WO2019052380A1

WO2019052380A1 - Manipulator device with removable rack

Info

Publication number: WO2019052380A1
Application number: PCT/CN2018/104136
Authority: WO
Inventors: 蒋剑
Original assignee: 苏州工业园区凯艺精密科技有限公司
Priority date: 2017-09-13
Filing date: 2018-09-05
Publication date: 2019-03-21
Also published as: CN107387728A

Abstract

Disclosed is a manipulator device with a removable rack, the manipulator device comprising a manipulator body (2) and a gear (1) arranged on the manipulator body (2), wherein the gear (1) comprises a gear base body (200) and a rack structure (100) disposed on the periphery of the gear base body (200); the rack structure (100) comprises a rack body (110), a plurality of teeth (120) formed on an outer side of the rack body (110), and a fitting portion (130) formed on an inner side of the rack body (110), the fitting portion (130) being fitted in shape with a connecting portion (210) of the outer edge of the gear base body (200); and the rack structure (100) is detachably mounted to the gear base body (200) by means of engagement or disengagement between the fitting portion (130) and the connecting portion (210). In the manipulator device with a detachable rack, the rack structure (100) thereon is detachably mounted to the gear base body (200), such that the rack structure (100) can be rapidly assembled on the manipulator device. Once the teeth (120) on the rack structure (100) are worn out, the rack structure (100) can be replaced directly without replacing the gear base body (200) on the manipulator device. The service life of the manipulator device is ensured.

Description

Robotic device with removable rack

The present application claims the priority of the Chinese patent application filed on Sep. 13, 2017, the number of which is hereby incorporated by reference. In the application.

Technical field

The invention relates to the technical field of a manipulator, in particular to a manipulator device with a removable rack.

Background technique

The existing gear reduction structure is generally made of a metal material, but due to the high cost and heavy weight of the metal material, in order to reduce the cost, the transmission gear of the manipulator is made of plastic, but due to plastic injection molding or printing molding, The tooth portion of the printed plastic part is extremely easy to wear, and the entire robot device needs to be scrapped after wear, which makes the manipulator device have a short service life, and the replacement of the manipulator device is time-consuming and laborious, hindering the normal production of the entire production line.

Summary of the invention

It is an object of the present invention to provide a robot apparatus that can be attached to a rack.

In order to achieve the above object, the present invention provides a robotic device for a removable rack, comprising a robot body and a gear disposed on the body of the robot, the gear comprising a gear base and a periphery of the gear base. a rack structure; the rack structure includes a rack body, a plurality of teeth formed on an outer side of the rack body, and a fitting portion formed on an inner side of the rack body, the mating portion being in a form fit with a connecting portion of the outer edge of the gear base; The rack structure is detachably mounted to the gear base by the mating or disengaging of the mating portion and the connecting portion.

As a further improvement of the present invention, the engaging portion is a plurality of spaced protrusions, the connecting member is a groove provided corresponding to the position of the protrusion; when the rack structure is mounted on the gear base The protrusion is disposed in the groove.

As a further improvement of the present invention, the rack structure has a circular arc shape and is disposed around a portion of the outer edge of the gear base.

As a further improvement of the invention, the rack structure is annular and disposed around the entire outer edge of the gear base.

As a further improvement of the present invention, a first air hole structure is circumferentially disposed on a surface of the rack body adjacent to the fitting portion, and the first air hole structure includes a plurality of first air holes that are discontinuous from each other.

As a further improvement of the present invention, the first air hole is one of a circle, a rectangle, an arc, an ellipse or a profile.

As a further improvement of the present invention, the first air vent structure is arranged in a plurality of layers in the radial direction of the rack body toward the fitting portion.

As a further improvement of the present invention, a second air hole structure is circumferentially disposed on a surface of the gear base adjacent to the connecting portion, and the second air hole structure includes a plurality of second air holes that are discontinuous from each other.

As a further improvement of the present invention, the engaging portion is a plurality of spaced grooves, the connecting portion is a protrusion disposed corresponding to the position of the groove; and when the rack structure is mounted on the gear base The protrusion is snap-fitted to the groove.

After the structure of the present invention is provided, the rack device of the removable rack provided by the present invention can be detachably mounted on the rack structure directly through the connection or disengagement of the mating portion with the connecting portion on the gear base. The gear base, which in turn allows the rack structure to be assembled quickly on the robotic device. Once the teeth on the rack structure are worn, the rack structure can be replaced directly without replacing the gear base on the robot assembly. This ensures the normal production of the production line and ensures the service life of the robot device.

DRAWINGS

1 is a schematic structural view of a robot apparatus according to an embodiment of the present invention;

2 is a schematic structural view of a robot apparatus according to an embodiment of the present invention;

3 is a schematic structural view of a robot apparatus according to an embodiment of the present invention.

Detailed ways

The invention will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiments do not limit the present invention, and structural or functional changes made by those skilled in the art based on these embodiments are included in the scope of the present invention.

It will be understood that the terms "upper", "upper", "lower", "lower", and the like, as used herein, are used to describe the relative position of the space for the purpose of illustration. The relationship to another unit or feature. Terms of spatial relative position may be intended to include different orientations of the device in use or operation other than the orientation shown in the figures.

An embodiment of the present invention is described as shown in FIGS. 1-3. As shown in FIG. 1 , an embodiment of the present invention discloses a robot apparatus including a robot body 2 and a gear 1 disposed on the robot body 2 . The gear 1 includes a gear base 200 and a rack structure 100. In the present embodiment, the rack structure 100 includes a rack body 110 , a plurality of teeth 120 formed outside the rack body 110 , and a fitting portion 130 formed on the inside of the rack body 110 , the mating portion 130 and the gear base 200 The connecting portion 210 of the outer edge is form-fitted; the rack structure 100 is detachably mounted to the gear base 200 by the mating or disengaging of the mating portion 130 and the connecting portion 210.

The rack device 100 of the removable rack provided by the present invention can be detachably mounted on the gear base 200 by directly engaging or disengaging the connecting portion 130 from the connecting portion 210 on the gear base 200. In turn, the rack structure 100 can be quickly assembled on the robotic device. Once the teeth on the rack structure 100 have worn out, the rack structure 100 can be replaced directly without replacing the gear base 200 on the robotic device. This ensures the normal production of the production line and ensures the service life of the robot device.

Moreover, because the rack structure 100 is detachable, the gear base 200 can select a lighter material or structure that is less demanding on wear resistance, and can reduce the weight of the entire gear transmission mechanism without reducing its transmission capacity.

Further, the engaging portion 130 is a plurality of spaced protrusions, the connecting portion 210 is a groove corresponding to the position of the protrusion 131; when the rack structure 100 is mounted on the gear base 200 The protrusion is stuck in the groove. A plurality of spaced apart projections are uniformly formed on the inner side of the rack main body 110, and a plurality of grooves are uniformly formed on the outer edge of the gear base 200 corresponding to the positions of the projections. The ridges on the rack structure 100 and the grooves on the gear base 200 are tightly fitted to ensure that no positional movement occurs during the transmission process, ensuring proper operation of the entire robot apparatus.

In another embodiment, the engaging portion may be a plurality of spaced grooves, and the connecting portion is a protrusion corresponding to the position of the groove; when the rack structure is mounted on the gear base, the protrusion and the groove Buckle connection.

Preferably, as shown in FIG. 1 , the rack structure 100 has a circular arc shape, and the arc-shaped rack structure 100 is disposed around a portion of the outer edge of the gear base 200 .

In other embodiments, the rack structure may also be annular, the toroidal rack structure being disposed about the entire outer edge of the gear base.

The rack structure 100 can be arranged in a circular arc shape or a circular ring shape to suit different usage scenarios.

Further, as shown in FIG. 2, a first air hole structure 140 is disposed on the surface of the rack body 110 near the mating portion 130, and the first air hole structure 140 includes a plurality of discontinuous ones. The first air hole 141.

The shape of the first air hole 141 may be any one of a circle, a rectangle, an arc, an ellipse or a profile. Specifically, the irregular shape refers to an irregular closed shape, such as an asymmetrical closed shape, or a closed shape having four sides, but the lengths are different and are not parallel to each other, and other irregularities, which are not limited in the embodiment of the present invention. In the present embodiment, the first air holes 141 are rectangular.

Further, a plurality of layers of the first pore structure 140 may be arranged in the radial direction of the rack body 110 in the direction of the fitting portion 130. In the present embodiment, the first vent structure 140 is preferably a three-layer arrangement structure that ensures the size of the mutually squeezing when the gears are engaged, and ensures smooth transmission.

In the embodiment of the present invention, the first air holes 141 in adjacent layers of the first air hole structure 140 may be staggered. The staggered first air holes 141 may make the rack structure 100 more stable.

Preferably, each of the first air holes 141 penetrates the rack body 110 in the thickness direction of the rack body 110. In other embodiments, the first air hole may also be a blind hole disposed on the rack body without penetrating the rack body.

In the present embodiment, as shown in FIG. 2, the rack structure 100 is made of a flexible material, and a first air hole structure 140 is disposed on the rack structure 100 of the flexible material, which is mainly used for gear precision in the gear transmission mechanism. The stability of the meshing transmission can still be guaranteed in the case of not being high. In particular, the gearing mechanism (not shown) generally includes a first gear and a second gear that mesh with each other. One of the first gear or the second gear may be the gear 1, or both may be the gear 1. For example, in the case where the first gear is the gear 1, when the second gear meshes with the first gear, the teeth on the second gear mesh with the slots on the first gear at the corresponding position, due to the rack The structure 100 is made of a flexible material, and the teeth of the second gear press the first vent structure 140 on the rack structure 100, thereby ensuring the stability of the engagement. In the case where the precision of the teeth on the second gear and the teeth on the first gear are not high, or the meshing connection is not precisely, since the first air hole structure 140 can be squeezed during the engagement, the first gear can be made The second gear is always in a stable squeeze state, which ensures the smooth and accurate gear transmission.

Specifically, the meshing radial length of the first gear and the second gear may be set to be slightly larger than the distance between the two drive shafts, which creates a distance difference. When the first gear meshes with the second gear, the teeth on the second gear press the first air hole structure 140 on the first gear, so that the compression distance of the first air hole structure 140 can offset the above distance difference, thereby ensuring The meshing is stable.

Similarly, the first gear and the second gear may both be the gear 1 such that the first air hole structure 140 is disposed on the rack structure 100 of the two gears, thereby better reducing the accuracy requirement of the gear. By setting an appropriate gear shaft pitch, both the first gear and the second gear have a deformation in the axial direction after the gears are meshed. When such a gear rotates one revolution, it is always kept in a squeezed state with another gear, ensuring a smooth and accurate transmission.

Further, as shown in FIG. 3, a second air hole structure 220 is disposed on the surface of the gear base 200 near the connecting portion 210, and the second air hole structure 220 includes a plurality of discontinuous ones. Two pores 221.

The shape of the second air hole 221 may be any one of a circle, a rectangle, an arc, an ellipse or a profile. Specifically, the irregular shape refers to an irregular closed shape, such as an asymmetrical closed shape, or a closed shape having four sides, but the lengths are different and are not parallel to each other, and other irregularities, which are not limited in the embodiment of the present invention. In the present embodiment, the second air holes 221 are rectangular.

Further, a plurality of layers of the second vent structure 220 may be arranged in the radial direction of the gear base 200 toward the connecting portion 210. In the present embodiment, the second vent structure 220 is preferably a three-layer arrangement structure, which ensures the size of the mutually squeezing when the gears are engaged, and ensures smooth transmission.

In the embodiment of the present invention, the second air holes 221 in adjacent layers of the second air hole structure 220 may be staggered. The staggered second air holes 221 may make the gear base 200 more stable.

Preferably, each of the second air holes 221 penetrates the gear base 20 in the thickness direction of the gear base 200. In other embodiments, the second air hole may also be a blind hole disposed on the gear base without penetrating the gear base.

In the present embodiment, as shown in FIG. 5, the gear base 200 may be made of a flexible material, which can reduce the weight of the transmission structure, so that the overall load is reduced, but does not reduce the working ability of the entire structure. At the same time, the rack structure 100 can be made of a metal material or a wear-resistant non-metal material, that is, a hard material, which enhances the wear resistance of the gear structure, because the gear base portion is a relatively lightweight flexible material, and There is no significant increase in the weight of the transmission.

In the present embodiment, the first air hole structure 140 is not disposed on the rack structure 100, but the second air hole structure 220 is disposed on the gear base 200 made of a flexible material, which can also be used for the gear precision in the gear transmission mechanism. In the high case, the stability of the meshing transmission is guaranteed. In particular, the gearing mechanism (not shown) generally includes a first gear and a second gear that mesh with each other. One of the first gear or the second gear may be the gear 1, or both may be the gear 1. For example, in the case where the first gear is the gear 1, when the second gear meshes with the first gear, the teeth on the second gear mesh with the cogging on the first gear at the corresponding position, although the rack The structure 100 is made of a hard material, but since the gear base 200 is made of a flexible material, the teeth of the second gear still squeeze the second air hole structure 220 on the gear base 200 when engaged, thereby ensuring the stability of the meshing. In the case where the precision of the teeth on the second gear and the teeth on the first gear are not high, or the meshing connection is not exactly corresponding, since the second air hole structure 220 can be squeezed during the engagement, the first gear can be made The second gear is always in a stable squeeze state, which ensures the smooth and accurate gear transmission.

Specifically, the meshing radial length of the first gear and the second gear can be set to be slightly larger than the distance between the two drive shafts, which creates a distance difference. When the first gear meshes with the second gear, the teeth on the second gear press the second air hole structure 220 on the first gear, so that the compression distance of the second air hole structure 220 can offset the above distance difference, thereby ensuring The meshing is stable.

Similarly, the first gear and the second gear may both be the gear 1, so that the first air hole structure 140 is disposed on the gear base 200 of the two gears, which further reduces the accuracy requirement of the gear. By setting an appropriate gear shaft pitch, both the first gear and the second gear have a deformation in the axial direction after the gears are meshed. When such a gear rotates one revolution, it is always kept in a squeezed state with another gear, ensuring a smooth and accurate transmission.

In the embodiment of the present invention, the total radial compression amount of the first air hole 141 (or the second air hole 221) is 0.1 mm to 1 mm, and the first air hole 141 when the gear is meshed according to the machining accuracy and the mounting manner of the gear ( The total amount of radial compression of the second air hole 221) may also be larger, which is not limited in the embodiment of the present invention. Specifically, in the embodiment of the present invention, the total radial compression amount of the first air hole 141 (or the second air hole 221) may be 0.2 mm, or 0.5 mm. After the gears are meshed by setting the appropriate gear shaft pitch, the gears of the first air hole 141 (or the second air hole 221) are deformed in the axial direction by 0.2 mm or 0.5 mm. In this way, the gear is turned down one week and always kept in a squeezed state with another gear, ensuring a smooth and accurate transmission. Thereby greatly reducing the accuracy requirements of the gear and reducing the difficulty of installation. Reduce the original accuracy requirement from +/-0.005mm to +/-0.15mm.

Similarly, in another embodiment, the rack structure and the gear base may be made of a flexible material, and at the same time, the first air hole structure is disposed on the rack structure 0 and the second air hole structure is disposed on the gear base body, which is more obvious. The weight of the transmission structure is reduced, so that the overall load is further reduced, and the accuracy requirement for the gear is further reduced.

In the embodiment of the present invention, the robot body 2 can be made of a flexible material, thereby reducing the weight of the transmission structure, so that the overall load is reduced, but does not reduce the working ability of the entire robot apparatus.

The rack device of the removable rack provided by the present invention can be detachably mounted on the gear base body by the fitting or disengaging of the fitting portion and the connecting portion on the gear base body, thereby making the rack gear The structure can be assembled quickly on a robotic device. Once the teeth on the rack structure are worn, the rack structure can be replaced directly without replacing the gear base on the robot assembly. This ensures the production of the production line and ensures the service life of the robot. Moreover, the first air vent structure 140 can be disposed on the rack body 110 in the circumferential direction, so that the stability of the meshing transmission can be ensured even in the case where the gear speed is not high in the gear transmission mechanism. Similarly, a second vent structure 220 may be disposed on the gear base 200 in the circumferential direction to reduce the accuracy of the gear while ensuring the stability of the meshing transmission.

It should be understood that, although the description is described in terms of embodiments, the embodiments are not intended to be construed as a single. The technical solutions in the embodiments may also be combined as appropriate to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions set forth above are merely illustrative of the possible embodiments of the present invention, and are not intended to limit the scope of the present invention. Changes are intended to be included within the scope of the invention.

Claims

A robotic device for attaching and detaching a rack, comprising: a robot body and a gear disposed on the robot body, the gear comprising a gear base and a rack structure disposed at a periphery of the gear base; The rack structure includes a rack body, a plurality of teeth formed on an outer side of the rack main body, and a fitting portion formed on an inner side of the rack main body, the mating portion being in a form fit with a connecting portion of the outer edge of the gear base; the rack structure passing The mating or disengaging of the mating portion and the connecting portion is detachably mounted to the gear base.
The detachable rack-mounting robot device according to claim 1, wherein the engaging portion is a plurality of spaced apart protrusions, and the connecting member is a groove provided corresponding to the position of the protrusion; The protrusion is engaged in the groove when the rack structure is mounted on the gear base.
A robot apparatus for a removable rack according to claim 1, wherein said rack structure has a circular arc shape and is disposed around a portion of an outer edge of said gear base.
A removable rack robot apparatus according to claim 1, wherein said rack structure is annular and disposed around the entire outer periphery of said gear base.
The robot apparatus for a removable rack according to claim 1, wherein a first air hole structure is disposed on a surface of the rack body adjacent to the engaging portion in a circumferential direction, and the first air hole structure A plurality of first pores that are not continuous with each other are included.
A removable rack robot apparatus according to claim 5, wherein said first air hole is one of a circular shape, a rectangular shape, an arc shape, an elliptical shape or a profiled shape.
A robot apparatus for a removable rack according to claim 5, wherein said first air hole structure is arranged in a plurality of layers in a radial direction of said rack body toward said fitting portion.
The robot apparatus for a removable rack according to claim 1, wherein a second air hole structure is circumferentially disposed on a surface of the gear base adjacent to the connecting portion, and the second air hole structure includes a plurality of second pores that are not continuous with each other.
The detachable rack-mounting robot apparatus according to claim 1, wherein the engaging portion is a plurality of spaced-apart grooves, and the connecting portion is a protrusion provided corresponding to a position of the groove; The protrusion is snap-fitted to the groove when the rack structure is mounted to the gear base.