CN215548791U - Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function - Google Patents
Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function Download PDFInfo
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- CN215548791U CN215548791U CN202120363402.3U CN202120363402U CN215548791U CN 215548791 U CN215548791 U CN 215548791U CN 202120363402 U CN202120363402 U CN 202120363402U CN 215548791 U CN215548791 U CN 215548791U
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Abstract
The utility model discloses a compact light-weight two-degree-of-freedom robot installation platform with a self-locking function, and relates to a platform for installing a robot. The redundancy of the robot can be improved, and the effective working space of the robot is increased; the flexibility of a production line is improved, and the installation cost of the robot is reduced; the robot mounting platform with the self-locking function realizes mounting arrangement in a narrow space and multi-machine cooperative operation. The compact light-weight two-degree-of-freedom robot mounting platform with the self-locking function comprises a base case, a first servo motor, a second servo motor and a gear box shell, wherein the first servo motor is connected with a first worm and gear pair; the second servo motor is connected with a second worm gear kinematic pair, the second worm gear kinematic pair is connected with a gear box shell, and a second tapered roller bearing is installed on the gear box shell.
Description
Technical Field
The utility model relates to the technical field of robot installation, in particular to a compact light-weight type two-degree-of-freedom robot installation platform with a self-locking function.
Background
With the introduction of concepts such as china manufacturing 2025 and industry 4.0, the demand of the manufacturing industry for automated and intelligent production modes is increasing. In order to realize high efficiency, intellectualization and standardization of the production and manufacturing process, more and more enterprises introduce industrial robots to replace original workers to carry out a large amount of single and repetitive work. Traditional mill produces line or process unit station and adopts fixed mounting means with the robot majority when the design, is about to install industrial robot on fixed base, relies on the effective workspace of robot itself to accomplish the target work, but this kind of overall arrangement mode often has following several problems in actual production:
1. unable compatible of line or workstation is then produced to unable compatibility of line or workstation to the unable line of unable robot mounting platform that needs to reform transform to when producing the line product update promptly, if new product specification surpasss the effective working space of original robot to unable line or workstation is low to unable line flexibility of leading to producing, greatly increased produces the line update cost.
2. In a relatively narrow space, 1 robot is usually configured for a single process unit, multi-machine and multi-station cooperative operation cannot be realized, and the production efficiency is low.
3. The serial industrial robot body generally has 4-6 degrees of freedom according to different purposes, has relatively fixed reachable working space, and can be used for protecting the moving range and internal cables of the robot, all joints of the robot can be limited generally, and meanwhile, the robot can only work in the effective working space generally due to the consideration of the rigidity and the singular pose of the robot under the limit pose, so that the actual effective working space of the robot can be further reduced by a fixed installation mode.
4. The fixed base and the fixed robot freedom degree lead to the redundancy of the robot own freedom degree not high enough, and the avoidance of the working path can not be well carried out under certain working conditions.
Therefore, it is important to improve the flexibility of the production line in a safe, effective and low-cost manner, reduce the update cost of the production line, increase the effective activity space of the robot, improve the production efficiency, and the like, only by changing the mounting platform of the robot.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a robot capable of improving the redundancy of the robot and increasing the effective working space of the robot; the flexibility of a production line is improved, and the installation cost of the robot is reduced; the compact light-weight type two-degree-of-freedom robot mounting platform with the self-locking function realizes mounting arrangement in a narrow space and multi-machine cooperative operation.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, which comprises a base chassis, a first servo motor, a second servo motor and a gear box shell,
the first servo motor is connected with a first worm and gear kinematic pair, the output end of the first worm and gear kinematic pair is connected with a gear pair, the gear pair is fixedly connected with an output shaft, and two ends of the output shaft are movably arranged on the mounting platform body;
the second servo motor is connected with a second worm gear kinematic pair, the second worm gear kinematic pair is fixedly connected with a gear box shell, and a second tapered roller bearing is mounted on the gear box shell and used for supporting the output shaft.
The utility model relates to a compact and light two-degree-of-freedom robot mounting platform with a self-locking function, wherein a first servo motor and a second servo motor are mounted outside a base case, and motor output shafts of the first servo motor and the second servo motor are positioned inside the base case.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, wherein a first worm and gear motion pair comprises a first transmission worm and a first transmission worm gear which are connected, a motor output shaft of a first servo motor is fixedly connected with the first transmission worm, and the first transmission worm gear is connected with a gear pair.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, wherein one end of a first transmission turbine is connected with a base case through a fourth tapered roller bearing.
The compact light-weight two-degree-of-freedom robot mounting platform with the self-locking function comprises a gear pair, wherein the gear pair comprises a first bevel gear and a second bevel gear which are meshed with each other, the second bevel gear is connected with the output end of a first worm and gear movement pair, and the first bevel gear is fixedly connected with an output shaft.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, wherein two ends of an output shaft are supported by a second tapered roller bearing at two ends, output flanges are mounted at two ends of the output shaft, and the output flanges are fixed on a mounting platform body.
The compact and light two-degree-of-freedom robot mounting platform with the self-locking function comprises a first worm gear and a first worm, wherein the first worm gear and the first worm are connected, a motor output shaft of a first servo motor is fixedly connected with a first transmission worm, and the first transmission worm is connected with a gear box shell.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, wherein a second transmission turbine is connected with a switching flange, and the switching flange is mounted on a gear box shell.
The utility model relates to a compact light-weight two-degree-of-freedom robot mounting platform with a self-locking function, wherein a third conical roller bearing is arranged between an adapter flange and a base case.
The utility model relates to a compact and light two-degree-of-freedom robot mounting platform with a self-locking function, wherein a first tapered roller bearing is mounted between a first transmission turbine of a first turbine and worm motion pair and a second transmission turbine of a second turbine and worm motion pair.
The compact light-weight type two-degree-of-freedom robot mounting platform with the self-locking function is different from the prior art in that the compact light-weight type two-degree-of-freedom robot mounting platform with the self-locking function has two degrees of freedom, and the two servo motors drive the two modes to move so as to realize the rotation and the swing of the mounting platform. The installation platform has the effects of mechanical self-locking and differential transmission when in operation, and the mechanical self-locking can improve the use safety of the platform; differential transmission can enable the mounting platform to obtain different poses in two directions; in addition, the worm and the worm wheel of the robot mounting platform perform power transmission, the meshing tooth surfaces of the worm and the worm wheel are in line contact, and the worm teeth do not enter and exit from the meshing process, so that the robot mounting platform has the advantages of compact structure, large transmission ratio, stable work, low noise and the like.
The following describes the compact light two-degree-of-freedom robot mounting platform with self-locking function with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a compact lightweight two-degree-of-freedom robot mounting platform with a self-locking function according to the present invention;
FIG. 2 is a side view of the compact light two-degree-of-freedom robot mounting platform with self-locking function according to the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural diagram of the installation platform of the compact light two-degree-of-freedom robot with the self-locking function of the utility model, which is installed in cooperation with a left robot and a right robot;
FIG. 5 is a schematic structural view of the compact lightweight two-degree-of-freedom robot mounting platform with self-locking function of the present invention in a state of being mounted with the robot;
FIG. 6 is a schematic structural diagram of the compact lightweight two-degree-of-freedom robot mounting platform with self-locking function and the robot in an inverted state;
FIG. 7 is a schematic structural diagram of the installation platform of the compact light two-degree-of-freedom robot with the self-locking function of the utility model, which is installed in cooperation with a single robot;
the notation in the figures means: 1-base chassis; 2-a first drive worm; 3-a first drive turbine; 4-a second drive turbine; 5-a first tapered roller bearing; 6-adapter flange; 7-mounting the platform body; 8-an output flange; 9-bearing end cap; 10-a first chassis end cover; 11-a second tapered roller bearing; 12-an output shaft; 13-a first bevel gear; 14-a second bevel gear; 15-gearbox housing; 16-bearing press plate; 17-a third conical roller bearing; 18-a second drive worm; 19-a fourth tapered roller bearing; 20-a first servo motor; 21-a second servo motor; 22-second chassis end cap.
Detailed Description
The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.
As shown in fig. 1 to 3, the compact and lightweight two-degree-of-freedom robot mounting platform with self-locking function of the present invention includes a base chassis 1. The chassis base 1 and the second chassis end cover 22 are installed to form the base of the platform. A first servo motor 20 and a second servo motor 21 are installed outside the base case 1, and motor output shafts of the two servo motors are located inside the base case 1.
The motor output shaft of the first servo motor 20 is fixedly connected with the first transmission worm 2, the first transmission worm 2 and the first transmission worm wheel 3 form a worm gear and worm motion pair, the rotary motion of the first transmission worm 2 around the horizontal direction can be converted into the rotary motion of the first transmission worm wheel 3 around the vertical direction, and meanwhile, the motor output torque is amplified through the reduction ratio.
One end of the first transmission turbine 3 is connected with the base case 1 through a fourth tapered roller bearing 19, and the other end is fixedly connected with the second bevel gear 14. The second bevel gear 14 and the first bevel gear 13 form a gear pair, and the rotation motion of the second bevel gear 14 in the vertical direction can be converted into the rotation motion of the first bevel gear 13 around the horizontal direction.
The first bevel gear 13 is fixedly connected with an output shaft 12, two ends of the output shaft 12 are supported by the second tapered roller bearing 11, output flanges 8 are installed at two ends of the output shaft 12, and the output flanges 8 are fixed on the mounting platform body 7.
Through the transmission process, the power of the first servo motor 20 can be transmitted to the mounting platform body 7, and the mounting platform body 7 can swing around the horizontal direction.
The motor output shaft of the second servo motor 21 is fixedly connected with the second transmission worm 18, the second transmission worm 18 and the second transmission worm wheel 4 form a worm gear and worm motion pair, the rotary motion of the second transmission worm 18 around the horizontal direction can be converted into the rotary motion of the second transmission worm wheel 4 around the vertical direction, and meanwhile, the output torque of the motor is amplified through the reduction ratio.
The second transmission turbine 4 is connected with the adapter flange 6, and the adapter flange 6 is installed on the gear box shell 15, so that synchronous movement of the gear box shell 15 and the second transmission turbine 4 is realized. A third conical roller bearing 17 is installed between the adapter flange 6 and the base chassis 1, and the bearing pressing plate 16 is used for fixing the third conical roller bearing 17. The second tapered roller bearing 11 for supporting the output shaft 12 is mounted on the gear box housing 15 through the bearing end cover 9, so that the gear box housing 15 rotates with the second transmission turbine 4 and finally drives the mounting platform body 7 to rotate around the vertical direction through the output shaft 12. A first gearbox end cover 10 is mounted above the gearbox housing 15.
The first transmission turbine 3 and the second transmission turbine 4 are connected through a first tapered roller bearing 5, so that the relative movement of the first transmission turbine 3 and the second transmission turbine 4 is realized.
The compact light-weight type two-degree-of-freedom robot mounting platform with the self-locking function has the technical characteristics of mechanical self-locking and differential transmission:
(1) mechanical self-locking
The second transmission worm 18 and the second transmission worm wheel 4 form a worm wheel and worm motion pair, so that the mounting platform body 7 can rotate around the vertical direction; the first transmission worm 2 and the first transmission worm wheel 3 form a worm gear and worm motion pair, and the bevel gear group consisting of the first bevel gear 13 and the second bevel gear 14 realizes the swinging of the mounting platform body 7 around the horizontal direction. Because the second transmission worm 18 is fixedly connected with the second servo motor 21, the first transmission worm 2 is fixedly connected with the first servo motor 20 and is a driving shaft. Therefore, when the lead angle of the worm is smaller than the equivalent friction angle of the meshing worm wheel, the mechanism has self-locking performance, and can realize reverse self-locking, namely, only the worm can drive the worm wheel, but not the worm can be driven by the worm wheel. The reverse self-locking property can ensure that the robot mounting platform can not realize return driving movement, thereby greatly increasing the safety of the mounting platform. Meanwhile, based on the transmission characteristics of the worm and the worm, the meshing tooth surfaces of the worm and the worm are in line contact, and the worm teeth do not enter and exit the meshing process, so that the robot mounting platform has the advantages of compact structure, large transmission ratio, stable work, low noise and the like.
(2) Differential transmission
When the output of the second servo motor 21 is 0, the first transmission worm gear 3 drives the second bevel gear 14 to move only when the first servo motor 20 drives the first transmission worm 2 and the first transmission worm gear 3 to move. The output shaft 12 is fixedly connected with the first bevel gear 13, the rotating motion around the axis of the output shaft is realized through the meshing motion of the first bevel gear 13 and the second bevel gear 14, and finally the mounting platform body 7 is fixedly connected with the output shaft 12 through the output flange 8 to realize the swinging motion around the axis of the output shaft 12.
When the output of the first servo motor 20 is 0, the second bevel gear 14 is a fixed shaft at this time; only when the second servo motor 21 drives the second transmission worm 18 and the second transmission worm wheel 4 to drive the gear box shell 15 and the output shaft 12 to rotate around the vertical direction. Because the output shaft 12 is provided with the first bevel gear 13, the rotation of the output shaft 12 in the vertical direction induces the meshing motion of the first bevel gear 13 and the second bevel gear 14, so that the first bevel gear 13 drives the output shaft 12 to rotate around the axis thereof. The mounting platform body 7 is fixedly connected with the output shaft 12 through the output flange 8, so that the mounting platform body 7 has the rotating motion around the vertical direction and the rotating motion around the axis of the output shaft 12, and the speed is consistent with that of the output shaft 12.
In order to enable the mounting platform to only move around the vertical direction, the first servo motor 20 is only required to reversely drive the first transmission worm 2 and the first transmission worm wheel 3 at the same speed, so that the second bevel gear 14 drives the first bevel gear 13 to reversely rotate, and the rotary motion of the mounting platform body 7 around the axis of the output shaft 12 can be counteracted, and thus the unidirectional motion is realized. In the same principle, by controlling the different rotation speeds and the different directions of the first servo motor 20 and the second servo motor 21, different poses of the installation platform in two directions can be finally obtained.
When the compact light-weight two-degree-of-freedom robot installation platform with the self-locking function is installed in a matched mode with a robot, as shown in the figures 4-6, one robot can be installed on each side of the installation platform, installation arrangement and multi-machine cooperative operation in a narrow space are achieved, the effective working space and the redundancy rate of the robot can be increased due to the two rotational degrees of freedom of the installation platform, and multi-station operation of the two robots is achieved. When the robot is installed on two sides, as shown in fig. 4 and 5, the robot can adopt a forward installation mode or an inverted installation mode as shown in fig. 6, and the installation mode can be selected according to actual production needs.
In other embodiments of the present invention, as shown in fig. 7, a robot may be mounted on the top surface of the mounting platform, and the two rotational degrees of freedom of the mounting platform itself may increase the effective working space and redundancy of the robot. The mounting mode of the robot can adopt a normal mounting mode and an inverted mounting mode, and can be selected according to actual production requirements.
The compact light-weight two-degree-of-freedom robot mounting platform with the self-locking function has two degrees of freedom, and the two servo motors drive the mounting platform to move in two modes, so that the mounting platform can rotate and swing. The installation platform has the effects of mechanical self-locking and differential transmission when in operation, and the mechanical self-locking can improve the use safety of the platform; differential transmission can enable the mounting platform to obtain different poses in two directions; in addition, the worm and the worm wheel of the robot mounting platform perform power transmission, the meshing tooth surfaces of the worm and the worm wheel are in line contact, and the worm teeth do not enter and exit from the meshing process, so that the robot mounting platform has the advantages of compact structure, large transmission ratio, stable work, low noise and the like.
Although the utility model has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the utility model. Accordingly, such modifications and improvements are intended to be within the scope of the utility model as claimed.
Claims (10)
1. The utility model provides a take two degree of freedom robot mounting platforms of compact light weight type of self-locking function which characterized in that: comprises a base chassis, a first servo motor, a second servo motor and a gear box shell,
the first servo motor is connected with a first worm and gear kinematic pair, the output end of the first worm and gear kinematic pair is connected with a gear pair, the gear pair is fixedly connected with an output shaft, and two ends of the output shaft are movably arranged on the mounting platform body;
the second servo motor is connected with a second worm gear kinematic pair, the second worm gear kinematic pair is fixedly connected with a gear box shell, and a second tapered roller bearing is mounted on the gear box shell and used for supporting the output shaft.
2. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: the first servo motor and the second servo motor are installed outside the base case, and motor output shafts of the first servo motor and the second servo motor are located inside the base case.
3. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: the first worm and gear pair comprises a first transmission worm and a first transmission worm gear which are connected, a motor output shaft of the first servo motor is fixedly connected with the first transmission worm, and the first transmission worm gear is connected with the gear pair.
4. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 3, characterized in that: one end of the first transmission turbine is connected with the base case through a fourth tapered roller bearing.
5. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: the gear pair comprises a first bevel gear and a second bevel gear which are meshed with each other, the second bevel gear is connected with the output end of the first worm gear and worm motion pair, and the first bevel gear is fixedly connected with the output shaft.
6. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: and the two ends of the output shaft are supported at the two ends by the second tapered roller bearing, the two ends of the output shaft are provided with output flanges, and the output flanges are fixed on the mounting platform body.
7. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: the second worm gear and worm motion pair comprises a second worm gear and a second worm which are connected, a motor output shaft of the second servo motor is fixedly connected with the second transmission worm, and the second transmission worm gear is connected with the gear box shell.
8. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 7, characterized in that: the second transmission turbine is connected with a adapter flange, and the adapter flange is installed on a gear box shell.
9. The compact lightweight two-degree-of-freedom robot installation platform with self-locking function according to claim 8, characterized in that: and a third conical roller bearing is arranged between the adapter flange and the base case.
10. The compact lightweight two-degree-of-freedom robot installation platform with the self-locking function according to claim 1, characterized in that: and a first tapered roller bearing is arranged between the first transmission turbine of the first turbine worm kinematic pair and the second transmission turbine of the second turbine worm kinematic pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120363402.3U CN215548791U (en) | 2021-02-08 | 2021-02-08 | Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120363402.3U CN215548791U (en) | 2021-02-08 | 2021-02-08 | Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function |
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| Publication Number | Publication Date |
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| CN215548791U true CN215548791U (en) | 2022-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120363402.3U Active CN215548791U (en) | 2021-02-08 | 2021-02-08 | Compact light-weight type two-degree-of-freedom robot mounting platform with self-locking function |
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| CN (1) | CN215548791U (en) |
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- 2021-02-08 CN CN202120363402.3U patent/CN215548791U/en active Active
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Address after: 272000, No. 888 Huarun Road, Zhongxin Electromechanical Industrial Park, Zhongdian Town, Zoucheng City, Jining City, Shandong Province Patentee after: Luoshi (Shandong) Robot Group Co.,Ltd. Country or region after: China Address before: No. b801-004, 8th floor, Xueyan complex building, Tsinghua University, Haidian District, Beijing 100084 Patentee before: ROKAE, Inc. Country or region before: China |