CN220614055U

CN220614055U - Robot big arm

Info

Publication number: CN220614055U
Application number: CN202322318025.3U
Authority: CN
Inventors: 官志伟; 杨君勇; 李恒通; 吴丹; 李涛; 黄祖文; 赖启文; 陈永国; 简宏
Original assignee: Zhongke Intelligence Technology Hunan Co ltd; Guangzhou Railway Technology Development Co ltd
Current assignee: Zhongke Intelligence Technology Hunan Co ltd; Guangzhou Railway Technology Development Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2024-03-19
Anticipated expiration: 2033-08-28

Abstract

The utility model discloses a robot big arm, which comprises a big arm main body, wherein a big arm driving device is arranged at one end of the big arm main body, a small arm bearing frame is arranged at the other end of the big arm main body, a big arm lead screw is arranged at the output end of the big arm driving device, one end of the big arm lead screw, which is far away from the big arm driving device, is connected with the small arm bearing frame, a big arm sliding component is also arranged on the big arm lead screw, a small arm pull rod is arranged at one end of the small arm bearing frame, the other end of the small arm pull rod is connected with the big arm sliding component, a sliding rail is arranged in the big arm main body, and a big arm sliding block is arranged on the big arm sliding component.

Description

Robot big arm

Technical Field

The utility model belongs to the field of robots, and particularly relates to a robot big arm.

Background

The robot is an intelligent machine capable of working semi-automatically or fully automatically, so that people can be replaced to engage in various heavy mechanized labor, the applied field range is very wide, the motion principle is that the robot forearm can perform pitching motion under the driving of the large arm, but in the prior art, the forearm support frame cannot be effectively driven to rotate under the driving of the large arm sliding component, and further the robot forearm cannot be effectively caused to perform pitching motion, in addition, a screw rod is arranged in the large arm of the robot at present, the sliding device is driven to drive the robot forearm to perform pitching motion by the rotation of the screw rod, however, the sliding device on the screw rod does not play a guiding role, and further the large radial deformation of the screw rod of the large arm of the robot can be caused.

Disclosure of Invention

The main purpose of the utility model is to provide the large arm of the robot, which can effectively drive the small arm support frame to rotate, thereby realizing the pitching operation of the small arm of the robot, and simultaneously playing a role in guiding the movement of the large arm sliding component on the screw rod in the axial direction of the screw rod, so as to ensure that the screw rod of the large arm does not generate larger radial deformation during operation.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the large arm of the robot comprises a large arm main body, wherein a large arm driving device is arranged at one end of the large arm main body, a small arm bearing frame is arranged at the other end of the large arm main body, a large arm lead screw is arranged at the output end of the large arm driving device, a large arm sliding assembly is further arranged on the large arm lead screw, a small arm pull rod is arranged at one end of the small arm bearing frame, and the other end of the small arm pull rod is connected with the large arm sliding assembly.

In a specific embodiment of the present utility model, the large arm sliding assembly includes a large arm slider, at least one large arm sliding rail is disposed in the large arm main body, and the large arm slider is connected with the large arm sliding rail in a matching manner.

In a specific embodiment of the present utility model, the large arm sliding assembly further comprises a screw nut which is provided on the large arm screw and is in fit connection with the screw nut connector.

In a specific embodiment of the present utility model, the upper arm body includes an upper arm reinforcing plate disposed above the upper arm screw and a lower arm reinforcing plate disposed below the upper arm screw, and the upper arm reinforcing plate and the lower arm reinforcing plate are parallel to each other.

In a specific embodiment of the present utility model, two large arm sliding rails are disposed on a side, close to the large arm screw, of the large arm upper reinforcing plate, two pairs of large arm sliding rails are disposed on a side, close to the large arm screw, of the large arm lower reinforcing plate, two large arm sliding blocks are disposed on a first side of the screw nut connecting piece, two large arm sliding blocks are disposed on a second side of the screw nut connecting piece, two large arm sliding rails on the large arm upper reinforcing plate are connected with the two large arm sliding blocks on the first side in a matching manner, and two large arm sliding rails on the large arm lower reinforcing plate are connected with the two large arm sliding blocks on the second side in a matching manner.

In a specific embodiment of the present utility model, the boom driving apparatus includes a boom motor, a boom reducer provided on the boom motor, and a coupling provided on the boom reducer.

In a specific embodiment of the utility model, the large arm driving device is provided with large arm motor mounting frames at two sides.

In a specific embodiment of the utility model, the two large arm motor mounting frames are parallel to each other, and a large arm supporting shaft is arranged at the center position of each large arm motor mounting frame.

In a specific embodiment of the present utility model, a small arm connecting shaft is disposed at an end of the small arm bearing frame near the large arm lower reinforcing plate, and an auxiliary large arm connecting shaft is disposed at an end of the small arm bearing frame near the large arm upper reinforcing plate.

One of the above technical solutions of the present utility model has at least one of the following advantages or beneficial effects:

according to the utility model, the small arm bearing frame is arranged at one end of the large arm main body, the small arm pull rod is arranged at one end of the small arm bearing frame, the other end of the small arm pull rod is connected with the large arm sliding assembly on the large arm lead screw in the large arm main body, the small arm pull rod can be driven by the large arm sliding assembly to drive the small arm support frame to rotate, further, the small arm can be ensured to perform pitching motion, and the large arm sliding assembly is provided with the large arm sliding rail, so that the large arm sliding assembly is matched and connected with the large arm sliding rail, and the large arm sliding assembly is ensured to have good movement guiding in the axial direction of the large arm lead screw, and further, the large arm lead screw is ensured not to generate excessive radial deformation during working.

Drawings

The utility model is further described below with reference to the drawings and examples;

FIG. 1 is a front view of one embodiment of the present utility model;

FIG. 2 is a left side view of one embodiment of the present utility model;

FIG. 3 is a top view of one embodiment of the present utility model;

fig. 4 is an overall structural diagram of one embodiment of the present utility model.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may explicitly or implicitly include one or more features.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" should be construed broadly, and for example, it may be a fixed connection or an active connection, or it may be a detachable connection or a non-detachable connection, or it may be an integral connection; may be mechanically connected, may be electrically connected, or may be in communication with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements, indirect communication or interaction relationship between the two elements.

The following disclosure provides many different embodiments, or examples, for implementing different aspects of the utility model.

Referring to fig. 1 to 4, in one embodiment of the present utility model, a robot boom includes a boom main body 20, one end of the boom main body 20 is provided with a boom driving device 21, the other end of the boom main body 20 is provided with a boom bearing frame 23, an output end of the boom driving device 21 is provided with a boom screw 22, a boom sliding assembly 217 is further provided on the boom screw 22, one end of the boom bearing frame 23 is provided with a boom pull rod 210, and the other end of the boom pull rod 210 is connected with the boom sliding assembly 217.

The working principle is that the large arm driving device 21 can drive the large arm screw rod 22 to rotate around the axis thereof, so as to drive the large arm sliding component 217 to do reciprocating motion along the axis of the large arm screw rod 22, and the small arm bearing frame 23 is driven to rotate around the small arm connecting shaft through the small arm pull rod 210, so that the small arm of the robot is driven to realize pitching motion.

In one embodiment of the utility model, the large arm sliding assembly 217 comprises a screw nut connecting piece 26 sleeved on the large arm screw 22, a screw nut 27 matched and connected with the screw nut connecting piece 26, and a large arm sliding block 29 arranged on the screw nut connecting piece 26, wherein four pairs of large arm sliding blocks 29 are arranged on the surfaces of the screw nut connecting piece 26, which are close to the large arm upper reinforcing plate 24 and the large arm lower reinforcing plate 25 respectively, the screw nut 27 is matched and connected with the large arm screw 22, the function of the large arm sliding assembly is to fix a load needing to move, namely the screw nut connecting piece 26 and the sliding block on the screw nut, a semicircular rollaway nest similar to the large arm screw 22 is processed inside the screw nut 27, when the ball screw is adopted, a return pipe for circulating the balls is arranged in the screw nut 27, and the ball nut connecting piece 26 contains balls, dust-proof sheets and oil holes, the balls can be used as bearing and transmission elements, because the balls move in a rolling mode, friction generated in the movement can be small, the dust-proof sheets have the function of preventing external pollutants from entering the screw nut 27, and because proper lubricity is required to be maintained in the operation process of the ball screw mechanism, the balls can be filled with lubricating oil or lubricating grease periodically, and the balls can be conveniently added through the oil holes.

In one embodiment of the present utility model, the main boom body 20 includes an upper boom reinforcement plate 24 disposed above the boom screw 22 and a lower boom reinforcement plate 25 disposed below the boom screw 22, and the upper boom reinforcement plate 24 and the lower boom reinforcement plate 25 are parallel to each other, wherein the upper boom slider 29 is provided with 4 pairs of large boom sliders 29 respectively mounted on the surface of the screw nut connecting member 26, two large boom sliders 29 are disposed on the first side 219 of the screw nut connecting member 26, two large boom sliders 29 are disposed on the second side 220 of the screw nut connecting member 26, two large boom slide rails 28 on the upper boom reinforcement plate 24 are cooperatively connected with two large boom sliders 29 on the first side 219, and the two large boom slide rails 28 on the lower boom reinforcement plate 25 are cooperatively connected with two large boom sliders 29 on the second side 220, so that the large boom slide rails 28 and the large boom sliders 29 are cooperatively disposed, and thus the large boom slide assemblies 217 can be smoothly driven to slide, and the four auxiliary large boom slide rails 28 are disposed on the two upper boom slider 24 and the lower boom slider 24 and the large boom slider 29 are correspondingly connected with the large boom slider 4 on the lower boom slider 22.

The thickness of the upper boom stiffener 24 and the lower boom stiffener 25 is related to the stiffness of the robot boom, and if the thickness of the upper boom stiffener 24 and the lower boom stiffener 25 is greater, the stiffness is greater, and the whole structure of the boom is further mounted on the waist rotating shell of the robot through the main boom support shaft 215 mounted on the boom motor mounting frame 214.

In one embodiment of the present utility model, the large arm driving device 21 includes a large arm motor 211, a large arm reducer 212 disposed on the large arm motor 211, and a coupling 213 disposed on the large arm reducer 212, the large arm motor 211 adopts an ac servo motor, a rotor inside the large arm motor is a permanent magnet, three-phase electricity controlled by a driver forms an electromagnetic field, the rotor rotates under the effect of the magnetic field, meanwhile, an encoder provided in the large arm motor 211 feeds back a signal to the driver, the driver compares the feedback value with a target value, and adjusts the rotation angle of the rotor, because the large arm motor 211 can change speed, the torque force is larger than that of a common motor, and thus when the load is larger, the large arm reducer 212 is disposed under the large arm motor, so as to play the roles of increasing the torque force and reducing the speed.

In one embodiment of the utility model, the big arm motor 211 and the big arm speed reducer 212 are connected in a clasping way, namely, the output shaft of the big arm motor 211 extends into the big arm speed reducer 212, the big arm motor 211 and the big arm speed reducer 212 are connected through a flange, a deformable anchor ear is arranged in the big arm speed reducer 212, a contraction screw on the big arm speed reducer 212 is operated to clasp the shaft of the big arm motor 211, the output end of the big arm speed reducer 212 is connected with one end of the coupler 213, the other end of the coupler 213 is connected with the big arm lead screw 22, the coupler 213 is used for connecting the output shaft with the driven shaft, namely, the output shaft of the speed reducer 212 and the big arm lead screw 22 are connected to rotate together, the inaccuracy of manufacturing and installation between the output shaft of the speed reducer 212 and the big arm lead screw can be effectively compensated, and when the output shaft of the speed reducer 212 and the big arm lead screw 22 deform due to heating during operation, the offset of the two can be compensated.

In one embodiment of the utility model, the big arm motor mounting frames 214 are arranged on the front side and the rear side of the big arm driving device 21, the two big arm motor mounting frames 214 are parallel to each other, a round big arm supporting shaft 215 is respectively arranged at the center position of each big arm motor mounting frame 214, an upper opening is formed in the middle of each big arm motor mounting frame 214, mounting cavities with openings on the left side and the right side are formed in the middle of each big arm motor mounting frame 214, and the big arm driving device 21, namely the big arm motor 211 and the big arm reducer 212, are positioned in the mounting cavities, so that the arrangement can facilitate the pitching movement of the big arm of the robot, and the whole big arm of the robot is arranged on a waist rotating shell of the robot through the big arm supporting shaft 215 arranged at the center position of each big arm motor mounting frame 214.

In one embodiment of the utility model, the small arm bearing frame 23 is provided with the small arm connecting shaft 216 at one end close to the large arm lower reinforcing plate 25, the small arm bearing frame 23 is provided with the auxiliary large arm connecting shaft 218 at one end close to the large arm upper reinforcing plate 24, the arrangement is because the small arm connecting shaft 216 is convenient for installing the small arm of the robot, the small arm of the robot can perform pitching movement under the driving of the large arm of the robot, the auxiliary large arm connecting shaft 218 is arranged at the other end of the small arm bearing frame 23, the auxiliary large arm connecting shaft 218 is arranged to facilitate the installation of the auxiliary large arm mechanism of the robot, and the auxiliary large arm mechanism consists of a hydraulic cylinder and an auxiliary large arm pull rod and is used for assisting the main large arm of the robot to perform pitching movement better, so that the robot can perform grabbing work better.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a big arm of robot, its characterized in that, including big arm main part (20), big arm main part (20) one end is equipped with big arm drive arrangement (21), the other end of big arm main part (20) is equipped with forearm carrier (23), the output of big arm drive arrangement (21) is equipped with big arm lead screw (22), still be equipped with big arm slip subassembly (217) on big arm lead screw (22), forearm carrier (23) one end is equipped with forearm pull rod (210), the other end of forearm pull rod (210) with big arm slip subassembly (217) are connected.

2. The robotic boom of claim 1, wherein: the big arm sliding assembly (217) comprises a big arm sliding block (29), at least one pair of big arm sliding rails (28) are arranged in the big arm main body (20), and the big arm sliding block (29) is connected with the big arm sliding rails (28) in a matched mode.

3. The robotic boom of claim 2, wherein: the large arm sliding assembly (217) further comprises a screw nut (27) which is arranged on the large arm screw (22) and is connected with the screw nut connecting piece (26) in a matching way.

4. A robotic boom as claimed in claim 3, in which: the large arm main body (20) comprises a large arm upper reinforcing plate (24) arranged above the large arm screw (22) and a large arm lower reinforcing plate (25) arranged below the large arm screw (22), and the large arm upper reinforcing plate (24) and the large arm lower reinforcing plate (25) are mutually parallel.

5. The robotic boom of claim 4, wherein: the utility model discloses a big arm, including big arm, big arm screw (22) and big arm nut, big arm upper reinforcing plate (24) are close to one side of big arm screw (22) is equipped with two big arm slide rail (28), big arm lower reinforcing plate (25) are close to one side of big arm screw (22) is equipped with two big arm slide rail (28), be equipped with two on first side (219) of screw nut connecting piece (26) big arm slide block (29), be equipped with two on second side (220) of screw nut connecting piece (26) big arm slide rail (29), two on big arm upper reinforcing plate (24) big arm slide rail (28) with two on first side (219) big arm slide rail (28) with two on big arm lower reinforcing plate (25) big arm slide block (29) cooperation are connected.

6. The robotic boom of claim 1, wherein: the large arm driving device (21) comprises a large arm motor (211), a large arm speed reducer (212) arranged on the large arm motor (211) and a coupler (213) arranged on the large arm speed reducer (212).

7. The robotic boom of claim 6, wherein: and a big arm motor mounting frame (214) is arranged on two sides of the big arm driving device (21).

8. The robotic boom of claim 7, wherein: the two large arm motor mounting frames (214) are parallel to each other, and a large arm supporting shaft (215) is arranged at the center position of each large arm motor mounting frame (214).

9. The robotic boom of claim 4, wherein: the one end that forearm bears frame (23) is close to big arm lower reinforcement board (25) is equipped with forearm connecting axle (216), the one end that forearm bears frame (23) is close to big arm upper reinforcement board (24) is equipped with auxiliary big arm connecting axle (218).