CN220261061U - High-precision multistage synchronous self-locking mechanical arm with load feedback - Google Patents
High-precision multistage synchronous self-locking mechanical arm with load feedback Download PDFInfo
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- CN220261061U CN220261061U CN202323178625.0U CN202323178625U CN220261061U CN 220261061 U CN220261061 U CN 220261061U CN 202323178625 U CN202323178625 U CN 202323178625U CN 220261061 U CN220261061 U CN 220261061U
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- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a high-precision multistage synchronous self-locking mechanical arm with load feedback, belongs to the technical field of mechanical arms, and solves the problems that the fixed point position of a plane is easy to change after the plane stretches out of the existing ultra-long mechanical arm, the repeated positioning precision is poor, and left and right swinging is easy to occur, and the high-precision multistage synchronous self-locking mechanical arm comprises a fixed assembly, a base, a telescopic arm, a solid screw rod and a hollow screw rod; the telescopic arm is arranged in the base, the left and right degrees of freedom are limited through the ball linear guide rails, the telescopic arm moves linearly relative to the base, and a fixing assembly is arranged above the base; the solid screw rod is arranged in the base, the hollow screw rod is arranged in the telescopic arm, the solid screw rod is inserted into the hollow screw rod, and mechanical power is transmitted by using the mode that the solid screw rod is matched with the hollow screw rod in a section-by-section sleeving manner. The utility model provides the working efficiency of the mechanical arm and shortens the time of telescopic operation for multistage sleeving and synchronous movement.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a high-precision multistage synchronous self-locking mechanical arm with load feedback.
Background
The mechanical arm is a main component of an industrial robot, is a mechanical device capable of simulating human limbs, and can automatically complete repetitive tasks according to control signals. The basic principle of the mechanical arm is to control the movement of several joints, and to control the motor and the transmission device to realize the movement of other joints.
The position of the plane fixed point after extending out of the ultra-long distance mechanical arm in the current market is easy to change, the repeated positioning precision is poor, and the left and right swing is easy to generate; the linear repeated positioning precision is poor, the mechanical self-locking performance is not provided, and the synchronous telescoping function is not provided.
Disclosure of Invention
The utility model provides a high-precision multistage synchronous self-locking mechanical arm with load feedback, which aims to solve the problems that the fixed point position of a plane after extending out of the existing ultra-long mechanical arm is easy to change, the repeated positioning precision is poor, and the left and right swing is easy to generate; the linear repeated positioning precision is poor, and the linear repeated positioning precision does not have mechanical self-locking property or synchronous telescoping function.
The high-precision multistage synchronous self-locking mechanical arm with load feedback comprises a fixed assembly, a base, a telescopic arm, a solid screw rod and a hollow screw rod; wherein,
the telescopic arm is arranged in the base, the left and right degrees of freedom are limited through the ball linear guide rails, the telescopic arm moves linearly relative to the base, and a fixing assembly is arranged above the base; the solid screw rod is arranged in the base, the hollow screw rod is arranged in the telescopic arm, the solid screw rod is inserted into the hollow screw rod, and mechanical power is transmitted by using the mode that the solid screw rod is matched with the hollow screw rod in a section-by-section sleeving manner.
Further, the telescopic arms are provided with a plurality of sections, the telescopic arms at the back section are installed in the telescopic arms at the front section, the installation modes are the same, the outer diameters of the telescopic arms are reduced section by section, and the outer diameters of the hollow screw rods in the telescopic arms at each section are enlarged section by section.
Further, the fixed component comprises a hollow pressure sensor, a first bearing seat, a first bearing cover, a driving transmission gear, a driven gear, a gear cover, a first lock nut and a power servo motor; the upper flange surface and the lower flange surface of the hollow pressure sensor are both provided with threaded holes, the lower part is arranged on a top plate of the base, the upper part is provided with a first bearing seat, a first bearing is arranged on the first bearing seat, a first bearing cover is arranged on the first bearing, a solid screw rod penetrates through the first bearing, a first locking nut is used at the top to fix the solid screw rod, the screw rod can be axially loaded, a driven gear is inserted between the first bearing cover and the solid screw rod, a driving transmission gear is connected with the driven gear, the driving transmission gear is connected with a stretching shaft, the stretching shaft is connected with a power servo motor to receive power, and the power is transmitted to the solid screw rod through gear transmission.
Further, the nut pair is arranged at the upper end of the top plate of the telescopic arm, the nut pair is tightly attached to the top plate of the telescopic arm through the second locking nut, threads of the nut pair are matched with the solid screw rod, when the solid screw rod rotates, the rotational freedom degree is limited on the telescopic arm due to the fact that the nut pair is fixed on the telescopic arm, and the ball linear guide rail also limits the telescopic arm, so that the telescopic arm is driven to do linear motion.
Further, a second bearing seat is arranged at the lower end of the top plate of the telescopic arm, a second bearing is arranged on the second bearing seat, and a second bearing cover is arranged on the second bearing seat; the second bearing ensures that the hollow screw rod can axially load and rotate.
Furthermore, key grooves are formed in the outer sides of the solid screw rod and the hollow screw rod, the stress surface of the hollow screw rod is buckled on the auxiliary flange surface of the nut in the telescopic arm, and the lower end of the hollow screw rod is of an extended hollow sleeve structure; the key is arranged in the inner hole and close to the position of the second bearing seat, the key is matched with the key groove, and the inner diameter of the hollow hole is in clearance fit with the outer diameter of the solid screw rod, so that the solid screw rod can slide freely in the hollow hole.
Furthermore, the last mechanical hook claw of the telescopic arm is arranged to finish underwater grabbing work.
Furthermore, the first bearing cover and the second bearing cover are both in two half structures, so that the installation is convenient.
The beneficial effects realized by the utility model are as follows:
(1) The high-precision multistage synchronous self-locking mechanical arm with load feedback provided by the utility model uses the ball linear guide rail as the motion positioning piece of each section of telescopic arm, the fitting is tightly matched, each section of fitting is close to the rigid limit except the linear motion direction after installation, the telescopic arm is ensured to have no shaking, the position and the size of a plane point are ensured to be accurate after the telescopic arm is extended or retracted to a certain plane, and the repeated positioning precision can be controlled within 0.3.
(2) The high-precision multistage synchronous self-locking mechanical arm with load feedback provided by the utility model uses the solid screw rod as a transmission mechanism, so that the repeated positioning precision of the linear motion direction can be ensured, the precision is improved along with the improvement of the processing precision of the screw rod, the mechanical arm can effectively extend 7.5 meters, and the linear positioning precision can reach 0.3mm when the C7-stage screw rod is used in the expansion range; the solid screw rod has a self-locking function, which is particularly important in the vertical downward use of the mechanical arm, and the self-locking property can ensure that the slipping condition can not occur when the mechanical arm is loaded.
(3) The high-precision multistage synchronous self-locking mechanical arm with load feedback provided by the utility model is a multistage suit, has synchronism in movement, improves the working efficiency of the mechanical arm, and shortens the time of telescopic work.
(4) The high-precision multistage synchronous self-locking mechanical arm with load feedback provided by the utility model is used for feeding back load weight in real time, is used for grabbing a nuclear fuel assembly in an underwater pressure container, has a full mechanical structure, is an original radiation source of an electric element, ensures the nondestructive use of the mechanical arm in a radiation environment, and improves equipment safety and fuel assembly grabbing safety.
Drawings
FIG. 1 is a schematic view of a mechanical arm according to the present utility model;
FIG. 2 is a schematic structural view of a fixing assembly according to the present utility model;
FIG. 3 is an enlarged view of the present utility model at the robotic arm A;
FIG. 4 is an enlarged view of the present utility model at the robotic arm B;
FIG. 5 is a schematic view of a part of the structure of the hollow screw rod of the present utility model;
FIG. 6 is a schematic view of the joint of the telescopic arms according to the present utility model;
FIG. 7 is a schematic view of the structure of the nut assembly of the present utility model;
fig. 8 is a schematic view of the structure of the bearing cap of the present utility model.
Reference numerals:
1. a fixing assembly; 101. a hollow pressure sensor; 102. a first bearing seat; 103. a first bearing; 104. a first bearing cap; 105. a drive gear; 106. a driven gear; 107. a gear cover; 108. a first lock nut; 109. a power servo motor; 2. a base; 3. a telescoping arm; 301. a nut pair; 302. a second bearing seat; 303. a second bearing; 304. a second bearing cover; 305. a second lock nut; 306. a key; 4. a solid screw rod; 5. a hollow screw rod; 6. a ball linear guide rail; 7. a keyway.
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar components; the terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limiting the present patent.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
The technical scheme of the utility model is described in detail below with reference to the specific drawings.
As shown in fig. 1-8, a high-precision multistage synchronous self-locking mechanical arm with load feedback comprises a fixed assembly 1, a base 2, a telescopic arm 3, a solid screw 4 and a hollow screw 5; wherein,
the telescopic arm 3 is arranged in the base 2, the left and right degrees of freedom are limited through the ball linear guide 6, the telescopic arm 3 moves linearly relative to the base 2, and the fixing component 1 is arranged above the base 2; the solid screw rod 4 is arranged in the base 2, the hollow screw rod 5 is arranged in the telescopic arm 3, the solid screw rod 4 is inserted into the hollow screw rod 5, and mechanical power is transmitted in a section-by-section sleeving mode by matching the solid screw rod 4 with the hollow screw rod 5.
In a specific embodiment, the telescopic arms 3 are provided with multiple sections, the rear telescopic arm is installed in the front telescopic arm, the installation modes are the same, the outer diameters of the telescopic arms are reduced section by section, and the outer diameters of the hollow screw rods 5 are increased section by section.
In a specific embodiment, the fixing assembly 1 includes a hollow pressure sensor 101, a first bearing seat 102, a first bearing 103, a first bearing cover 104, a driving transmission gear 105, a driven gear 106, a gear cover 107, a first lock nut 108, and a power servo motor 109; the upper flange surface and the lower flange surface of the hollow pressure sensor 101 are provided with threaded holes, the lower part is arranged on a top plate of the base 2, the upper part is provided with a first bearing seat 102, a first bearing 103 is arranged on the first bearing seat 102, a first bearing cover 104 is arranged on the first bearing 103, a solid screw 4 penetrates through the first bearing 103, a first locking nut 108 is used for fixing the solid screw 4 at the top, axial load of the screw is ensured, a driven gear 106 is inserted between the first bearing cover 104 and the solid screw 4, a driving transmission gear 105 is connected with the driven gear 106, the driving transmission gear 105 is connected with a stretching shaft, the stretching shaft is connected with a power servo motor 109 to receive power, and the power is transmitted to the solid screw 4 through gear transmission.
In a specific embodiment, the nut pair 301 is mounted on the top plate of the telescopic arm 3, the threads of the nut pair 301 are matched with those of the solid screw 4, when the solid screw 4 rotates, the nut pair 301 is fixed on the telescopic arm 3 to limit the rotation freedom degree, and the ball linear guide 6 also limits the telescopic arm 3, so that the telescopic arm 3 is driven to do linear motion.
In a specific embodiment, a second bearing seat 302 is installed at the lower end of the top plate of the telescopic arm 3, a second bearing 303 is installed on the second bearing seat 302, and a second bearing cover 304 is installed on the second bearing 303; the second bearing 303 ensures that the hollow screw rod 5 can axially load and rotate, the nut pair 301 is tightly attached to the top plate of the telescopic arm 3 through the second locking nut 305, so that the inner ring of the bearing is tightly pressed to ensure that the inner ring is fixed, and the outer ring rotates.
In a specific embodiment, the outer sides of the solid screw rod 4 and the hollow screw rod 5 are respectively provided with a key groove 7, the bearing surface of the hollow screw rod 5 is buckled on the flange surface of the nut pair 301 in the telescopic arm 3, and the lower end is of an extended hollow sleeve structure; a key 306 is arranged in the inner hole and near the second bearing seat 302, the key 306 is matched with the key groove 7, the inner diameter of the hollow hole is in clearance fit with the outer diameter of the solid screw 4, and the solid screw 4 can freely slide in the hollow hole.
In a specific embodiment, the connection between the telescopic arms is the same as the connection between the base 2 and the telescopic arms 3.
In a specific embodiment, the lower end of the top of the next section of telescopic arm is provided with a hollow screw rod with a bearing seat, wherein the hollow screw rod is the same in structure as the previous section of telescopic arm; the key is designed at the bearing mounting position in the hollow hole of the hollow screw rod, the key is matched with a key groove at the outer side of the hollow screw rod, the outer diameter of the hollow screw rod in the rear section of telescopic arm is in clearance fit with the hollow hole of the hollow screw rod in the front section of telescopic arm, and the hollow screw rod can linearly slide in the inner side.
The following describes in detail the operation mode of the high-precision multistage synchronous self-locking mechanical arm with load feedback:
the power servo motor 109 drives the solid screw rod 4 to rotate, the solid screw rod 4 is inserted into the hollow screw rod 5, the relative rotation freedom degree is limited by the key 306, and the hollow screw rod 5 synchronously rotates when the solid screw rod 4 rotates because the second bearing seat 302 is arranged at the top of the hollow screw rod 5 and can rotate; the hollow screw rod 5 is matched with the nut pair 301 at the top of the telescopic arm 3, so that the lower telescopic arm 3 is driven to linearly move; the principle of the telescopic arms connected at the back is the same; when the whole telescopic boom is retracted, as the hollow screw rods 5 are internally provided with the through holes, the hollow screw rods in the rear telescopic boom can be folded section by section, the hollow screw rods in the front telescopic boom are completely sleeved with the hollow screw rods, the hollow screw rods 5 are sleeved with the solid screw rods 4, the leads (screw pitches) of the solid screw rods 4 and the hollow screw rods 5 are designed to be consistent, and after the solid screw rods 4 drive the hollow screw rods 5 to rotate, each telescopic boom can synchronously complete the fixed telescopic travel, so that the telescopic time can be shortened, and the efficiency can be improved.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments. The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (8)
1. The high-precision multistage synchronous self-locking mechanical arm with load feedback is characterized by comprising a fixed assembly (1), a base (2), a telescopic arm (3), a solid screw rod (4) and a hollow screw rod (5); wherein,
the telescopic device comprises a base (2) and a telescopic arm (3), wherein ball linear guide rails (6) are arranged in the base (2), the telescopic arm (3) is arranged in the base (2), the left and right degrees of freedom are limited through the ball linear guide rails (6), the telescopic arm (3) moves linearly relative to the base (2), and a fixing assembly (1) is arranged above the base (2); the solid screw rod (4) is arranged in the base (2), the hollow screw rod (5) is arranged in the telescopic arm (3), the solid screw rod (4) is inserted into the hollow screw rod (5), and mechanical power is transmitted in a section-by-section sleeving mode by matching the solid screw rod (4) with the hollow screw rod (5).
2. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 1, wherein the telescopic arm (3) is provided with a plurality of sections, the telescopic arm at the rear section is installed in the telescopic arm at the front section in the same installation mode, the outer diameter of each telescopic arm is gradually reduced, and the outer diameter of a hollow screw rod (5) in each telescopic arm is gradually increased.
3. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 1, wherein the fixed assembly (1) comprises a hollow sensor (101), a first bearing seat (102), a first bearing (103), a first bearing cover (104), a driving transmission gear (105), a driven gear (106), a gear cover (107), a first lock nut (108) and a power servo motor (109); the upper flange surface and the lower flange surface of the hollow pressure sensor (101) are respectively provided with a threaded hole, the lower part of the hollow pressure sensor is arranged on a top plate of the base (2), the upper part of the hollow pressure sensor is provided with a first bearing seat (102), a first bearing (103) is arranged on the first bearing seat (102), a first bearing cover (104) is arranged on the first bearing (103), a solid screw rod (4) penetrates through the first bearing (103), a first lock nut (108) is used at the top to fix the solid screw rod (4) so as to ensure that the screw rod can axially load, a driven gear (106) is inserted between the first bearing cover (104) and the solid screw rod (4), a driving transmission gear (105) is connected with the driven gear (106), the driving transmission gear (105) is connected with a stretching shaft, and the stretching shaft is connected with a power servo motor (109) to receive power and transmit the power to the solid screw rod (4) through gear transmission.
4. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 3, wherein a nut pair (301) is installed at the upper end of a top plate of the telescopic arm (3), the nut pair (301) is tightly attached to the top plate of the telescopic arm (3) through a second locking nut (305), threads of the nut pair (301) are matched with the solid screw rod (4), when the solid screw rod (4) rotates, the rotational freedom degree is limited due to the fact that the nut pair (301) is fixed on the telescopic arm (3), and the ball linear guide rail (6) also limits the telescopic arm (3), so that the telescopic arm (3) is driven to do linear motion.
5. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 4, wherein a second bearing seat (302) is arranged at the lower end of a top plate of the telescopic arm (3), a second bearing seat (303) is arranged on the second bearing seat (302), and a second bearing cover (304) is arranged on the second bearing seat (303); the second bearing (303) ensures that the hollow screw (5) can be axially loaded and rotated.
6. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 5, wherein key grooves (7) are formed in the outer sides of the solid screw rod (4) and the hollow screw rod (5), a stress surface of the hollow screw rod (5) is buckled on a flange surface of a nut pair (301) in the telescopic arm (3), and an extended hollow sleeve structure is arranged at the lower end of the hollow screw rod; a key (306) is arranged in the inner hole and close to the second bearing (302), the key (306) is matched with the key groove (7), and the inner diameter of the hollow hole is in clearance fit with the outer diameter of the solid screw rod (4), so that the solid screw rod (4) can slide freely in the hollow hole.
7. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 2, wherein the last mechanical hook claw of the telescopic arm (3) is installed to complete underwater grabbing work.
8. The high-precision multistage synchronous self-locking mechanical arm with load feedback according to claim 6, wherein the first bearing cover (104) and the second bearing cover (304) are of two-half structures, so that the mounting is convenient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323178625.0U CN220261061U (en) | 2023-11-24 | 2023-11-24 | High-precision multistage synchronous self-locking mechanical arm with load feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323178625.0U CN220261061U (en) | 2023-11-24 | 2023-11-24 | High-precision multistage synchronous self-locking mechanical arm with load feedback |
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| Publication Number | Publication Date |
|---|---|
| CN220261061U true CN220261061U (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323178625.0U Active CN220261061U (en) | 2023-11-24 | 2023-11-24 | High-precision multistage synchronous self-locking mechanical arm with load feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220261061U (en) |
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2023
- 2023-11-24 CN CN202323178625.0U patent/CN220261061U/en active Active
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