Simple compact type large-stroke telescopic arm structure
By designing a double-section telescopic arm structure, the combination of slide rails and gears can achieve large-scale movement in the Z-axis direction, solving the problem of limited stroke of the existing telescopic arm and achieving efficient and stable manipulator operation.
Patent Information
- Application Number
- CN202421099160.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-20
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-05-20
AI Technical Summary
The stroke of the existing telescopic arm in the Z-axis direction is limited, and it cannot meet the operating requirements of the robot to move substantially in the Z-axis direction, especially in operating environments with limited height.
A double-section telescopic arm structure is designed, including a base, a one-section arm and a two-section arm. The design of the first slide rail and the second slide rail realizes a large movement in the Z-axis direction, and uses rack and gear. Cooperate with and synchronize components to ensure accurate and stable movement.
The telescopic arm is moved substantially in the Z-axis direction, meeting the operation needs of the robot. At the same time, the structure is compact, the space occupancy rate is low, the movement efficiency is high, and the work is stable and reliable.
Smart Images
Figure CN222450355U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of telescopic arms, and in particular discloses a simple, compact, long-stroke telescopic arm structure. Background Art
[0002] As a common mechanical device, the telescopic arm is used to grab, carry objects or operate tools. Its appearance has liberated humans from heavy labor, helped save manpower and improved production efficiency. It is now widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the prior art, the telescopic arm can move in multiple directions. When it moves in the Z-axis direction, it is necessary to set a Z-axis slide rail that matches its movement range. In some operating environments with limited height, the higher Z-axis slide rail obviously cannot be installed smoothly. Therefore, the travel in the Z-axis direction is often limited, and it cannot meet the operational requirements of the manipulator to move significantly in the Z-axis direction. For this reason, this application is proposed. Utility Model Content
[0003] In order to overcome the shortcomings and deficiencies in the prior art, the utility model aims to provide a telescopic arm structure with a large moving stroke, a simple structure and a low space occupancy rate.
[0004] To achieve the above purpose, the utility model provides a simple and compact large-stroke telescopic arm structure, including a base; a first-section arm mounted on the base, a second-section arm mounted on the first-section arm, and a driving mechanism, an external manipulator is mounted on the second-section arm, the driving mechanism is arranged on the base, the driving mechanism connects the first-section arm and the second-section arm, and the driving mechanism is used to drive the first-section arm to move relative to the base and drive the second-section arm to move relative to the first-section arm. The double-section telescopic arm proposed by the utility model has a large stroke, can meet the needs of large-scale movement, and has a simple structure, scientific design, convenient use, high movement efficiency, and stable and reliable operation.
[0005] Furthermore, the first arm is provided with a first slide rail, the base is provided with a first slide groove adapted to the first slide rail, and the first arm is slidably connected to the base via the first slide rail and the first slide groove; the second arm is provided with a second slide rail, the first arm is provided with a second slide groove adapted to the second slide rail, and the second arm is slidably connected to the first arm via the second slide rail and the second slide groove. The design of the first slide rail and the second slide rail can meet the need for large-scale movement in the Z-axis direction, making the movement accurate, stable and efficient. At the same time, the structure of the first arm and the second arm is compact and the space occupancy rate is low.
[0006] Furthermore, the driving mechanism includes a driving assembly and a synchronization assembly, the driving assembly includes a first motor arranged on the base and a rack arranged on the first arm, the output shaft of the first motor is provided with a gear meshing with the rack; the synchronization assembly is arranged between the first arm, the second arm and the base; the first motor drives the first arm to move relative to the base via the rack and the gear, and the moving first arm drives the second arm to move relative to the first arm via the synchronization assembly. Through the cooperation of the rack and the gear, the movement of the first arm is more accurate and stable.
[0007] Furthermore, the synchronization assembly includes two groups of first synchronization wheels respectively installed at both ends of a section arm, a first synchronization belt connected to the two groups of first synchronization wheels, and a first clamping plate and a second clamping plate clamping the first synchronization belt, the first clamping plate is fixedly connected to the base, and the second clamping plate is fixedly connected to the second section arm. Since the synchronization assembly is light in weight, low in noise, and low in cost, the movement of the second section arm relative to the first section arm is light, flexible, and almost noiseless, which is friendly to the operating environment and operators.
[0008] Furthermore, the gear is a helical gear. The more compact the helical gear structure is, the better its meshing performance is, and it is suitable for high speed and heavy load conditions with large overlap. The increase in overlap improves the bearing capacity of the gear, thereby extending the life of the gear. The overlap mainly depends on the meshing time, and the helical gear has a long meshing time and a large contact area, which reduces stress, makes the transmission smooth, and increases its economy.
[0009] Furthermore, a coupling is provided between the gear and the output shaft of the first motor. The coupling can effectively transmit torque, making the power transmission between the two rotating shafts more efficient and stable. At the same time, the coupling can effectively transmit torque, making the power transmission between the two rotating shafts more efficient and stable. The coupling can effectively transmit torque, making the power transmission between the two rotating shafts more efficient and stable.
[0010] Furthermore, two groups of the first slide rails are provided, and the two groups of first slide rails are arranged in parallel on both sides of a section arm.
[0011] Furthermore, the second slide rails are provided with two groups, and the two groups of second slide rails are arranged in parallel on both sides of a boom section. The double slide rail design disperses the load by providing two parallel guide rails, making the structure more stable and strong. This can effectively prevent the swaying or tilting phenomenon that may occur in the single slide rail design, ensure the stability and accuracy of the telescopic arm in the long-stroke movement, and at the same time, the double slide rail can provide better anti-torsion ability, especially when the arm is subjected to lateral force or eccentric load. The double slide rail design can evenly distribute stress, prevent deformation of the slide rail and the slide groove, and thus extend the service life of the equipment.
[0012] Furthermore, the telescopic arm structure also includes a gantry bracket, the base is arranged on the gantry bracket, the gantry bracket includes a frame, a first moving mechanism arranged on the frame and a second moving mechanism arranged on the first moving mechanism, the first moving mechanism is used to drive the second moving mechanism to move along the X-axis of the frame, and the second moving mechanism drives the base to move along the Y-axis of the frame.
[0013] Furthermore, the first moving mechanism includes a second motor installed on the frame, a driving shaft connected to the second motor, and a transmission assembly, the transmission assembly includes two sets of second synchronous wheels, a second synchronous belt connecting the two sets of second synchronous wheels, the two sets of second synchronous wheels are respectively located at both ends of the frame and are rotatably connected to the frame, the driving shaft is fixedly connected to a set of second synchronous wheels, the second moving mechanism is connected to the second synchronous belt, the second motor drives the driving shaft to rotate, and the rotating driving shaft drives the second moving mechanism to move along the X-axis of the frame via the second synchronous wheel and the second synchronous belt; the structure of the second moving mechanism is the same as that of the first moving mechanism. Through the synergistic effect of the first moving mechanism and the second moving mechanism, the telescopic arm can be quickly moved in different directions and distances, thereby expanding the working range and flexibility of the entire system. At the same time, the precise control and synchronous operation of the two moving mechanisms ensure the stability and accuracy of the telescopic arm during the working process, and improve the overall work efficiency and quality.
[0014] The beneficial effects of the utility model: the double-section telescopic arm proposed by the utility model has a large stroke, which can meet the needs of large-scale movement, and has a simple structure, scientific design, easy use, high movement efficiency, and stable and reliable operation; the structure of the first-section arm and the second-section arm is compact and the space occupancy rate is low; through the cooperation of the rack and the gear, the movement of the first-section arm is more precise and stable; because the synchronous component is light in weight, low in noise, and low in cost, the movement of the second-section arm relative to the first-section arm is light, flexible, and almost noiseless, which is friendly to the operating environment and operators. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of a simple, compact, long-stroke telescopic arm structure of the utility model;
[0016] Figure 2 It is a structural schematic diagram of a boom section of the utility model;
[0017] Figure 3 It is a structural schematic diagram of a two-section boom of the utility model;
[0018] Figure 4 It is a structural schematic diagram of the synchronization component of the utility model;
[0019] Figure 5 It is a structural schematic diagram of the gantry bracket of the utility model;
[0020] Figure 6It is a structural schematic diagram of the first moving mechanism of the utility model.
[0021] Reference numerals include:
[0022] 1. Base; 2. One-section arm; 3. Two-section arm; 4. Driving mechanism; 5. First slide rail; 6. First slide slot; 7. Second slide rail; 8. Second slide slot; 9. Driving assembly; 10. Synchronous assembly; 11. First motor; 12. Rack; 13. Gear; 14. First synchronous wheel; 15. First synchronous belt; 16. First clamping plate; 17. Second clamping plate; 18. Second motor; 19. Driving shaft; 20. Second synchronous belt; 21. Frame; 22. First moving mechanism; 23. Second moving mechanism; 24. Second synchronous wheel. DETAILED DESCRIPTION
[0023] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.
[0024] See also Figures 1 to 6 As shown, a simple and compact telescopic arm structure with a large stroke of the utility model, a simple and compact telescopic arm structure with a large stroke, includes a base 1; also includes a first section arm 2 installed on the base 1, a second section arm 3 installed on the first section arm 2 and a driving mechanism 4, an external manipulator is installed on the second section arm 3, the driving mechanism 4 is arranged on the base 1, the driving mechanism 4 connects the first section arm 2 and the second section arm 3, and the driving mechanism 4 is used to drive the first section arm 2 to move relative to the base 1 and drive the second section arm 3 to move relative to the first section arm 2. The double-section telescopic arm proposed by the utility model has a large stroke, can meet the needs of large-scale movement, and has a simple structure, scientific design, convenient use, high movement efficiency, stable and reliable operation.
[0025] In specific implementation, the driving mechanism 4 is used to drive the first arm 2 to move relative to the base 1 and drive the second arm 3 to move relative to the first arm 2. The double-section telescopic arm has a large stroke and can meet the needs of large-scale movement.
[0026] The first section arm 2 is provided with a first slide rail 5, the base 1 is provided with a first slide groove 6 adapted to the first slide rail 5, and the first section arm 2 is slidably connected to the base 1 via the first slide rail 5 and the first slide groove 6; the second section arm 3 is provided with a second slide rail 7, the first section arm 2 is provided with a second slide groove 8 adapted to the second slide rail 7, and the second section arm 3 is slidably connected to the first section arm 2 via the second slide rail 7 and the second slide groove 8. Through the design of the first slide rail 5 and the second slide rail 7, the need for large-scale movement in the Z-axis direction can be met, and the movement can be accurate, stable and efficient. At the same time, the structure of the first section arm 2 and the second section arm 3 is compact and the space occupancy rate is low.
[0027] The driving mechanism 4 includes a driving assembly 9 and a synchronization assembly 10. The driving assembly 9 includes a first motor 11 arranged on the base 1 and a rack 12 arranged on the first arm 2. The output shaft of the first motor 11 is provided with a gear 13 meshing with the rack 12. The synchronization assembly 10 is arranged between the first arm 2, the second arm 3 and the base 1. The first motor 11 drives the first arm 2 to move relative to the base 1 via the rack 12 and the gear 13. The moving first arm 2 drives the second arm 3 to move relative to the first arm 2 via the synchronization assembly 10. Through the cooperation of the rack 12 and the gear 13, the movement of the first arm 2 is more accurate and stable.
[0028] The synchronization assembly 10 includes two groups of first synchronization wheels 14 respectively installed at both ends of the first boom 2, a first synchronization belt 15 connected to the two groups of first synchronization wheels 14, and a first clamping plate 16 and a second clamping plate 17 clamping the first synchronization belt 15. The first clamping plate 16 is fixedly connected to the base 1, and the second clamping plate 17 is fixedly connected to the second boom 3. Since the synchronization assembly 10 is light in weight, low in noise, and low in cost, the movement of the second boom 3 relative to the first boom 2 is light, flexible, and almost noiseless, which is friendly to the operating environment and operators.
[0029] Specifically, the first synchronous belt 15 is arranged in parallel with the rack 12 , and the rack 12 is arranged in parallel with the first slide rail 5 .
[0030] Specifically, the first clamping plate 16 and the second clamping plate 17 are synchronous belt pressure plates.
[0031] The gear 13 is a helical gear. The more compact the helical gear structure is, the better its meshing performance is, and it is suitable for high speed and heavy load conditions with large overlap. The increase in overlap improves the bearing capacity of the gear, thereby extending the life of the gear. The overlap mainly depends on the meshing time, and the helical gear has a long meshing time and a large contact area, which reduces stress, makes the transmission stable, and increases its economy.
[0032] A coupling is provided between the gear 13 and the output shaft of the first motor 11. The coupling can effectively transmit torque, making the power transmission between the two rotating shafts more efficient and stable. At the same time, the coupling can effectively transmit torque, making the power transmission between the two rotating shafts more efficient and stable.
[0033] The first slide rails 5 are provided in two groups, and the two groups of first slide rails 5 are arranged in parallel on both sides of a section arm 2 .
[0034] The second slide rails 7 are provided with two groups, and the two groups of second slide rails 7 are arranged in parallel on both sides of a section of the arm 2. The double slide rail design disperses the load by providing two parallel guide rails, making the structure more stable and strong. This can effectively prevent the swaying or tilting phenomenon that may occur in the single slide rail design, and ensure the stability and accuracy of the telescopic arm in the long-stroke movement. At the same time, the double slide rail can provide better anti-torsion ability, especially when the arm is subjected to lateral force or eccentric load. The double slide rail design can evenly distribute stress, prevent deformation of the slide rail and the slide groove, and thus extend the service life of the equipment.
[0035] Specifically, the first slide rail 5 and the second slide rail 7 are arranged in parallel.
[0036] The telescopic arm structure also includes a gantry bracket, the base 1 is arranged on the gantry bracket, the gantry bracket includes a frame 21, a first moving mechanism 22 arranged on the frame 21 and a second moving mechanism 23 arranged on the first moving mechanism 22, the first moving mechanism 22 is used to drive the second moving mechanism 23 to move along the X-axis of the frame 21, and the second moving mechanism 23 drives the base 1 to move along the Y-axis of the frame 21.
[0037] Specifically, the first moving mechanism 22 is slidably arranged on the frame 21, the frame 21 is provided with a slide rail, and the second moving mechanism 23 is provided with a slide groove; the base 1 is slidably arranged on the second moving mechanism 23, the second moving mechanism 23 is provided with a slide rail, and the base 1 is provided with a slide groove.
[0038] The first moving mechanism 22 includes a second motor 18 installed on the frame 21, a driving shaft 19 connected to the second motor 18, and a transmission assembly, the transmission assembly includes two sets of second synchronous wheels 24, and a second synchronous belt 20 connecting the two sets of second synchronous wheels 24. The two sets of second synchronous wheels 24 are respectively located at both ends of the frame 21 and are rotatably connected to the frame 21. The driving shaft 19 is fixedly connected to a set of second synchronous wheels 24, and the second moving mechanism 23 is connected to the second synchronous belt 20. The second motor 18 drives the driving shaft 19 to rotate, and the rotating driving shaft 19 drives the second moving mechanism 23 to move along the X-axis of the frame 21 via the second synchronous wheels 24 and the second synchronous belt 20.
[0039] Specifically, the transmission components are provided with two groups, and the two groups of transmission components are respectively located at two ends of the driving shaft 19.
[0040] The structure of the second moving mechanism 23 is the same as that of the first moving mechanism 22. Through the synergistic effect of the first moving mechanism 22 and the second moving mechanism 23, the telescopic arm can be quickly moved in different directions and distances, thereby expanding the working range and flexibility of the entire system. At the same time, the precise control and synchronous operation of the two moving mechanisms ensure the stability and accuracy of the telescopic arm during the working process, and improve the overall work efficiency and quality.
[0041] Specifically, a lubrication pump is provided on the base 1 , and lubrication oil is stored in the lubrication pump. The lubrication pump is used to pump the lubrication oil into the first slide rail 5 and the second slide rail 7 of the telescopic arm to reduce friction and wear and reduce maintenance frequency.
[0042] Specifically, the telescopic arm outer cover is provided with a dust cover to prevent dust and impurities from entering the sliding parts, thereby improving the durability and reliability of the system.
[0043] During the specific implementation, the second motor 18 drives the active shaft 19 to rotate, and the rotating active shaft 19 drives the second moving mechanism 23 to move along the X-axis of the frame 21 via the second synchronous wheel 24 and the second synchronous belt 20. Similarly, the second moving mechanism 23 drives the base 1 to move along the Y-axis of the frame 21. The first motor 11 drives the first arm 2 to move relative to the base 1 via the rack 12 and the gear 13. The first clamping plate 16 is fixedly connected to the base 1, and the second clamping plate 17 is fixedly connected to the second arm 3. The first clamping plate 16 and the second clamping plate 17 are connected to the first synchronous belt 15. The moving first arm 2 drives the second arm 3 to move via the first synchronous belt 15. The moving distance of the first arm 2 relative to the base 1 is the same as the moving distance of the second arm 3 relative to the first arm 2. The double-section telescopic arm has a large stroke and can meet the needs of large-scale movement.
[0044] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A simple, compact, long-stroke telescopic arm structure, comprising a base (1); characterized in that: The invention also comprises a first-section arm (2) mounted on a base (1), a second-section arm (3) mounted on the first-section arm (2), and a driving mechanism (4), wherein an external manipulator is mounted on the second-section arm (3), and the driving mechanism (4) is arranged on the base (1), the driving mechanism (4) connects the first-section arm (2) and the second-section arm (3), and the driving mechanism (4) is used to drive the first-section arm (2) to move relative to the base (1) and drive the second-section arm (3) to move relative to the first-section arm (2).
2. A simple, compact, long-stroke telescopic arm structure according to claim 1, characterized in that: The first arm (2) is provided with a first slide rail (5), the base (1) is provided with a first slide groove (6) matched with the first slide rail (5), and the first arm (2) is slidably connected to the base (1) via the first slide rail (5) and the first slide groove (6); the second arm (3) is provided with a second slide rail (7), the first arm (2) is provided with a second slide groove (8) matched with the second slide rail (7), and the second arm (3) is slidably connected to the first arm (2) via the second slide rail (7) and the second slide groove (8).
3. A simple, compact, long-stroke telescopic arm structure according to claim 1, characterized in that: The driving mechanism (4) comprises a driving assembly (9) and a synchronizing assembly (10); the driving assembly (9) comprises a first motor (11) arranged on a base (1) and a rack (12) arranged on a first arm (2); a gear (13) meshing with the rack (12) is arranged on the output shaft of the first motor (11); the synchronizing assembly (10) is arranged between the first arm (2), the second arm (3) and the base (1); the first motor (11) drives the first arm (2) to move relative to the base (1) via the rack (12) and the gear (13); the moving first arm (2) drives the second arm (3) to move relative to the first arm (2) via the synchronizing assembly (10).
4. A simple, compact, long-stroke telescopic arm structure according to claim 3, characterized in that: The synchronous assembly (10) comprises two groups of first synchronous wheels (14) respectively mounted at two ends of a boom (2), a first synchronous belt (15) connected to the two groups of first synchronous wheels (14), and a first clamping plate (16) and a second clamping plate (17) for clamping the first synchronous belt (15); the first clamping plate (16) is fixedly connected to the base (1), and the second clamping plate (17) is fixedly connected to the second boom (3).
5. The simple, compact, long-stroke telescopic arm structure according to claim 3, characterized in that: The gear (13) is a helical gear.
6. The simple, compact, long-stroke telescopic arm structure according to claim 3, characterized in that: A coupling is provided between the gear (13) and the output shaft of the first motor (11).
7. The simple, compact, long-stroke telescopic arm structure according to claim 2, characterized in that: Two groups of the first slide rails (5) are provided, and the two groups of first slide rails (5) are arranged in parallel on both sides of a section arm (2).
8. The simple, compact, long-stroke telescopic arm structure according to claim 2, characterized in that: The second slide rails (7) are provided in two groups, and the two groups of second slide rails (7) are arranged in parallel on both sides of a section arm (2).
9. The simple, compact, long-stroke telescopic arm structure according to claim 1, characterized in that: The telescopic arm structure also includes a gantry support, the base (1) is arranged on the gantry support, the gantry support includes a frame (21), a first moving mechanism (22) arranged on the frame (21), and a second moving mechanism (23) arranged on the first moving mechanism (22), the first moving mechanism (22) is used to drive the second moving mechanism (23) to move along the X-axis of the frame (21), and the second moving mechanism (23) drives the base (1) to move along the Y-axis of the frame (21).
10. The simple, compact, long-stroke telescopic arm structure according to claim 9, characterized in that: The first moving mechanism (22) comprises a second motor (18) mounted on the frame (21), a driving shaft (19) drivingly connected to the second motor (18), and a transmission assembly, wherein the transmission assembly comprises two sets of second synchronous wheels (24) and a second synchronous belt connecting the two sets of second synchronous wheels, wherein the two sets of second synchronous wheels (24) are respectively located at two ends of the frame (21) and are rotatably connected to the frame (21), the driving shaft (19) is fixedly connected to a set of second synchronous wheels (24), the second moving mechanism (23) is connected to the second synchronous belt (20), the second motor (18) drives the driving shaft (19) to rotate, and the rotating driving shaft (19) drives the second moving mechanism (23) to move along the X-axis of the frame (21) via the second synchronous wheels (24) and the second synchronous belt (20); the structure of the second moving mechanism (23) is the same as that of the first moving mechanism (22).