Front structure of mechanical arm speed reducer

Abstract

The invention belongs to the technical field of manipulators and discloses a manipulator speed reducer front-arranged structure which comprises a base and a speed reducer body arranged in the base, the output end of the speed reducer body is fixedly connected with a manipulator framework, and the inner side and the outer side of the manipulator framework are jointly provided with a supporting component. The supporting component comprises supports fixedly connected to the left side and the right side of the mechanical arm framework, a guide rail is arranged on the upper side of the base, guide blocks are slidably connected to the left side and the right side of the interior of the guide rail, and balls are connected to the lower sides of the guide blocks in a rolling mode. When the speed reducer body drives the mechanical arm framework to rotate, the support on the outer side of the mechanical arm framework supports the mechanical arm framework through the guide block all the time, the driving shaft of the speed reducer body is effectively prevented from being pulled to be deviated, then large deviation of the rotating angle of a finally grabbed workpiece is avoided, and meanwhile abrasion of gears in the speed reducer body is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, more particularly, to a mechanical hand reducer front structure. BACKGROUND

[0002] A mechanical hand is an automatic operating device that can imitate the functions of human hands and arms to grab, carry objects or operate tools according to fixed programs. It can complete various intended work through programming, and has the advantages of both human and machine. The mechanical hand is the earliest industrial robot and modern robot. It can replace human labor to realize production mechanization and automation, and can operate in hazardous environments to protect personal safety. Therefore, it is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0003] The mechanical hand reducer front structure is a design scheme in which the reducer is installed at the front end (close to the execution end) of the mechanical hand. It is usually used to optimize transmission efficiency, reduce space occupation or improve precision. The front structure includes a bearing cover, a bearing seat, a reducer seat and a pulley. The reducer is fixed through an annular positioning groove in the mounting hole. The pulley is located between the bearing cover and the reducer and transmits power through a connecting shaft. The reducer is directly embedded in the mechanical arm connection part and supported by the annular positioning groove. The structure is compact and suitable for scenes requiring high rigidity and precision.

[0004] In the prior art, when the mechanical hand grabs a workpiece, if the mass of the workpiece is large, the driving shaft of the reducer configured for the mechanical hand has a large torque from static to rotation. Therefore, the driving shaft is easily pulled off during startup, resulting in a large deviation in the rotation angle of the workpiece, and even accelerating the wear of the internal gears of the reducer. SUMMARY

[0005] To solve the problems in the prior art, the present application provides a mechanical hand reducer front structure.

[0006] To solve the above problems, the present application adopts the following technical solution, which can support the mechanical hand skeleton through the guide block when the reducer body drives the mechanical hand skeleton to rotate, effectively preventing the driving shaft of the reducer body from being pulled off.

[0007] A mechanical hand reducer front structure includes a base and a reducer body arranged inside the base. The output end of the reducer body is fixedly connected with a mechanical hand skeleton. The inside and outside of the mechanical hand skeleton are provided with support components. The supporting component includes brackets fixedly connected to the left and right sides of the robot arm frame. A guide rail is provided on the upper side of the base. Guide blocks are slidably connected to the left and right sides inside the guide rail. Ball bearings are slidably connected to the lower side of the guide blocks. The ball bearings roll and overlap the lower side of the guide rail. A limit post is fixedly connected to the upper side of the guide block. The lower side of the bracket is in pressing contact with the upper side of the guide block. The lower side of the bracket is sleeved on the outside of the limit post. Bolts are inserted into the outer surface of the base in a circular array.

[0008] Furthermore, the guide rail is annular, the shape of the guide rail is adapted to the shape of the guide block, and the bracket is bent.

[0009] Furthermore, the base is provided with a lubrication assembly on both its inner and outer sides, and the lubrication assembly includes a storage box fixedly connected to the upper side of the right support.

[0010] Furthermore, a conduit is fixedly connected to the lower side of the storage box, and sliding grooves are provided on the opposite surfaces of the left and right sides of the bracket. A slider is slidably connected inside the sliding groove, and a first rotating ring is fixedly connected to the left side of the right slider. A first rotating groove is provided on the upper side of the outer surface of the base, and the first rotating ring is rotatably fitted inside the first rotating groove. The left end of the conduit passes through the right slider and the first rotating ring, and a guide groove is provided on the upper right side of the inside of the base.

[0011] Furthermore, the lengths of the sliding grooves on the left and right sides are different, and the sliding grooves penetrate the lower side of the bracket. The shape of the first rotating groove is adapted to the shape of the first rotating ring, and the guide groove is connected to the guide tube.

[0012] Furthermore, the base is provided with a metering component on both its inner and outer sides, and the metering component includes a magnetic block fixedly connected to the right side of the guide groove.

[0013] Furthermore, a sealing block is slidably connected to the left side of the inside of the conduit. The sealing block consists of an elliptical disk and a circular disk. A tension spring is fixedly connected to the right side of the sealing block. A hollow ring is fixedly connected to the right side of the inside of the conduit. A fixing seat is fixedly connected to the other end of the tension spring. The fixing seat is fixedly connected to the left side of the inside of the conduit.

[0014] Furthermore, the sealing block, hollow ring, and fixing seat are arranged from left to right. After the right side of the sealing block moves, it is inserted into the interior of the hollow ring, and the tension spring passes through the hollow ring.

[0015] Furthermore, the base is provided with a flow guiding component on both its inner and outer sides, and the flow guiding component includes a second rotating groove formed on the lower side of the outer surface of the base.

[0016] Furthermore, a second rotating ring is rotatably connected inside the second rotating groove. The inner sidewall of the second rotating groove is arranged in a ring array and has through holes. Gas supply pipes are fixedly connected to both sides of the outer surface of the second rotating ring. The ends of the gas supply pipes on the left and right sides that are close to each other are connected to the through holes through the second rotating groove. A filter screen is provided at the other end of the gas supply pipe.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention provides support for the robot frame when it rotates by setting a bracket. When the reducer body drives the robot frame to rotate, the bracket on the outside of the robot frame always supports the robot frame through the guide block, which effectively prevents the drive shaft of the reducer body from being pulled off course, thereby avoiding a large deviation in the rotation angle of the workpiece to be grasped, and at the same time reducing the wear of the gears inside the reducer body.

[0018] (2) The present invention guides the lubricant delivered by the conduit through the set guide groove, so that the lubricant enters the base. As the bracket drives the first rotating ring to rotate inside the first rotating groove, the lubricant can be poured into the base when the robot frame and the guide groove are on the same horizontal line, so that the drive shaft of the reducer body is lubricated and cooled, further reducing the wear of the gears inside the reducer body.

[0019] (3) When the magnetic block of the present invention attracts the sealing block, the sealing block slowly detaches from the hollow ring. Then the lubricant passes through the hollow ring. Since the guide groove corresponds to the guide tube, the magnetic block attracts the sealing block first, so that the guide tube and the guide groove are slowly connected. On the one hand, it delays the lubricant inside the guide tube from entering the guide groove, avoiding excessive lubricant from entering the base. On the other hand, it can also avoid the phenomenon of lubricant leakage. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional structural diagram of the present invention; Figure 3 This is a cross-sectional view of the base of the present invention; Figure 4 This is a cross-sectional structural diagram of the storage box of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point A; Figure 6 This is a cross-sectional view of the guide rail of the present invention. Figure 7 This is a cross-sectional view of the support structure of the present invention; Figure 8This is a cross-sectional view of the second rotating ring of the present invention.

[0021] Explanation of the labels in the diagram: 1. Base; 11. Reducer body; 12. Robotic arm frame; 2. Support component; 21. Bracket; 22. Guide block; 23. Guide rail; 24. Ball bearing; 25. Limiting post; 26. Bolt; 27. Lubrication component; 271. Storage box; 272. Conduit; 273. Slide groove; 274. Slider; 275. First rotating ring; 276. First rotating groove; 277. Guide groove; 28. Metering component; 281. Magnetic block; 282. Sealing block; 283. Tension spring; 284. Hollow ring; 285. Fixed seat; 3. Flow guiding component; 31. Second rotating groove; 32. Second rotating ring; 33. Through hole; 34. Air supply pipe; 35. Filter screen. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1 to 8 A robotic arm reducer front structure includes a base 1 and a reducer body 11 disposed inside the base 1. The output end of the reducer body 11 is fixedly connected to a robotic arm frame 12, and the inner and outer sides of the robotic arm frame 12 are provided with support components 2. The support component 2 includes brackets 21 fixedly connected to the left and right sides of the robot arm frame 12. A guide rail 23 is provided on the upper side of the base 1. Guide blocks 22 are slidably connected to the left and right sides inside the guide rail 23. Ball bearings 24 are slidably connected to the lower side of the guide blocks 22. The ball bearings 24 roll and overlap the lower side of the guide rail 23. A limit post 25 is fixedly connected to the upper side of the guide blocks 22. The lower side of the bracket 21 is in contact with the upper side of the guide blocks 22. The lower side of the bracket 21 is sleeved on the outside of the limit post 25. Bolts 26 are inserted into the outer surface of the base 1 in a ring array.

[0024] The guide rail 23 is ring-shaped, and its shape is adapted to the shape of the guide block 22. The bracket 21 is bent.

[0025] By adopting the above technical solution, after the base 1 is installed by bolts 26, the bracket 21 is fitted onto the outside of the limiting post 25 above the guide block 22. After the reducer body inside the base 1 is running, it will drive the robot arm frame 12 to rotate together. After the robot arm frame 12 rotates, it will drive the two brackets 21 to move. During this process, the guide block 22 on the lower side of the bracket 21 will slide inside the guide rail 23. Because the ball 24 on the lower side of the guide block 22 is in contact with the inner wall of the guide rail 23, when the guide block 22 slides inside the guide rail 23, the ball 24 will also roll inside the guide rail 23. This allows the drive shaft of the reducer body 11 to rotate from rest. If the robot arm frame When the robot arm 12 grasps a heavy object, the supports 21 on both sides of the robot arm frame 12 are stably supported above the base 1 by the guide blocks 22, and the grasping direction is consistent with the direction of the supports 21. This causes the direction of deviation of the reducer body 11 to always correspond to the supports 21, and is ultimately offset by the supports 21. As the reducer body 11 drives the robot arm frame 12 to rotate, the supports 21 on the outside of the robot arm frame 12 always support the robot arm frame 12 through the guide blocks 22, which effectively prevents the drive shaft of the reducer body from being pulled off course, thereby avoiding a large deviation in the rotation angle of the workpiece finally grasped, and reducing the wear of the gears inside the reducer body.

[0026] like Figures 1 to 6 As shown, the base 1 has a lubrication assembly 27 on both the inner and outer sides. The lubrication assembly 27 includes a storage box 271 fixedly connected to the upper side of the right support 21.

[0027] A conduit 272 is fixedly connected to the lower side of the storage box 271. Slide grooves 273 are provided on the opposite surfaces of the left and right side brackets 21. A slider 274 is slidably connected inside the slide groove 273. A first rotating ring 275 is fixedly connected to the left side of the right slider 274. A first rotating groove 276 is provided on the upper side of the outer surface of the base 1. The first rotating ring 275 is rotatably fitted inside the first rotating groove 276. The left end of the conduit 272 passes through the right slider 274 and the first rotating ring 275. A guide groove 277 is provided on the upper right side of the inside of the base 1.

[0028] The lengths of the left and right sliding grooves 273 are different, and the sliding grooves 273 penetrate through the lower side of the bracket 21. The shape of the first rotating groove 276 is adapted to the shape of the first rotating ring 275, and the guide groove 277 is connected to the guide tube 272.

[0029] By adopting the above technical solution, during the assembly of the bracket 21 and the guide block 22, the slider 274 on the outer side of the first rotating ring 275 will slide in the groove 273 on the side of the bracket 21, so that the first rotating ring 275 always rotates synchronously with the bracket 21. During the movement of the bracket 21, the storage box 271 on the upper side of the bracket 21 will always inject lubricant into the conduit 272. As the first rotating ring 275 rotates inside the first rotating groove 276 on the outer side of the base 1, if the opening of the conduit 272 corresponds to the guide groove 277 on the inner side wall of the first rotating groove 276, the robot arm frame 12 and the guide groove 277 are in the same position. The lubricant inside the conduit 272 will enter the guide groove 277 through the first rotating groove 276, so that the lubricant will eventually enter the drive shaft of the reducer body. When the conduit 272 does not correspond to the guide groove 277, the guide groove 277 will be blocked by the inner wall of the first rotating groove 276. As the bracket 21 drives the first rotating ring 275 to rotate inside the first rotating groove 276, the lubricant can be poured into the base 1 when the robot frame 12 and the guide groove 277 are on the same horizontal line, so that the drive shaft of the reducer body is lubricated and cooled, further reducing the wear of the gears inside the reducer body.

[0030] like Figure 5 As shown, the base 1 has a metering component 28 on both the inner and outer sides. The metering component 28 includes a magnetic block 281 fixedly connected to the right side of the guide groove 277.

[0031] A sealing block 282 is slidably connected to the inside left side of the conduit 272. The sealing block 282 consists of an elliptical disk and a circular disk. A tension spring 283 is fixedly connected to the right side of the sealing block 282. A hollow ring 284 is fixedly connected to the inside right side of the conduit 272. A fixing seat 285 is fixedly connected to the other end of the tension spring 283. The fixing seat 285 is fixedly connected to the inside left side of the conduit 272.

[0032] The sealing block 282, hollow ring 284 and fixing seat 285 are arranged from left to right. After the right side of the sealing block 282 moves, it is inserted into the interior of the hollow ring 284. The tension spring 283 passes through the hollow ring 284.

[0033] By adopting the above technical solution, as the conduit 272 aligns with the guide groove 277, the sealing block 282 inside the conduit 272 will be attracted by the magnetic block 281 inside the guide groove 277. This causes the sealing block 282 to gradually detach from the hollow ring 284, while simultaneously pulling the tension spring 283 fixed by the fixing seat 285. At this time, the lubricant inside the conduit 272 will pass through the hollow ring 284 and eventually enter the guide groove 277. When the conduit 272 is not aligned with the guide groove 277, the tension spring 283 will always pull the sealing block 282. The movement ensures that the sealing block 282 remains inside the hollow ring 284. At this time, the lubricant inside the conduit 272 cannot enter the guide groove 277 due to the obstruction of the hollow ring 284 and the sealing block 282. After the guide groove 277 aligns with the conduit 272, the magnetic block 281 first attracts the sealing block 282, causing the conduit 272 and the guide groove 277 to slowly connect. On the one hand, this delays the lubricant inside the conduit 272 from entering the guide groove 277, preventing excessive lubricant from entering the base 1. On the other hand, it also prevents lubricant leakage.

[0034] like Figures 1 to 4 and Figure 7 and Figure 8 As shown, the inner and outer sides of the base 1 are provided with a flow guiding component 3, and the flow guiding component 3 includes a second rotating groove 31 opened on the lower side of the outer surface of the base 1.

[0035] The second rotating groove 31 is rotatably connected to the inside of the second rotating ring 32. The inner sidewall of the second rotating groove 31 is arranged in a ring array and has through holes 33. The left and right sides of the outer surface of the second rotating ring 32 are fixedly connected to the air supply pipes 34. The ends of the left and right air supply pipes 34 that are close to each other are connected to the through holes 33 through the second rotating groove 31. The other end of the air supply pipe 34 is provided with a filter screen 35.

[0036] By adopting the above technical solution, as the sliding groove 273 on the side of the bracket 21 connects with the slider 274, the second rotating ring 32 fixed to the slider 274 will also rotate inside the second rotating groove 31 under the drive of the bracket 21. As the second rotating ring 32 starts to rotate, the air supply pipe 34, which is in the same direction of rotation, will introduce air into the second rotating groove 31 during rotation. Because the second rotating ring 32 and the second rotating groove 31 are tightly fitted, after the other end of the air supply pipe 34 is connected to the through hole 33, the air will enter the interior of the base 1 through the through hole 33, and multiple The through hole 33 is always surrounded by the second rotating ring 32, and eventually it is discharged from another air supply pipe 34 through the through hole 33, taking away the heat. The air entering the air supply pipe 34 is filtered by the filter screen 35. As the bracket 21 drives the second rotating ring 32 to rotate, it will send outside air into the base 1 and discharge it through another air supply pipe 34. This allows the air to circulate inside the base 1 and take away the heat inside the base 1. On the one hand, it achieves the purpose of cooling the inside of the base 1 and the reducer body, and on the other hand, it avoids the reducer body from directly contacting the outside.

[0037] Working principle: After the reducer body is running, it will drive the robotic arm frame 12 to rotate together, and at the same time drive the two supports 21 to move. If the robotic arm frame 12 grabs a heavy object, the supports 21 on both sides of the robotic arm frame 12 are stably supported above the base 1 by the guide blocks 22, and the grabbing direction is consistent with the direction of the supports 21. During the movement of the supports 21, as the guide tube 272 aligns with the guide groove 277, the sealing block 282 inside the guide tube 272 will be attracted by the magnetic block 281 inside the guide groove 277, so that the sealing block 282 gradually detaches from the hollow ring 284, allowing the lubricant inside the guide tube 272 to pass through the hollow ring 284, and finally reach the outside of the reducer body drive shaft through the guide groove 277. When the guide tube 272 does not align with the guide groove 277, the guide groove 277 will be blocked by the inner wall of the first rotating groove 276. When 272 is not aligned with guide groove 277, tension spring 283 always pulls on sealing block 282, and sealing block 282 is always inside hollow ring 284. At the same time, the second rotating ring 32 fixed by slider 274 will also rotate inside the second rotating groove 31 under the drive of bracket 21. As the second rotating ring 32 starts to rotate, the air supply pipe 34 in the same direction of rotation will introduce air into the second rotating groove 31 when rotating. Because the second rotating ring 32 and the second rotating groove 31 are tightly fitted, after the other end of the air supply pipe 34 is connected to the through hole 33, the air will enter the base 1 through the through hole 33. The multiple through holes 33 are always surrounded by the second rotating ring 32, and finally discharged from another air supply pipe 34 through the through hole 33, taking away heat. The air entering the air supply pipe 34 will be filtered by filter screen 35.

[0038] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A pre-mounted structure for a robotic arm reducer, comprising a base (1) and a reducer body (11) disposed inside the base (1), wherein the output end of the reducer body (11) is fixedly connected to a robotic arm frame (12), characterized in that: The robotic arm frame (12) has support components (2) on both its inner and outer sides. The supporting component (2) includes a bracket (21) fixedly connected to the left and right sides of the robot arm frame (12). A guide rail (23) is provided on the upper side of the base (1). Guide blocks (22) are slidably connected to the left and right sides inside the guide rail (23). A ball (24) is slidably connected to the lower side of the guide block (22). The ball (24) rolls and overlaps the lower side inside the guide rail (23). A limit post (25) is fixedly connected to the upper side of the guide block (22). The lower side of the bracket (21) is pressed and contacted with the upper side of the guide block (22). The lower side of the bracket (21) is sleeved on the outside of the limit post (25). Bolts (26) are inserted into the outer surface of the base (1) in a ring array.

2. The front-mounted structure of a robot reducer according to claim 1, characterized in that: The guide rail (23) is annular, and the shape of the guide rail (23) is adapted to the shape of the guide block (22). The bracket (21) is bent.

3. The front-mounted structure of a robot reducer according to claim 1, characterized in that: The base (1) is provided with a lubrication assembly (27) on both the inner and outer sides. The lubrication assembly (27) includes a storage box (271) fixedly connected to the upper side of the right support (21).

4. The front-mounted structure of a robot reducer according to claim 3, characterized in that: The storage box (271) is fixedly connected to the lower side of the conduit (272), and the opposing surfaces of the brackets (21) on both the left and right sides are provided with sliding grooves (273). The sliding groove (273) is slidably connected to the inside of the sliding groove (274). The left side of the right sliding groove (274) is fixedly connected to the first rotating ring (275). The upper side of the outer surface of the base (1) is provided with a first rotating groove (276). The first rotating ring (275) is rotatably sleeved inside the first rotating groove (276). The left end of the conduit (272) passes through the right sliding groove (274) and the first rotating ring (275). The right end of the upper side of the inside of the base (1) is provided with a guide groove (277).

5. The front-mounted structure of a robot reducer according to claim 4, characterized in that: The lengths of the sliding grooves (273) on the left and right sides are different, and the sliding grooves (273) penetrate the lower side of the bracket (21). The shape of the first rotating groove (276) is adapted to the shape of the first rotating ring (275). The guide groove (277) is connected to the guide tube (272).

6. The front-mounted structure of a robot reducer according to claim 5, characterized in that: The base (1) is provided with a metering component (28) on both the inner and outer sides. The metering component (28) includes a magnetic block (281) fixedly connected to the right side inside the guide groove (277).

7. The front-mounted structure of a robot reducer according to claim 6, characterized in that: A sealing block (282) is slidably connected to the inside left side of the conduit (272). The sealing block (282) consists of an elliptical disk and a circular disk. A tension spring (283) is fixedly connected to the right side of the sealing block (282). A hollow ring (284) is fixedly connected to the inside right side of the conduit (272). A fixing seat (285) is fixedly connected to the other end of the tension spring (283). The fixing seat (285) is fixedly connected to the inside left side of the conduit (272).

8. The front-mounted structure of a robot reducer according to claim 7, characterized in that: The sealing block (282), hollow ring (284) and fixing seat (285) are arranged from left to right. After the right side of the sealing block (282) moves, it is inserted into the interior of the hollow ring (284). The tension spring (283) passes through the hollow ring (284).

9. The front-mounted structure of a robot reducer according to claim 1, characterized in that: The base (1) is provided with a flow guide (3) on both the inner and outer sides. The flow guide (3) includes a second rotating groove (31) opened on the lower side of the outer surface of the base (1).

10. The front-mounted structure of a robot reducer according to claim 9, characterized in that: The second rotating groove (31) is rotatably connected to the inside of the second rotating ring (32). The inner sidewall of the second rotating groove (31) is arranged in a ring array and has through holes (33). The left and right sides of the outer surface of the second rotating ring (32) are fixedly connected to the gas supply pipes (34). The ends of the gas supply pipes (34) on the left and right sides that are close to each other are connected to the through holes (33) through the second rotating groove (31). The other end of the gas supply pipe (34) is provided with a filter screen (35).

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