CN218698988U

CN218698988U - Arm base mechanism and material loading frock

Info

Publication number: CN218698988U
Application number: CN202222664320.XU
Authority: CN
Inventors: 吴文彬; 王斌; 刘超; 孙啸
Original assignee: Luxshare Intelligent Manufacture Technology Changshu Co Ltd
Current assignee: Luxshare Intelligent Manufacture Technology Changshu Co Ltd
Priority date: 2022-10-10
Filing date: 2022-10-10
Publication date: 2023-03-24
Anticipated expiration: 2032-10-10

Abstract

The application relates to arm base mechanism and material loading frock, wherein, arm base mechanism includes: a base; the drive assembly, drive assembly sets up on the base, drive assembly includes first drive division and planetary gear structure, planetary gear structure includes central external gear, connect external gear and internal gear, central external gear links to each other with the output shaft of first drive division, central external gear is located the inside of internal gear, the center axis of central external gear and the central axis coincidence of internal gear, it sets up between central external gear and internal gear to connect the external gear, and all mesh with central external gear and internal gear. The technical scheme of this application has solved the arm among the prior art effectively that the rigidity strikes great in work, and the arm base mechanism problem of damaging easily that leads to.

Description

Arm base mechanism and material loading frock

Technical Field

The application relates to the technical field of feeding tools, in particular to a mechanical arm base mechanism and a feeding tool.

Background

With the rapid development of new energy vehicles and consumer electronics, the demand for manufacturing industry is becoming more and more stringent. Driven by research and development technologies, the manual productivity is changed into mechanical automatic productivity, so that high-efficiency, high-precision and high-quality industrial chain processing service is generated, the stability input of the process is ensured, and the potential safety hazard of personnel operation is avoided.

The mechanical arm base and the mechanical arm in the prior art are rigidly connected, the structure enables the mechanical arm to be free of buffering when the mechanical arm is used for taking and placing materials, for example, when the mechanical arm is used for taking and placing heavy materials, external acting force transmitted by the mechanical arm is large, large rigid impact force can be formed on the mechanical arm base, and then the mechanical arm base mechanism is easy to damage.

SUMMERY OF THE UTILITY MODEL

The application provides arm base mechanism and material loading frock to the arm rigid impact who solves among the prior art is great in work, and the easy problem of damaging of arm base mechanism that leads to.

According to the application, a mechanical arm base mechanism comprises: a base; the drive assembly, drive assembly sets up on the base, drive assembly includes first drive division and planetary gear structure, planetary gear structure includes central external gear, connect external gear and internal gear, central external gear links to each other with the output shaft of first drive division, central external gear is located the inside of internal gear, the center axis of central external gear and the central axis coincidence of internal gear, it sets up between central external gear and internal gear to connect the external gear, and all mesh with central external gear and internal gear.

Further, the number of the external connection gears is plural, and the plural external connection gears are uniformly arranged on the outer side in the circumferential direction of the central external gear.

Further, arm base mechanism still includes the horizontal platform subassembly that slides, and the horizontal platform subassembly that slides includes second drive division and base, and the second drive division is all fixed to be set up on the base, and the second drive division links to each other with the base, and the base has the slide rail structure of mutually supporting with the base.

Further, arm base mechanism still includes shock-absorbing structure, and shock-absorbing structure sets up on the base to link to each other with the base.

Further, shock-absorbing structure includes guide bar, cylinder block and piston rod, and the guide bar is installed on the base, and the cylinder block can set up on the guide bar with moving, and the first end of piston rod is installed in the cylinder block, and the second end of piston rod links to each other with the base.

Further, the second driving portion comprises a step motor and a step crawler belt, the step motor and the step crawler belt are both arranged on the base, an output shaft of the step motor is connected with the step crawler belt, and the step crawler belt is connected with the base.

Further, the slide rail structure includes slide rail and slide, and the slide rail setting is on the base, and the slide setting is on the base.

Further, arm base mechanism still includes two limit structure, and two limit structure set up the both ends at the slide rail respectively.

Further, the mechanical arm base structure further comprises a control structure, and the control structure is arranged on one side, far away from the planetary gear structure, of the base.

According to another aspect of the application, the feeding tool comprises a feeding tool main body and a mechanical arm base mechanism, and the mechanical arm base mechanism is the mechanical arm base mechanism.

Use the technical scheme of this application, first drive division drive center external gear, center external gear links to each other through connecting outer gear and internal gear, and the internal gear links to each other with the arm, and when first drive division drive center external gear rotated like this, the internal gear also can realize rotating, and then drives the arm and rotate, and above-mentioned structure can realize that the degree of freedom that the arm removed when getting the material is great. When the mechanical arm is used for taking and placing larger materials, the planetary gear structure has a certain side buffering effect, so that the generation of rigid impact is avoided, and the mechanical arm base mechanism is not easy to damage. The technical scheme of this application has solved the arm among the prior art effectively that the rigidity strikes great in work, and the arm base mechanism problem of damaging easily that leads to.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

FIG. 1 shows a perspective view of a robotic arm base mechanism of the present application;

FIG. 2 shows a schematic perspective view of another angle of the robotic arm base mechanism of FIG. 1;

FIG. 3 shows a perspective schematic view of the planetary gear arrangement of the robotic arm base mechanism of FIG. 2;

figure 4 shows a perspective view of the underside of the robotic arm base mechanism of figure 1.

Wherein the figures include the following reference numerals:

10. a base; 20. a drive assembly; 21. a first driving section; 22. a planetary gear structure; 221. a center outer gear; 222. connecting an external gear; 223. an inner gear; 30. a horizontal slipping platform assembly; 31. a second driving section; 32. a base; 40. a shock-absorbing structure; 50. a slide rail structure; 60. a limiting structure; 70. a control structure.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. 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 application belongs.

For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 4, the robot arm seating mechanism of the present embodiment includes: a base 10 and a drive assembly 20. The driving assembly 20 is disposed on the base 10, the driving assembly 20 includes a first driving part 21 and a planetary gear structure 22, the planetary gear structure 22 includes a center outer gear 221, a connection outer gear 222, and an inner gear 223, the center outer gear 221 is connected to an output shaft of the first driving part 21, the center outer gear 221 is located inside the inner gear 223, a central axis of the center outer gear 221 coincides with a central axis of the inner gear 223, and the connection outer gear 222 is disposed between the center outer gear 221 and the inner gear 223 and meshes with both the center outer gear 221 and the inner gear 223.

By applying the technical scheme of the embodiment, the first driving portion 21 drives the central outer gear 221, the central outer gear 221 is connected with the inner gear 223 through the connecting outer gear 222, and the inner gear 223 is connected with the mechanical arm, so that when the first driving portion 21 drives the central outer gear 221 to rotate, the inner gear 223 can also rotate, and further the mechanical arm is driven to rotate. When the mechanical arm takes and places larger materials, the planetary gear structure 22 has a certain side buffering effect, so that rigid impact is avoided, and the mechanical arm base mechanism is not easy to damage. The technical scheme of this embodiment has solved the arm among the prior art effectively that the rigidity is strikeed great in work, and the easy problem of damaging of arm base mechanism that leads to.

As shown in fig. 3, in the present embodiment, there are a plurality of the external connection gears 222, and the plurality of external connection gears 222 are uniformly disposed on the circumferential outer side of the external center gear 221. The plurality of external connection gears 222 are uniformly disposed on the circumferential outer side of the external center gear 221, which ensures that the fit between the external center gear 221 and the internal gear 223 is more stable and the forces applied to the external center gear 221 and the internal gear 223 are more balanced. Three connection external gears 222 are used in the present embodiment. The first driving part 21 is a driving motor, and the output shaft of the driving motor is connected with the central external gear 221. When the driving motor is engaged with the center outer gear 221, it may be engaged with a reduction gear as needed.

As shown in fig. 1 and fig. 2, in the technical solution of this embodiment, the mechanical arm base mechanism further includes a horizontal sliding platform assembly 30, the horizontal sliding platform assembly 30 includes a second driving portion 31 and a base 32, the second driving portion 31 is both fixedly disposed on the base 32, the second driving portion 31 is connected with the base 10, and the base 10 and the base 32 have a slide rail structure that is matched with each other. The cooperating slide rail structure between the base 10 and the base 32 ensures that the base 10 can move according to a predetermined track. The base 10 can be moved horizontally, which further expands the range of motion of the robot arm, not only in the circumferential direction at a certain point, but also in the circumferential direction at any point along the horizontal direction.

As shown in fig. 1 and 2, in the solution of the present embodiment, the robot arm base mechanism further includes a shock absorbing structure 40, and the shock absorbing structure 40 is disposed on the base 32 and connected to the base 10. The provision of the shock-absorbing structure 40 alleviates the problem of a large direct acting force occurring between the internal gear 223 and the external connection gear 222. This further reduces the stiffness forces of the robot arm base mechanism.

As shown in fig. 1 and 2, in the solution of the present embodiment, the shock absorbing structure 40 includes a guide rod, a cylinder block and a piston rod, the guide rod is installed on the base 10, the cylinder block is movably disposed on the guide rod, a first end of the piston rod is installed in the cylinder block, and a second end of the piston rod is connected to the base 10. The cylinder seat is filled with gas with certain pressure, and the rigid impact of the mechanical arm base mechanism is further reduced under the buffering action force of the piston rod and the cylinder seat. It should be noted that the air cylinder seat is provided with the piston fixing column, the piston fixing column can be pushed against the guide rod under the action of air pressure, and therefore the air cylinder seat is fixed relative to the guide rod.

As shown in fig. 1 and 2, in the present embodiment, the second driving portion 31 includes a step motor and a step track, both of which are disposed on the base 32, and an output shaft of the step motor is connected to the step track, and the step track is connected to the base 10. The above structure can realize the horizontal movement of the base 10.

As shown in fig. 1 and fig. 2, in the solution of the present embodiment, the slide rail structure 50 includes a slide rail and a slide rail, the slide rail is disposed on the base 32, and the slide rail is disposed on the base 10. The structure has lower processing cost and convenient arrangement. Specifically, there are two slide rails respectively located at two sides of the base 10, and there are two slide rails respectively corresponding to the slide rails.

As shown in fig. 1 and fig. 2, in the technical solution of this embodiment, the mechanical arm base mechanism further includes two limiting structures 60, and the two limiting structures 60 are respectively disposed at two ends of the slide rail. This effectively prevents the base 10 from coming off the slide rails. The limit structure 60 is a limit contact, the limit contact is electrically connected to the control structure 70, and when the control structure 70 receives a signal of the limit contact, the control structure 70 sends an instruction to the second driving part 31, and the second driving part 31 stops working, thereby effectively preventing the base 10 from separating from the track.

As shown in fig. 1 and fig. 2, in the solution of the present embodiment, the robot arm base structure further includes a control structure 70, and the control structure 70 is disposed on a side of the base 10 away from the planetary gear structure 22. The structure is compact, and the integration level is good. The control structure 70 is electrically connected to the position limiting structure 60, the first driving portion 21 and the second driving portion 31.

The application also provides a feeding tool, the feeding tool comprises a feeding tool main body and a mechanical arm base mechanism, and the mechanical arm base mechanism is the mechanical arm base mechanism.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a mechanical arm base mechanism which characterized in that includes:

a base (10);

a driving assembly (20), the driving assembly (20) is disposed on the base (10), the driving assembly (20) includes a first driving portion (21) and a planetary gear structure (22), the planetary gear structure (22) includes a central external gear (221), a connection external gear (222) and an internal gear (223), the central external gear (221) is connected to an output shaft of the first driving portion (21), the central external gear (221) is located inside the internal gear (223), a central axis of the central external gear (221) and a central axis of the internal gear (223) coincide, the connection external gear (222) is disposed between the central external gear (221) and the internal gear (223) and is engaged with both the central external gear (221) and the internal gear (223).

2. The robot arm base mechanism according to claim 1, wherein the external connection gear (222) is plural, and the plural external connection gears (222) are uniformly arranged outside the center external gear (221) in the circumferential direction.

3. The mechanical arm base mechanism as claimed in claim 1, further comprising a horizontal sliding platform assembly (30), wherein the horizontal sliding platform assembly (30) comprises a second driving part (31) and a base (32), the second driving part (31) is fixedly arranged on the base (32), the second driving part (31) is connected with the base (10), and the base (10) and the base (32) have mutually matched slide rail structures.

4. The arm base mechanism according to claim 3, further comprising a shock absorbing structure (40), said shock absorbing structure (40) being disposed on said base (32) and being connected to said base (10).

5. The arm base mechanism according to claim 4, wherein the shock absorbing structure (40) comprises a guide bar mounted on the base (10), a cylinder block movably disposed on the guide bar, and a piston rod having a first end mounted in the cylinder block and a second end connected to the base (10).

6. The arm base mechanism according to claim 3, wherein the second drive portion (31) includes a step motor and a step track, both provided on the base (32), an output shaft of the step motor being connected to the step track, the step track being connected to the base (10).

7. The robot arm base mechanism of claim 3, wherein the slide rail structure (50) comprises slide rails provided on the base (32) and slide rails provided on the base (10).

8. The mechanical arm base mechanism as claimed in claim 7, further comprising two limiting structures (60), wherein the two limiting structures (60) are respectively arranged at two ends of the slide rail.

9. The robot arm base mechanism according to claim 8, further comprising a control structure (70), the control structure (70) being arranged on a side of the base (10) remote from the planetary gear structure (22).

10. A feeding tool is characterized by comprising a feeding tool main body and a mechanical arm base mechanism, wherein the mechanical arm base mechanism is the mechanical arm base mechanism in any one of claims 1 to 9.