A heavy-loaded mechanical arm auxiliary braking device

Abstract

This patent application belongs to the technical field of articulated robotic arms, and specifically relates to an auxiliary braking device for a heavy-duty robotic arm, including a hollow shaft, a limit seat, a driving mechanism and a connecting assembly. The hollow shaft is sleeved on the output shaft of the reducer of the boom and is fixedly connected to the boom. The limit seat is fixedly installed on the rotating seat. The limit seat is provided with a first friction portion, and the connecting assembly is provided with a second friction portion. The driving mechanism controls the connecting assembly to move to a first state or a second state; when the connecting assembly is in the first state, the output shaft of the boom reducer can drive the connecting assembly and the boom to rotate, and the first friction portion and the second friction portion are separated; when the connecting assembly is in the second state, the connecting assembly is separated from the output shaft of the boom reducer, and the first friction portion rests on the second friction portion; when processing heavy objects, the boom is disengaged from the output shaft of the reducer and locked with the limit seat. The impact force generated by the processing and the deadweight of the robotic arm are borne by the limit seat, so that the boom reducer is not easily damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of joint robotic arms, and in particular to an auxiliary braking device for a heavy-load robotic arm. Background Art

[0002] In the field of industrial automation, heavy-duty robotic arms usually refer to robotic arms that can carry and manipulate heavy objects, and are used to handle heavy and large objects; a six-axis articulated robot is a highly flexible industrial robot with six degrees of freedom, divided into a rotating base, an upper arm, a lower arm and a gripping hand, which can simulate most of the movements of a human arm. These six degrees of freedom are respectively achieved by six reducers to realize the rotation of the joint axis.

[0003] However, when heavy objects are in a grasping state and are being processed (such as stone processing), a large impact force will be generated. The impact force is transmitted to the upper arm through the forearm, increasing the load borne by the reducer on the upper arm. Since the reducer on the upper arm also needs to bear the weight of the robotic arm, the output shaft of the reducer is easily damaged. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a heavy-load robotic arm auxiliary braking device, which solves the technical problem that when processing heavy objects clamped by the robotic arm, the impact force generated increases the load borne by the reducer on the upper arm, making the output shaft of the reducer easily damaged.

[0005] The technical solutions adopted in the present invention are as follows:

[0006] An auxiliary braking device for a heavy-duty manipulator arm comprises a hollow shaft, a limit seat, a drive mechanism, and a connecting assembly. The hollow shaft is sleeved on the output shaft of a reducer of the arm and fixedly connected to the arm. The limit seat is fixedly mounted on a rotating seat. The limit seat is provided with a first friction portion. The connecting assembly is provided with a second friction portion. The drive mechanism controls the connecting assembly to move to a first state or a second state.

[0007] When the connecting assembly is in the first state, the output shaft of the reducer can drive the connecting assembly and the arm to rotate, and the first friction part and the second friction part are separated;

[0008] When the connecting assembly is in the second state, the connecting assembly is separated from the output shaft of the boom reducer, and the first friction portion abuts against the second friction portion.

[0009] Working principle: When the robotic arm moves, the output shaft of the reducer drives the hollow shaft and the boom to move through the connecting assembly. After the robotic arm moves to the specified position, the boom reducer self-locks, and the driving mechanism controls the connecting assembly to move to the second state. The connecting assembly is disengaged from the output shaft of the reducer, and the first friction part and the second friction part are in contact, replacing the boom reducer to lock the boom and the hollow shaft. At this time, the impact force generated by the processing and the deadweight of the robotic arm will be borne by the limit seat, making the output shaft of the reducer not easily damaged; and when the output shaft of the reducer is self-locked, the boom will swing back and forth due to inertia. The first friction part and the second friction part can reduce the shaking to achieve rapid positioning.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] Through the first friction part, the second friction part, the driving mechanism and the connecting assembly, when processing heavy objects, the upper arm is disengaged from the output shaft of the reducer and locked with the limit seat. The impact force generated by the processing and the weight of the robot arm are borne by the limit seat, making the upper arm reducer not easily damaged.

[0012] As a preferred embodiment of the present invention, the connecting assembly includes a sleeve, a first sliding groove is axially opened on the output shaft of the reducer, a second sliding groove is axially opened on the inner wall of the hollow shaft, a first sliding block is provided on the inner wall of the sleeve and is slidably connected to the first sliding groove, and a second sliding block is provided on the outer wall of the sleeve and is slidably connected to the second sliding groove;

[0013] The length of the second sliding groove is D1, the length of the first sliding block is D2, and D1>D2.

[0014] Beneficial effect: By setting a sliding sleeve, the sleeve slides between the hollow shaft and the reducer output shaft under the drive mechanism. Since D1>D2, the first sliding block can completely disengage from the first sliding groove, thereby realizing the disengagement between the sleeve and the reducer output shaft.

[0015] As a preferred embodiment of the present invention, a plurality of annular grooves are axially spaced apart on the output shaft of the reducer, and an annular protrusion is formed between two adjacent annular grooves. The number of the first sliding grooves, the second sliding grooves, the first sliding blocks, and the second sliding blocks is multiple, and the multiple first sliding grooves are circumferentially evenly distributed on each of the annular protrusions, and the multiple second sliding grooves are circumferentially evenly distributed on the inner wall of the hollow shaft.

[0016] Beneficial effect: When the connecting assembly is in the first state, the sleeve is engaged with the annular protrusion. When the connecting assembly is in the second state, multiple groups of first sliding blocks are moved into the annular groove. When the upper arm shakes, the first sliding block rotates in the annular groove and will not contact the output shaft of the reducer, thereby avoiding the impact force generated during processing to be transmitted to the output shaft of the reducer; through the above structure, multiple circumferentially arranged first sliding blocks and second sliding blocks increase the contact area between the sleeve and the hollow shaft and the output shaft of the reducer, and support and limit are performed in multiple directions to avoid excessive local force and damage to the sleeve.

[0017] As a preferred embodiment of the present invention, the limit seat includes a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are installed on the rotating seat at intervals, and the first vertical plate is located between the boom reducer and the second vertical plate, a first limit hole is opened on the first vertical plate, the hollow shaft is rotatably installed in the first limit hole, the end of the sleeve away from the boom reducer is fixedly connected to the connecting plate, the second friction part is fixedly installed on the connecting plate and is located between the first vertical plate and the second vertical plate, and the first friction part is installed on the inner side of the second vertical plate.

[0018] Beneficial effect: By setting the first vertical plate and the second vertical plate, the hollow shaft is extended and rotatably installed on the first vertical plate. When the robotic arm is running, it is supported by the reducer output shaft and the first vertical plate, which shares the radial force borne by the reducer output shaft, reduces the load borne by the reducer output shaft, and makes the reducer output shaft less likely to be damaged.

[0019] As a preferred embodiment of the present invention, one end of the hollow shaft away from the boom reducer rests on the second vertical plate.

[0020] Beneficial effect: When the gripping point of the clamping hand is offset from the center of gravity of the heavy object, the upper arm will be offset; after the sleeve is separated from the output shaft of the reducer, due to the contact between the first friction part and the second friction part, the sleeve, hollow shaft, first vertical plate and second vertical plate form a whole, and the first vertical plate provides radial support to the hollow shaft, and the second vertical plate provides lateral support to the hollow shaft, so that the upper arm is not easy to shake and deflect.

[0021] As a preferred embodiment of the present invention, the driving mechanism includes an electromagnet, and a permanent magnet is provided on the connecting component. The electromagnet can change the direction of the current to change the direction of the magnetic field.

[0022] Beneficial effect: By providing an electromagnet that can change the direction of the magnetic field, the connecting component can move back and forth along the axial direction to achieve the conversion between the first state and the second state.

[0023] As a preferred embodiment of the present invention, the driving mechanism includes an electromagnet, and the inner wall of the hollow shaft is provided with a mounting ring, which is located on the side of the sleeve away from the electromagnet, and a tension spring is fixedly connected between the mounting ring and the sleeve.

[0024] Beneficial effect: By providing an electromagnet and a tension spring, the connection component can be automatically reset from the second state to the first state. The electromagnet does not need to be continuously energized, thus saving energy.

[0025] As a preferred embodiment of the present invention, it also includes a support frame, a limiting ring is provided on the limiting seat, the inner wall of the limiting ring is used to install the electromagnet, one end of the support frame is rotatably installed on the limiting ring and contacts the side wall of the limiting seat, and the other end of the support frame is sleeved on the upper arm.

[0026] Beneficial effect: By setting up a support frame mounted on the boom, when the boom shakes or deflects, the impact force in all directions will be transmitted to the support frame, and then transferred to the limit seat through the support frame, thereby reducing the shaking. The cooperation between the limit ring and the support frame guides the boom, making the rotation of the boom more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of a first embodiment of a heavy-duty mechanical arm auxiliary braking device according to the present invention;

[0028] Figure 2 It is a partial cross-sectional view of the first embodiment of the auxiliary braking device for a heavy-duty manipulator according to the present invention;

[0029] Figure 3 This is a schematic structural diagram of the output shaft of the speed reducer in the first embodiment of the auxiliary braking device for a heavy-duty manipulator of the present invention;

[0030] Figure 4 This is a schematic structural diagram of a second embodiment of the heavy-duty mechanical arm auxiliary braking device of the present invention;

[0031] Figure 5 This is a structural diagram of the hollow shaft and the limit seat in the third embodiment of the auxiliary braking device for a heavy-duty manipulator of the present invention;

[0032] Figure 6 2. It is a cross-sectional view of the hollow shaft and the limit seat in the third embodiment of the auxiliary braking device for a heavy-duty manipulator according to the present invention;

[0033] Figure 7 It is a structural diagram of the hollow shaft, sleeve, and reducer output shaft in Example 3 of the heavy-duty robotic arm auxiliary braking device of the present invention.

[0034] The reference numerals include: hollow shaft 1, mounting ring 11, second sliding groove 12, limit seat 2, limit ring 21, reducer output shaft 3, first sliding groove 31, upper arm 4, first friction part 51, second friction part 52, sleeve 6, first sliding block 61, second sliding block 62, electromagnet 7, tension spring 71, support frame 8, annular groove 91, first vertical plate 92, second vertical plate 93. DETAILED DESCRIPTION

[0035] Typical embodiments that embody the features and advantages of the present invention are described in detail in the following description. It should be understood that the present invention is capable of various variations in different embodiments without departing from the scope of the present invention, and that the descriptions and illustrations are intended to be illustrative rather than limiting.

[0036] In the description of this application, the terms "first", "second", etc. are only used to facilitate the description of this application and simplify the description, and do not indicate or imply that the structure referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on this application.

[0037] Example 1:

[0038] See also Figure 1 and Figure 2 As shown, this embodiment discloses a heavy-duty manipulator auxiliary braking device, comprising a hollow shaft 1, a limit seat 2, a drive mechanism, and a connecting assembly. The hollow shaft 1 is sleeved on the reducer output shaft 3 of the boom reducer and fixedly connected to the boom 4. The limit seat 2 is fixedly mounted on the rotating seat. The limit seat 2 is provided with a first friction portion 51. The connecting assembly is provided with a second friction portion 52. The drive mechanism controls the connecting assembly to move to a first state or a second state.

[0039] When the connecting assembly is in the first state, the reducer output shaft 3 can drive the connecting assembly and the boom 4 to rotate, and the first friction part 51 and the second friction part 52 are separated; when the connecting assembly is in the second state, the connecting assembly is separated from the output shaft of the boom reducer, and the first friction part 51 rests on the second friction part 52.

[0040] In this embodiment, when the robotic arm moves, the reducer output shaft 3 drives the hollow shaft 1 and the arm 4 to move through the connecting assembly. After the robotic arm moves to the specified position, the arm reducer self-locks, and the driving mechanism controls the connecting assembly to move to the second state. The connecting assembly is disengaged from the reducer output shaft 3, and the first friction part 51 and the second friction part 52 are in contact, replacing the arm reducer to lock the arm 4 and the hollow shaft 1. At this time, the impact force generated by the processing and the weight of the robotic arm will be borne by the limit seat 2, so that the reducer output shaft 3 is not easily damaged; and when the reducer output shaft 3 is self-locked, the arm 4 will swing back and forth due to inertia. The first friction part 51 and the second friction part 52 can reduce the shaking to achieve rapid positioning.

[0041] Among them, see Figure 3 As shown, the connecting assembly includes a sleeve 6, a first sliding groove 31 is axially opened on the reducer output shaft 3, a second sliding groove 12 is axially opened on the inner wall of the hollow shaft 1, the inner wall of the sleeve 6 is provided with a first sliding block 61 slidingly connected to the first sliding groove 31, and the outer wall of the sleeve 6 is provided with a second sliding block 62 slidingly connected to the second sliding groove 12; the length of the second sliding groove 12 is D1, and the length of the first sliding block 61 is D2, D1>D2; by setting a slidable sleeve 6, driven by the driving mechanism, the sleeve 6 slides between the hollow shaft 1 and the reducer output shaft 3, and since D1>D2, the first sliding block 61 can be completely disengaged from the first sliding groove 31, thereby realizing the disengagement between the sleeve 6 and the reducer output shaft 3.

[0042] In which, the driving mechanism includes an electromagnet 7, and a mounting ring 11 is provided on the inner wall of the hollow shaft 1. The mounting ring 11 is located on the side of the sleeve 6 away from the electromagnet 7, and a tension spring 71 is fixedly connected between the mounting ring 11 and the sleeve 6; by setting the electromagnet 7 and the tension spring 71, the connecting component is automatically reset from the second state to the first state, and the electromagnet 7 does not need to be continuously energized, saving energy.

[0043] Example 2:

[0044] See also Figure 4 As shown, on the basis of Example 1, the present invention also provides a heavy-duty robotic arm auxiliary braking device, which also includes a support frame 8, a limiting ring 21 is provided on the limiting seat 2, and the inner wall of the limiting ring 21 is used to install the electromagnet 7, one end of the support frame 8 is rotatably installed on the limiting ring 21 and contacts with the side wall of the limiting seat 2, and the other end of the support frame 8 is sleeved on the boom 4; by setting the support frame 8 sleeved on the boom 4, when the boom 4 shakes or deflects, the impact force in all directions will be transmitted to the support frame 8, and transferred to the limiting seat 2 through the support frame 8, thereby reducing the shaking, and the cooperation between the limiting ring 21 and the support frame 8 guides the boom 4, so that the rotation of the boom 4 is more stable.

[0045] Example 3:

[0046] See also Figure 5 and Figure 7 As shown, based on the first embodiment, the present invention also provides a heavy-duty robotic arm auxiliary braking device, wherein a plurality of annular grooves 91 are axially spaced apart on the reducer output shaft 3, and an annular protrusion is formed between two adjacent annular grooves 91, and the number of the first sliding grooves 31, the second sliding grooves 12, the first sliding blocks 61, and the second sliding blocks 62 is multiple, and the multiple first sliding grooves 31 are circumferentially evenly distributed on each of the annular protrusions, and the multiple second sliding grooves 12 are circumferentially evenly distributed on the inner wall of the hollow shaft 1.

[0047] In this embodiment, when the connecting assembly is in the first state, the sleeve 6 is engaged with the annular protrusion, and when the connecting assembly is in the second state, multiple groups of first sliding blocks 61 are moved into the annular groove 91. When the upper arm 4 shakes, the first sliding block 61 rotates in the annular groove 91 and will not contact the reducer output shaft 3, thereby avoiding the impact force generated during processing and transmitted to the reducer output shaft 3; through the above structure, multiple circumferentially arranged first sliding blocks 61 and second sliding blocks 62 increase the contact area between the sleeve 6 and the hollow shaft 1 and the reducer output shaft 3, and support and limit are performed in multiple directions to avoid excessive local force and damage to the sleeve 6.

[0048] Among them, see Figure 5 As shown, the limit seat 2 includes a first vertical plate 92 and a second vertical plate 93, and the first vertical plate 92 and the second vertical plate 93 are installed on the rotating seat at intervals, and the first vertical plate 92 is located between the boom reducer and the second vertical plate 93. A first limiting hole is opened on the first vertical plate 92, and the hollow shaft 1 is rotatably installed in the first limiting hole. The end of the shaft sleeve 6 away from the boom reducer is fixedly connected to a connecting plate, and the second friction portion 52 is fixedly installed on the connecting plate and is located between the first vertical plate 92 and the second vertical plate 93. The first friction portion 51 is installed on the inner side of the second vertical plate 93; by setting the first vertical plate 92 and the second vertical plate 93, the hollow shaft 1 is extended and rotatably installed on the first vertical plate 92. When the robotic arm is running, it is supported by the reducer output shaft 3 and the first vertical plate 92, which shares the radial force borne by the reducer output shaft 3, reduces the load borne by the reducer output shaft, and makes the reducer output shaft 3 not easily damaged.

[0049] Among them, see Figure 6As shown, the end of the hollow shaft 1 away from the boom reducer rests on the second vertical plate 93; when the gripping point of the clamping hand is offset from the center of gravity of the weight, the boom 4 will be offset; after the sleeve 6 is separated from the output shaft 3 of the reducer, due to the contact between the first friction part 51 and the second friction part 52, the sleeve 6, the hollow shaft 1, the first vertical plate 92 and the second vertical plate 93 form a whole, and the first vertical plate 92 provides radial support for the hollow shaft 1, and the second vertical plate 93 provides lateral support for the hollow shaft 1, so that the boom 4 is not easy to shake and deflect.

[0050] Among them, the driving mechanism includes an electromagnet 7, and a permanent magnet is provided on the connecting component. The electromagnet 7 can change the direction of the current to change the direction of the magnetic field; by setting the electromagnet 7 that can change the direction of the magnetic field, the connecting component can move back and forth axially to achieve the conversion between the first state and the second state.

[0051] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A heavy-duty robotic arm auxiliary braking device, characterized in that: It includes a hollow shaft, a limit seat, a driving mechanism and a connecting assembly. The hollow shaft is sleeved on the output shaft of the reducer of the boom and is fixedly connected to the boom. The limit seat is fixedly installed on the rotating seat. The limit seat is provided with a first friction portion. The connecting assembly is provided with a second friction portion. The driving mechanism controls the connecting assembly to move to the first state or the second state. When the connecting assembly is in the first state, the output shaft of the reducer can drive the connecting assembly and the arm to rotate, and the first friction part and the second friction part are separated; When the connecting assembly is in the second state, the connecting assembly is separated from the output shaft of the boom reducer, and the first friction portion abuts against the second friction portion; The connecting assembly includes a sleeve, a first sliding groove is axially opened on the output shaft of the reducer, a second sliding groove is axially opened on the inner wall of the hollow shaft, a first sliding block is provided on the inner wall of the sleeve and is slidably connected to the first sliding groove, and a second sliding block is provided on the outer wall of the sleeve and is slidably connected to the second sliding groove; The length of the second sliding groove is D1, the length of the first sliding block is D2, and D1>D2.

2. The heavy-duty manipulator auxiliary braking device according to claim 1, characterized in that: A plurality of annular grooves are axially spaced apart on the output shaft of the reducer, and an annular protrusion is formed between two adjacent annular grooves. The number of the first sliding grooves, the second sliding grooves, the first sliding blocks, and the second sliding blocks is multiple, and the multiple first sliding grooves are circumferentially evenly distributed on each of the annular protrusions, and the multiple second sliding grooves are circumferentially evenly distributed on the inner wall of the hollow shaft.

3. The heavy-duty manipulator auxiliary braking device according to claim 2, characterized in that: The limiting seat includes a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are installed on the rotating seat at intervals, and the first vertical plate is located between the boom reducer and the second vertical plate, a first limiting hole is opened on the first vertical plate, the hollow shaft is rotatably installed in the first limiting hole, the end of the bushing away from the boom reducer is fixedly connected to a connecting plate, the second friction part is fixedly installed on the connecting plate and is located between the first vertical plate and the second vertical plate, and the first friction part is installed on the inner side of the second vertical plate.

4. The heavy-duty manipulator auxiliary braking device according to claim 3, characterized in that: One end of the hollow shaft away from the boom reducer rests against the second vertical plate.

5. The heavy-duty manipulator auxiliary braking device according to claim 1, characterized in that: The driving mechanism includes an electromagnet, and a permanent magnet is provided on the connecting component. The electromagnet can change the direction of the current to change the direction of the magnetic field.

6. The heavy-duty manipulator auxiliary braking device according to claim 1, characterized in that: The driving mechanism includes an electromagnet. The inner wall of the hollow shaft is provided with a mounting ring. The mounting ring is located on a side of the shaft sleeve away from the electromagnet. A tension spring is fixedly connected between the mounting ring and the shaft sleeve.

7. The heavy-duty manipulator auxiliary braking device according to any one of claims 5 or 6, characterized in that: It also includes a support frame, a limiting ring is provided on the limiting seat, the inner wall of the limiting ring is used to install the electromagnet, one end of the support frame is rotatably installed on the limiting ring and contacts the side wall of the limiting seat, and the other end of the support frame is sleeved on the upper arm.

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