A new multi-structure columnar telescopic mechanism with high seismic resistance and high precision

Abstract

The present invention belongs to the technical field of telescopic robotic arms, and specifically discloses a novel multi-structural columnar telescopic mechanism with high earthquake resistance and high precision; it includes a primary telescopic arm, a secondary telescopic arm is arranged inside the primary telescopic arm, a coarse driving mechanism is arranged between the primary telescopic arm and the secondary telescopic arm, and a fine driving mechanism is arranged on the secondary telescopic arm.

Description

Technical Field

[0001] The invention belongs to the technical field of telescopic mechanical arms, and in particular relates to a novel multi-structure columnar telescopic mechanism with high shock resistance and high precision. Background Art

[0002] When the robot performs high-impact and high-vibration operations, such as when the excavator uses the mechanical arm to dig heavy mud and rocks or renovate the road, the robot's mechanical arm will receive a large impact and high-frequency vibration due to the reaction force. The structure of the traditional mechanical arm is just a simple snap-on or fixed connection structure. These structures are easy to loosen or even break in the connection structure when subjected to large impact or high-frequency vibration, which seriously affects the normal operation of the robot. Especially for robots that require high-precision operation, the movable telescopic arm will affect its precise operation. In particular, compared with the folding telescopic mechanical arm of the excavator mechanical arm, the utilization of space is still not good enough, and this telescopic structure cannot be applied in occasions where space is limited. The barrel-type telescopic structure, combined with a specific steering mechanism, can realize multi-angle operation and the volume occupied by the barrel-type structure is only the volume occupied by the outermost shell. The other mechanical arms can be contained inside the largest section of the mechanical arm, which greatly improves the space utilization. However, there are few existing barrel-type telescopic mechanisms and most of the internal drive structures are only driven by hydraulic or pneumatic means, which have high requirements on the precision of materials and their own structures and generally require large-volume power equipment, so that the working conditions are severely limited. Summary of the invention

[0003] The purpose of the present invention is to provide a novel multi-structure columnar telescopic mechanism with high shock resistance and high precision.

[0004] Based on the above purpose, the present invention adopts the following technical solution:

[0005] A novel multi-structure columnar telescopic mechanism with high seismic resistance and high precision comprises a primary telescopic arm, a secondary telescopic arm is arranged inside the primary telescopic arm, a rough drive mechanism is arranged between the primary telescopic arm and the secondary telescopic arm, and a fine drive mechanism is arranged on the secondary telescopic arm.

[0006] Furthermore, the coarse drive mechanism includes a driving spool and a passive spool respectively arranged at both ends of the first telescopic arm, and the driving spool is connected to a coarse drive motor; the driving spool and the passive spool are provided with closed-loop wire ropes, and the wire ropes are connected to the second telescopic arm.

[0007] Furthermore, the secondary telescopic arm includes a supporting base plate and a telescopic barrel; the supporting base plate is fixedly connected to the steel wire rope, and a buffer spring is arranged and connected between the supporting base plate and the telescopic barrel.

[0008] Furthermore, the fine drive mechanism includes a fine drive motor fixedly arranged on the support base plate, and there is an included angle between the fine drive motor and the length direction of the secondary telescopic arm; a drive arm is fixedly connected to the rotating shaft of the fine drive motor, and the end of the drive arm far from the fine drive motor is rotatably connected to the bottom end of the telescopic barrel.

[0009] Furthermore, the drive arm is a spiral structure that rotates around the length direction of the secondary telescopic arm.

[0010] Furthermore, there are more than three fine drive motors evenly distributed.

[0011] Furthermore, a tertiary telescopic arm is arranged inside the secondary telescopic arm; a coarse drive mechanism is arranged between the secondary telescopic arm and the tertiary telescopic arm; a fine drive mechanism is arranged on the tertiary telescopic arm.

[0012] Furthermore, a pair of symmetric coarse drive mechanisms are arranged on both the primary telescopic arm and the secondary telescopic arm.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention is a novel multi-structure columnar telescopic mechanism with high seismic resistance and high precision, which can replace the traditional telescopic robotic arm for operation, enabling the robot to operate in more diverse environments. The setting of the coarse drive mechanism and the fine drive mechanism can achieve short-distance precise telescoping on the basis of rapid telescoping; the present invention adopts a multi-stage telescopic arm to freely adjust the length of the telescopic arm, and the large telescopic arm can accommodate a small robotic arm inside. In a working environment with limited space, its high space utilization rate can be well exerted through free contraction.

[0015] 3. The fine drive mechanism of the present invention can cooperate with the coarse drive mechanism to achieve telescoping of precise distance through precise rotation in the case of high-precision operation, and can provide high impact and vibration with the cooperation of the buffer spring, ensuring the stability of the telescopic arm and the precise distance movement of the robot during operation. When the telescopic arm performs buffer shock absorption, the telescopic barrel can drive the end connected to it to move, causing the end of the drive arm connected to the fine drive motor to rotate passively, thus not affecting the retraction and shock absorption of the telescopic barrel. The drive arm is set as a spiral structure, which can more stably support the telescopic barrel.

[0016] 4. The present invention adopts a symmetric coarse driving mechanism, which can prevent the entire mechanism from being scrapped due to excessive friction on one side of the telescopic arm. By adopting a symmetric structure, the service life of the entire mechanism is improved. If there is only one set of steel wires for driving the telescopic movement of each stage, when the coarse driving motor pulls the steel wire, only the side of the telescopic arm that bears the active spool and the passive spool will be subjected to tension, and this tension will generate a tilting moment on the telescopic arm. The tilt caused by such uneven local stress will accelerate the wear of the bearings of the spools used to constrain the position at the top and bottom of each stage of the telescopic arm, reducing the overall service life of the mechanism. Therefore, the present invention is provided with two sets of steel wires to eliminate this moment and reduce the excessive wear of the bearings of the spools on one side. Setting two sets of steel wires for the same function also conforms to the concept of redundant design. Under the condition of increasing the volume of the driving device as little as possible, the failure rate of the mechanism can be effectively reduced and the safety can be improved.

[0017] 5. The telescopic principle of the multi-stage columnar telescopic mechanism of the present invention is simple, and it abandons the strict material and precision problems between the telescopic arms caused by traditional air pressure or hydraulic pressure. This mechanism can be effectively and widely applied to various scenarios where the robot operates away from itself. The present invention combines the wire-pulling structure and the spiral structure skillfully to achieve the functions of telescoping, high seismic resistance and high precision. Its internal structure is composed of a motor, a wire harness, a spiral arm, a spring, etc. The internal structure is simple and the cost is low, and it can be widely applied to most high-vibration and high-precision working scenarios of robots. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of Embodiment 1 of the present invention;

[0019] Figure 2 It is a schematic diagram of the mounting base of Embodiment 1 of the present invention.

[0020] In the figure: the first-stage telescopic arm 1, the support bottom plate 2, the telescopic barrel 3, the buffer spring 4, the active spool 5, the passive spool 6, the steel wire 7, the fine driving motor 8, the driving arm 9, the rotating connecting piece 10, the mounting base 11. Detailed Embodiments

[0021] Embodiment 1

[0022] A new multi-structure columnar telescopic mechanism with high seismic resistance and high precision, including a first-stage telescopic arm 1. A second-stage telescopic arm is arranged inside the first-stage telescopic arm 1, and a third-stage telescopic arm is arranged inside the second-stage telescopic arm. A pair of symmetric coarse driving mechanisms are arranged between the first-stage telescopic arm 1 and the second-stage telescopic arm, and a fine driving mechanism is arranged on the second-stage telescopic arm; a pair of symmetric coarse driving mechanisms are arranged between the second-stage telescopic arm and the third-stage telescopic arm; a fine driving mechanism is arranged on the third-stage telescopic arm.

[0023] Further, both the secondary telescopic arm and the tertiary telescopic arm include a square support bottom plate 2 and a telescopic barrel 3. The telescopic barrel 3 is a hollow structure with an opening at one end away from the support bottom plate 2. The center of the orthographic projection of the telescopic barrel 3 on the support bottom plate 2 coincides with the center of the support bottom plate 2. A buffer spring 4 is connected between the support bottom plate 2 and the telescopic barrel 3, and both ends of the buffer spring are respectively connected to the central positions of the telescopic barrel 3 and the support bottom plate 2.

[0024] Further, the thick driving mechanism on the primary telescopic arm 1 includes a driving spool 5 and a driven spool 6 respectively arranged at both ends of the primary telescopic arm 1. The thick driving mechanism on the secondary telescopic arm includes a driving spool 5 and a driven spool 6 respectively arranged at both ends of the telescopic barrel 3 of the secondary telescopic arm. Mounting seats 11 are rotatably connected to both the driving spool 5 and the driven spool 6. The mounting seats 11 on the primary telescopic arm 1 are fixedly connected to the primary telescopic arm 1, and the mounting seats 11 on the secondary telescopic arm are fixedly connected to the telescopic barrel 3. Both the driving spool 5 and the driven spool 6 are perpendicular to the length direction of the primary telescopic arm 1, and the driving spool 5 and the driven spool 6 are parallel to each other. A thick driving motor is connected to the driving spool 5. A closed-loop steel wire rope 7 is arranged on the driving spool 5 and the driven spool 6 of the same thick driving mechanism. The steel wire rope 7 on the primary telescopic arm 1 is fixedly connected to the support bottom plate 2 of the secondary telescopic arm. The steel wire rope 7 on the secondary telescopic arm is fixedly connected to the support bottom plate 2 of the tertiary telescopic arm.

[0025] Further, the fine driving mechanism includes three fine driving motors 8 fixedly arranged on the support bottom plate 2. The fine driving motors 8 are connected to a controller and are evenly distributed around the central position of the support bottom plate 2. There is an angle between the fine driving motors 8 and the length direction of the telescopic barrel 3, that is, the length direction of the rotating shaft of the fine driving motor 8 is not consistent with the length direction of the telescopic barrel 3. A driving arm 9 is fixedly connected to the rotating shaft of the fine driving motor 8. The driving arm 9 is a spiral structure that rotates around the length direction of the secondary telescopic arm. One end of the driving arm 9 away from the fine driving motor 8 is rotatably connected to the bottom end of the telescopic barrel 3. A rotating connecting piece 10 is arranged between the driving arm 9 and the telescopic barrel 3 to connect the two. The rotating connecting piece 10 is rotatably connected to the telescopic barrel 3 and rotates around the central axis of the length direction of the telescopic barrel 3. A bearing can be used to connect the rotating connecting piece 10 and the telescopic barrel 3, and the axis of the bearing is the central axis of the length direction of the telescopic barrel. The driving arm 9 is made of an elastic material. The rotating connecting piece 10 can use a universal joint to enable the driving arm 9 to rotate in any direction.

[0026] Embodiment 2

[0027] This embodiment is a new multi-structured columnar telescopic mechanism with high seismic resistance and high precision, which adopts the following method, including the following steps:

[0028] Step 1: The coarse driving mechanism on the first-stage telescopic arm 1 is activated, and the second-stage and third-stage telescopic arms extend rapidly. The coarse driving motor is activated and drives the driving spool 5 to rotate. The driving spool 5 drives the wire rope 7 to rotate around the driving spool 5 and the driven spool 6. The wire rope 7 connected to the first-stage telescopic arm 1 drives the support base plate 2 of the second-stage telescopic arm to move. The support base plate 2 of the second-stage telescopic arm drives the telescopic barrel 3 of the second-stage telescopic arm to move and extend out of the first-stage telescopic arm 1 through the fine driving motor 8, the driving arm 9, and the rotating connecting member 10. Similarly, the coarse driving mechanism on the telescopic barrel 3 of the second-stage telescopic arm is activated, and the above steps are repeated to drive the telescopic barrel 3 of the third-stage telescopic arm to move and extend out of the first-stage telescopic arm 1.

[0029] Step 2: After the second-stage and third-stage telescopic arms extend rapidly, the fine driving mechanism is activated. The controller is used to control the fine driving motor 8 so that the driving arm 9 cannot drive the rotating shaft of the fine driving motor 8 to rotate. The second-stage and third-stage telescopic arms extend slowly. The fine driving mechanism on the second-stage telescopic arm is activated. The fine driving motor 8 on the support base plate 2 of the second-stage telescopic arm rotates and drives the driving arm 9 to rotate. After the driving arm 9 rotates, it drives the telescopic barrel 3 of the second-stage telescopic arm to move, and the length of the second-stage telescopic arm is precisely fine-tuned. The second-stage telescopic barrel 3 drives the third-stage telescopic arm to extend and retract, thereby finely adjusting the length of the entire telescopic mechanism. Similarly, the fine driving mechanism on the third-stage telescopic arm is activated to precisely fine-tune the length of the third-stage telescopic arm, thereby finely adjusting the length of the entire telescopic mechanism.

[0030] Step 3: When the fine driving mechanism is not working, the controller is used to control the fine driving motor 8 so that the driving arm 9 can drive the rotating shaft of the fine driving motor 8 to rotate. The telescopic barrel 3 drives the buffer spring 4 to absorb shock. When the telescopic mechanism is working, for example, when the telescopic mechanism is used for a ground drill to drill the ground, the telescopic barrel 3 is subjected to pressure and moves towards the support base plate 2, and the driving arm 9 drives the rotating shaft of the fine driving motor 8 to rotate. The second-stage and third-stage telescopic arms shorten. At the same time, the telescopic barrel 3 presses the buffer spring 4, and after the buffer spring 4 is compressed, it rebounds and drives the telescopic barrel 3 away from the support base plate 2, causing the second-stage and third-stage telescopic arms to extend, and the telescopic mechanism continues to work. The fine driving mechanism and the shock-absorbing spring work separately, and the two do not affect each other.

Claims

1. A novel multi-structured columnar telescopic mechanism with high seismic resistance and high precision, comprising a primary telescopic arm, wherein a secondary telescopic arm is arranged inside the primary telescopic arm, and is characterized in that, A coarse driving mechanism is arranged between the first-stage telescopic arm and the second-stage telescopic arm, and a fine driving mechanism is arranged on the second-stage telescopic arm; the coarse driving mechanism includes a driving wire spool and a driven wire spool respectively arranged at both ends of the first-stage telescopic arm, and a coarse driving motor is connected to the driving wire spool; a closed-loop steel wire rope is arranged on the driving wire spool and the driven wire spool, and the steel wire rope is connected to the second-stage telescopic arm; the second-stage telescopic arm includes a support bottom plate and a telescopic barrel. The support bottom plate is fixedly connected to the steel wire rope, and a buffer spring is arranged between the support bottom plate and the telescopic barrel; the fine driving mechanism includes a fine driving motor fixedly arranged on the support bottom plate, and there is an included angle between the fine driving motor and the length direction of the second-stage telescopic arm; a driving arm is fixedly connected to the rotating shaft of the fine driving motor, and one end of the driving arm far from the fine driving motor is rotatably connected to the bottom end of the telescopic barrel; the driving arm is a spiral structure rotating around the length direction of the second-stage telescopic arm; the driving arm is made of an elastic material.

2. The novel multi-structural columnar telescopic mechanism with high seismic resistance and high precision as claimed in claim 1, wherein, There are more than three evenly distributed fine driving motors.

3. The novel multi-structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 2, characterized in that, A third-stage telescopic arm is arranged inside the second-stage telescopic arm; a coarse driving mechanism is arranged between the second-stage telescopic arm and the third-stage telescopic arm; a fine driving mechanism is arranged on the third-stage telescopic arm.

4. The novel multi-structure columnar telescopic mechanism with high seismic resistance and high precision as claimed in claim 3, wherein, A pair of symmetric coarse driving mechanisms are arranged on both the first-stage telescopic arm and the second-stage telescopic arm.

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