TWI689390B - Cantilever system of mechanical arm - Google Patents

Abstract

The invention is a cantilever system of a mechanical arm, which mainly includes a power unit and a screw mechanism driven by the power unit and a cantilever mechanism driven by the screw mechanism; wherein the screw mechanism includes a first screw and a second screw, and the first A fixed body is screwed on each of the screw and the second screw, and the first fixed body of the first screw locks a fixed seat to move the first cantilever, and is fixed by the second fixed body of the second screw Connect a slider to make the second cantilever beneath the first cantilever, and the second cantilever slides in conjunction with the slider. The screw of the first screw and the second screw are driven by different directions of rotation and different pitches. The first cantilever arm and the second cantilever arm extend and retract together, according to which, the mechanical volume is reduced and the structural strength of the cantilever arm is strengthened.

Description

Cantilever system of mechanical arm

The invention relates to a cantilever system of a mechanical arm, in particular to a mechanical design that can use a single power unit to link two cantilever telescopically.

The cantilever structure of the traditional mechanical arm is usually designed with a single sliding table structure. The single sliding table cantilever is combined with the lifting table and the rotating table to form the main structure of the mechanical arm. The single sliding table cantilever is powered by a power unit, and the overall cantilever is not presented. The performance of the retractable length, with the existing cantilever length during the rotation action, will cause the rotation radius of the single-slide cantilever to be too large, and a larger space must be provided to allow the single-slide cantilever to rotate, resulting in a waste of space, resulting in The danger is also relatively increased.

In addition, the current sliding table cantilever mechanism must increase the number of cantilevers in order to show the structure of the telescopic length, and provide power with the same number of power units to make each cantilever produce telescopic action. However, one-to-one power supply In addition to the relatively large cost, the volume of the machine is also relatively increased. Especially in the telescopic operation, the accuracy cannot be effectively controlled. Therefore, the current single-slider cantilever or double-slider cantilever still have shortcomings to be improved.

The main purpose of the present invention is to provide a cantilever system for a mechanical arm. The first screw and the second screw of the screw mechanism are configured with different-direction screw teeth and different pitches, and The single power unit synchronously drives the two screws to rotate, respectively driving the first cantilever and the second cantilever to move forward or back together, generating a telescopic action; accordingly, it is used to reduce the mechanical volume occupied by the cantilever and strengthen the cantilever structure strength.

In order to achieve the above object, the cantilever system disclosed in the present invention is combined with the lower end of the sliding seat of the mechanical arm, so that the cantilever system can be displaced up and down and rotated with the sliding seat; it mainly includes a fixed seat and a screw mechanism and a cantilever mechanism :among them;

The upper end of the fixing seat is provided with more than one fixing surface for fixing to the lower end of the sliding seat of the mechanical arm, and the lower end of the flat plate connecting the two fixing surfaces is provided with a longitudinal hole slot for the first screw of the screw mechanism Pass through, and fix the displaceable first fixing body screwed on the first screw to the outer end of the longitudinal hole of the fixing seat, thereby combining the first screw with the fixing seat;

The screw mechanism includes a first screw and a second screw; wherein the first screw and the second screw are arranged in an up-and-down arrangement on a fixed plate, and the shaft threads of the first screw and the second screw are The teeth are designed in different directions (that is, the first screw is reversed, and the second screw is forward), and the design of the screw pitch is also different. The pitch of the first screw is wider, and the pitch of the second screw Narrow, one end of the first screw and the second screw is connected with a driving wheel, and the driving wheel is driven by a power unit to drive the belt to synchronize the rotation of the first screw and the second screw; the other of the first screw and the second screw At the end, a positioning plate is used to position the first screw and the second screw in the upper and lower grooves formed on the first cantilever of the cantilever mechanism;

The cantilever mechanism includes a first cantilever and a second cantilever, wherein the first cantilever is coupled to the space below the fixing base, and upper and lower ends of the first cantilever are respectively provided with an upper groove and a lower groove for The first screw and the second screw are arranged in the upper and lower grooves, and the outer ends of both sides of the upper and lower grooves are respectively formed with an accommodating groove. A sliding rail device can be arranged in the accommodating groove for reuse The The sliding rail device is correspondingly combined with the fixed seat, so that the first cantilever can slide forward and backward by the first screw through the sliding rail device; and the second fixed body screwed on the second screw is fixed The groove of a slide block allows the second screw to be arranged in the groove, and the outer ends of both sides of the lower groove of the first cantilever are formed with accommodating grooves. The accommodating grooves can be provided with slide rail devices. The slide rail device is correspondingly combined with the slider, so that the slider can be slid back and forth by the rotation of the second screw by the action of the slide rail device, so the slider is combined under the first cantilever, so that the slider can be placed in the first The cantilever is shifted underneath, and the lower end of the slider is extended with an inboard to join the second cantilever;

The second cantilever is formed with slots on both sides of the upper end for insertion of a plug board extending from the lower end of the slider to fix the second cantilever to the lower end of the slider, and the telescopic state is caused by the displacement of the slider, thereby It uses a single power unit to drive the first cantilever and the second cantilever to exhibit telescopic motion, which is used in the category of mechanical arms, which can reduce the mechanical volume of the cantilever and strengthen the cantilever structure.

Regarding the technical core of the present invention, a single power unit is mainly used to synchronously drive the first screw and the second screw to rotate clockwise. The screw design of the first screw and the second screw is specifically set to a different direction screw (i.e. One screw is a reverse screw, and the second screw is a positive screw), and the pitch of the first screw and the second screw are also set different (the screw pitch of the first screw is wider, the screw of the second screw is wider) The distance is narrow, set to a ratio of 2 to 1); therefore, when the first screw rotates, the reverse thread on the screw will originally drive the first cantilever backward, but it does not move because the first fixing system is fixed on the fixed seat , Forming a fulcrum, so that the first screw will advance forward, so the first cantilever is forwarded by the first screw linkage; and when the second screw rotates, the positive thread on the second screw will be due to the second The fixed body drives the slider forward, and then drives the second cantilever forward by the slider. Through such a structural technology, the first cantilever and the second cantilever are extended or retracted together; secondly, because the first cantilever Different from the displacement distance of the second cantilever, in order to make the first cantilever and the second cantilever extend smoothly In the present invention, the tooth pitch of the first screw and the second screw are set to different pitches. Through different pitches, the advancement speed of the first cantilever and the second cantilever are different, so that the cantilever can expand and contract more accurately and smoothly.

1‧‧‧Robot

10‧‧‧slide

2‧‧‧Fixed seat

20‧‧‧Fixed surface

200‧‧‧Screw hole

21‧‧‧Fixed surface

22‧‧‧Longitudinal hole

220‧‧‧Screw hole

3‧‧‧The first screw

30‧‧‧The first fixed body

300‧‧‧locking block

301‧‧‧Through hole

302‧‧‧Center screw hole

303‧‧‧Sleeve

31‧‧‧Second screw

32‧‧‧Fixed board

320‧‧‧Drive wheel

330‧‧‧Drive wheel

34‧‧‧Locating plate

340‧‧‧Locating hole

4‧‧‧Power unit

40‧‧‧Drive belt

5‧‧‧The first cantilever

50‧‧‧Second cantilever body

51‧‧‧Upper groove

510‧‧‧Accommodation slot

511‧‧‧accommodation slot

512‧‧‧Top plate

513‧‧‧slide

514‧‧‧sliding body

515‧‧‧slide

516‧‧‧sliding body

52‧‧‧Lower groove

520‧‧‧Top plate

523‧‧‧Accommodation slot

53‧‧‧Second fixed body

6‧‧‧slider

60‧‧‧Groove

61‧‧‧Board

62‧‧‧Board

70‧‧‧slot

71‧‧‧slot

72‧‧‧Screw hole

Figure 1 is a schematic diagram of the present invention applied to a robot arm.

Fig. 2 is an exploded perspective view of the present invention.

Figure 3 is a combined cross-sectional view of the present invention.

Fig. 4 is a perspective view of the driving body of the present invention.

Fig. 5 is a perspective view of the screw mechanism of the present invention.

Figure 6 is a schematic diagram of the motor driving of the present invention.

Figure 7 is a cross-sectional view of the present invention.

Figure 8 is a schematic view of the present invention.

Fig. 9 is a drawing showing the completion of stretching of the present invention.

Please refer to Figures 1, 2, and 3, the embodiment of the present invention is applied to a robot arm, and the cantilever system of the present invention is mainly combined with the lower end of the sliding seat 10 of the robot arm 1, so that the cantilever structure can follow the sliding seat 10 Up and down displacement and rotation displacement, the cantilever system includes a fixed seat and a screw mechanism and a cantilever mechanism; wherein, the fixed seat 2 (see Figures 2 and 3) is provided with more than one fixed surface on both sides of the upper end 20, 21, several screw holes 200 are opened on the end surfaces of the fixing surfaces 20, 21, and the fixing base 2 is fixed on the lower end of the sliding base 10 by screws, and the fixing base 2 is connected to the lower ends of the plates of the two fixing surfaces 20, 21 With a longitudinal slot 2 opening downward 2. A number of screw holes 220 are formed on the outer end surface of the longitudinal hole slot 22 for the first screw 3 of the screw mechanism to penetrate the longitudinal hole slot 22 and then screw the first fixed body 30 on the first screw 3 , The screws are correspondingly locked on the outer end surface of the longitudinal hole 22 to form a support positioning point, so that the first screw 3 is combined with the fixed seat 2; wherein the first fixing body 30 (see also Figures 2 and 4) is provided at one end There is a locking block 300, a screw hole 301 corresponding to the screw hole 220 on the outer end surface of the longitudinal hole 22 is provided on the end surface of the locking block 300, and a central screw for screwing the first screw 3 is provided in the center of the locking block 300 Hole 302, the central screw hole 302 penetrates through the sleeve 303 at one end of the locking block 300, for the first screw 3 to be threaded and combined, and the first cantilever of the cantilever mechanism is driven to move through the rotation of the first screw 3;

The screw mechanism (also see Figures 2 and 5) includes a first screw 3 with a reverse thread design and a second screw 31 with a forward thread design, and the pitch of the first screw 3 is wider and the first The pitch of the two screws 31 is relatively narrow, and they are fixed on a fixed plate 32 in an up-and-down arrangement. The protruding ends of the first screw 3 and the second screw 31 penetrating the fixed plate 32 are connected with driving wheels 320 and 330. The driving wheels 320 and 330 are driven by a power unit 4 to drive the belt 40 to drive the first screw 3 and the second screw 31 to rotate clockwise (see FIG. 6), and the other of the first screw 3 and the second screw 31 The end is positioned by a positioning hole 340 on a positioning plate 34 (see also Figure 2), thereby combining the screw mechanism with the first cantilever of the cantilever mechanism;

The cantilever mechanism (see Figures 2 and 3) includes a first cantilever 5 and a second cantilever, wherein the upper and lower ends of the first cantilever 5 are respectively formed with an upper groove 51 and a lower groove 52, and the two sides are horizontally arranged There are top plates 512 and 522 with different heights, and the upper and lower grooves 51 and 52 are used for the first screw 3 and the second screw 31 to penetrate therethrough, and then the fixing seat 2 is covered above the first cantilever 5, The longitudinal slot 22 of the fixing base 2 is buried in the upper groove 5 above the first cantilever 5 In 1, the outer grooves 51 are provided with accommodating grooves 510 and 511 on both sides, and a sliding rail device (see FIG. 3) can be provided in the accommodating grooves 510 and 511 to slide the sliding rail device The rail 513 is disposed at the accommodating groove 510, and the sliding body 514 is disposed at the fixing base 2. The sliding rail device combines the first cantilever 5 with the fixing base 2 so that the first cantilever 5 is affected by the sliding rail device It can slide back and forth by the rotation of the first screw 3; the assembly of the second cantilever includes a second cantilever body 50 and a slider 6, which is a second fixed body screwed on the second screw 31 53, fixed to the outer end of the groove 60 of the slider 6, so that the second screw 31 is disposed in the groove 60 and penetrated through the second fixed body 53 to be fixed to the positioning plate 34, through the fixing plate 32 The positioning plate 34 is positioned at both ends, and the slider 6 is provided under the two top plates 512, 522 of the first cantilever 5; the outer ends of the lower groove 52 of the first cantilever 5 are formed at the same side The grooves 520 and 523 can be provided with slide rail devices in the two containing grooves 520 and 523. The slide rail 515 of the slide rail device is arranged at the containing grooves 520 and 523 and the sliding body 516 is arranged at the slider 6. The sliding rail device combines the first cantilever 5 with the slider 6 (see FIG. 3), so that the slider 6 can be slid back and forth by the rotation of the second screw 31 due to the effect of the sliding rail device, so that the slider 6 It has to be displaced under the first cantilever 5, and the lower end of the slider 6 has inwardly extending plates 61, 62 for combining with the second cantilever body 50;

The second cantilever body 50 (see FIG. 2) is formed with two slots 70 and 71 on both sides of the upper end, and the two slots 70 and 71 are provided with screw holes 72 for corresponding insertion of the lower end of the slider 6. After the plates 61 and 62 are inserted, they are fixed as a whole by screw locking, and are moved by the displacement of the slider 6 to show a telescopic displacement state.

The combination of the above components constitutes the overall structure of the cantilever system. Please refer to Figures 7 and 8 for the description of the telescopic type of the cantilever system of the present invention. Starting power with the power unit 4 drives the two drive wheels 32, 33 to rotate clockwise via the driving belt 40, and then the first screw 3 and the second screw 31 rotate clockwise, since the first screw 3 and the second screw 31 of the present invention The screws are set to different directions (that is, the first screw 3 is a reverse screw, and the second screw 31 is a positive screw) and the distance between the first screw 3 and the second screw 31 is also different in width. Therefore, when the first screw 3 rotates, the reverse thread on the first screw 3 should cause the combined first cantilever 5 to shift backward, but because the first fixed body 30 is fixed on the fixed seat and becomes immobile A positioning point support, so that the first screw 3 will advance forward, driving the first cantilever 5 together with the power unit 4 forward; and when the second screw 31 rotating together with the first screw 3 rotates, the second screw 31 The positive thread will shift the second fixed body 53 forward, because the second fixed body 53 and the slider 6 are fixed as a whole, therefore, the second fixed body 53 will move the slider 6 , And then move the combined second cantilever body 50 forward with the slider 6, so that the first cantilever 5 and the second cantilever body 50 can be used to extend or retract the telescopic function, which can be applied to the mechanical arm; second Since the first cantilever 5 and the second cantilever body 50 have different extension distances, in order to make the telescopic smooth, the present invention specifically designs the ratio of the pitch of the first screw 3 and the second screw 31 (2 to 1) through different pitches, The first cantilever 5 and the second cantilever body 50 have different advancement speeds (that is, the first cantilever 5 moves faster and the second cantilever body 50 moves slower), so that the cantilever's expansion and contraction is smoother and more accurate.

10‧‧‧slide

2‧‧‧Fixed seat

20‧‧‧Fixed surface

200‧‧‧Screw hole

21‧‧‧Fixed surface

22‧‧‧Longitudinal hole

220‧‧‧Screw hole

3‧‧‧The first screw

30‧‧‧The first fixed body

300‧‧‧locking block

301‧‧‧Screw hole

302‧‧‧Center screw hole

303‧‧‧Sleeve

31‧‧‧Second screw

32‧‧‧Fixed board

34‧‧‧Locating plate

340‧‧‧Locating hole

4‧‧‧Power unit

5‧‧‧The first cantilever

50‧‧‧Second cantilever body

51‧‧‧Upper groove

510‧‧‧Accommodation slot

511‧‧‧accommodation slot

512‧‧‧Top plate

52‧‧‧Lower groove

520‧‧‧accommodation slot

522‧‧‧Top plate

523‧‧‧Accommodation slot

53‧‧‧Second fixed body

6‧‧‧slider

60‧‧‧Groove

61‧‧‧Board

62‧‧‧Board

70‧‧‧slot

71‧‧‧slot

72‧‧‧Screw hole

Claims (5)

A cantilever system of a mechanical arm, including: A fixed seat with more than one fixed surface and a longitudinal hole, wherein the fixed surface is fixed to the lower end of the sliding seat of the robot arm; A screw mechanism includes a first screw and a second screw, and a first fixed body and a second fixed body which are slidable on the first screw and the second screw, wherein the first screw and The shaft thread of the second screw is set to different directions and different pitches, and its two ends are respectively positioned by a fixed plate and a positioning plate, and a power unit is used to drive the first A screw and the second screw rotate, and the first fixing system on the first screw is locked to the outer end of the longitudinal hole of the fixing seat; and A cantilever mechanism includes a first cantilever and a second cantilever; wherein the first cantilever is slidably penetrated outside the longitudinal hole of the fixing seat, has an upper groove and a lower groove, the second The ends are fixedly sealed with the fixing plate and the positioning plate of the screw mechanism, respectively, so that the first screw and the second screw of the screw mechanism are inserted into the upper groove and the lower groove, respectively. The second cantilever includes a second cantilever body and a slider, wherein the second cantilever body is fixed on the lower end of the slider, the slider has more than one fixed plate and a groove, Moreover, the slider is slidably sleeved on the lower end of the first cantilever, and the groove is accommodated in the lower groove of the first cantilever and assembled with each other; By adopting different directions of rotation and different pitches of the teeth of the first screw and the second screw, the first cantilever and the second cantilever can be extended and retracted together. According to this, it is used to reduce Mechanical volume, and strengthen the strength of the cantilever structure. The cantilever system of the robotic arm according to item 1 of the patent application scope further includes: a slide rail It is provided with a sliding rail and a sliding body, which are respectively arranged on the lower end of the first cantilever arm and the fixed base of the cantilever mechanism, so that the first cantilever arm can slide under the fixed base. According to the cantilever system of the mechanical arm of claim 1, the outer groove of the first cantilever is further provided with an accommodating groove for fixing a slide rail device to connect the first cantilever and the second The slider of the cantilever enables the slider to slide under the first cantilever. According to the cantilever system of the robot arm of claim 1, the tooth direction of the first screw is set to a reverse structure, and the tooth direction of the second screw is set to a positive structure. According to the cantilever system of the mechanical arm of claim 1, the pitch of the first screw is set to a wider distance, and the pitch of the second screw is set to a narrower distance.

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