A long-arm-span manipulator bearing structure and a manipulator

Abstract

The utility model relates to the technical field of semiconductor, especially point to a kind of long arm spread manipulator bearing structure and mechanical arm, including mounting bracket, the central shaft connected to mounting bracket, the rotating shaft rotationally connected to central shaft, the bearing frame rotationally connected to mounting bracket, with the bearing part of mounting bracket connection and the gear connected with rotating shaft, the bottom end of bearing part supports gear, the bearing frame rotates around the axis of central shaft;At least two angular contact bearings are connected between the bearing frame and mounting bracket, every adjacent two angular contact bearings are installed face to face;The utility model makes the load of bearing frame form multi-point dispersed support, avoid stress concentration and local load exceed the standard, it is suitable for the mechanical arm application scene of long arm spread, it is convenient to adapt to high load axial impact load.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor technology, and in particular to a long-arm manipulator support structure and manipulator arm. Background Technology

[0002] Robotic arms are complex systems characterized by multiple inputs and outputs, high precision, nonlinearity, and strong coupling. Due to their unique operational flexibility, they are widely used in industrial assembly, safety and explosion protection, and other fields, such as bomb disposal, industrial manufacturing, medical treatment, and the military. With the development of automation and mechanization, the field of robotic arms has developed rapidly. Robotic arms are a combination of automation and mechanization, and four-joint, five-joint, and six-joint robotic arm structures are widely used.

[0003] Existing structures typically employ a single-bearing support structure. This single-bearing support structure has a limited load-bearing surface, failing to create a multi-point support load-distribution mechanism, leading to stress concentration and excessive localized loads. Under dynamic operating conditions, when the torque at the end of the robotic arm is transmitted to the bearing, the axial combined load exceeds the design bearing capacity limit of the single bearing. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a long-arm robotic arm support structure and robotic arm, which enables the load of the support frame to be distributed and supported at multiple points, avoiding stress concentration and excessive local load, making it suitable for long-arm robotic arm applications and easy to adapt to high-load axial impact loads.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This utility model provides a support structure for a long-arm manipulator, including a mounting frame, a central shaft connected to the mounting frame, a rotating shaft rotatably connected to the central shaft, a support frame rotatably connected to the mounting frame, a support part connected to the mounting frame, and a gear connected to the rotating shaft. The support part supports the bottom end of the gear, and the support frame rotates around the axis of the central shaft.

[0007] At least two angular contact bearings are connected between the support frame and the mounting frame, with each pair of adjacent angular contact bearings mounted face-to-face.

[0008] The support frame includes a connecting section and a horizontal section connected to the top of the connecting section. The connecting section is connected to the inner ring of the angular contact bearing, and the mounting frame is connected to the outer ring of the angular contact bearing. A pad is connected at the connection between the connecting section and the horizontal section, and a gap is left between the pad and the angular contact bearing.

[0009] The outer end of the pad extends above the clearance of the angular contact bearing, and the bottom end of the pad extends into the inner side of the mounting bracket.

[0010] The rotating shaft is equipped with at least two support bearings, and the inner side of the gear is connected to the support bearings.

[0011] The support frame is connected to a retainer, the retainer is fitted with a retaining sleeve, the retaining sleeve is coaxially sleeved on the outside of the rotating shaft, and the retaining sleeve is connected to at least one support bearing.

[0012] The gear has an upper connecting part connected to its inner side, and the upper connecting part is connected to a lower connecting part. The upper connecting part is connected to an upper support bearing, and the lower connecting part is connected to a lower support bearing. The lower connecting part is rotatably connected to the bearing part.

[0013] The retaining sleeve is provided with a first limiting groove, and the gear is provided with a second limiting groove. Both the first limiting groove and the second limiting groove extend circumferentially along the central axis. A limiting body is provided between the first limiting groove and the second limiting groove, and the two ends of the limiting body abut against the inner sidewalls of the first limiting groove and the second limiting groove, respectively.

[0014] When the gear rotates relative to the cage, the limiting body restricts the radial offset between the gear and the cage, so that the gear and the cage rotate about the axis of the central shaft.

[0015] The supporting part is provided with a retaining edge, which abuts against the outer side of the lower connecting part; the lower connecting part is provided with a receiving cavity, and a portion of the upper connecting part extends into the receiving cavity.

[0016] The mounting frame is provided with a docking part, and the support frame is equipped with at least two docking blocks, the docking blocks abutting one end of the docking part.

[0017] This utility model also provides a robotic arm, which includes a long-arm extension robotic hand support structure.

[0018] The beneficial effects of this utility model are:

[0019] By installing each pair of adjacent angular contact bearings face to face, the axial load is decomposed into two opposing components, effectively reducing the contact stress of a single bearing. This allows the load on the support frame to form multi-point distributed support, avoiding stress concentration and excessive local loads, significantly improving axial stiffness and bidirectional load-bearing capacity. This is beneficial for applications of robotic arms with long reach, and the support frame is easy to adapt to high-load axial impact loads. Attached Figure Description

[0020] Figure 1 This is a cross-sectional view of the load-bearing structure of this long-arm manipulator.

[0021] Figure 2 This is a sectional view of the installation structure of the support frame and mounting frame.

[0022] Figure 3 This is a sectional view of the mounting structure of the gear and the rotating shaft.

[0023] Figure 4 This is a sectional view of the mounting structure, which includes a support frame, a retainer, and a rotating shaft.

[0024] Figure 5 This is a partial structural cross-sectional view of the load-bearing structure of this long-arm manipulator.

[0025] 100. Angular contact bearings;

[0026] 1. Mounting bracket; 101. Connecting part;

[0027] 2. Central axis;

[0028] 3. Rotating shaft; 31. Support bearing;

[0029] 4. Support frame; 41. Connecting section; 42. Horizontal section;

[0030] 401, Cage; 4011, First Limiting Groove; 402, Cage Sleeve; 403, Connecting Block;

[0031] 400, spacer blocks;

[0032] 5. Bearing component; 51. Edge retaining wall;

[0033] 6. Gear; 601. Second limiting groove;

[0034] 61. Upper connecting part; 62. Lower connecting part; 621. Receiving cavity;

[0035] 7. Limiting body. Detailed Implementation

[0036] To facilitate understanding by those skilled in the art, the present invention will be further described below in conjunction with embodiments and accompanying drawings. Specific embodiments of the present invention will be described below. It should be noted that, in order to provide a concise description of these embodiments, this specification cannot provide a detailed description of all features of the actual embodiments.

[0037] refer to Figures 1 to 5 As shown, this utility model provides a long-arm manipulator support structure, including a mounting frame 1, a central shaft 2 connected to the mounting frame 1, a rotating shaft 3 rotatably connected to the central shaft 2, a support frame 4 rotatably connected to the mounting frame 1, a support part 5 connected to the mounting frame 1, and a gear 6 connected to the rotating shaft 3. The support part 5 supports the bottom end of the gear 6, and the support frame 4 rotates around the axis of the central shaft 2. At least two angular contact bearings 100 are connected between the support frame 4 and the mounting frame 1, and each pair of adjacent angular contact bearings 100 are installed face to face.

[0038] refer to Figure 1 As shown, in practical applications, the rotating shaft 3 is connected to the drive unit, and a rotatable auxiliary wheel is installed on the support frame 4. The gear 6 is connected to the auxiliary wheel via a synchronous belt, and the corresponding first and second arms are externally connected. The first and second arms are hinged, allowing the auxiliary wheel to be driven by the first arm. The support frame 4 is connected to the second arm. The drive unit smoothly drives the rotating shaft 3 to rotate, thereby driving the gear 6 and the auxiliary wheel to rotate. When the rotating shaft 3 rotates at an angular velocity ω, the gear 6-auxiliary wheel system forms a planetary gear train. The hinge point of the first and second arms undergoes periodic displacement with the rotation of the rotating shaft 3, facilitating the corresponding actions of the first and second arms. (Reference) Figure 2 As shown, since at least two angular contact bearings 100 are connected between the support frame 4 and the mounting frame 1, and each pair of adjacent angular contact bearings 100 are installed face to face, the axial load is decomposed into two opposing components, effectively reducing the contact stress of a single bearing. This allows the load of the support frame 4 to form multi-point distributed support, avoiding stress concentration and local load exceeding the limit. The double angular contact bearings 100 significantly improve axial stiffness and bidirectional load-bearing capacity, which is beneficial for the application scenarios of long-arm robotic arms. The support frame 4 is easy to adapt to high-load axial impact loads, improving its versatility.

[0039] refer to Figure 1 , 2 As shown, in this embodiment, the support frame 4 includes a connecting section 41 and a horizontal section 42 connected to the top of the connecting section 41. The connecting section 41 is connected to the inner ring of the angular contact bearing 100, and the mounting frame 1 is connected to the outer ring of the angular contact bearing 100. This facilitates the smooth independent rotation of the support frame 4 and the mounting frame 1, allowing the load of the support frame 4 to be distributed and supported at multiple points, thus avoiding stress concentration and excessive local load. A pad 400 is connected at the connection between the connecting section 41 and the horizontal section 42. The pad 400 provides stable support at the connection between the connecting section 41 and the horizontal section 42, thereby improving the load-bearing capacity of the support frame 4. A gap is left between the pad 400 and the angular contact bearing 100, resulting in a compact structure and saving space.

[0040] refer to Figure 1 , 2 As shown, in this embodiment, the outer end of the pad 400 extends above the gap on the angular contact bearing 100, and the bottom end of the pad 400 extends into the inner side of the mounting bracket 1, effectively utilizing the installation space of the angular contact bearing 100. The structure is compact, and the cross-section of the pad 400 is enlarged within a narrow range, increasing the load bearing surface of the bearing bracket 4, which facilitates the lifting of the maximum load that the bearing bracket 4 can withstand.

[0041] refer to Figure 1 , 3As shown, in this embodiment, the rotating shaft 3 is equipped with at least two support bearings 31. The inner side of the gear 6 is connected to the support bearings 31, stabilizing the support point between the gear 6 and the rotating shaft 3. When the gear 6 meshes and generates a radial load, the upper and lower distributed support bearings 31 respectively form a couple constraint, establishing a double support point in the vertical direction. By increasing the constraint conditions, the rigidity of the system is improved, and the load distribution changes from the traditional concentrated bearing to a multi-point distributed bearing mode. The force flow transmission path from the tooth root of the gear 6 to the rotating shaft 3 is optimized to bidirectional transmission, effectively suppressing shaft system deflection and deformation, facilitating smooth rotation of the gear 6.

[0042] refer to Figure 1 , 4 As shown, in this embodiment, the support frame 4 is connected to a retainer 401, and a retaining sleeve 402 is installed on the retainer 401. The retaining sleeve 402 is coaxially sleeved on the outside of the rotating shaft 3, and the retaining sleeve 402 is connected to at least one support bearing 31. In actual application, the rotation of the support frame 4 drives the retainer 401 to rotate synchronously, which in turn drives the retaining sleeve 402 to provide stable support to one end of the rotating shaft 3, ensuring the coaxiality of the rotating shaft 3 and facilitating the guarantee of rotational accuracy.

[0043] refer to Figure 3 , 5 As shown, in this embodiment, the inner side of the gear 6 is connected to an upper connecting part 61, and the upper connecting part 61 is connected to a lower connecting part 62. The upper connecting part 61 is connected to the upper support bearing 31, and the lower connecting part 62 is connected to the lower support bearing 31. The lower connecting part 62 is rotatably connected to the bearing part 5. This allows the gear 6 to adopt a split connection structure, with the upper connecting part 61 and the lower connecting part 62 forming a stepped force transmission chain. Through the rotating pair design of the lower connecting part 62 and the bearing frame 4, when the shaft system is heated and elongated, the support bearing 31 can automatically adjust the deflection angle to eliminate additional stress. This composite connection method achieves the unity of static determinate support and dynamic balance adjustment, ensuring assembly accuracy and adaptability to working conditions.

[0044] refer to Figure 3As shown, in this embodiment, the retaining sleeve 402 is provided with a first limiting groove 4011, and the gear 6 is provided with a second limiting groove 601. Both the first limiting groove 4011 and the second limiting groove 601 extend circumferentially along the central axis 2. A limiting body 7 is provided between the first limiting groove 4011 and the second limiting groove 601, and the two ends of the limiting body 7 abut against the inner sidewalls of the first limiting groove 4011 and the second limiting groove 601, respectively. In actual application, when the gear 6 rotates relative to the retainer 401, the limiting body 7 restricts the radial offset between the gear 6 and the retainer 401, so that the gear 6 and the retainer 401 rotate around the axis of the central axis 2. Through the topological design of the first limiting groove 4011 and the second limiting groove 601 extending circumferentially along the central axis 2, an annular guide channel circumferentially along the central axis 2 is constructed. When the limiting body 7 is simultaneously embedded in both slots, its continuous contact with the slot walls forms a closed kinematic chain, forcing the gear 6 and the cage 401 to maintain synchronous angular displacement during rotation around the axis. This constraint mode breaks through the traditional single-point limiting mode of keyways, locking the rotational degree of freedom to the same motion reference plane through distributed contact, eliminating the phase accumulation error caused by assembly gaps. When the gear 6 has a radial offset tendency due to meshing force or inertia, the contact pressure between the limiting body 7 on the offset side and the corresponding slot wall increases, forming nonlinear contact stiffness. Meanwhile, the gap closing process on the opposite side absorbs impact energy through elastic deformation, achieving priority suppression of radial translational degree of freedom, while retaining the rotational degree of freedom of the gear 6 and the cage 401 around the central axis 2.

[0045] refer to Figure 3 , 5 As shown, in this embodiment, the supporting part 5 is provided with a retaining edge 51, which abuts against the outer side of the lower connecting part 62; the lower connecting part 62 is provided with a receiving cavity 621, and a portion of the upper connecting part 61 extends into the receiving cavity 621; in practical applications, the retaining edge 51 is configured to extend continuously along the circumference of the supporting part 5, forming an annular end face constraint interface, and its rigid abutment with the outer side of the lower connecting part 62 establishes a zero-backlash positioning reference in the axial direction. When the gear 6 system is subjected to axial thrust, the retaining edge 51 acts as... As a support reaction bearing surface, the load is transferred to the bearing part 5 through the contact stress gradient distribution, avoiding the risk of fatigue failure caused by stress concentration, and improving the axial positioning accuracy. Through the nested design of the upper connecting part 61 extending into the accommodating cavity 621, the assembly is smooth and the bending stiffness is improved through the multiplication effect of the contact area. When the gear 6 is subjected to radial off-center load, the line contact area between the wall of the accommodating cavity 621 and the upper connecting part 61 is expanded into a surface contact, and the bending moment is converted into shear stress and evenly diffused to the base of the lower connecting part 62.

[0046] refer to Figure 1 , 5As shown in this embodiment, the mounting frame 1 is provided with a docking part 101, and the support frame 4 is equipped with at least two docking blocks 403. The docking blocks 403 abut against one end of the docking part 101. The docking blocks 403 are symmetrically distributed around the support frame 4, which restricts the relative axial displacement between the mounting frame 1 and the support frame 4 and improves the positioning accuracy.

[0047] refer to Figure 1 , 4 As shown, this utility model also provides a robotic arm, which includes a long-arm extension robotic hand support structure.

[0048] When the robotic arm can perform the corresponding action smoothly, the load of the bearing frame 4 is distributed and supported at multiple points to avoid stress concentration and excessive local load, significantly improving axial stiffness and bidirectional load-bearing capacity, which is conducive to the application scenarios of robotic arms with long reach. The bearing frame 4 is easy to adapt to high-load axial impact load scenarios, improving versatility.

[0049] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A support structure for a long-arm manipulator, characterized in that, It includes a mounting frame (1), a central shaft (2) connected to the mounting frame (1), a rotating shaft (3) rotatably connected to the central shaft (2), a support frame (4) rotatably connected to the mounting frame (1), a support part (5) connected to the mounting frame (1), and a gear (6) connected to the rotating shaft (3). The support part (5) supports the bottom end of the gear (6), and the support frame (4) rotates around the axis of the central shaft (2). At least two angular contact bearings (100) are connected between the support frame (4) and the mounting frame (1), with each pair of adjacent angular contact bearings (100) mounted face to face.

2. The long-arm manipulator support structure according to claim 1, characterized in that, The support frame (4) includes a connecting section (41) and a horizontal section (42) connected to the top of the connecting section (41). The connecting section (41) is connected to the inner ring of the angular contact bearing (100). The mounting frame (1) is connected to the outer ring of the angular contact bearing (100). A pad (400) is connected at the connection between the connecting section (41) and the horizontal section (42). A gap is left between the pad (400) and the angular contact bearing (100).

3. The long-arm manipulator support structure according to claim 2, characterized in that, The outer end of the pad (400) extends above the clearance on the angular contact bearing (100), and the bottom end of the pad (400) extends into the inside of the mounting bracket (1).

4. The long-arm manipulator support structure according to claim 1, characterized in that, The rotating shaft (3) is equipped with at least two support bearings (31), and the inner side of the gear (6) is connected to the support bearings (31).

5. The long-arm manipulator support structure according to claim 3, characterized in that, The support frame (4) is connected to a retainer (401), the retainer (401) is equipped with a retaining sleeve (402), the retaining sleeve (402) is coaxially sleeved on the outside of the rotating shaft (3), and the retaining sleeve (402) is connected to at least one support bearing (31).

6. The long-arm manipulator support structure according to claim 4, characterized in that, The gear (6) has an upper connecting part (61) connected to its inner side. The upper connecting part (61) is connected to a lower connecting part (62). The upper connecting part (61) is connected to the upper support bearing (31), and the lower connecting part (62) is connected to the lower support bearing (31). The lower connecting part (62) is rotatably connected to the bearing part (5).

7. The long-arm manipulator support structure according to claim 5, characterized in that, The retaining sleeve (402) is provided with a first limiting groove (4011), and the gear (6) is provided with a second limiting groove (601). The first limiting groove (4011) and the second limiting groove (601) both extend circumferentially along the central axis (2). A limiting body (7) is provided between the first limiting groove (4011) and the second limiting groove (601). The two ends of the limiting body (7) abut against the inner sidewalls of the first limiting groove (4011) and the second limiting groove (601), respectively. When the gear (6) rotates relative to the cage (401), the limiting body (7) restricts the radial offset between the gear (6) and the cage (401) so that the gear (6) and the cage (401) rotate about the axis of the central shaft (2).

8. The long-arm manipulator support structure according to claim 6, characterized in that, The supporting part (5) is provided with a retaining edge (51), which abuts against the outer side of the lower connecting part (62); the lower connecting part (62) is provided with a receiving cavity (621), and a portion of the upper connecting part (61) extends into the receiving cavity (621).

9. The long-arm manipulator support structure according to claim 1, characterized in that, The mounting frame (1) is provided with a docking part (101), and the support frame (4) is equipped with at least two docking blocks (403), the docking blocks (403) abutting against one end of the docking part (101).

10. A robotic arm, characterized in that, The robotic arm includes the long-arm extension robotic arm support structure as described in any one of claims 1-9.

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