end of first electronic jar 6 shortens, the one end of big arm 21 moves up, the flexible end of second electronic jar 12 is when extending, forearm 15 tightens up inwards, when the flexible end of second electronic jar 12 shortens, forearm 15 is opened outwards, thrust bearing, deep groove ball bearing and external bearing frame have been located at the joint and have effectively prevented axial and radial drunkenness, and alleviateed the friction loss, and the design of spring counter weight formula has effectively alleviateed motor power consumption, therefore this robot arm whole power consumption is lower, this elastic connecting piece can be effectively drive power buffering simultaneously, let the atress between the joint balanced, realize high-efficient meticulous snatching operation, the utility model discloses the work flow has both been simplified, The working efficiency is improved, the operation of large load can be carried out in a large working space, the motion precision is guaranteed, and a resolving algorithm for solving the corresponding relation between the rotation angle of the motor of the electric cylinder and the rotation angle of the robot joint is designed according to the nonlinear relation between the rotation angle of the motor of the electric cylinder and the rotation angle of the robot joint when the mechanical arm joint driven by the electric cylinder rotates.
In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a spring balance weight rear-mounted crank slide bar arm of focus, includes base (1), install in waist (3) at base (1) top, install in big arm (21) on waist (3) top and install in forearm (15) of big arm (21) one end, its characterized in that: the large arm (21) is connected with the waist (3) through two springs (20) in an elastic mode, the top of the base (1) is connected with the connecting piece (2) in a sliding mode, the base (1) is connected with the waist (3) through the connecting piece (2) in a sliding mode, a first electric cylinder (6) is installed on one side of the waist (3), the first electric cylinder (6) is connected with the waist (3) in a rotating mode through a bearing, a shaft sleeve (4) is sleeved on the outer side of the bearing, a clamping ring is installed on the shaft sleeve (4), two ends of the springs (20) are fixedly connected with the large arm (21) and the connecting piece (2) respectively, the top end of the waist (3) is connected with the large arm (21) in a rotating mode through a first deep groove ball bearing (10), a first external bearing seat (8) is installed on the outer side of the top end of the waist (3, two thrust bearings (17) are installed on the inner side of the top end of the waist portion (3), and two first horizontal optical axis supports (9) are installed on the inner side of the large arm (21).
2. The mechanical arm with the spring-weighted rear-mounted gravity center for the crank slide rod as claimed in claim 1, wherein: the outside of big arm (21) bottom sets up second external bearing frame (11), the inboard of big arm (21) bottom is provided with fourth deep groove ball bearing, electronic jar (12) of second are installed to fourth deep groove ball bearing, the flexible end of electronic jar (12) of second with rotate through fisheye bearing (13) between forearm (15) and connect, two horizontal optical axis supports of second (14) are installed to the inboard of forearm (15) one end.
3. The mechanical arm with the spring-weighted rear-mounted gravity center for the crank slide rod as claimed in claim 1, wherein: the top of big arm (21) with rotate through third deep groove ball bearing between forearm (15) and connect, two external bearing frame of third (16) are installed in the outside on big arm (21) top, two horizontal optical axis support of third (18) are installed to the inboard of forearm (15), thrust bearing (17) are installed in the outside of forearm (15).
4. The mechanical arm with the spring-weighted rear-mounted gravity center for the crank slide rod as claimed in claim 2, wherein: the telescopic end of the first electric cylinder (6) is rotatably connected with the bottom end of the large arm (21) through a second deep groove ball bearing.
5. The mechanical arm with the spring-weighted rear-mounted gravity center for the crank slide rod as claimed in claim 1, wherein: waist (3) are closed side's tubular product, the both sides of waist (3) are provided with the curb plate, two through connecting optical axis (5) fixed connection between the curb plate.
6. The mechanical arm with the spring-weighted rear-mounted gravity center for the crank slide rod as claimed in claim 2, wherein: one side of base (1) is provided with tank chain (7), the one end of tank chain (7) with first electronic jar (6) fixed connection, the electric wire has been worn to the inside of tank chain (7), first electronic jar (6) are passed through electric wire and external power source electric connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921345282.3U CN210790980U (en) | 2019-08-19 | 2019-08-19 | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921345282.3U CN210790980U (en) | 2019-08-19 | 2019-08-19 | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm |
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| CN210790980U true CN210790980U (en) | 2020-06-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
-
2019
- 2019-08-19 CN CN201921345282.3U patent/CN210790980U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
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