CN213499286U

CN213499286U - High-load type mechanical arm with large operation radius

Info

Publication number: CN213499286U
Application number: CN202022159280.4U
Authority: CN
Inventors: 黄宇; 张锡强; 李江山; 曾贤
Original assignee: Chengdu Tuomi Electronic Equipment Manufacturing Co ltd
Current assignee: Chengdu Tuomi Electronic Equipment Manufacturing Co ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2021-06-22
Anticipated expiration: 2030-09-27

Abstract

The utility model discloses a high load formula arm with big operation radius belongs to automatic robotic arm's technical field, the arm includes: a chassis; a main arm provided on the undercarriage to be rotatable about a Z-axis, the main arm being provided with a J1 driving element for driving the main arm to rotate; the large arm is arranged on the main arm in a sliding mode along the Z axis and is provided with a J3 driving element for driving the large arm to slide; the small arm is arranged on the large arm in a rotating mode around the Z axis, the J4 axis rotating around the Z axis is arranged on the small arm, and the small arm and/or the J4 axis are driven to rotate through the composite driving piece, so that the purpose of carrying products under the conditions of high load and large operation radius is achieved.

Description

High-load type mechanical arm with large operation radius

Technical Field

The utility model belongs to the technical field of automatic change robot, particularly, relate to a high load formula arm with big operation radius.

Background

The composite robot is a programmable and multifunctional mobile transfer device, which is a multi-joint robot or multi-degree-of-freedom robot for industrial purposes, and is used for transferring materials, parts, tools, or performing different tasks at different positions.

Against the background of "industrial 4.0" and "2025 by china manufacturing", the composite transfer robot is a strategic tool for improving the work efficiency of an intelligent factory, and the importance and necessity of industrial development are not negligible. The research and development of products and the research and development of standards need to be promoted in a coordinated mode, and the development of the robot industry is guided by a set of industrial robot standard system with advanced technical indexes and mutually coordinated fields so as to promote the progress of technology, the development of products and the development of industrialization and ensure the rapid and scientific development of the industrial robot industry in China.

The core component of the existing composite robot in the market is a mechanical arm, the mechanical arm has the problems of light load, small operation radius, high manufacturing cost and the like, and the requirements of high-precision, large-load and large-space operation are difficult to meet at the same time.

SUMMERY OF THE UTILITY MODEL

In view of this, in order to solve the above problems existing in the prior art, the present invention provides a high-load type mechanical arm with a large operation radius, so as to achieve the purpose of carrying products under the conditions of high load and large operation radius.

The utility model discloses the technical scheme who adopts does: a high-load robotic arm having a large working radius, said robotic arm comprising:

a chassis;

a main arm provided on the undercarriage to be rotatable about a Z-axis, the main arm being provided with a J1 driving element for driving the main arm to rotate;

the large arm is arranged on the main arm in a sliding mode along the Z axis and is provided with a J3 driving element for driving the large arm to slide;

the small arm is arranged on the large arm in a rotating mode around the Z axis, the J4 axis rotating around the Z axis is arranged on the small arm, and the small arm and/or the J4 axis are/is driven to rotate through the composite driving piece.

Further, the J1 driver includes:

the J1 shaft is rotatably arranged on the underframe, the J1 shaft is connected with the main arm, and the J1 shaft is in transmission connection with a J1 harmonic reducer;

the J1 servo motor is mounted on the underframe, and the J1 servo motor is in transmission connection with the J1 harmonic reducer through a J1 synchronous belt; thereby driving the whole mechanical arm to freely rotate for 360 degrees relative to the bottom frame.

Further, the J3 driver includes:

the ball screw is rotatably arranged on the main arm, the ball screw is provided with a J3 shaft matched with the ball screw, the J3 shaft is arranged on the main arm in a sliding way, and the J3 shaft is connected with the large arm;

the J3 servo motor is arranged on the main arm, the J3 servo motor is connected with a J3 planetary gear reducer, and the J3 planetary gear reducer is in transmission connection with a ball screw;

the motion of the motor is transmitted to the ball screw through the deceleration of the J3 servo motor and the J3 planetary gear reducer, so that the upper and lower straight lines of the large arm and the small arm are driven to lift.

Furthermore, the end of the big arm is provided with a J2 harmonic reducer and a J2 harmonic reducer is connected with the small arm through a connecting flange, the end of the small arm is provided with a J4 harmonic reducer and a J4 harmonic reducer is connected with a tail end connecting flange, and the maximum working range of the mechanical arm during working can be remarkably improved under the mutual matching of the big arm, the small arm and the horizontal joint.

Further, the compound drive comprises:

the J2 servo motor and the J4 servo motor are arranged in the large arm, and the J2 servo motor is in transmission connection with the J2 harmonic reducer through a J2 synchronous belt;

the hollow transmission shaft is sleeved in a main shaft of the J2 harmonic reducer, one end of the hollow transmission shaft is in transmission connection with the J4 servo motor through a J4 large-arm synchronous belt, and the other end of the hollow transmission shaft is in transmission connection with the J4 harmonic reducer through a J4 small-arm synchronous belt;

three joint interpolation motions of 360-degree free rotation can be realized through the work of a J1 servo motor, a J2 servo motor and a J4 servo motor, and further, the jaw at the tail end of the small arm can be positioned and oriented in any X, Y direction of the horizontal plane.

Furthermore, a hollow wire passing pipe for passing wires is sleeved in the hollow transmission shaft and a main shaft of the J4 harmonic reducer; because the inside and outside cable all realizes that inside joint's cavity is crossed the line, the pencil winding problem that arouses because inside joint rotary motion has been solved, 360 free rotations of all rotary joints have been realized, and then reach the shortest time that robotic arm realized arbitrary target location in the operation space scope and get fast of product and put, and simultaneously, still has the aesthetic property, can furthest reduce the injury that causes the secondary distortion because of the arm rotation to the cable, it is light to have a structure, and the response is fast, and the load is high (the biggest portable load can reach 15KG), the operation space is wide (the biggest operation radius 900 mm).

Further, the compound drive further comprises: and a tensioning mechanism arranged in the small arm is used for tensioning the J4 small arm synchronous belt so as to ensure the stability and reliability of the J4 small arm synchronous belt in the process.

Further, the tensioning mechanism comprises a tensioning frame arranged inside the small arm and a tensioning wheel arranged on the tensioning frame, and the stability and the reliability of operation are ensured by adjusting the tensioning wheel and enabling the tensioning wheel to be abutted against the J4 small arm synchronous belt.

The utility model has the advantages that:

1. by adopting the high-load mechanical arm with large operation radius provided by the utility model, through the optimized design of the mechanical arm, the high-load mechanical arm has the advantages of large load and strong endurance, and has the load capacity of 15kg in the carrying process; the main arm rotates around a Z axis, the large arm moves on the main arm along the Z axis axially, the small arm rotates around the Z axis on the large arm and the J4 axis on the small arm rotates around the Z axis, so that the mechanical arm has a large moving range (the vertical operating range can reach 800 mm, and the horizontal maximum operating radius can reach 900mm) when in operation, and the mechanical arm can better adapt to the picking and placing of products in various different equipment spaces within a large operating range; at present, the mechanical arm with the vertical joint series structure cannot realize large operation radius, and the rated maximum load capacity is reduced under the condition that the mechanical arm is completely horizontally unfolded.

Drawings

Fig. 1 is a schematic view of the overall structure of a robot arm in a high-load robot arm with a large working radius according to the present invention;

fig. 2 is a schematic structural diagram of a main arm of a high-load type mechanical arm with a large working radius according to the present invention;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2;

fig. 4 is a schematic diagram of the internal structure of the large arm and the small arm of the high-load type mechanical arm with a large working radius provided by the present invention;

the drawings are labeled as follows:

1-underframe, 2-J3 planetary gear reducer, 3-J3 servo motor, 4-main arm, 5-big arm, 6-small arm, 7-tail end connecting flange, 8-J3 shaft, 9-J1 shaft base, 10-J1 servo motor, 11-J1 synchronous belt, 12-J2 servo motor, 13-J4 servo motor, 14-J4 big arm synchronous belt, 15-J2 hollow wire passing pipe, 16-J2 harmonic reducer, 17-tensioning mechanism, 18-J4 small arm synchronous belt, 19-J4 hollow wire passing pipe, 20-J4 harmonic reducer, 21-connecting flange, 22-hollow transmission shaft and 23-J2 synchronous belt.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that the indication of the position or the positional relationship is based on the position or the positional relationship shown in the drawings, or the position or the positional relationship that the utility model is usually placed when using, or the position or the positional relationship that the skilled person conventionally understands, or the position or the positional relationship that the utility model is usually placed when using, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or suggest that the indicated device or element must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases for a person of ordinary skill in the art; the drawings in the embodiments are provided to clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Example 1

The embodiment specifically provides a high-load type mechanical arm with a large working radius, which can realize composite transportation of high load (10kg) and large stroke (working radius 900mm), for example: a special 4-horizontal-joint robot developed for composite AGV conveying application of sheet box products aims at conveying the sheet box products through the mechanical arm.

As shown in fig. 1, a robot arm is a core component of the compound robot for implementing its functions, and in this embodiment, the adopted robot arm is greatly different from a conventional joint axis robot arm, and the adopted robot arm is: in terms of the design of the joint axis, the mechanical arm of the embodiment is a horizontal joint axis rather than a vertical joint axis; in the range of bearing load, the mechanical arm of the embodiment has the load capacity of 15kg, and the effective load of the mechanical arm of the robot in the market is less than 8 kg; in the movable range, the vertical operation range of the mechanical arm of the embodiment can reach 800, and the horizontal maximum working radius is 900 mm.

The end connecting flange 7 is driven by the mechanical arm to synchronously or independently perform axial movement and 360-degree steering movement, wherein the axial movement comprises axial displacement in one direction or multiple directions in the X direction, the Y direction and the Z direction simultaneously, so as to adjust the end connecting flange 7 to any coordinate position point (X, Y, Z), and in the embodiment, the design of the mechanical arm is specifically as follows:

as shown in fig. 2, the robot arm includes:

(ii) a chassis section

The underframe 1 is used as a bearing base of the mechanical arm, the underframe 1 is a hollow frame, the J1 servo motor 10, the J1 harmonic reducer and the like are accommodated in the underframe 1, and in practical application, the underframe 1 can be installed on an AGV transfer vehicle so as to meet the use scene of the mechanical arm.

② main arm arranged on the chassis and rotating around Z axis

As shown in fig. 2 and 3, the main arm 4 is provided with a J1 driving element for driving the main arm to rotate, so that the main arm 4 can rotate 360 ° around the Z axis under the action of the J1 driving element. The design for the J1 driver is as follows:

a J1 shaft base 9 is rotatably arranged on the underframe 1, the J1 shaft base 9 is assembled and connected with the main arm 4, the main arm 4 is positioned in the Z-direction axial direction, and the J1 shaft base 9 is in transmission connection with the output shaft end of the J1 harmonic reducer;

install J1 servo motor 10 on chassis 1, J1 servo motor 10 is connected through the transmission of J1 hold-in range 11 with the input shaft end of J1 harmonic reducer, and be equipped with the belt pulley with J1 hold-in range 11 phase-match on the output shaft of J1 servo motor 10 and the input shaft end of J1 harmonic reducer respectively, realize transmitting rotary motion to J1 axle base 9 after the moment of torsion is enlargied with J1 harmonic reducer, realize that main arm 4 rotates the function 360 around Z axle.

③ the big arm arranged on the main arm along the Z axis

As shown in fig. 1 and 2, the boom 5 is provided with a J3 driving element for driving the boom to slide, so that the boom 5 can be freely moved up and down in the Z-axis direction with respect to the main boom 4 by the driving action of the J3 driving element. The design of the J3 driver is as follows:

the main arm 4 is provided with a ball screw in a rotating manner, the ball screw is provided with a J3 shaft 8 matched with the ball screw, namely the J3 shaft 8 and the ball screw jointly form a screw nut pair, the J3 shaft 8 is arranged on the main arm 4 in a sliding manner, when the ball screw rotates, the displacement motion of the J3 shaft 8 in the Z-axis direction can be realized through the combined action of the J3 shaft 8 and the ball screw, and the J3 shaft 8 is connected with the large arm 5 so as to drive the large arm 5 to move in the Z-axis direction through the motion of the J3 shaft 8, so that the function of free movement in the Z-axis direction within about 800 ranges can be realized.

The main arm 4 is provided with a J3 servo motor 3, an output shaft of the J3 servo motor 3 is in transmission connection with an input shaft end of the J3 planetary gear reducer 2, an output shaft end of the J3 planetary gear reducer 2 is in transmission connection with a ball screw, and the planetary gear reducer transmits the rotation motion after the torque is amplified to the ball screw through a synchronous belt so as to realize the vertical movement of the J3 shaft 8. In practical applications, the transmission connection mode is various, and may be a transmission belt or a gear transmission, and the transmission mode is not limited specifically here.

Fourthly, the small arm is arranged on the big arm in a rotating way around the Z axis

As shown in figure 4, the small arm 6 is provided with a J4 shaft rotating around a Z shaft, a J4 shaft is connected with a tail end connecting flange 7, and the small arm 6 and/or the J4 shaft are driven to rotate through a composite driving piece. In the actual movement process, the small arm 6 rotates around the Z axis on the large arm 5, and the large arm 5 rotates around the Z axis along with the main arm 4, so that the displacement of the J4 axis in the X axis and/or Y axis axial direction is realized, and as for the specific algorithm for realizing the displacement in the X axis and/or Y axis axial direction by matching the small arm 6 with the large arm, the specific algorithm can be designed by programming by those skilled in the art, and is not described herein again, and since the J4 axis rotates around the Z axis, the position orientation of the product clamped by the end connecting flange 7 can be adjusted.

The end part of the large arm 5 is provided with a J2 harmonic reducer 16, the output shaft end of the J2 harmonic reducer 16 is connected with the small arm 6 through a connecting flange 21 so as to drive the small arm 6 to rotate, the end part of the small arm 6 is provided with a J4 harmonic reducer 20, and the output shaft end of the J4 harmonic reducer 20 is connected with a product to be clamped through a tail end connecting flange 7 so as to drive the clamped product to rotate after torque is amplified. Specifically, in practical application, the composite driving member includes:

the J2 servo motor 12 and the J4 servo motor 13 are arranged in the large arm 5, the output shaft of the J2 servo motor 12 is in transmission connection with the input shaft of the J2 harmonic reducer 16 through the J2 synchronous belt 23, so that the output torque of the J2 servo motor 12 is amplified through the J2 harmonic reducer 16, and the function of 360-degree rotation of the small arm 6 around the Z shaft is achieved;

the hollow transmission shaft 22 is sleeved inside a main shaft (namely an input shaft) of the J2 harmonic reducer 16, the hollow rotation shaft and the main shaft rotate independently, one end of the hollow transmission shaft 22 is in transmission connection with the J4 servo motor 13 through a J4 large arm synchronous belt 14, the other end of the hollow transmission shaft is in transmission connection with an input shaft end of the J4 harmonic reducer 20 through a J4 small arm synchronous belt 18, so that the J4 servo motor 13 installed inside the large arm 5 can sequentially pass through the J4 large arm synchronous belt 14, the J4 small arm synchronous belt 18 and the J4 harmonic reducer 20, the rotary motion of the J4 servo motor 13 is transmitted to the J4 small arm synchronous belt 18 and drives the J4 harmonic reducer 20 to achieve torque amplification and then drive the tail end connecting flange 7 to rotate, and the tail end connecting flange 7 rotates 360 degrees around a Z shaft. During actual movement, the positioning and orientation of the tail-end claw in any X, Y direction of the horizontal plane can be realized through the synthetic interpolation movement of three joints, namely the main arm 4, the small arm 6 and the J4 axis.

In order to further improve the defect that the wire harness cannot be wound in the 360-degree dead-angle-free rotation process of the mechanical arm, the main shafts (namely input shaft ends) of the hollow transmission shaft 22 and the J4 harmonic reducer 20 are respectively and movably sleeved with a J2 hollow wire passing pipe 15 and a J4 hollow wire passing pipe 19 for passing wires. The hollow design realizes the hollow internal threading of all rotary joints, perfectly solves the problem that 360-degree rotation of each joint causes the winding of internal and external wire harnesses, fully utilizes the internal space of the robot body, ensures that the robot can run in a narrower space, achieves the shortest arrival in the positioning process of the robot, improves the motion efficiency of the mechanical arm and shortens the motion time. The mechanical arm of the compound robot on the market at present can not realize the internal wire passing of the cable joint module outside the body, so that the external equipment at the tail end, such as a CCD camera circuit, can only externally route wires, and the whole 360-degree rotation is difficult to realize.

In order to further ensure the reliability and stability of the mechanical arm in the operation process, the composite driving piece further comprises: the tensioning mechanism 17 is arranged in the small arm 6, the J4 small arm synchronous belt 18 is tensioned through the tensioning mechanism 17, the tensioning mechanism 17 comprises a tensioning frame arranged in the small arm 6 and a tensioning wheel arranged on the tensioning frame, and the tensioning wheel is adjusted to abut against the J4 small arm synchronous belt 18, so that the reliability and the stability of power transmission are ensured.

In combination with the above, the robot arm is composed of 4 joint axes, and three joint motions rotating by 360 degrees freely and three joint motions moving vertically by the work of the J1 servomotor 10, the J2 servomotor 12 and the J4 servomotor 13 can be realized by the work of the J3 servomotor 3 to complete the displacement positioning of the tail end of the robot arm.

The working principle is as follows: through the work of J1 servo motor 10, J2 servo motor 12 and J4 servo motor 13 can realize 360 articulated motions of free rotation respectively, and then realize that the end is in the arbitrary X, Y, Z direction location and orientation of horizontal plane, accomplish the end through the work of J3 servo motor 3 and fix in the perpendicular plane of Z axle, finally realize the arm that has cylindrical coordinate working space.

The mechanical arm provided by the embodiment has the advantages of light structure and high response speed, the rotating motion speed can reach 300 m/s, the linear motion speed can reach 5.2m/s, and the speed is several times faster than that of the common mechanical arm, and meanwhile, the mechanical arm has the advantages of high load (the maximum transportable load can reach 15KG) and wide operation space (the maximum operation radius is 900mm), so the mechanical arm is most suitable for multi-region operation of plane positioning and carrying, loading and unloading in the vertical direction.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. A high-load type robot arm having a large working radius, comprising:

a chassis;

2. A high load robotic arm with a large working radius as claimed in claim 1, wherein said J1 drive member comprises:

and the J1 servo motor is mounted on the underframe, and the J1 servo motor is in transmission connection with the J1 harmonic reducer through a J1 synchronous belt.

3. A high load robotic arm with a large working radius as claimed in claim 1, wherein said J3 drive member comprises:

the J3 servo motor is arranged on the main arm, the J3 servo motor is connected with a J3 planetary gear reducer, and the J3 planetary gear reducer is in transmission connection with a ball screw.

4. A high load type robot arm with large working radius according to claim 1, wherein the end of the large arm is provided with a J2 harmonic reducer and the J2 harmonic reducer is connected with the small arm through a connecting flange, and the end of the small arm is provided with a J4 harmonic reducer and the J4 harmonic reducer is connected with a tip connecting flange.

5. A high load type mechanical arm with large working radius according to claim 4, wherein said composite driving member comprises:

the hollow transmission shaft is sleeved inside a main shaft of the J2 harmonic reducer, one end of the hollow transmission shaft is in transmission connection with the J4 servo motor through a J4 large-arm synchronous belt, and the other end of the hollow transmission shaft is in transmission connection with the J4 harmonic reducer through a J4 small-arm synchronous belt.

6. A high-load type mechanical arm with a large working radius as claimed in claim 5, wherein the hollow transmission shaft and the main shaft of the J4 harmonic reducer are internally sleeved with hollow wire passing pipes for passing wires.

7. A high load type mechanical arm with large working radius as claimed in claim 5, wherein said composite drive member further comprises: and a tensioning mechanism arranged in the small arm is used for tensioning the J4 small arm synchronous belt.

8. A high-load mechanical arm with a large working radius according to claim 7, wherein said tensioning mechanism comprises a tensioning frame arranged inside the small arm and a tensioning wheel arranged on the tensioning frame, and the tensioning wheel is adjusted and pressed against the J4 small arm timing belt.