CN216577938U

CN216577938U - Mechanical arm device

Info

Publication number: CN216577938U
Application number: CN202122346387.4U
Authority: CN
Inventors: 朱强; 黄部东; 王俊杰
Original assignee: Kocel Intelligent Machinery Ltd
Current assignee: Kocel Intelligent Machinery Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2022-05-24
Anticipated expiration: 2031-09-28

Abstract

A robot apparatus comprising: the manipulator comprises a driving mechanism, a slewing bearing mechanism, a rotating mechanism and a manipulator platform; the driving mechanism, the slewing bearing mechanism and the rotating mechanism are all arranged on the manipulator platform; the driving mechanism drives the slewing bearing mechanism to rotate; the slewing bearing mechanism is used for driving the manipulator to rotate; the rotating mechanism comprises an encoder and a chain wheel, and the encoder is coaxially connected with the chain wheel; the chain wheel is meshed with the slewing bearing mechanism, and the encoder is used for detecting the rotation angle of the manipulator. The device only needs to increase a set of rotary mechanism, and the rotation angle of manipulator can be fed back indirectly, and then the accurate control of hydraulic pressure snatchs the manipulator is realized.

Description

Mechanical arm device

Technical Field

The present invention relates to a robot device, and more particularly, to a robot device capable of detecting a rotation angle of a robot.

Background

The manipulator is widely researched as a key device of important manufacturing devices, and is mainly applied to the fields of machinery, metallurgy, casting and the like. It can replace the manual work of people for heavy and dangerous to a certain extent. Most of the traditional six-joint robots adopt motors with encoders to feed back rotation angles, so that the robots are accurately controlled to rotate. However, the hydraulic motor is different from the motor, and the encoder cannot be directly connected to realize rotation angle feedback.

SUMMERY OF THE UTILITY MODEL

On the basis, the rotation angle is indirectly fed back by additionally adding a rotary encoder mechanism aiming at the technical problem that the hydraulic motor of the manipulator in the prior art cannot be directly connected with the encoder to feed back the rotation angle, so that the accurate control of the hydraulic grabbing manipulator is realized.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

a robot apparatus, comprising: the manipulator comprises a driving mechanism, a slewing bearing mechanism, a rotating mechanism and a manipulator platform; the driving mechanism, the slewing bearing mechanism and the rotating mechanism are all arranged on the manipulator platform; the driving mechanism drives the slewing bearing mechanism to rotate; the slewing bearing mechanism is used for driving the manipulator to rotate; the rotating mechanism comprises an encoder and a chain wheel, and the encoder is coaxially connected with the chain wheel; the chain wheel is meshed with the slewing bearing mechanism, and the encoder is used for detecting the rotation angle of the manipulator.

Further, the driving mechanism comprises a hydraulic motor and a driving gear, and the hydraulic motor is coaxially connected with the driving gear; the driving gear is meshed with the slewing bearing mechanism.

Further, the chain has the same number of teeth as the drive gear.

Further, the rotating mechanism further comprises a drive shaft and a hub; a through hole is formed in the center of the chain, and the hub penetrates through the through hole to be fixedly matched with the chain wheel; the driving shaft is close to one end of the chain wheel and fixedly connected with the hub, and the other end of the driving shaft is connected with the encoder.

Further, the rotating mechanism further comprises a bearing and a shaft sleeve matched with the bearing; the bearing is sleeved on the driving shaft; the one end that the axle sleeve kept away from wheel hub sets up the boss, the boss orientation wheel hub's one side with manipulator platform fixed connection.

Furthermore, one end, close to the hub, of the bearing is provided with a convex circular truncated cone, and the circular truncated cone is located between the shaft sleeve and the hub.

Further, rotary mechanism still includes sealed casing, sealed casing's one end with the boss deviates from wheel hub's one side fixed connection, sealed casing's the other end with encoder fixed connection.

Furthermore, the center of the hub is provided with a first through hole and a second through hole which are communicated, one end of the driving shaft, which is close to the chain wheel, is embedded into the first through hole, and the driving shaft is in threaded connection with the second through hole through a bolt.

Further, the aperture of the first through hole is larger than the aperture of the second through hole.

Further, a gasket is arranged between the nut of the bolt and the hub, and the gasket is sleeved on the screw rod of the bolt.

The utility model provides a manipulator device, wherein a driving mechanism drives a slewing bearing mechanism to rotate, the slewing bearing mechanism drives a manipulator to rotate, the slewing bearing mechanism is meshed with a chain wheel of a rotating mechanism, when the slewing bearing mechanism rotates, the chain wheel rotates along with the slewing bearing mechanism, an encoder coaxially connected with the chain wheel can calculate the gear ratio of the slewing bearing mechanism and the chain wheel, and the encoder further converts the actual rotating angle of the manipulator according to the gear ratio and feeds back the rotating angle.

Drawings

Fig. 1 is a plan view of the overall structure of a robot device according to the present invention;

figure 2 is a cross-sectional view of a robot apparatus of the present invention;

figure 3 is a schematic view of a robot drive mechanism according to the present invention;

fig. 4 is a schematic view of a rotation mechanism of a robot apparatus according to the present invention.

The labels in the figure are: 100. the device comprises a driving mechanism 200, a rotary supporting mechanism 300, a rotating mechanism 400, a manipulator rotating platform 110, a hydraulic motor 120, a driving gear 210, a rotary outer ring 220, a rotary inner ring 310, an encoder 320, a driving shaft 330, a chain wheel 340, a sealing shell 350, a bearing 360, a shaft sleeve 370, an adapter plate 380, a hub 390, a flange bearing 321, a coupling 325, a bolt 326, a gasket 351, a circular truncated cone 361 and a boss.

Detailed Description

To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, a robot apparatus includes: a driving mechanism 100, a slewing bearing mechanism 200, a rotating mechanism 300 and a manipulator platform 400; the driving mechanism 100, the slewing bearing mechanism 200 and the rotating mechanism 300 are all arranged on the manipulator platform 400; the driving mechanism 100 drives the slewing bearing mechanism 200 to rotate; the slewing bearing mechanism 200 is used for driving the manipulator to rotate; the rotating mechanism 300 comprises an encoder 310 and a sprocket 330, wherein the encoder 310 is coaxially connected with the sprocket 330; the sprocket 330 is engaged with the pivoting support mechanism 200, and the encoder 310 is used to detect the rotation angle of the robot arm.

The inventive concept is further elucidated below with reference to specific embodiments.

Referring to fig. 1 to 4, the present invention provides a robot apparatus, including: a driving mechanism 100, a slewing bearing mechanism 200, a rotating mechanism 300 and a manipulator platform 400; the driving mechanism 100, the slewing bearing mechanism 200 and the rotating mechanism 300 are all arranged on the manipulator platform 400; the driving mechanism 100 drives the slewing bearing mechanism 200 to rotate; the slewing bearing mechanism 200 is used for driving the manipulator to rotate; the rotating mechanism 300 comprises an encoder 310 and a sprocket 330, wherein the encoder 310 is coaxially connected with the sprocket 330; the sprocket 330 is engaged with the pivoting support mechanism 200, and the encoder 310 is used to detect the rotation angle of the robot arm.

In one embodiment, the driving mechanism 100 includes a hydraulic motor 110 and a driving gear 120, wherein the hydraulic motor 110 is coaxially connected to the driving gear 120, the driving gear 120 is driven to rotate by the hydraulic motor 110, the driving gear 120 is meshed with the slewing bearing mechanism 200, and the number of teeth of the driving gear 120 is the same as that of the sprocket 330, so that the driving mechanism 100 and the rotating mechanism 300 are in accordance with each other to ensure the accuracy of the rotation angle of the manipulator fed back by the encoder 310.

In one embodiment, the rotating mechanism 300 includes a driving shaft 320 and a hub 380, wherein a through hole is provided in the center of the sprocket 330, the hub 380 passes through the through hole to be fixedly engaged with the sprocket 330, the engagement may be a snap fit or a screw fit, one end of the driving shaft 320 close to the sprocket 330 is fixedly connected with the hub, and the other end of the driving shaft 320 is connected with the shaft of the encoder. When the chain wheel 330 rotates along with the pivoting support mechanism 200, the hub 380 fixedly engaged with the chain wheel 330 also rotates, the hub 380 drives the driving shaft 320 fixedly connected with the hub to rotate, the driving shaft 320 is connected with the shaft of the encoder 310, and therefore the encoder works.

Preferably, the driving shaft 320 and the shaft of the encoder 310 may be connected by a coupling 321.

In one embodiment, the rotating mechanism further comprises a bearing 350, a sleeve 360 matching the bearing 350; the bearing 350 is sleeved on the driving shaft 320, and the outer circle of the bearing 350 is matched with the inner hole of the shaft sleeve 360. The end of the shaft sleeve 360 far away from the hub 380 is provided with a boss 361, and one surface of the boss 361 facing the hub 380 is fixedly connected with the mechanical arm platform 400. By arranging the bearing 350 and the shaft sleeve 360 and fixedly connecting the shaft sleeve 360 and the manipulator platform 400, the driving shaft 320 is prevented from swinging when rotating, and the accuracy of the rotation angle of the manipulator fed back by the encoder 310 is ensured.

Preferably, as shown in fig. 4, an adapter plate 370 may be disposed in the rotating mechanism 300, and the adapter plate 370 is fixedly connected to the robot platform 400; a hole is formed in the middle of the adapter plate 370, the cross-sectional area of the boss 361 is larger than the projection area of the hole, so that the lower portion of the shaft sleeve 360 penetrates through the hole and the boss 361 stays on the upper end face of the adapter plate 370, and the boss 361 and the adapter plate 370 can be fixedly connected through bolts.

In one embodiment, the rotary mechanism further comprises a flange bearing 390; the flange bearing 390 is sleeved on the driving shaft 320, and a limiting structure is arranged at one end of the driving shaft 320 close to the encoder 310, wherein one surface of the flange in the flange bearing 390 is abutted with the limiting structure of the driving shaft 320, the other surface of the flange in the flange bearing 390 is abutted with the boss 361, and the flange in the flange bearing 390 can be fixedly connected with the boss 361 through bolts. The stability of the drive shaft 320 during rotation is further ensured by the flange bearing 390.

In one embodiment, a protruding circular truncated cone 351 can be disposed at one end of the bearing 350 close to the hub 380, and the circular truncated cone 351 is located between the sleeve 360 and the hub 380, so as to ensure that the hub 380 can rotate under the driving of the sprocket 330, and the bearing 350 can not slide on the driving shaft 320 any more.

In an embodiment, the rotating mechanism 300 further includes a sealing housing 340, one end of the sealing housing 340 is fixedly connected to a surface of the boss 361 away from the hub 380, and the other end of the sealing housing 340 is fixedly connected to the encoder. The entire drive shaft 320 is sealed in one cavity by the seal housing 340 and the boss 360 to prevent dust and the like from entering the cavity and affecting the rotation state of the drive shaft 320.

In one embodiment, the hub 380 has a first and second through hole disposed therethrough at the center thereof. One end of the driving shaft 320 close to the chain wheel 330 is embedded into the first through hole, the end surface is provided with a threaded hole, a bolt 325 penetrates through the first through hole and the threaded hole so as to fixedly connect the hub 380 and the driving shaft 320, and the aperture of the first through hole is larger than that of the second through hole; preferably, a gasket 326 is arranged between the nut of the bolt 32 and the hub 380, and the gasket 326 is sleeved on the screw rod of the bolt 325.

In another embodiment, referring to fig. 2, the rotary supporting mechanism 200 includes a rotary outer ring 210 and a rotary inner ring 220, the rotary inner ring 220 can be connected to the base of the robot, one side of the rotary outer ring 210 is engaged with the driving gear 120 of the driving mechanism 100, and the other side of the rotary outer ring 210 is engaged with the sprocket 330 of the rotating mechanism 300. In this embodiment, the driving gear 120 drives the rotary outer ring 210 to rotate, and the rotary outer ring 210 can drive the rotary inner ring 220 to rotate so as to rotate the manipulator; meanwhile, the rotary outer ring 210 can also drive the chain wheel 330 meshed with the rotary outer ring to rotate, the encoder 310 coaxially connected with the chain wheel 330 can calculate the gear ratio of the rotary outer ring 210 to the chain wheel 330, and the encoder 310 further converts the gear ratio into the actual rotation angle of the manipulator and feeds back the rotation angle.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A robot apparatus, characterized by comprising: the robot comprises a driving mechanism (100), a slewing bearing mechanism (200), a rotating mechanism (300) and a manipulator platform (400); the driving mechanism (100), the slewing bearing mechanism (200) and the rotating mechanism (300) are all arranged on the manipulator platform (400); the driving mechanism (100) drives the slewing bearing mechanism (200) to rotate;

the slewing bearing mechanism (200) is used for driving the manipulator to rotate;

the rotating mechanism (300) comprises an encoder (310) and a chain wheel (330), wherein the encoder (310) is coaxially connected with the chain wheel (330);

the chain wheel (330) is meshed with the slewing bearing mechanism (200), and the encoder (310) is used for detecting the rotation angle of the manipulator.

2. A manipulator arrangement according to claim 1, wherein the drive mechanism (100) comprises a hydraulic motor (110) and a drive gear (120), the hydraulic motor (110) being coaxially connected to the drive gear (120); the driving gear (120) is engaged with the slewing bearing mechanism (200).

3. A manipulator arrangement according to claim 2, wherein the number of teeth of the sprocket (330) is the same as the number of teeth of the drive gear (120).

4. A robot device according to claim 1, characterized in that the rotation mechanism (300) further comprises a drive shaft (320) and a hub (380); a through hole is formed in the center of the chain wheel (330), and the hub (380) penetrates through the through hole to be fixedly matched with the chain wheel (330); one end of the driving shaft (320) close to the chain wheel (330) is fixedly connected with the hub (380), and the other end of the driving shaft (320) is connected with the encoder (310).

5. A manipulator device according to claim 4, wherein the rotation mechanism (300) further comprises a bearing (350), a sleeve (360) mating with the bearing (350); the bearing (350) is sleeved on the driving shaft (320); one end, far away from the hub (380), of the shaft sleeve (360) is provided with a boss (361), and one face, facing the hub (380), of the boss (361) is fixedly connected with the manipulator platform (400).

6. A manipulator device according to claim 4, wherein the bearing (350) is provided with a protruding circular truncated cone (351) near one end of the hub (380), the circular truncated cone (351) being located between the sleeve (360) and the hub (380).

7. A manipulator device according to claim 5, wherein the rotating mechanism (300) further comprises a sealed housing (340), one end of the sealed housing (340) is fixedly connected with the surface of the boss (361) facing away from the hub (380), and the other end of the sealed housing (340) is fixedly connected with the encoder (310).

8. A robot device according to claim 4, characterized in that the hub (380) is centrally provided with a first and a second through hole, the first through hole being inserted in one end of the drive shaft (320) close to the chain wheel (330), and the drive shaft (320) is screwed in the second through hole by means of a bolt (325).

9. A manipulator device according to claim 8, wherein the first through-hole has a larger diameter than the second through-hole.

10. A manipulator device according to claim 8, wherein a washer (326) is arranged between the nut of the bolt (325) and the hub (380), the washer (326) fitting over the shank of the bolt (325).