WO2022121506A1 - 后置直驱式的回转机械手臂 - Google Patents

后置直驱式的回转机械手臂 Download PDF

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Publication number
WO2022121506A1
WO2022121506A1 PCT/CN2021/124525 CN2021124525W WO2022121506A1 WO 2022121506 A1 WO2022121506 A1 WO 2022121506A1 CN 2021124525 W CN2021124525 W CN 2021124525W WO 2022121506 A1 WO2022121506 A1 WO 2022121506A1
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Prior art keywords
working
shaft
hydraulic
worm
power box
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PCT/CN2021/124525
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English (en)
French (fr)
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盛富春
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烟台盛利达工程技术有限公司
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Publication of WO2022121506A1 publication Critical patent/WO2022121506A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/039—Gearboxes for accommodating worm gears

Definitions

  • the invention relates to a mechanical arm, which is mainly used in high-temperature working occasions, and can also be used in other working occasions that damage the mechanical structure.
  • the present invention proposes a rear-mounted direct-drive rotary mechanical arm, the purpose of which is to: (1) change the driving device to a rear-mounted mode, away from the high temperature and high corrosion area; (2) reduce the volume of the driving device and reduce the weight ; (3)
  • the driving device is used as a bridge connecting other mechanisms to form a working mechanism integrating driving and connection.
  • a rear-mounted direct-drive rotary manipulator includes a working arm, a power box installed at the front end of the working arm, and a hydraulic slewing connection unit installed at the rear end of the working arm;
  • a working shaft is installed on the power box through a rotational connection; the output shaft of the hydraulic rotary connection unit is connected with the working shaft through a transmission mechanism to drive the working shaft to rotate;
  • It also includes a connecting frame located on the rear side of the hydraulic slewing connecting unit and fixedly arranged relative to the hydraulic slewing connecting unit and the working arm;
  • the outer side of the power box is provided with a thermal insulation layer and/or a sealing layer.
  • the transmission mechanism includes a first transmission shaft, a second transmission shaft, a universal joint, a worm and a gear; the second transmission shaft, the worm and the gear are located in the power box;
  • the rear end of the first transmission shaft is connected with the output shaft of the hydraulic slewing connection unit, and the front end is connected with the rear end of the second transmission shaft through a universal joint;
  • the second transmission shaft is connected with the worm,
  • the worm is meshed with a gear, and the gear is fixedly connected with the working shaft.
  • the power box is provided with a front bracket and a rear bracket, and the front and rear ends of the worm are respectively mounted on the front bracket and the rear bracket by means of rotational connection.
  • the gear and the working shaft are both connected in one-to-one correspondence; the two gears are respectively located on both sides of the worm and both mesh with the worm.
  • the front end of the connecting frame is provided with a connecting plate connected with the rear end of the hydraulic slewing connecting unit; the rear end of the working arm is provided with a connecting plate connected with the front end of the hydraulic slewing connecting unit connecting flange; the connecting plate and the connecting flange are also connected by bolts.
  • the hydraulic pipeline connected to the hydraulic rotary connection unit is fixed on the connection frame.
  • a quick connector is installed at the rear end of the hydraulic pipeline.
  • the present invention has the following beneficial effects: (1) The device changes the drive device to the rear, and controls the operation to rotate through the transmission mechanism, so that the drive device can be kept away from the high temperature and high corrosion area, and the performance of the device is improved. Stability; (2) The hydraulic rotary connection unit is used as the driving device, which is small in size, light in weight and more flexible in movement compared with the traditional motor and reducer; (3) The hydraulic rotary connection unit acts as both a driving unit and an intermediate mechanism.
  • the connecting frame Connect the connecting frame to become a working mechanism that integrates driving and connection; (4)
  • the worm can drive one gear for single-shaft output, or it can drive two gears to rotate at the same time to achieve dual-shaft output; (5)
  • the outside of the power box is provided with insulation Layers and/or sealing layers that protect components within the power box from external high temperatures or corrosive environments.
  • Fig. 1 is the overall structure schematic diagram of the device
  • Fig. 2 is the schematic diagram of gear meshing with worm
  • Fig. 3 is the structural schematic diagram that the connecting frame is connected with the connecting flange at the rear end of the working arm through bolts;
  • FIG. 4 is a schematic diagram of the worm driving two gears in the second embodiment.
  • a rear-mounted direct-drive rotary manipulator includes a working arm 8, a power box 2 installed at the front end of the working arm 8, and a hydraulic slewing connection unit 11 installed at the rear end of the working arm 8;
  • a working shaft 1 is installed on the power box 2 through a rotational connection; the output shaft of the hydraulic rotary connection unit 11 is connected with the working shaft 1 through a transmission mechanism to drive the working shaft 1 to rotate.
  • the working shaft 1 is used to drive the next-stage arm or other components to rotate.
  • the transmission mechanism includes a first transmission shaft 9 , a second transmission shaft 6 , a universal joint 7 , a worm 4 and a gear 15 ; the second transmission shaft 6 , the worm 4 and the gear 15 are located in the power box 2 .
  • the rear end of the first transmission shaft 9 is connected with the output shaft of the hydraulic slewing connection unit 11 , and the front end is connected with the rear end of the second transmission shaft 6 through the universal joint 7 .
  • the power box 2 is provided with a front bracket 3 and a rear bracket 5 , and the front and rear ends of the worm 4 are respectively mounted on the front bracket 3 and the rear bracket 5 by means of rotational connection.
  • the front end of the second transmission shaft 6 is connected with the rear end of the worm 4 , the worm 4 is engaged with a gear 15 , and the gear 15 is fixedly connected with the working shaft 1 .
  • the transmission mechanism can also be in other forms, for example, the output shaft of the hydraulic rotary connection unit 11 is arranged in parallel with the worm 4 or the working shaft 1, and the power is transmitted through a transmission belt, a transmission chain or an intermediate wheel.
  • the output shaft of the hydraulic rotary connection unit 11 drives the first transmission shaft 9 to rotate
  • the first transmission shaft 9 drives the worm 4 to rotate through the universal joint 7 and the second transmission shaft 6, and the worm 4 drives the gear 15 and the working shaft 1 to rotate. Rotate to achieve power output.
  • the device further includes a connecting frame 13 located on the rear side of the hydraulic slewing connecting unit 11 and fixed relative to the hydraulic slewing connecting unit 11 and the working arm 8 .
  • the rear end of the working arm 8 is fixedly connected with the front end of the connecting frame 13 .
  • the hydraulic pipeline connected to the hydraulic rotary connection unit 11 is fixed on the connection frame 13 .
  • a quick connector is installed at the rear end of the hydraulic pipeline.
  • the outer side of the power box 2 is provided with a thermal insulation layer and/or a sealing layer according to the environment, so that the components in the power box 2 can be protected from external high temperature or corrosive environment.
  • the difference between this embodiment and the first embodiment lies in the connection mode between the working arm 8 , the hydraulic slewing connection unit 11 and the connection frame 13 .
  • the front end of the connecting frame 13 is provided with a connecting plate 12 connected to the rear end of the hydraulic slewing connection unit 11 ; Connected connecting flange 10 ; the connecting plate 12 and the connecting flange 10 are reinforced by reinforcing bolts 14 .
  • This connection method can provide greater output torque.
  • the difference between this embodiment and the first embodiment is that the worm 4 meshes with two gears 15 at the same time, and the two gears 15 are connected to a working shaft 1 respectively, so as to realize dual-shaft output and drive two gears at the same time.
  • the external components perform synchronous rotation.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)

Abstract

本发明公开了一种后置直驱式的回转机械手臂，包括工作臂、安装在工作臂前端的动力箱和安装在工作臂后端的液压回转连接单元；液压回转连接单元位于工作臂与连接架之间；所述动力箱上通过转动连接方式安装有工作轴；所述液压回转连接单元的输出轴通过传动机构与所述工作轴连接，以驱动工作轴转动。本发明将驱动装置改为后置并增加了前后连接功能，通过传动机构传递动力，驱动工作轴转动，从而使得驱动装置可以远离高温、高腐蚀区域，提高了装置的稳定性；并且，驱动装置选用液压回转连接单元和融入工作臂的一体化设置，相对于传统的电机和减速机，结构简单、体积小、重量轻，运动更加灵活。

Description

后置直驱式的回转机械手臂 技术领域
本发明涉及一种机械手臂，主要用于高温工作场合，也可以用于其它有损于机械结构的工作场合。
 背景技术
机械手臂多要实现回转动作。许多工作在高温和高腐蚀场合的机械手臂，需要提供回转动力的部件远离高温、高腐蚀区域。而现有的回转机械手臂的动力装置多设置在转动关节周围，离高温、高腐蚀区域较近，无法稳定工作。
另一方面，现有技术中的回转机械手臂大多采用分别布置的电机减速机驱动，体积大、重量沉。
 技术问题
本发明提出了一种后置直驱式的回转机械手臂，其目的是：（1）将驱动装置改为后置方式，远离高温、高腐蚀区域；（2）缩减驱动装置的体积，减轻重量；（3）将驱动装置作为连接其它机构的桥梁，形成驱动和连接一体化的工作机构。
 技术解决方案
一种后置直驱式的回转机械手臂，包括工作臂、安装在工作臂前端的动力箱和安装在工作臂后端的液压回转连接单元；
所述动力箱上通过转动连接方式安装有工作轴；所述液压回转连接单元的输出轴通过传动机构与所述工作轴连接，以驱动工作轴转动；
还包括位于液压回转连接单元后侧且相对于液压回转连接单元和工作臂固定设置的连接架；
所述动力箱的外侧设有保温层/或密封层。
作为本机械手臂的进一步改进：所述传动机构包括第一传动轴、第二传动轴、万向节、蜗杆和齿轮；第二传动轴、蜗杆和齿轮位于动力箱中；
所述第一传动轴的后端与所述液压回转连接单元的输出轴相连接，前端与通过万向节与第二传动轴的后端相连接；所述第二传动轴与蜗杆相连接，蜗杆与齿轮啮合，所述齿轮与所述工作轴固定连接。
作为本机械手臂的进一步改进：所述动力箱上设有前支架和后支架，所述蜗杆的前后两端分别通过转动连接方式安装在前支架和后支架上。
作为本机械手臂的进一步改进：所述齿轮和工作轴均为两部，一一对应连接；两部齿轮分别位于蜗杆的两侧且均与蜗杆啮合。
作为本机械手臂的进一步改进：所述连接架的前端设有与所述液压回转连接单元的后端相连接的连接盘；所述工作臂的后端设有与液压回转连接单元前端相连接的连接法兰；所述连接盘和连接法兰还通过螺栓相连接。
作为本机械手臂的进一步改进：所述液压回转连接单元所连接的液压管路固定在连接架上。
作为本机械手臂的进一步改进：所述液压管路的后端安装有快速接头。
 有益效果
相对于现有技术，本发明具有以下有益效果：（1）本装置将驱动装置改为后置，通过传动机构控制工作在转动，从而使得驱动装置可以远离高温、高腐蚀区域，提高了装置的稳定性；（2）驱动装置选用液压回转连接单元，相对于传统的电机和减速机，体积小、重量轻，运动更加灵活；（3）液压回转连接单元既作为驱动单元，同时也作为中间机构连接连接架，成为驱动和连接一体化的工作机构；（4）蜗杆可以驱动一个齿轮进行单轴输出，也可以同时驱动两个齿轮回转，实现双轴输出；（5）动力箱外侧设有保温层和、或密封层，可使动力箱内的元件免受外部高温或腐蚀环境的影响。
 附图说明
图1为本装置的整体结构示意图；
图2为齿轮与蜗杆啮合的示意图；
图3为连接架通过螺栓与工作臂后端的连接法兰相连接的结构示意图；
图4为实施例二中蜗杆驱动两个齿轮的示意图。
 本发明的实施方式
下面结合附图详细说明本发明的技术方案：
实施例一
如图1，一种后置直驱式的回转机械手臂，包括工作臂8、安装在工作臂8前端的动力箱2和安装在工作臂8后端的液压回转连接单元11；
所述动力箱2上通过转动连接方式安装有工作轴1；所述液压回转连接单元11的输出轴通过传动机构与所述工作轴1连接，以驱动工作轴1转动。所述工作轴1用于驱动下一级手臂或其它部件旋转。
具体的，所述传动机构包括第一传动轴9、第二传动轴6、万向节7、蜗杆4和齿轮15；第二传动轴6、蜗杆4和齿轮15位于动力箱2中。
所述第一传动轴9的后端与所述液压回转连接单元11的输出轴相连接，前端与通过万向节7与第二传动轴6的后端相连接。所述动力箱2上设有前支架3和后支架5，所述蜗杆4的前后两端分别通过转动连接方式安装在前支架3和后支架5上。如图1和2，所述第二传动轴6前端与蜗杆4后端相连接，蜗杆4与齿轮15啮合，所述齿轮15与所述工作轴1固定连接。
所述传动机构也可以是其它形式，例如液压回转连接单元11的输出轴与蜗杆4或与工作轴1平行设置，通过传动带或传动链或介轮进行动力传输。
工作时，液压回转连接单元11输出轴带动第一传动轴9转动，第一传动轴9通过万向节7和第二传动轴6驱动所述蜗杆4转动，蜗杆4带动齿轮15和工作轴1转动，实现动力输出。
如图1，本装置还包括位于液压回转连接单元11后侧且相对于液压回转连接单元11和工作臂8固定设置的连接架13。工作臂8的后端与连接架13的前端固定连接。
所述液压回转连接单元11所连接的液压管路固定在连接架13上。所述液压管路的后端安装有快速接头。
进一步的，所述动力箱2的外侧根据环境设有保温层和、或密封层，可使动力箱2内的元件免受外部高温或腐蚀环境的影响。
实施例二
如图3，本实施例与实施例一的不同之处在于工作臂8、液压回转连接单元11和连接架13之间的连接方式。
本实施例中，所述连接架13的前端设有与所述液压回转连接单元11的后端相连接的连接盘12；所述工作臂8的后端设有与液压回转连接单元11前端相连接的连接法兰10；所述连接盘12和连接法兰10通过加强螺栓14进行加强连接。该连接方式可以提供更大的输出扭矩。
实施例三
如图4，本实施例与实施例一的不同之处在于，所述蜗杆4同时与两个齿轮15啮合，两个齿轮15分别连接一工作轴1，从而实现双轴输出，同时驱动两个外部元件进行同步回转动作。

Claims (10)

  1. 一种后置直驱式的回转机械手臂，其特征在于：包括工作臂（8）、安装在工作臂（8）前端的动力箱（2）和安装在工作臂（8）后端的液压回转连接单元（11）；
    所述动力箱（2）上通过转动连接方式安装有工作轴（1）；所述液压回转连接单元（11）的输出轴通过传动机构与所述工作轴（1）连接，以驱动工作轴（1）转动。
  2. 如权利要求1所述的后置直驱式的回转机械手臂，其特征在于：所述传动机构包括第一传动轴（9）、第二传动轴（6）、万向节（7）、蜗杆（4）和齿轮（15）；第二传动轴（6）、蜗杆（4）和齿轮（15）位于动力箱（2）中；
    所述第一传动轴（9）的后端与所述液压回转连接单元（11）的输出轴相连接，前端与通过万向节（7）与第二传动轴（6）的后端相连接；所述第二传动轴（6）与蜗杆（4）相连接，蜗杆（4）与齿轮（15）啮合，所述齿轮（15）与所述工作轴（1）固定连接。
  3. 如权利要求2所述的后置直驱式的回转机械手臂，其特征在于：所述动力箱（2）上设有前支架（3）和后支架（5），所述蜗杆（4）的前后两端分别通过转动连接方式安装在前支架（3）和后支架（5）上。
  4. 如权利要求2所述的后置直驱式的回转机械手臂，其特征在于：所述齿轮（15）和工作轴（1）均为两部，一一对应连接；两部齿轮（15）分别位于蜗杆（4）的两侧且均与蜗杆（4）啮合。
  5. 如权利要求1所述的后置直驱式的回转机械手臂，其特征在于：还包括位于液压回转连接单元（11）后侧且相对于液压回转连接单元（11）和工作臂（8）固定设置的连接架（13）。
  6. 如权利要求5所述的后置直驱式的回转机械手臂，其特征在于：所述连接架（13）的前端设有与所述液压回转连接单元（11）的后端相连接的连接盘（12）；所述工作臂（8）的后端设有与液压回转连接单元（11）前端相连接的连接法兰（10）；所述连接盘（12）和连接法兰（10）还通过螺栓（14）相连接。
  7. 如权利要求5所述的后置直驱式的回转机械手臂，其特征在于：所述液压回转连接单元（11）所连接的液压管路固定在连接架（13）上。
  8. 如权利要求7所述的后置直驱式的回转机械手臂，其特征在于：所述液压管路的后端安装有快速接头。
  9. 如权利要求1至8任一所述的后置直驱式的回转机械手臂，其特征在于：所述动力箱（2）的外侧设有保温层。
  10. 如权利要求1至8任一所述的后置直驱式的回转机械手臂，其特征在于：所述动力箱（2）的外侧设有密封层。
PCT/CN2021/124525 2020-12-11 2021-10-19 后置直驱式的回转机械手臂 WO2022121506A1 (zh)

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