CN210879756U - Arm type robot base and arm type robot - Google Patents

Abstract

The utility model discloses an arm type robot base and an arm type robot, which comprise a rotary table, an end cover, a base, a bottom plate and a shaft; one end of the shaft is connected with the rotary table, and the other end of the shaft penetrates through the rotary table and is connected with the bottom plate through a base bearing; the shaft is sequentially sleeved with a baffle plate, a shaft sleeve, a transmission device and a fastening nut, and the transmission device is connected with the shaft through a flat key; one end of the base is connected with the end cover, and the other end of the base is connected with the bottom plate; a turntable bearing is arranged between the end cover and the baffle plate, and the baffle plate is connected with the turntable through the turntable bearing. The base is stable in structure, can bear overturning moment to prevent rollover, and ensures that the transmission device can stably transmit. The utility model has simple structure, stable operation and low cost; the problem of current base structure complicacy, the operation is stable inadequately, and the cost is too high is effectively solved.

Description

An arm-type robot base and an arm-type robot

technical field

The utility model belongs to the field of robot design, and relates to an arm-type robot base and an arm-type robot.

Background technique

In the past ten years, with my country's emphasis on industrial robots, more and more powerful scientific research institutions, enterprises and institutions have joined the research and development of robots, which has enabled my country's handling robot technology to achieve leapfrog development. The price of arm-type robots is relatively high, and the initial popularization requires a lot of investment, and the operation of arm-type robots all rely on program control, so a lot of preparation work and a large number of computer simulation processes are required in the early stage of processing and production. Therefore, designing a low-cost, convenient and flexible arm robot has far-reaching significance for my country's modern industry. The arm-type robot is mainly composed of an open-end actuator, a forearm, a rear arm and a turntable base. The base part belongs to the actuator, and the actuator mainly realizes the entity of the robot function. According to the usage of the robot, the robot base is required for auxiliary work. .

Most of the existing bases use RV reducers, which increases the overall cost of the mechanism. A part of the base adopts gear deceleration, which increases the overall structure of the base, and cannot bear a large overturning moment. The fixing of the base is also very difficult, and it cannot run stably. In the robot mechanism that does not use a base, the motor is directly connected to the actuator, so the motor needs to carry a large torque, and the requirements for the motor are relatively high, which increases the cost.

Utility model content

The purpose of the present utility model is to overcome the disadvantages of the above-mentioned prior art that the structure of the base is complex, the operation is not stable enough, and the cost is too high, and an arm-type robot base and an arm-type robot are provided.

In order to achieve the above object, the utility model adopts the following technical solutions to be realized:

An arm-type robot base includes a turntable, an end cover, a base, a base plate and a shaft; one end of the shaft is connected to the turntable, and the other end passes through the turntable and the base plate and is connected to the base bearing; And tighten the nut, the transmission device and the shaft are connected by a flat key; one end of the base is connected to the end cover, and the other end is connected to the bottom plate; a turntable bearing is arranged between the end cover and the baffle, and the baffle and the turntable are connected by the turntable bearing.

The further improvement of the present utility model is:

The transmission device is a worm gear mechanism.

The transmission device is a gear transmission mechanism.

The turntable bearing is a deep groove ball bearing.

It also includes a power device, which includes a coupling, a fixed side plate and a motor; the fixed side plate is connected to the bottom plate, the motor is connected to the fixed side plate through several motor fixing bolts, and the output shaft of the motor is connected to the transmission device through the coupling.

A flange is arranged on the shaft, and the flange is connected to the turntable through a plurality of shaft fixing bolts; the end cover is connected to the base through a plurality of end cover fixing bolts.

It also includes a connecting seat, one end of the connecting seat is connected with the turntable, and the other end is connected with the arm-type robot.

In another aspect of the present invention, an arm-type robot includes the above-mentioned arm-type robot base.

Compared with the prior art, the utility model has the following beneficial effects:

By connecting one end of the shaft with the turntable, and the other end through the baffle plate, the shaft sleeve and the transmission device to achieve mutual positional positioning, the overall structure is compact, and the positioning of the shaft in the base makes the overall structure of the base compact and takes up less space. , which greatly saves resources. The shaft and the transmission device are connected by a flat key, which realizes the transmission of the rotational torque and reduces the cost. The tightening nut is used for axial tightening; The resulting overturning moment makes the turntable run more smoothly and improves the current situation that the arm-type robot runs unevenly during work. The turntable and the baffle plate realize the positioning of the inner ring of the turntable bearing, the shaft sleeve and the tightening nut realize the positioning of the transmission device, the fixing of the axial parts is realized through the tightening nut, and the radial degree of freedom limit is realized through the base plate bearing. , so that the overall positioning of the base is accurate and the reliability is high. The outer ring of the turntable bearing is positioned through the base box and the end cover, and the end cover and the base box are connected to press the turntable bearing tightly to prevent it from falling out. The base plate, the shaft and the baffle plate are arranged to form an I-shaped structure with strong stability, so that the base structure is stable, and can withstand the overturning moment to prevent rollover, so as to ensure that the transmission device can drive smoothly. To sum up, the utility model has the advantages of simple structure, stable operation and low cost.

Further, the transmission device is a worm gear mechanism. The worm gear mechanism has the characteristics of compact structure and large transmission ratio. In the worm gear and worm transmission, the meshing tooth surfaces of the two wheels are in line contact, and the bearing capacity is large. At the same time, there will be multiple teeth meshing. , so the transmission is stable and the noise is small. At the same time, the worm gear has self-locking properties. When the lead angle of the worm is smaller than the equivalent friction angle between the meshing gear teeth, the worm gear and worm have self-locking properties, which can realize reverse self-locking, that is, only the worm can drive the worm wheel, but cannot be driven by the worm. The worm gear drives the worm, and the worm gear mechanism is used in the lifting machinery, and its reverse self-locking can play a role in safety protection. The torque can be reduced by means of the worm gear mechanism, thereby reducing the driving power.

Further, the turntable bearing is a deep groove ball bearing, because most of the overall components of the arm-type robot are made of lighter aluminum materials, and the load of the arm-type robot is small, and the force on the turntable is only axial force. Bearing axial force, further simplifying the overall structure.

Description of drawings

Fig. 1 is the overall structure sectional view of the utility model;

Fig. 2 is the overall structure front view of the utility model;

Fig. 3 is the shaft schematic diagram of the utility model;

4 is a schematic diagram of a turntable of the present invention;

5 is a schematic diagram of a bottom plate of the present utility model;

6 is a schematic diagram of a shaft sleeve of the present invention;

FIG. 7 is a schematic diagram of the connection seat of the present invention.

Among them: 1-axis fixing bolt; 2-base plate; 3-base; 4-worm; 5-axis; 6-flat key; 7-fastening nut; 8-shaft sleeve; 9-turbine; 10-baffle plate; 11 -Turntable bearing; 12-End cover; 13-Turntable; 14-Coupling; 15-Fixed side plate; 16-Motor fixing bolt; 17-Motor; 18-Connecting seat.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. . It is to be understood that the data so used may be interchanged under appropriate circumstances so that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

Below in conjunction with accompanying drawing, the utility model is described in further detail:

1 to 7 , the arm-type robot base of the present invention includes a turntable 13 , an end cover 12 , a base 3 , a bottom plate 2 , a shaft 5 , a power device and a connecting seat 18 . One end of the shaft 5 is connected to the turntable 13 through the flange plate, and the other end is connected to the base plate 2 through the base bearing through the turntable 13; The shaft 5 is connected by a flat key 6; one end of the base 3 is connected to the end cover 12, and the other end is connected to the base plate 2; The power device includes a coupling 14, a fixed side plate 15 and a motor 17; the fixed side plate 15 is connected to the bottom plate 2, the motor 17 is connected to the fixed side plate 15 through a number of motor fixing bolts, and the output shaft of the motor 17 passes through the coupling 14. Connecting the transmission device, the motor 17 can be selected as a servo motor. One end of the connecting seat 18 is connected to the turntable 13 , and the other end is connected to the arm-type robot.

Preferably, the transmission device can use a worm gear mechanism, the worm gear mechanism includes a worm gear 9 and a worm 4, the worm gear 9 is sleeved on the shaft 5 and is connected with the shaft 5 through a flat key 6; the worm 4 is connected with the worm gear 9, and both ends are connected by The worm bearing is connected with the base 3 to realize the support and limit of the worm 4; the worm 4 is also connected with the power device to realize the power input. The worm gear mechanism has the characteristics of compact structure and large transmission ratio. In the worm gear transmission, the meshing tooth surfaces of the two wheels are in line contact, and the bearing capacity is large. At the same time, there will be multiple teeth meshing, so the transmission is stable and the noise is low. At the same time, the worm gear has self-locking properties. When the lead angle of the worm 4 is smaller than the equivalent friction angle between the meshing gear teeth, the worm gear has self-locking properties, which can realize reverse self-locking, that is, only the worm 4 can drive the worm gear 9. The worm gear 4 cannot be driven by the worm gear 9, and the worm gear and worm gear mechanism is used in the hoisting machinery, and its reverse self-locking can play a safety protection role. The torque can be reduced through the transmission of the worm gear and worm mechanism, so that it can be driven only by a low-power motor.

The transmission device can also adopt a gear transmission mechanism, the gear transmission mechanism includes two mutually meshing transmission gears and a transmission shaft, one of which is sleeved on the shaft 5 and connected to the shaft 5 through a flat key 6, and the other transmission gear sleeve. It is arranged on the transmission shaft, and the transmission shaft is connected with the power device to realize power input.

Preferably, deep groove ball bearings are used for the turntable bearing 11, because most of the overall components of the arm-type robot are made of lighter aluminum materials, and the load of the arm-type robot is small, and the force that the turntable 13 bears is only axial force, and deep groove ball bearings are used. It is used to carry axial force, which further simplifies the overall structure.

The utility model also discloses an arm-type robot, which adopts the above-mentioned arm-type robot base.

The principle of the present utility model is described in detail below:

The turntable 13 and the shaft 5 are fixedly connected by a number of shaft fixing bolts 1. The turntable 13 is positioned with the inner ring of the turntable bearing 11 through the shaft shoulder, and then the baffle 10, the shaft sleeve 8 and the turbine 9 are used to achieve mutual positional positioning to ensure the stability of the overall device. The shaft 5 and the turbine 9 are connected by the flat key 6 to realize the transmission of the rotational torque, and the two tightening nuts 7 are used for axial tightening. The end of the shaft 5 is radially limited by the base bearing and the bottom plate 2 to balance the overturning moment caused by the arm-type robot and make the turntable 13 run more smoothly. In this set of parts, the turntable 13 and the baffle 10 realize the positioning of the inner ring of the turntable bearing 11, the shaft sleeve 8 and the fastening nut 7 realize the positioning of the turbine 9, and several shaft fixing bolts 1 and fastening nuts 7 realize the positioning of the turbine 9. The fixing of the axial parts on the shaft 5, the flange plate and the bottom plate bearing of the shaft 5 realize the radial freedom limit of the shaft 5. The outer ring of the turntable bearing 11 is positioned by the base 3 and the end cover 12. The end cover 12 and the base 3 are connected by the end cover fixing bolts, and the turntable bearing 11 is pressed tightly to prevent it from falling out. The worm 4 cooperates with the worm wheel 9. The two ends of the worm 4 are limited and supported by the base 3 through the worm bearing, and are connected with the motor 17 outside the base 3 box through the coupling 14 to transmit the torque of the motor 17. The upper surface of the turntable 13 is provided with a fixed connection seat 18, and the connection seat 18 realizes the stable connection between the base and the arm-type robot.

The above content is only to illustrate the technical idea of the present utility model, and cannot limit the protection scope of the present utility model. Any changes made on the basis of the technical solution according to the technical idea proposed by the present utility model fall into the scope of the present utility model. within the scope of protection of the claims.

Claims (8)

1. An arm type robot base is characterized by comprising a rotary table (13), an end cover (12), a base (3), a bottom plate (2) and a shaft (5);

one end of the shaft (5) is connected with the rotary table (13), and the other end of the shaft penetrates through the rotary table (13) to be connected with the bottom plate (2) through a base bearing; the shaft (5) is sequentially sleeved with a baffle (10), a shaft sleeve (8), a transmission device and a fastening nut (7), and the transmission device is connected with the shaft (5) through a flat key (6); one end of the base (3) is connected with the end cover (12), and the other end is connected with the bottom plate (2); a turntable bearing (11) is arranged between the end cover (12) and the baffle (10), and the baffle (10) is connected with the turntable (13) through the turntable bearing (11).

2. The arm robot base of claim 1, wherein the transmission is a worm gear mechanism.

3. The arm robot base of claim 1, wherein the transmission is a gear transmission.

4. Arm robot base according to claim 1, characterized in that the turntable bearing (11) is a deep groove ball bearing.

5. Arm robot base according to claim 1, characterized in that it further comprises power means comprising a coupling (14), a fixed side plate (15) and a motor (17);

the fixed side plate (15) is connected with the bottom plate (2), the motor (17) is connected with the fixed side plate (15) through a plurality of motor fixing bolts, and an output shaft of the motor (17) is connected with the transmission device through the coupler (14).

6. Arm robot base according to claim 1, characterized in that the shaft (5) is provided with a flange, which is connected to the turntable (13) by means of a number of shaft fixing bolts (1); the end cover (12) is connected with the base (3) through a plurality of end cover fixing bolts.

7. The arm robot base of claim 1, further comprising a connecting base (18), wherein one end of the connecting base (18) is connected to the turntable (13) and the other end is connected to the arm robot.

8. An arm robot, characterized in that it comprises the arm robot base of any one of claims 1 to 7.

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