Intelligent robot lifting device

Abstract

The present invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot lifting device. It includes a base, a lead screw, a slide plate, a linear guide slider, a nut, a nonlinear guide rail and an anti-resonance motion chain, wherein the linear guide slider and the nonlinear guide rail are both arranged on both sides of the base in the vertical direction, the lead screw is arranged on the base in the vertical direction and can rotate; the nut and the lead screw form a spiral pair, the slide plate is connected to the nut, and the two ends are connected to the linear guide slider; the anti-resonance motion chain is sleeved on the lead screw, and the two ends are in contact with the nonlinear guide rail, and the anti-resonance motion chain and the slide plate are flexibly connected. The present invention effectively suppresses the resonance of the high-speed rotation of the lead screw, has low noise, and effectively improves the critical speed of the high-speed rotation of the lead screw; at the same time, it is not limited by the minimum diameter of the lead screw in long-distance transmission, which helps to make the equipment lightweight and adapt to high-speed working conditions.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robots, and in particular relates to an intelligent robot lifting device. Background Art

[0002] At present, a large number of lifting devices are used in the intelligent robot and automation industry, especially a large number of linear motion modules as lifting mechanisms. The traditional linear module is a screw drive, in which the principle of screw drive is that the motor drive changes from rotation to linear motion. Although screw drive is widely used in intelligent manufacturing fields such as automation equipment, industrial robots, precision machine tools, machinery industry, smart automation, biomedicine, intelligent robots, etc., and has good performance, it still has some obvious disadvantages: such as high-precision ball screw processing is difficult and costly, the length of the screw is greatly limited, and there is also the problem of difficulty in high-speed operation of the device. In particular, the critical speed problem of the screw. Due to the existence of the critical speed, the use speed of the screw is limited. If the actual use speed of the screw exceeds the maximum allowable speed of the screw, the disadvantages are mainly the following: the vibration of the screw increases, causing the equipment to resonate, the screw noise and temperature rise; at the same time, the positioning accuracy of the screw is reduced, and the life is reduced. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide an intelligent robot lifting device to solve the problem of long-distance transmission limited by factors such as screw length, resonance, critical speed, etc. in existing screw transmission.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An intelligent robot lifting device provided by an embodiment of the present invention comprises a base, a lead screw, a slide plate, a linear guide slider, a nut, a nonlinear guide rail and an anti-resonance kinematic chain, wherein the linear guide slider and the nonlinear guide rail are both arranged on both sides of the base in a vertical direction, and the lead screw is arranged on the base in a vertical direction and can rotate;

[0006] The nut and the lead screw form a spiral pair, the slide plate is connected to the nut, and both ends are connected to the linear guide slider;

[0007] The anti-resonance motion chain is sleeved on the lead screw, and both ends are in contact with the nonlinear guide rails. The anti-resonance motion chain is flexibly connected to the slide plate.

[0008] In a possible implementation, the anti-resonance motion chain includes a sleeve and two elastic motion branches, wherein the sleeve is sleeved on the lead screw to form a revolving pair; the two elastic motion branches are symmetrically arranged on both sides of the sleeve, and the ends thereof are respectively in contact with the corresponding nonlinear guide rails.

[0009] In a possible implementation, a follower wheel is provided at the end of the elastic motion branch chain, and the follower wheel is in contact with the nonlinear guide rail and can move along the nonlinear guide rail.

[0010] In a possible implementation, the elastic motion branch chain includes a connecting tube, a connecting rod and a disc spring, wherein one end of the connecting tube is fixedly connected to the sleeve, and the axes of the connecting tube and the sleeve are perpendicular to each other; the disc spring is accommodated in the other end of the connecting tube; one end of the connecting rod is slidably connected to the other end of the connecting tube and abuts against the disc spring, and the follower wheel is arranged at the other end of the connecting rod.

[0011] In a possible implementation, the other end of the connecting rod is provided with a limiting plane perpendicular to the rotation axis of the follower wheel;

[0012] The limiting plane is in surface contact with the base to form a planar kinematic pair;

[0013] Alternatively, the limiting plane forms a planar kinematic pair with the guide rail in the linear guide slider.

[0014] In a possible implementation manner, a motion compensation gap is provided between the limiting plane and the base in a lateral direction.

[0015] In a possible implementation, the connecting cylinder is connected to the slide plate via a damping sleeve.

[0016] In a possible implementation, the nonlinear guide rail is a nonlinear curved surface structure, and the cross section of the nonlinear curved surface gradually increases from both ends to the middle.

[0017] In a possible implementation, the nut and the lead screw form a ball screw transmission structure; the slide plate is mounted on the lead screw to form a rotating pair; the nut is located below the slide plate, and the anti-resonance motion chain is located above the slide plate.

[0018] In a possible implementation, the intelligent robot lifting device further includes a rotation drive device, which is disposed on a base and has an output end connected to the lead screw for driving the lead screw to rotate.

[0019] The advantages and beneficial effects of the present invention are as follows: the present invention effectively suppresses the resonance of the high-speed rotation of the lead screw in the lifting device, has low noise, and effectively increases the critical speed of the high-speed rotation of the lead screw in the lifting device;

[0020] The present invention is not limited by the minimum diameter of the lead screw in long-distance transmission, which helps to make the equipment lightweight and adapt to high-speed working conditions.

[0021] The invention can improve the positioning accuracy of the lead screw and prolong the service life.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0023] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is an axonometric diagram of an intelligent robot lifting device of the present invention;

[0026] Figure 2 for Figure 1 The enlarged image of point Ⅰ in the middle;

[0027] Figure 3 This is a front view of an intelligent robot lifting device of the present invention;

[0028] Figure 4 for Figure 3 AA partial cross-sectional view.

[0029] In the figure: 1 is a base, 2 is a rotary drive device, 3 is a lead screw, 4 is an auxiliary support, 5 is a slide plate, 6 is a linear guide slider, 7 is a nut, 8 is a sleeve, 9 is a connecting tube, 10 is a connecting rod, 11 is a follower wheel, 12 is a nonlinear guide, 13 is a disc spring, 14 is a damping sleeve, 15 is a limit plane, and 16 is a motion compensation gap. DETAILED DESCRIPTION

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] The embodiment of the present invention provides an intelligent robot lifting device, which can effectively suppress the resonance of the high-speed rotation of the lead screw and effectively increase the critical speed of the high-speed rotation of the lead screw. Figure 1-4 As shown, the intelligent robot lifting device comprises a base 1, a rotary drive device 2, a lead screw 3, a slide plate 5, a linear guide slider 6, a nut 7, a nonlinear guide rail 12 and an anti-resonance kinematic chain, wherein the linear guide slider 6 and the nonlinear guide rail 12 are both arranged on both sides of the base 1 in the vertical direction, the lead screw 3 is arranged in the middle position of the base 1 in the vertical direction and can rotate; the nut 7 forms a spiral pair with the lead screw 3, the slide plate 5 is connected with the nut 7, and the two ends are connected with the linear guide slider 6; the anti-resonance kinematic chain is sleeved on the lead screw 3, and the two ends are in contact with the nonlinear guide rail 12, and the anti-resonance kinematic chain is flexibly connected with the slide plate 5. The rotary drive device 2 is arranged on the base 1, and the output end is connected with the lead screw 3, which is used to drive the lead screw 3 to rotate.

[0035] See also Figure 1-2 As shown, in the embodiment of the present invention, the base 1 is fixed to the ground, the rotation drive device 2 is a servo motor, the servo motor is arranged on the top of the base 1, and the output end is connected to the upper end of the lead screw 3, and the lower end of the lead screw 3 is supported by an auxiliary support 4 arranged on the base 1. The slide plate 5 forms a linear motion pair with the base 1 through a linear guide slider 6, and the nut 7 and the lead screw 3 form a ball screw transmission structure of a spiral lifting pair.

[0036] Furthermore, the slide plate 5 is sleeved on the lead screw 3 to form a revolving pair; the nut 7 is located below the slide plate 5, and the anti-resonance kinematic chain is located above the slide plate 5. The servo motor drives the lead screw 3 to rotate, thereby driving the nut 7 and the slide plate 5 to perform lifting and lowering movements, and the spatial vibration of the lead screw 3 is effectively suppressed by the anti-resonance kinematic chain, thereby realizing the long-distance stable transmission of the lead screw 3.

[0037] In an embodiment of the present invention, the anti-resonance motion chain includes a sleeve 8 and two elastic motion branches, wherein the sleeve 8 is sleeved on the screw 3 to form a rotating pair; the two elastic motion branches are symmetrically arranged on both sides of the sleeve 8, and the ends are respectively in contact with the corresponding nonlinear guide rails 12.

[0038] Furthermore, a follower wheel 11 is provided at the end of the elastic motion branch chain. The follower wheel 11 is in close contact with the nonlinear guide rail 12 through the elasticity of the elastic motion branch chain and can move along the nonlinear guide rail 12 .

[0039] In an embodiment of the present invention, the nonlinear guide rail 12 is a nonlinear curved surface structure, and the cross-section of the nonlinear curved surface gradually increases from the two ends to the middle of the nonlinear guide rail 12, so that the sliding contact reaction force and stiffness of the elastic motion branch chain gradually increase from the two ends to the middle of the nonlinear guide rail 12, so as to balance the radial stiffness of the screw 3, which is weak in the middle and strong at the upper and lower ends, and realize the stability of the long-distance transmission of the screw 3.

[0040] See also Figure 4 As shown, in the embodiment of the present invention, the elastic motion branch chain includes a connecting tube 9, a connecting rod 10 and a disc spring 13, wherein one end of the connecting tube 9 is fixedly connected to the sleeve 8, and the axes of the connecting tube 9 and the sleeve 8 are perpendicular to each other; a plurality of disc springs 13 are accommodated at the other end of the connecting tube 9; one end of the connecting rod 10 is plugged with the other end of the connecting tube 9 and can move axially, and one end of the connecting rod 10 abuts against the disc spring 13. A follower wheel 11 is arranged at the other end of the connecting rod 10, and the axis of the follower wheel 11 is perpendicular to the axis of the connecting tube 9. The connecting rod 10 senses the shape change of the nonlinear guide rail 12 through the follower wheel 11. In this way, a floating connection structure is formed between the connecting tube 9 and the connecting rod 10, and a path capable of transmitting elasticity is formed by a plurality of disc springs 13 groups, so as to provide a pre-tightening force for the follower wheel 11 to be in close contact with the nonlinear guide rail 12.

[0041] See also Figure 4 As shown, on the basis of the above embodiment, the other end of the connecting rod 10 is provided with a limiting plane 15 perpendicular to the rotation axis of the follower wheel 11, and the limiting plane 15 is in surface contact with the base 1 to form a planar motion pair; or, the limiting plane 15 forms a planar motion pair with the guide rail in the linear guide slider 6, thereby suppressing the vibration of the screw 3 in the X direction.

[0042] Furthermore, there is a motion compensation gap 16 between the limiting plane 15 and the base 1 in the lateral direction, and the motion compensation gap 16 can compensate for the motion space of the elastic motion branch chain in the Y direction. In other words, the motion compensation gaps 16 on both sides of the anti-resonance motion chain can limit the spatial attitude vibration range of the sleeve 8.

[0043] In the embodiment of the present invention, the connecting tube 9 is connected to the slide plate 5 through the damping sleeve 14 to form a follow-up damping relationship, so that the entire anti-resonance motion chain moves with the slide plate 5. Since the damping sleeve 14 is flexible, it will not hinder the movement of the slide plate 5.

[0044] In this embodiment, the two sides of the sleeve 8 mounted on the lead screw 3 are supported by two symmetrically connected elastic motion branches. The contact reaction force between the elastic motion branches and the nonlinear guide rail 12 and the support reaction force generated by the radial stiffness of the lead screw 3 form a spatial dynamic force system, thereby balancing the ball transmission spatial spiral reaction force of the spiral lifting pair formed by the nut 7 and the lead screw 3. The geometric change of the thick middle section and thin upper and lower sections of the nonlinear guide rail 12 leads to a change in the contact reaction force between the elastic motion branches and the nonlinear guide rail 12, which is strong in the middle and weak in the upper and lower parts. The change in the contact reaction force maintains the stability of the spatial force system of the radial stiffness of the lead screw 3, which is weak in the middle and strong at the upper and lower ends, thereby realizing the long-distance stable transmission of the lead screw 3.

[0045] An intelligent robot lifting device provided in an embodiment of the present invention has the following working principle:

[0046] The rotary drive device 2 drives the lead screw 3 to rotate at high speed, thereby driving the nut 7 and the slide plate 5 to perform lifting and lowering motion along the lead screw 3, and driving the anti-resonance motion chain to perform lifting and lowering synchronously through the damping sleeve 14. The anti-resonance motion chain balances the spatial posture vibration between the nut 7 and the lead screw 3 through the contact reaction force with the nonlinear guide rail 12 and its own elastic properties. Because the cross section of the nonlinear guide rail 12 gradually increases from both ends to the middle, that is, the cross section of the nonlinear surface of the nonlinear guide rail 12 in the middle position increases, the shape change of the nonlinear surface causes the sliding contact reaction force and stiffness of the anti-resonance motion chain to gradually increase, and then the support rigidity of the anti-resonance motion chain is strengthened, thereby achieving effective vibration isolation of the entire resonant frequency of the lifting device. In other words, the shape change of the nonlinear surface of the nonlinear guide rail 12 causes a nonlinear change in the internal rigidity of the disc spring 13, and then the nonlinear change in the support rigidity of the anti-resonance motion branch chain, thereby causing the continuous change of the entire resonant frequency of the lifting device.

[0047] The intelligent robot lifting device provided by the present invention can effectively suppress the resonance of the high-speed rotation of the screw and effectively increase the critical speed of the high-speed rotation of the screw; at the same time, the present invention is not limited by the minimum diameter of the screw in long-distance transmission, which helps to make the equipment lightweight and adapt to high-speed working conditions.

[0048] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent robot lifting device, characterized in that: The invention comprises a base (1), a lead screw (3), a slide plate (5), a linear guide slider (6), a nut (7), a nonlinear guide rail (12) and an anti-resonance kinematic chain, wherein the linear guide slider (6) and the nonlinear guide rail (12) are both arranged on both sides of the base (1) in a vertical direction, and the lead screw (3) is arranged on the base (1) in a vertical direction and is rotatable; The nut (7) and the lead screw (3) form a spiral pair, the slide plate (5) is connected to the nut (7), and both ends are connected to the linear guide slider (6); The anti-resonance motion chain is sleeved on the lead screw (3), and both ends are in contact with the nonlinear guide rail (12), and the anti-resonance motion chain is flexibly connected to the slide plate (5); The anti-resonance motion chain comprises a sleeve (8) and two elastic motion branches, wherein the sleeve (8) is sleeved on the lead screw (3) to form a rotation pair; the two elastic motion branches are symmetrically arranged on both sides of the sleeve (8), and the ends thereof are respectively in contact with the corresponding nonlinear guide rails (12); A follower wheel (11) is provided at the end of the elastic motion branch chain, and the follower wheel (11) is in contact with the nonlinear guide rail (12) and can move along the nonlinear guide rail (12); The elastic motion branch chain comprises a connecting tube (9), a connecting rod (10) and a disc spring (13), wherein one end of the connecting tube (9) is fixedly connected to the sleeve (8), and the axes of the connecting tube (9) and the sleeve (8) are perpendicular to each other; the disc spring (13) is accommodated at the other end of the connecting tube (9); one end of the connecting rod (10) is slidably connected to the other end of the connecting tube (9) and abuts against the disc spring (13), and the follower wheel (11) is arranged at the other end of the connecting rod (10); The nonlinear guide rail (12) is a nonlinear curved surface structure, and the cross section of the nonlinear curved surface gradually increases from both ends to the middle.

2. The intelligent robot lifting device according to claim 1, characterized in that: The other end of the connecting rod (10) is provided with a limiting plane (15) perpendicular to the rotation axis of the follower wheel (11); The limiting plane (15) is in surface contact with the base (1) to form a planar kinematic pair; Alternatively, the limiting plane (15) and the guide rail in the linear guide slider (6) form a planar motion pair.

3. The intelligent robot lifting device according to claim 2, characterized in that: There is a motion compensation gap (16) between the limiting plane (15) and the base (1) in the lateral direction.

4. The intelligent robot lifting device according to claim 1, characterized in that: The connecting tube (9) is connected to the slide plate (5) via a damping sleeve (14).

5. The intelligent robot lifting device according to claim 1, characterized in that: The nut (7) and the lead screw (3) form a ball screw transmission structure; the slide plate (5) is sleeved on the lead screw (3) to form a rotation pair; the nut (7) is located below the slide plate (5), and the anti-resonance motion chain is located above the slide plate (5).

6. The intelligent robot lifting device according to claim 1, characterized in that: It also comprises a rotation driving device (2), wherein the rotation driving device (2) is arranged on the base (1), and an output end is connected to the lead screw (3) for driving the lead screw (3) to rotate.

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