CN219275840U

CN219275840U - Six arm of cable wires

Info

Publication number: CN219275840U
Application number: CN202223336215.XU
Authority: CN
Inventors: 郭文旭; 韦志华
Original assignee: Shenzhen Lingpeng Intelligent Technology Co ltd
Current assignee: Shenzhen Lingpeng Intelligent Technology Co ltd
Priority date: 2022-12-14
Filing date: 2022-12-14
Publication date: 2023-06-30
Anticipated expiration: 2032-12-14

Abstract

The utility model discloses a steel cable six-axis mechanical arm which comprises a shell, a power assembly, a transmission assembly and a tail end assembly, wherein the power assembly is arranged on the shell; the transmission assembly is arranged in the shell, the power assembly is connected with the transmission assembly, and the transmission assembly is connected with the tail end assembly. According to the utility model, through the design of the steel rope transmission device, the power source of the tail end shaft of the six-shaft robot in series is arranged at the rear, so that the weight limit of the tail end shaft mechanism is avoided and the load of the speed reducer of the head end shaft is lightened under the condition that the requirement of output power is met.

Description

Six arm of cable wires

Technical Field

The utility model relates to a six-axis mechanical arm, in particular to a steel cable six-axis mechanical arm.

Background

Because the common multi-joint serial robot generally arranges the motor and the speed reducer at the joint rotation position directly, the dead weight of the tail end mechanism is larger, so the head end joint speed reducer needs to bear the dead weight of the tail end joint motor and the speed reducer besides bearing the load torque caused by the load, the wall thickness of the head end shell needs to be thickened to enhance the rigidity, thereby the higher requirements on the rigidity and the power of the head end speed reducer are also provided, and the dead weight of the tail end speed reducer and the motor is greatly limited.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a six-axis mechanical arm of a steel cable, which adopts a reciprocating type wire drawing transmission principle, meets the requirements of degree of freedom, load capacity and precision, effectively controls the volume and weight of the tail end, and adopts a steel cable transmission scheme to effectively transmit power and mechanical action to the tail end on the premise of ensuring the precision.

The six-axis mechanical arm of the steel cable is realized by the following technical scheme: comprises a shell, a power assembly, a transmission assembly and a tail end assembly; the transmission assembly is arranged in the shell, the power assembly is connected with the transmission assembly, and the transmission assembly is connected with the tail end assembly.

As the preferable technical scheme, the power assembly comprises a speed reducer mounting plate, a speed reducer, a servo motor, a base plate and a motor mounting plate, wherein the speed reducer mounting plate is vertically arranged on one side of the base plate, and the speed reducer is arranged on the speed reducer mounting plate; the servo motor is fixed above the motor mounting plate; the servo motor transmits power to the input shaft of the speed reducer through the synchronous belt and the synchronous wheel, and the power reaches the output shaft of the speed reducer after being decelerated by the speed reducer; the base reinforcing shaft is arranged on the speed reducer mounting plate.

As a preferable technical scheme, the transmission assembly comprises a steel wire pretightening force bearing plate, a steel wire winding wheel, a guide wheel shaft, a steel wire guide wheel, a limiting steel wire, a steel wire fixing plate, a carbon fiber transmission shaft, a six-shaft tail end steel wire wheel, a transmission steel wire, a steel wire positioning plate and a shell, wherein the steel wire winding wheel fixed on an output shaft of the speed reducer transmits power to each motion joint through winding and unwinding the transmission steel wire; when the limiting steel wire is installed, the steel wire fixing plate is pre-tightened by a pre-tightening device so as to ensure that the motion between the two arms is pure rolling; the tail end of one group of transmission steel wires is fixed on the six-shaft tail end steel wire wheel, and torque is continuously transmitted downwards through a carbon fiber transmission shaft which is also fixed on the six-shaft tail end steel wire wheel.

As a preferable technical scheme, the tail end assembly comprises a locating rod fixing block, a locating rod, a tail end mounting plate, a Teflon steel wire sleeve, a transmission universal joint, a steel wire fixing head, a fish eye joint, a tail end flange and an output shaft, wherein the transmission steel wires are divided into two groups, one group of transmission steel wires on the opposite side of the tail end mounting plate is one group, and the other ends of the two groups of transmission steel wires are fixed on the same steel wire winding wheel; the movement of the tail end flange and the tail end mounting plate is equivalent to the pure rolling between two hemispheres under the limit of the positioning rod and the transmission universal joint, and the gesture of the tail end assembly is determined by two groups of transmission steel wires; the terminal flanges, the positioning rod fixing blocks, the positioning rods and the terminal mounting plates are connected in pairs through hinge pins; the Teflon steel wire sleeve passes through the corresponding hole position on the tail end mounting plate and is fixed on the tail end mounting plate by using a clamp spring; the output shaft is connected with the transmission universal joint through a hinge pin; the fish eye joint is connected with the tail end flange through a hinge pin; the steel wire fixing head is connected with the fish-eye joint through threaded fit.

The beneficial effects of the utility model are as follows: the utility model has the advantages that the motors and the speed reducers of the 4 shafts at the tail end are arranged at the rear, the dead weight of the mechanical arm is reduced, the dead weight limitation of the tail end speed reducers and motors of the traditional six-shaft serial robot is broken through, and the load of the front end shaft is reduced.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of a power assembly of the present utility model;

FIG. 3 is a schematic view of a transmission assembly according to the present utility model;

fig. 4 is a schematic view of the end assembly structure of the present utility model.

Detailed Description

All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.

As shown in fig. 1, a six-axis cable mechanical arm of the present utility model includes a housing 1001, a power assembly 200, a transmission assembly 300, and a tip assembly 400;

the transmission assembly 300 is mounted in the housing 1001, the power assembly 200 is connected to the transmission assembly 300, and the transmission assembly 300 is connected to the end assembly 400.

As shown in fig. 2, the power assembly 200 includes a speed reducer mounting plate 2001, a speed reducer 2002, a servo motor 2003, a base plate 2005, a motor mounting plate 2006, the speed reducer mounting plate 2001 being vertically mounted on one side of the base plate 2005, and the speed reducer 2002 being mounted on the speed reducer mounting plate 2001; the servo motor 2003 is fixed above the motor mounting plate 2006; the servo motor 2003 transmits power to an input shaft of the speed reducer 2002 through the synchronous belt 2004 and the synchronous wheel 2007, and the power reaches an output shaft of the speed reducer 2002 after being decelerated by the speed reducer 2002; a base reinforcing shaft 2008 is attached to the speed reducer mounting plate 2001.

As shown in fig. 3, the transmission assembly comprises a steel wire pre-tightening force bearing plate 3001, a steel wire winding wheel 3002, a guide wheel shaft 3003, a steel wire guide wheel 3004, a limit steel wire 3005, a steel wire fixing plate 3006, a carbon fiber transmission shaft 3007, a six-axis tail end steel wire wheel 3008, a transmission steel wire 3009, a steel wire positioning plate 3010 and a shell 1001, wherein the steel wire winding wheel 3002 fixed on an output shaft of a speed reducer 2002 transmits power to each motion joint by winding and unwinding the transmission steel wire 3009; the steel wire pre-tightening force bearing plate (3001) is fixed on the base reinforcing shaft 2008 through shaft hole matching and shaft check rings, the steel wire guide wheel 3004 is mounted on the guide wheel shaft 3003 through a deep groove ball bearing, and the guide wheel shaft 3003 is fixed on the housing 1001 through screws; the steel wire positioning plate 3010 is fixed on the housing 1001 by a positioning pin and a screw; when the limiting steel wire 3005 is installed, the limiting steel wire 3005 is pre-tightened through a pre-tightening device on the steel wire fixing plate 3006, so that the motion between the two arms is ensured to be pure rolling; one of the sets of drive wires 3009 is secured to the six-axis end wire wheel 3008 and torque continues to be transmitted downwardly through the carbon fiber drive shaft 3007, which is also secured to the six-axis end wire wheel 3008.

As shown in fig. 4, the end assembly comprises a positioning rod fixing block 4001, a positioning rod 4002, an end mounting plate 4003, a teflon steel wire sleeve 4004, a transmission universal joint 4005, a steel wire fixing head 4006, a fish eye joint 4007, an end flange 4008 and an output shaft 4009, wherein the transmission steel wires 3009 are divided into two groups, one group of transmission steel wires 3009 on the opposite side of the end mounting plate 4003 is divided into one group, and the other ends of the transmission steel wires 3009 are fixed on the same steel wire coiling wheel 3002; the movement of the tail end assembly under the limit of the positioning rod 4002 and the transmission universal joint 4005 is equivalent to the pure rolling between two hemispheres of the tail end flange 4008 and the tail end mounting plate 4003, and the gesture of the tail end assembly is determined by two groups of transmission steel wires 3009; the end flange 4008, the positioning rod fixing block 4001, the positioning rod 4002 and the end mounting plate 4003 are connected in pairs through hinge pins; the Teflon steel wire sleeve 4004 passes through the corresponding hole site on the terminal mounting plate 4003 and is fixed on the terminal mounting plate 4003 by a clamp spring; the output shaft is connected with the transmission universal joint 4005 through a hinge pin; the fish eye joint 4007 is connected to the end flange 4008 by a hinge pin; the wire fixing head 4006 is connected to the fisheye fitting 4007 by a screw fit.

The working principle is as follows:

the reciprocating type stay wire transmission principle is adopted, the volume and the weight of the tail end are effectively controlled while the requirements of the degree of freedom, the load capacity and the precision are met, and the adopted steel rope transmission scheme effectively transmits power and mechanical actions to the tail end on the premise of ensuring the precision.

The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the utility model is not limited thereto, but any changes or substitutions that do not undergo the inventive effort should be construed as falling within the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a six arm of cable wires which characterized in that: comprises a shell (1001), a power assembly (200), a transmission assembly (300) and a tail end assembly (400);

the transmission assembly (300) is arranged in the shell (1001), the power assembly (200) is connected with the transmission assembly (300), and the transmission assembly (300) is connected with the tail end assembly (400).

2. The six-axis mechanical arm for steel cables according to claim 1, wherein: the power assembly (200) comprises a speed reducer mounting plate (2001), a speed reducer (2002), a servo motor (2003), a base plate (2005) and a motor mounting plate (2006), wherein the speed reducer mounting plate (2001) is vertically arranged on one side of the base plate (2005), and the speed reducer (2002) is arranged on the speed reducer mounting plate (2001); the servo motor (2003) is fixed above the motor mounting plate (2006); the servo motor (2003) transmits power to an input shaft of the speed reducer (2002) through the synchronous belt (2004) and the synchronous wheel (2007), and the power reaches an output shaft of the speed reducer (2002) after the power is reduced by the speed reducer (2002); a base reinforcing shaft (2008) is mounted on the speed reducer mounting plate (2001).

3. The six-axis mechanical arm for steel cables according to claim 1, wherein: the transmission assembly comprises a steel wire pretightening force bearing plate (3001), a steel wire winding wheel (3002), a guide wheel shaft (3003), a steel wire guide wheel (3004), a limiting steel wire (3005), a steel wire fixing plate (3006), a carbon fiber transmission shaft (3007), a six-shaft tail end steel wire wheel (3008), a transmission steel wire (3009), a steel wire positioning plate (3010) and a shell (1001), wherein the steel wire winding wheel (3002) fixed on an output shaft of a speed reducer (2002) transmits power to each motion joint through winding and unwinding the transmission steel wire (3009); the steel wire pre-tightening force bearing plate (3001) is fixed on the base reinforcing shaft (2008) through shaft hole matching and a shaft retainer ring, the steel wire guide wheel (3004) is mounted on the guide wheel shaft (3003) through a deep groove ball bearing, and the guide wheel shaft (3003) is fixed on the shell (1001) through a screw; the steel wire positioning plate (3010) is fixed on the shell (1001) through a positioning pin and a screw; when the limiting steel wire (3005) is installed, the limiting steel wire is pre-tightened through a pre-tightening device on the steel wire fixing plate (3006) so as to ensure that the motion between the two arms is pure rolling; the ends of one set of drive wires (3009) are fixed to the six-axis end wire wheel (3008), and torque continues to be transmitted downwards through a carbon fiber drive shaft (3007) also fixed to the six-axis end wire wheel (3008).

4. The six-axis mechanical arm for steel cables according to claim 1, wherein: the tail end assembly comprises a locating rod fixing block (4001), a locating rod (4002), a tail end mounting plate (4003), a Teflon steel wire sleeve (4004), a transmission universal joint (4005), a steel wire fixing head (4006), a fish-eye joint (4007), a tail end flange (4008) and an output shaft (4009), wherein the transmission steel wires (3009) are divided into two groups, one group of transmission steel wires (3009) on the opposite side of the tail end mounting plate (4003) is one group, and the other ends of the transmission steel wires are fixed on the same steel wire coiling wheel (3002); under the limit of a positioning rod (4002) and a transmission universal joint (4005), the movement of a terminal flange (4008) and a terminal mounting plate (4003) is equivalent to the pure rolling between two hemispheres, and the gesture of the terminal assembly is determined by two groups of transmission steel wires (3009); the end flange (4008), the positioning rod fixing block (4001), the positioning rod (4002) and the end mounting plate (4003) are connected in pairs through hinge pins; the Teflon steel wire sleeve (4004) passes through a corresponding hole site on the tail end mounting plate (4003) and is fixed on the tail end mounting plate (4003) by a clamp spring; the output shaft is connected with a transmission universal joint (4005) through a hinge pin; the fish eye joint (4007) is connected with the tail end flange (4008) through a hinge pin; the steel wire fixing head (4006) is connected with the fish-eye joint (4007) through threaded fit.