Self-lubricating high-speed manipulator capable of being adjusted at multiple angles

Abstract

The invention discloses a self-lubricating type high-speed manipulator capable of being adjusted at multiple angles, and belongs to the technical field of manipulators, the self-lubricating type high-speed manipulator comprises an upper mounting frame and a servo motor I mounted in the upper mounting frame, the shaft end of the servo motor I is connected with a sectional type transmission mechanism, and the sectional type transmission mechanism penetrates through the lower end of the upper mounting frame through a graphite lubricating bearing; the lower end of the sectional type transmission mechanism is fixedly connected with a lower installation frame, a second servo motor is installed on the lower installation frame, the shaft end of the second servo motor is also connected with the sectional type transmission mechanism, and the sectional type transmission mechanism connected with the shaft end of the second servo motor penetrates through the side end of the lower installation frame through a graphite lubricating bearing corresponding to the sectional type transmission mechanism. The device can lubricate the inner ring and the roller of the graphite lubricated bearing under the condition of reducing the abrasion of the inner ring of the graphite lubricated bearing, and can remind a worker to replace graphite particles in time when the lower mounting frame cannot be driven to rotate by the servo motor I after the graphite particles are abraded to a certain degree.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a self-lubricating high-speed manipulator capable of being adjusted at multiple angles. Background Art

[0002] High-speed manipulators are one of the core equipment in the field of industrial automation. By integrating high-precision transmission, intelligent control and multi-sensor technology, they can achieve fast and accurate material handling, assembly or processing operations. Their development is closely related to the intelligent upgrading of the manufacturing industry. They are widely used in the automotive, electronics, food and medicine, packaging and other industries, significantly improving production efficiency and reducing labor costs. The existing high-speed manipulator still has the following technical problems when in use, such as: By installing a horizontal rotation mechanism and a vertical rotation mechanism on the existing manipulator, the manipulator can be adjusted in multiple directions to meet various usage requirements. However, due to the use of horizontal and vertical rotation mechanisms, the manipulator will rotate repeatedly during use, thereby increasing the consumption of lubricating oil in the bearing, thereby greatly reducing the cycle of filling lubricating oil, which is not conducive to improving the working efficiency of the manipulator. In order to solve the above problems, self-lubricating bearings are generally used. During the use of self-lubricating bearings, the rollers and the inner ring slide, which causes the inner ring to wear. During the wear of the inner ring, the graphite particles in the through-holes of the inner ring will be exposed, and then the graphite particles will be worn, so as to lubricate the inner ring and the roller. Although this method can avoid the problem of frequent filling of lubricating oil, it needs to be at the expense of the wear of the inner ring during use. This makes it impossible to ensure that the inner ring plays an effective supporting role after being worn to a certain thickness; In addition, when the graphite particles are consumed to a certain extent, the inner ring and roller cannot be effectively lubricated. At this time, the staff cannot know and it is not convenient to replace the graphite particles in time. Therefore, a self-lubricating high-speed manipulator that can be adjusted at multiple angles is needed to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a self-lubricating high-speed manipulator with multi-angle adjustment to solve the problem mentioned in the above background technology that the existing self-lubricating high-speed manipulator with multi-angle adjustment cannot solve the problem of inner ring wear and inconvenience in timely replacement of graphite particles.

[0004] To achieve the above object, the present invention provides the following technical solutions: A self-lubricating high-speed manipulator with multi-angle adjustment comprises an upper mounting frame and a servo motor 1 installed therein, the shaft end of the servo motor 1 is connected to a segmented transmission mechanism, and the segmented transmission mechanism passes through the lower end of the upper mounting frame through a graphite lubricated bearing, the lower end of the segmented transmission mechanism is fixedly connected to a lower mounting frame, and a servo motor 2 is installed on the lower mounting frame, the shaft end of the servo motor 2 is also connected to the segmented transmission mechanism, and the segmented transmission mechanism connected to the shaft end of the servo motor 2 passes through the side end of the lower mounting frame through its corresponding graphite lubricated bearing, the segmented transmission mechanism connected to the shaft end of the servo motor 2 is connected to a fixed frame, a progressive clamping mechanism is arranged inside the segmented transmission mechanism, and the progressive clamping mechanism is connected to the graphite lubricated bearing.

[0005] Preferably, the segmented transmission mechanism includes an upper transmission shaft keyed to an opening on one side of the inner ring of the graphite lubricated bearing, and the upper transmission shaft is arranged at the shaft ends of servo motor 1 and servo motor 2, and servo motor 1 and servo motor 2 are respectively coaxially fixedly connected to their corresponding upper transmission shafts, and an opening movable sleeve on the other side of the inner ring of the graphite lubricated bearing is provided with one end of the lower transmission shaft, and the other end of the lower transmission shaft is fixedly connected to the lower mounting frame.

[0006] Preferably, the segmented transmission mechanism also includes a fixed block installed on the inner side of the lower transmission shaft, and the three fixed blocks are arranged at equal angles, the three fixed blocks are fixedly connected to a support plate by bolts, the bearing on the support plate is penetrated by a coaxial bolt coaxial with it, an inner cavity is provided on the upper transmission shaft, and the coaxial bolt movably penetrates the progressive clamping mechanism and is threadedly connected to the inner end of the inner cavity.

[0007] Preferably, the graphite lubricated bearing comprises an inner ring, an outer ring, rollers and graphite particles, wherein a circle of through holes penetrating the inner and outer sides of the outer ring are evenly distributed, and graphite particles are installed in each through hole.

[0008] Preferably, the progressive clamping mechanism includes three groups of ratchets distributed at equal angles on the inner side of the lower transmission shaft, and a support plate is provided inside the lower transmission shaft, the support plate is connected to the extrusion table through elastic metal strips distributed at equal angles, and the outer edges of the support plate and the extrusion table are provided with ratchets made of elastic plastic parts.

[0009] Preferably, each group of the pawls is provided with two sections, and the two sections of the pawls are respectively connected to the ratchets on the support plate and the extrusion platform. The arc angle of each group of the pawls and ratchets is not greater than 60°, so that the pawls and ratchets can be completely disengaged after rotating the support plate and the extrusion platform.

[0010] Preferably, the progressive clamping mechanism also includes a top pressure block that movably passes through the lower transmission shaft, and the top pressure block is arranged at equal angles on the lower transmission shaft, the outer end of each of the top pressure blocks extends into the through hole on the inner ring of the corresponding graphite lubricated bearing, and the top pressure block is connected to the corresponding graphite particles by extrusion contact, and the inner end of the top pressure block is provided with an inclined arc-shaped recessed groove for contacting the outer ring side of the extrusion platform.

[0011] Preferably, a linkage shaft coaxial with the support plate is fixedly connected to the upper surface of the support plate, and the linkage shaft extends into the lower surface of the extrusion platform after passing through the support plate. A transmission protrusion coaxial with the support plate is provided on the upper surface of the extrusion platform, and the upper end of the transmission protrusion extends into the inner side of the opening end of the inner cavity.

[0012] Preferably, after the coaxial bolt bearing passes through the support plate, it movably passes through the linkage shaft, the extrusion platform and the transmission protrusion in sequence, and the upper and middle part of the extrusion platform is in a truncated cone shape.

[0013] Preferably, the upper end of the transmission protrusion is a prismatic block structure, and the open end of the inner cavity is a prismatic mouth that matches the upper end of the transmission protrusion, the inner end of the inner cavity is a cylindrical slot with a diameter larger than its open end, the support plate is provided with a prismatic through hole that matches the linkage shaft, and the lower surface of the extrusion table is provided with a prismatic groove that matches the linkage shaft, and the linkage shaft is a prismatic columnar structure.

[0014] Compared with the prior art, the invention has the following beneficial effects: the self-lubricating high-speed manipulator with multi-angle adjustment can lubricate the inner ring and roller of the graphite lubricated bearing while reducing the wear of the inner ring of the graphite lubricated bearing, and can remind the staff to replace the graphite particles in time when the graphite particles are worn to a certain extent by the servo motor being unable to drive the lower mounting frame to rotate: 1. When the servo motor 1 drives the lower mounting frame to rotate or the servo motor 2 drives the fixed frame to rotate, the lower transmission shaft rotates together with the upper transmission shaft, so the top pressure block will continuously squeeze the corresponding graphite particles under the action of centrifugal force, thereby helping the graphite particles to contact with the rollers without wearing the inner ring of the graphite lubricated bearing, so that the graphite particles are worn, which helps to lubricate the inner ring and the rollers; 2. As the graphite particles are gradually consumed, their length becomes shorter and shorter. At this time, the elastic metal strip will cause the extrusion table to gradually move upward. In this process, it can not only prevent the top pressure block from being in a movable state, which causes the top pressure block to shake when the manipulator is running, but also the extrusion table moves up, which can also make the transmission protrusion gradually move upward. When the upper end of the transmission protrusion extends into the larger cylindrical slot, the upper transmission shaft cannot drive the lower transmission shaft to rotate, that is, the servo motor no longer drives the lower mounting frame to rotate. At this time, the staff can be reminded to replace the graphite particles in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a side view structural schematic diagram of the present invention; Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure of point A; Figure 5 For the present invention Figure 3 A schematic diagram of the enlarged structure of point B in the middle; Figure 6 It is a schematic diagram of the connection structure between the servo motor 1 and the lower transmission shaft of the present invention; Figure 7 It is a schematic diagram of the cross-sectional structure of the lower transmission shaft of the present invention; Figure 8 It is a cross-sectional structural schematic diagram of the connection between the servo motor 1 and the lower transmission shaft of the present invention; Fig. 9 For the present invention Figure 8 Schematic diagram of the enlarged structure at point C in the middle.

[0016] In the figure: 1. upper mounting frame; 2. servo motor one; 3. lower mounting frame; 4. servo motor two; 5. fixing frame; 6. graphite lubricated bearing; 7. transmission protrusion; 8. top pressure block; 9. lower transmission shaft; 10. upper transmission shaft; 11. extrusion table; 12. support plate; 13. elastic metal strip; 14. ratchet; 15. pawl; 16. fixing block; 17. support plate; 18. linkage shaft; 19. coaxial bolt; 20. inner cavity. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-Figure 9 , the present invention provides the following technical solutions: Embodiment 1: In order to solve the problem that the inner ring of the self-lubricating bearing of the previous high-speed manipulator needs to be worn to expose the graphite particles, so that the inner ring and the roller are lubricated by the wear of the graphite particles, which is not conducive to ensuring the stable support performance of the inner ring, the following technical solution is provided, specifically, a self-lubricating high-speed manipulator with multi-angle adjustment, including an upper mounting frame 1 and a servo motor 2 installed therein, the shaft end of the servo motor 2 is connected to a segmented transmission mechanism, and the segmented transmission mechanism passes through the upper mounting frame through a graphite lubricating bearing 6 1, the lower end of the sectional transmission mechanism is fixedly connected with a lower mounting frame 3, and a servo motor 2 4 is installed on the lower mounting frame 3, the shaft end of the servo motor 2 4 is also connected with the sectional transmission mechanism, and the sectional transmission mechanism connected with the shaft end of the servo motor 2 4 passes through the side end of the lower mounting frame 3 through its corresponding graphite lubricated bearing 6, the sectional transmission mechanism connected with the shaft end of the servo motor 2 4 is connected with a fixed frame 5, and a progressive clamping mechanism is arranged inside the sectional transmission mechanism, and the progressive clamping mechanism is connected to the graphite lubricated bearing 6.

[0019] The segmented transmission mechanism includes an upper transmission shaft 10 key-connected to an opening on one side of the inner ring of the graphite lubricated bearing 6, and the upper transmission shaft 10 is arranged at the shaft ends of the servo motor 1 2 and the servo motor 2 4, and the servo motor 1 2 and the servo motor 2 4 are respectively coaxially fixedly connected to their corresponding upper transmission shafts 10, and the opening on the other side of the inner ring of the graphite lubricated bearing 6 is provided with one end of the lower transmission shaft 9, and the other end of the lower transmission shaft 9 is fixedly connected to the lower mounting frame 3, and the segmented transmission mechanism also includes a fixed block 16 installed on the inner side of the lower transmission shaft 9, and the three fixed blocks 16 are arranged at equal angles, and the three fixed blocks 16 are fixed by bolts. A support plate 17 is fixedly connected, and a coaxial bolt 19 coaxial with the support plate 17 passes through the bearing. An inner cavity 20 is provided on the upper transmission shaft 10, and the coaxial bolt 19 movably passes through the progressive clamping mechanism and is threadedly connected to the inner end of the inner cavity 20. When the lower transmission shaft 9 rotates, the top pressure block 8 movably passing through it will generate centrifugal force, and then the top pressure block 8 will squeeze the corresponding graphite particles through the centrifugal force, which helps to lubricate the inner ring and roller during the use of the high-speed manipulator, avoiding the previous situation that the graphite particles can only contact with the roller for lubrication after the inner ring is worn, which helps to ensure the support stability of the inner ring.

[0020] The graphite lubricated bearing 6 comprises an inner ring, an outer ring, rollers and graphite particles, wherein a circle of through holes penetrating the inner and outer sides of the outer ring are evenly distributed, and graphite particles are installed in each through hole.

[0021] Embodiment 2: In order to solve the problem that when the high-speed manipulator is in use, the staff cannot know when the graphite particles need to be replaced, which is not conducive to timely replacement of the graphite particles and easily increases the wear of the inner ring and the roller, the following technical solution is provided, specifically, the progressive clamping mechanism includes three groups of ratchets 15 distributed at equal angles on the inner side of the lower transmission shaft 9, and a support plate 12 is provided inside the lower transmission shaft 9, the support plate 12 is connected to the extrusion table 11 by elastic metal strips 13 distributed at equal angles, and the outer edges of the support plate 12 and the extrusion table 11 are provided with ratchets 14 made of elastic plastic parts.

[0022] Each group of pawls 15 is provided with two sections, and the two sections of pawls 15 are respectively connected to the support plate 12 and the ratchet teeth 14 on the extrusion platform 11. The arc angle of each group of pawls 15 and the ratchet teeth 14 is not greater than 60°, so that the pawls 15 and the ratchet teeth 14 are completely disengaged after the support plate 12 and the extrusion platform 11 are rotated. The progressive clamping mechanism also includes a top pressure block 8 that movably penetrates the lower transmission shaft 9, and the top pressure block 8 is arranged at equal angles on the lower transmission shaft 9. The outer end of each top pressure block 8 extends into the through hole on the inner ring of the corresponding graphite lubricated bearing 6, and the top pressure block 8 is connected to the corresponding graphite particles by extrusion contact. The inner end of the top pressure block 8 is provided with an inclined arc-shaped recessed groove for contacting the outer ring side of the extrusion platform 11. The upper surface of the support plate 17 is fixedly connected with a coaxial linkage shaft 18 therewith, and the linkage shaft 18 penetrates the support plate 12 and extends to the lower surface of the extrusion platform 11. The upper surface of the extrusion platform 11 is provided with a transmission protrusion 7 coaxial therewith, and the upper end of the transmission protrusion 7 extends into the inner side of the opening end of the inner cavity 20. After the graphite particles are worn, the distance between the graphite particles and the extrusion platform 11 gradually increases. At this time, the extrusion platform 11 is gradually moved by the action of the elastic metal strip 13, and the extrusion platform 11 is limited by the pawl 15 and the ratchet 14. As the extrusion platform 11 moves, the top pressure block 8 is squeezed to prevent it from moving. When the extrusion platform 11 moves to the moving degree, the upper end of the transmission protrusion 7 is gradually extended into the cylindrical slot, so that the upper transmission shaft 10 can no longer drive the lower transmission shaft 9 to rotate, that is, the servo motor 2 can no longer drive the lower mounting frame 3 to rotate. At this time, the staff knows that the graphite particles need to be replaced, which helps to replace the graphite particles in time.

[0023] After the coaxial bolt 19 bearing passes through the support plate 17, it moves through the linkage shaft 18, the extrusion platform 11 and the transmission protrusion 7 in sequence, and the upper and middle part of the extrusion platform 11 is a truncated cone, the upper end of the transmission protrusion 7 is a prismatic block structure, and the opening end of the inner cavity 20 is a prismatic mouth that matches the upper end of the transmission protrusion 7, the inner end of the inner cavity 20 is a cylindrical slot with a diameter larger than its opening end, a prismatic through hole that matches the linkage shaft 18 is provided on the support plate 12, and a prismatic groove that matches the linkage shaft 18 is provided on the lower surface of the extrusion platform 11, and the linkage shaft 18 is a prismatic columnar structure.

[0024] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-lubricating high-speed manipulator capable of adjusting multiple angles, comprising an upper mounting frame (1) and a servo motor (2) mounted therein, characterized in that: The shaft end of the servo motor 1 (2) is connected to a segmented transmission mechanism, and the segmented transmission mechanism passes through the lower end of the upper mounting frame (1) through a graphite lubricated bearing (6); the lower end of the segmented transmission mechanism is fixedly connected to the lower mounting frame (3), and the servo motor 2 (4) is mounted on the lower mounting frame (3); the shaft end of the servo motor 2 (4) is also connected to the segmented transmission mechanism, and the segmented transmission mechanism connected to the shaft end of the servo motor 2 (4) passes through the side end of the lower mounting frame (3) through its corresponding graphite lubricated bearing (6); the segmented transmission mechanism connected to the shaft end of the servo motor 2 (4) is connected to a fixed frame (5); a progressive clamping mechanism is arranged inside the segmented transmission mechanism, and the progressive clamping mechanism is connected to the graphite lubricated bearing (6).

2. A self-lubricating high-speed manipulator capable of adjusting multiple angles according to claim 1, characterized in that: The segmented transmission mechanism comprises an upper transmission shaft (10) key-connected to an opening on one side of the inner ring of a graphite lubricated bearing (6), and the upper transmission shaft (10) is arranged at the shaft ends of the servo motor 1 (2) and the servo motor 2 (4), and the servo motor 1 (2) and the servo motor 2 (4) are respectively coaxially fixedly connected to their corresponding upper transmission shafts (10), and the opening on the other side of the inner ring of the graphite lubricated bearing (6) is movablely sleeved with one end of the lower transmission shaft (9), and the other end of the lower transmission shaft (9) is fixedly connected to the lower mounting frame (3).

3. A self-lubricating high-speed manipulator capable of adjusting multiple angles according to claim 2, characterized in that: The sectional transmission mechanism further comprises a fixing block (16) mounted on the inner side of the lower transmission shaft (9), and the three fixing blocks (16) are arranged at equal angles, the three fixing blocks (16) are fixedly connected to a support plate (17) by bolts, a coaxial bolt (19) coaxial with the support plate (17) passes through a bearing on the support plate (17), an inner cavity (20) is arranged on the upper transmission shaft (10), and the coaxial bolt (19) movably passes through the progressive clamping mechanism and is threadedly connected to the inner end of the inner cavity (20).

4. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 3 is characterized in that: The graphite lubricated bearing (6) comprises an inner ring, an outer ring, rollers and graphite particles, wherein a circle of through holes penetrating the inner and outer sides of the outer ring are evenly distributed, and graphite particles are installed in each through hole.

5. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 4, characterized in that: The progressive clamping mechanism comprises three groups of ratchets (15) distributed at equal angles on the inner side of the lower transmission shaft (9), and a support plate (12) is provided inside the lower transmission shaft (9), the support plate (12) is connected to the extrusion platform (11) via elastic metal strips (13) distributed at equal angles, and ratchets (14) made of elastic plastic are provided on the outer edges of the support plate (12) and the extrusion platform (11).

6. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 5, characterized in that: Each group of the ratchet pawls (15) is provided with two sections, and the two sections of the ratchet pawls (15) are respectively connected to the ratchet teeth (14) on the support plate (12) and the extrusion platform (11). The arc angle of each group of the ratchet pawls (15) and the ratchet teeth (14) is not greater than 60 degrees, so that the ratchet pawls (15) and the ratchet teeth (14) are completely disengaged after the support plate (12) and the extrusion platform (11) are rotated.

7. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 6, characterized in that: The progressive clamping mechanism also includes a top pressure block (8) that movably passes through the lower transmission shaft (9), and the top pressure block (8) is arranged at an equal angle on the lower transmission shaft (9), the outer end of each top pressure block (8) extends into a through hole on the inner ring of the corresponding graphite lubricated bearing (6), and the top pressure block (8) is connected to the corresponding graphite particles by compression contact, and the inner end of the top pressure block (8) is provided with an inclined arc-shaped recessed groove for contacting the outer ring side of the extrusion platform (11).

8. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 7, characterized in that: The upper surface of the support plate (17) is fixedly connected to a linkage shaft (18) coaxial therewith, and the linkage shaft (18) penetrates the support plate (12) and then extends into the lower surface of the extrusion platform (11), and the upper surface of the extrusion platform (11) is provided with a transmission protrusion (7) coaxial therewith, and the upper end of the transmission protrusion (7) extends into the inner side of the opening end of the inner cavity (20).

9. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 8, characterized in that: After the coaxial bolt (19) bearing passes through the support plate (17), it movably passes through the linkage shaft (18), the extrusion platform (11) and the transmission protrusion (7) in sequence, and the upper and middle part of the extrusion platform (11) is in the shape of a truncated cone.

10. The multi-angle adjustable self-lubricating high-speed manipulator according to claim 9, characterized in that: The upper end of the transmission protrusion (7) is a prismatic block structure, and the open end of the inner cavity (20) is a prismatic opening that matches the upper end of the transmission protrusion (7), the inner end of the inner cavity (20) is a cylindrical slot having a diameter greater than that of the open end thereof, the support plate (12) is provided with a prismatic through hole that matches the linkage shaft (18), and the lower surface of the extrusion platform (11) is provided with a prismatic groove that matches the linkage shaft (18), and the linkage shaft (18) is a prismatic columnar structure.

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