CN210389258U - Heavy-load mechanical arm vertical shaft structure and robot - Google Patents

Abstract

The utility model provides a heavy load arm vertical axis structure and robot, including heavy load arm, with the movable stand that heavy load arm is connected, with movable stand sliding connection fixed post still includes the elastic component, the one end of elastic component with movable stand fixed connection, the other end of elastic component with fixed stand fixed connection, the elastic component sets up in the outside of movable stand, heavy load arm vertical axis structure, through set up the elastic component between movable stand and fixed stand, come the balanced load, structural security is high; make full use of the unchangeable characteristics of exerting oneself of air spring for motor load current reduces and balanced, is different from the hydraulic balance mode, the utility model discloses no hydraulic cylinder, control valve etc. simple structure, the structure exposes, is convenient for maintain, makes whole vertical axis structure retrench and lightweight.

Description

Heavy-load mechanical arm vertical shaft structure and robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a heavy load arm vertical axis structure and robot.

Background

The heavy-load mechanical arm with the vertical shaft is not only applied to the fields of traditional manufacturing industry such as metallurgy, petroleum, transportation, mining industry and the like, but also applied to the fields of industrial robots such as aviation, space exploration, biochemistry and the like, and the fields of services, medical rehabilitation, operations and the like, is used for large-range height change of the whole equal load of an operation part, along with the large-range application of the mechanical arm in the advanced field, compared with the conventional industrial mechanical arm, the vertical shaft load bearing capacity and the safety of the mechanical arm are higher, and the vertical shaft structure of the existing heavy-load mechanical arm cannot meet the requirements.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention is directed to a vertical axis structure of a heavy-duty mechanical arm, which is designed to solve at least one aspect of the above problems to some extent.

In order to solve the problem, the utility model provides a heavy load arm vertical axis structure, including heavy load arm, with the movable stand that heavy load arm is connected, with movable stand sliding connection stationary mast still includes elastic component, elastic component's one end with movable stand fixed connection, elastic component's the other end with stationary mast fixed connection, elastic component sets up the outside of movable stand.

Optionally, the number of the elastic assemblies is multiple, and the multiple elastic assemblies are arranged in parallel.

Optionally, the elastic component is including setting up bottom bracket on the fixed post, setting up upper bracket on the activity stand, setting up and being in the fender bracket in the activity stand outside and setting up the air spring in the fender bracket, the one end of air spring with upper bracket fixed connection, the other end of air spring with bottom bracket fixed connection.

Optionally, still including setting up the lift part in the activity stand, the lift part includes driving motor, driving motor is connected with the lead screw through the speed reducer, the lead screw stretches into downwards the cavity of fixed stand, with set up and be in the screw cooperation in the cavity of fixed stand.

Optionally, a central line of the lead screw is vertically arranged, and the central line of the lead screw coincides with the central line of the movable upright and the central line of the fixed upright.

Optionally, a guide groove with a vertical trend is arranged on the outer side wall of the fixed stand column, and a guide strip matched with the guide groove is arranged on the inner side wall of the movable stand column.

Optionally, the device further comprises a base, and the base is fixedly connected with the fixed upright.

Optionally, the guide device further comprises a guide seat arranged in the fixed upright post, and the lead screw penetrates through the guide seat and is used for guiding the motion of the lead screw.

Optionally, the heavy-duty mechanical arm comprises a large arm and a small arm rotationally connected with the large arm, and the large arm and the small arm are horizontally arranged.

Compared with the prior art, heavy load arm vertical axis structure have following advantage:

the vertical shaft structure of the heavy-duty mechanical arm of the utility model balances the load by arranging the elastic component between the movable upright post and the fixed upright post, and has high structural safety; make full use of the unchangeable characteristics of exerting oneself of air spring for motor load current reduces and balanced, is different from the hydraulic balance mode, the utility model discloses no hydraulic cylinder, control valve etc. simple structure, the structure exposes, is convenient for maintain, makes whole vertical axis structure retrench and lightweight.

The utility model also provides a robot, the air conditioner has the aforesaid heavy load arm vertical axis structure.

Compared with the prior art, the vertical shaft structure of the robot and the heavy-duty mechanical arm has the same advantages, and the detailed description is omitted.

Drawings

Fig. 1 is a schematic structural diagram of a vertical axis structure of a heavy-duty mechanical arm according to an embodiment of the present invention;

fig. 2 is a schematic cross-sectional view of a vertical axis structure of a heavy-duty mechanical arm according to an embodiment of the present invention.

Description of reference numerals:

1. heavy-duty mechanical arm, 11, big arm, 12, forearm, 2, movable stand column, 3, fixed stand column, 4, elastic component, 41, bottom suspension, 42, upper bracket, 43, fender bracket, 44, air spring, 5, lifting unit, 51, driving motor, 52, lead screw, 53, screw, 6, base.

Detailed Description

The heavy-load mechanical arm with the vertical shaft is not only applied to the fields of traditional manufacturing industry such as metallurgy, petroleum, transportation, mining industry and the like, but also applied to the fields of high-tech fields such as aviation, space exploration, biochemistry and the like, and industrial robots such as service, medical rehabilitation, operation and the like, and is used for large-range height change of the whole load of an operation part and the like.

Along with the extensive application of arm in advanced field, compare with conventional industrial robot arm, it is higher to the vertical axis load bearing capacity ability and the security requirement of this type of arm, embody: lighter mass, higher load/deadweight ratio, higher safety factor, etc. Under the requirement, the load balancing device of the vertical shaft is very important for the vertical shaft structure performance of the heavy-duty mechanical arm.

In a conventional industrial robot, the manner of balancing the vertical axial load can be roughly divided into: pneumatic, spring, counterweight, and hydraulic.

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In addition, the following description will be briefly made with reference to the orientation: the following directional or positional relationships, as referred to with respect to "upper", "lower", "left", "right", etc., of each structural member, refer to the orientation or positional relationship shown in the drawings; these positional relationships are merely for convenience and simplicity of description and do not indicate or imply that the device referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention.

The horizontal direction that this embodiment relates to is reference direction, and the horizontal direction is parallel with ground, and vertical direction is vertical direction from top to bottom in this embodiment, and vertical direction and horizontal direction mutually perpendicular, and this embodiment describes its structure under heavily loaded arm vertical axis structural operating condition.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

As shown in fig. 1, a heavy-duty mechanical arm vertical axis structure, including heavy-duty mechanical arm 1, with the movable stand 2, heavy-duty mechanical arm 1 and the movable stand 2 mutually perpendicular that heavy-duty mechanical arm 1 is connected, with 2 sliding connection fixed stands 3 of movable stand, 2 overcoat of movable stand are in the outside of fixed stand 3, and movable stand 2 and fixed stand 3 can slide relatively to change the height of heavy-duty mechanical arm 1. The vertical shaft structure of the heavy-duty mechanical arm further comprises an elastic component 4, one end of the elastic component 4 is fixedly connected with the movable upright post 2, the other end of the elastic component 4 is fixedly connected with the fixed upright post 3, before the elastic component 4 is not arranged, the gravity of the heavy-duty mechanical arm 1 is borne by the lifting component 5, after the elastic component 4 is arranged, the elastic component 4 shares the pressure borne by the lifting component 5, so that the power of the driving motor 51 is reduced, the size and the weight of the structure are reduced, and the load/dead weight ratio is increased; meanwhile, the stress of the lifting component 5 is reduced, and the safety factor of the whole mechanism is improved. The elastic component 4 is arranged on the outer side of the movable upright post 2, and the elastic component 4 is arranged externally, so that the maintenance is convenient.

The utility model discloses make full use of the unchangeable characteristics of exerting oneself of air spring 44 for motor load current reduces, and is balanced. Thus, the utility model discloses require light weight to the arm that has the vertical axis, be advantageous in the field of heavy load.

The number of the elastic assemblies 4 is a plurality, the elastic assemblies 4 are arranged in parallel, the total acting force is on the same vertical central line with the load of the lifting component 5, no eccentric force exists, and the structure is excellent.

In this embodiment, preferably, the number of the elastic components 4 is 4 groups, and the elastic components 4 are symmetrically arranged on two opposite side surfaces of the fixed upright 3, so that the appearance is regular, and the required reaction force of the elastic components 4 is small.

Elastic component 4 is including setting up bottom bracket 41, bottom bracket 41 on the fixed post 3 pass through screw fixed connection in the outside of fixed post 3, set up upper bracket 42, upper bracket 42 on the activity stand 2 pass through screw fixed connection in the outside of activity stand 2, set up the fender bracket 43 in the activity stand 2 outside is in with the setting air spring 44 in the fender bracket 43, fender bracket 43 plays the guard action to air spring 44, avoids air spring 44 to receive external force and damages. One end of the gas spring 44 is fixedly connected with the upper support 42, the other end of the gas spring 44 is fixedly connected with the lower support 41, specifically, the end of the pressure cylinder of the gas spring 44 is fixedly connected with the upper support 42, the piston rod of the gas spring 44 is fixedly connected with the lower support 41, the pressure between the movable upright post 2 and the fixed upright post 3 is shared through the structure of the gas spring 44, and the gas spring 44 has light dead weight and stable and balanced output force.

Different from a hydraulic balance mode, the air pressure balance device of the utility model has no hydraulic cylinder, control valve and the like, has simple structure, exposed structure and convenient maintenance; the utility model is different from the mode of counterweight balance, and does not need to increase the mass of a larger counterweight and complex structures such as a pulley wire rope and the like; the gas spring 44 has substantially uniform output over the full stroke range, resulting in a motor with very low and balanced load current, which is not comparable to a wire-wound spring.

As shown in fig. 2, the vertical axis structure of the heavy-duty mechanical arm further includes a lifting component 5 disposed in the movable upright 2, the lifting component 5 includes a driving motor 51, in this embodiment, the driving motor 51 is fixedly disposed on the upper portion of the movable upright 2, the driving motor 51 is connected to a lead screw 52 through a speed reducer, the lead screw 52 extends downwards into the cavity of the fixed upright 3, and is matched with a nut 53 disposed in the cavity of the fixed upright 3, and the driving motor 51 drives the lead screw 52 to rotate relative to the nut 53, so as to adjust the overall height of the heavy-duty mechanical arm 1.

The specific principle is as follows: the fixed nut 53 generates an upward axial thrust F1 to the heavy duty mechanical arm through the lead screw 52. The elastic component 4 generates an upward supporting force F2 to the heavy-duty mechanical arm 1 through the movable upright post 2, and the downward gravity of the heavy-duty mechanical arm 1 is G. The three forces form a balance, which is consistent with the formula of G-F1 + F2. G can be regarded as unchanged, so that the elastic component 4 is designed to generate a proper support reaction force F2, and the axial force F1 borne by the lead screw 52 can be effectively reduced, so that the power of the motor is reduced, the size and the weight of the structure are reduced, and the load/dead weight ratio is increased; meanwhile, the stress of the screw nut 53 and the fixed upright post 3 is reduced, and the safety coefficient of the system is also improved.

The central line of the screw 52 is vertically arranged, and the central line of the screw 52 is superposed with the central line of the movable upright post 2 and the central line of the fixed upright post 3.

When the screw 52 rotates relatively to the nut 53, the movable upright post 2 and the fixed upright post 3 slide relatively, the screw 52, the movable upright post 2 and the fixed upright post 3 move coaxially, the concentricity is high, and the structure is stable and durable.

Be equipped with the guide way of vertical trend on the 3 lateral walls of stationary mast, be equipped with on the inside wall of activity stand 2 with guide way complex gib block, perhaps be equipped with the guide strip of vertical trend on the 3 lateral walls of stationary mast, be equipped with on the inside wall of activity stand 2 with gib block complex guide way further guarantees the stability of motion between activity stand 2 and the stationary mast 3.

Heavy load arm vertical axis structure still includes base 6, base 6 with fixed stand 3 fixed connection, preferably, base 6 and fixed stand 3 integrated into one piece set up to higher structural strength has.

The vertical shaft structure of the heavy-duty mechanical arm further comprises a guide seat arranged in the fixed upright post 3, the lead screw 52 penetrates through the guide seat and is used for guiding the movement of the lead screw 52, so that when the lead screw 52 rotates relative to the nut 53, the axial movement of the lead screw has high stability, and the overall movement stability of the heavy-duty mechanical arm 1 is improved.

Heavy load arm 1 includes big arm 11, with big arm 11 rotates forearm 12 of being connected, big arm 11 with forearm 12 level sets up, can rotate relatively between big arm 11 and the forearm 12 with the adjustment direction.

The utility model discloses it is most suitable on the heavy load arm that has the vertical axis and goes up and down. A certain medical robot requires compact vertical shaft appearance, light weight, simple structure and high safety coefficient, at present, the load balancing device adopting the air spring 44 of the utility model is applied in the vertical shaft of the mechanical arm, can meet the requirement, and through determination and comparison, when the spring is originally coiled by a steel wire for balancing, the current of the motor changes along with the stroke, and is close to the motor limit between 2A and 20A; after the load balancing device adopting the gas spring 44 is adopted, the current of the motor is within 2A-3A in the full stroke range, the current is small, and the balance and stability are realized.

A robot comprises the heavy-load mechanical arm vertical shaft structure.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to fall within the scope of the present disclosure.

Claims (10)

1. The utility model provides a heavy load arm vertical axis structure, including heavy load arm (1), with movable stand (2) that heavy load arm (1) is connected, with movable stand (2) sliding connection fixed post (3), its characterized in that: still include elastic component (4), the one end of elastic component (4) with activity stand (2) fixed connection, the other end of elastic component (4) with fixed stand (3) fixed connection, elastic component (4) set up the outside of activity stand (2).

2. The vertical axis structure of heavy-duty mechanical arm according to claim 1, characterized in that said elastic member (4) is plural in number, and said plural elastic members (4) are arranged in parallel.

3. The vertical axis structure of heavy-duty mechanical arm according to claim 1, wherein the elastic assembly (4) comprises a lower support (41) arranged on the fixed upright (3), an upper support (42) arranged on the movable upright (2), a protection frame (43) arranged outside the movable upright (2), and a gas spring (44) arranged in the protection frame (43), one end of the gas spring (44) is fixedly connected with the upper support (42), and the other end of the gas spring (44) is fixedly connected with the lower support (41).

4. The vertical shaft structure of the heavy-duty mechanical arm according to claim 1, further comprising a lifting component (5) arranged in the movable upright post (2), wherein the lifting component (5) comprises a driving motor (51), the driving motor (51) is connected with a lead screw (52) through a speed reducer, and the lead screw (52) extends downwards into the cavity of the fixed upright post (3) and is matched with a screw nut (53) arranged in the cavity of the fixed upright post (3).

5. The vertical axis structure of the heavy-duty mechanical arm according to claim 4, characterized in that the central line of the lead screw (52) is vertically arranged, and the central line of the lead screw (52) is coincident with the central line of the movable upright (2) and the central line of the fixed upright (3).

6. The vertical shaft structure of the heavy-duty mechanical arm according to claim 1, characterized in that a vertically oriented guide groove is formed on the outer side wall of the fixed upright post (3), and a guide strip matched with the guide groove is formed on the inner side wall of the movable upright post (2).

7. The vertical axis structure of the heavy-duty mechanical arm according to claim 1, further comprising a base (6), wherein the base (6) is fixedly connected with the fixed upright (3).

8. The vertical shaft structure of the heavy-duty mechanical arm according to claim 4, further comprising a guide seat arranged in the fixed upright (3), wherein the lead screw (52) is arranged through the guide seat for guiding the movement of the lead screw (52).

9. The vertical axis structure of the heavy-duty mechanical arm according to claim 1, characterized in that the heavy-duty mechanical arm (1) comprises a large arm (11) and a small arm (12) rotatably connected with the large arm (11), and the large arm (11) and the small arm (12) are horizontally arranged.

10. A robot comprising a heavy duty robotic arm vertical axis structure as claimed in any one of claims 1 to 9.

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