Mechanical arm waist rotating mechanism based on worm gear

Abstract

The utility model belongs to the field of mechanical arm provides mechanical arm waist rotation mechanism based on worm gear drive, including the base for supporting overall structure, the waist rotation is established in the base, worm drive assembly sets up on the waist, it includes the worm wheel of the sleeve setting in the lower extreme of the waist and the worm that engages with worm wheel, servo motor is connected with worm drive, is used for driving worm drive assembly, the flywheel damper sets up in the waist bottom, is used for absorbing the residual kinetic energy of the waist emergency stop, the utility model discloses the high accuracy characteristic of worm gear drive, combines the quick brake function of brake, can realize the accurate positioning and control of waist, satisfies the high accuracy operation demand, adopts double lead arc cylindrical worm structure simultaneously, promotes transmission efficiency, reduces energy consumption, improves the speed and responsiveness of mechanical arm waist rotation, makes mechanical arm operation more efficient.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, specifically a robotic arm waist rotation mechanism based on worm gear transmission. Background Technology

[0002] As a core component enabling the robotic arm to operate flexibly in three-dimensional space, the performance of the waist rotation mechanism directly affects the robotic arm's operating efficiency and safety.

[0003] Traditional designs often employ gear drives, worm gears, and other transmission methods. During operation, these transmission structures suffer from significant energy loss as heat due to meshing clearances and frictional losses. This low transmission efficiency not only significantly increases the energy consumption of the robotic arm but also directly causes sluggish rotational response, severely restricting operating speed and production efficiency. Furthermore, in abnormal operating conditions such as power outages, control system malfunctions, or sudden shutdowns, the robotic arm's waist, lacking an effective braking and locking device, may rotate unexpectedly under its own weight and load torque. This unexpected rotation could cause the end effector to collide with surrounding equipment, damage workpieces, or even pose a safety threat to operators, posing a significant safety hazard. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a mechanical arm waist rotation mechanism based on worm gear transmission, which solves the problems of low transmission efficiency, slow response, and risk of accidental rotation during power outages in traditional mechanical arms in the prior art.

[0005] A robotic arm waist rotation mechanism based on worm gear transmission, characterized in that it includes:

[0006] The base is used to support the overall structure;

[0007] The waist section is rotatably mounted within the base to enable rotation of the robotic arm at the waist.

[0008] A worm gear drive assembly is disposed on the waist and includes a worm gear sleeved on the lower end of the waist and a worm meshing with the worm gear;

[0009] A servo motor, connected to the worm gear transmission, is used to drive the worm gear drive assembly;

[0010] A flywheel damper, located at the bottom of the waist section, is used to absorb residual kinetic energy during sudden stops of the waist section.

[0011] Preferably, the worm gear adopts a double-lead circular arc cylindrical worm gear structure, with the middle lead angle designed as a self-locking angle and the two end lead angles designed as high-efficiency transmission angles.

[0012] Preferably, the worm gear drive assembly further includes a brake, which is fixedly mounted on the inner wall of the base for braking the worm and achieving emergency stop control of the waist section.

[0013] Preferably, the flywheel damper includes:

[0014] An inertia flywheel is fixedly mounted at the bottom of the waist section;

[0015] A multi-plate friction damper is configured in conjunction with the inertial flywheel and fixed on the base to absorb the residual kinetic energy of the inertial flywheel through friction.

[0016] Preferably, the bottom side of the base is provided with a pipe opening for guiding the pipe of the robotic arm through the base.

[0017] Preferably, the base is provided with a clearance guide groove on its side to guide the tube body to slide and arrange, and to prevent the hose from getting tangled with the robotic arm.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This utility model utilizes the high-precision characteristics of worm gear transmission, combined with the rapid braking function of the brake, to achieve precise positioning and control of the waist of the robotic arm, meeting the requirements of high-precision operation. At the same time, it adopts a double-lead circular arc cylindrical worm structure, which significantly improves transmission efficiency compared with traditional worm gears, reduces energy consumption, and improves the rotation speed and responsiveness of the waist of the robotic arm, making the robotic arm operation more efficient.

[0020] 2. This utility model provides double protection against accidental rotation of the robotic arm under abnormal conditions through the self-locking function in the middle of the worm gear and the setting of the brake, greatly improving the safety of operation; at the same time, the flywheel damper can effectively absorb the residual kinetic energy when the waist stops suddenly, reduce swaying and impact, extend the service life of the robotic arm, and improve the stability of operation. Attached Figure Description

[0021] Figure 1 This is a first-view perspective three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a second-view perspective three-dimensional structural diagram of the present invention;

[0023] Figure 3 This is a schematic diagram of the third-view three-dimensional structure of this utility model.

[0024] In the picture:

[0025] 1. Base; 2. Waist; 3. Worm gear drive assembly; 301. Worm gear; 302. Worm; 303. Brake; 4. Servo motor; 5. Inertia flywheel; 6. Multi-plate friction damper; 7. Pipe opening; 8. Clearance guide groove. Detailed Implementation

[0026] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but should not be used to limit the scope of this utility model.

[0027] As attached Figure 1 To be continued Figure 3 As shown:

[0028] This utility model provides a mechanical arm waist rotation mechanism based on worm gear transmission, including a base 1, waist 2, worm gear drive assembly 3, servo motor 4, and flywheel damper, to achieve high-precision motion, fast response, and reliable self-locking, meeting the needs of concrete spraying robotic arms in indoor and outdoor wall spraying operations.

[0029] As attached Figure 1 To be continued Figure 2 As shown: Base 1 serves as the fundamental support component of the entire mechanism, used for fixing and installing other parts. A pipe opening 7 is provided on its side, allowing the cement pump pipe at the bottom of base 1 to be led out from the side and connected to the fixed guide tube position on the forearm, thus connecting to the nozzle. An obstacle avoidance guide groove 8 is provided on the upper side, providing space for the rotational movement of the waist 2. When the robotic arm rotates, the guide tube slides along the groove, preventing the hose from getting tangled with the robotic arm.

[0030] As attached Figure 3 As shown: The waist part 2 is rotatably mounted in the base 1 via a cross roller bearing, and is the core component that realizes the rotation of the waist of the robotic arm. A flywheel damper is installed at its bottom.

[0031] As attached Figure 3 As shown: The flywheel damper includes an inertial flywheel 5 located at the bottom of the waist section 2 and a multi-plate friction damper 6. The inertial flywheel 5 is fixedly connected to the waist section 2 via a shaft shoulder and a shaft end retaining ring. The multi-plate friction damper 6 includes a bracket installed in the base 1, and a hydraulic cylinder is installed in the bracket. The damping torque of the friction plates is adjusted by the hydraulic cylinder. Several paired friction plates are arranged between the hydraulic cylinder and the inertial flywheel 5. When the waist section 2 stops suddenly, the residual kinetic energy of the inertial flywheel 5 is absorbed by the interaction of the friction plates of the multi-plate friction damper, reducing the swaying and impact of the robotic arm and improving the operational stability.

[0032] As attached Figure 2 To be continued Figure 3As shown: The worm gear drive assembly 3 is mounted on the waist section 2, including a worm gear 301 sleeved on the lower end of the waist section 2. The worm gear 301 is fixed to the waist section 2 by a key connection to ensure synchronous rotation. A worm 302 meshes with the side of the worm gear 301. One end of the worm 302 is connected to the servo motor 4 for transmission. The worm 302 is connected to the output shaft of the servo motor 4 through a coupling to realize power transmission. The worm 302 adopts a double-lead circular arc cylindrical worm structure design. The lead angle at the middle is 4°, realizing a self-locking function to ensure that the robotic arm will not droop due to gravity in abnormal situations such as power failure, ensuring operational safety. The lead angles at both ends are 6°, which can effectively improve transmission efficiency. A brake 303 is also provided on the worm 302. The brake 303 is fixed to the inner wall of the base 1 by bolts, which is used to quickly brake the worm 302 when needed, thereby realizing emergency stopping of the waist section 2 and improving control accuracy.

[0033] Working principle: When the robotic arm needs to rotate at the waist, the servo motor 4 starts and transmits power to the worm gear 302 through the coupling. The rotation of the worm gear 302 drives the meshing worm wheel 301 to rotate. Since the worm wheel 301 is fixedly connected to the waist 2, the waist 2 rotates within the base 1, driving the robotic arm to complete the corresponding operation. During operation, the double-lead circular arc cylindrical worm gear 302, with its 6° lead angle at both ends, efficiently transmits power, improves transmission efficiency, and enables the waist 2 to respond to commands quickly and accurately, achieving efficient operation of the robotic arm.

[0034] When the waist section 2 needs to be stopped urgently, the brake 303 is quickly activated, braking the worm gear 302 to stop its rotation, which in turn drives the worm wheel 301 and the waist section 2 to stop quickly. Simultaneously, at the instant the waist section 2 stops urgently, the inertia flywheel 5 continues to rotate due to inertia. The friction plates of the multi-plate friction damper 6, under the action of the hydraulic cylinder, generate friction with the inertia flywheel 5, converting the residual kinetic energy of the inertia flywheel 5 into heat energy, absorbing the residual kinetic energy during the emergency stop of the waist section 2, reducing the swaying and impact of the robotic arm, and ensuring a stable stop. In the event of a power outage or abnormal situation, the self-locking function formed by the 4° lead angle in the middle of the worm gear 302 comes into play, preventing the robotic arm from drooping or rotating unexpectedly due to gravity, ensuring operational safety.

[0035] The embodiments of this utility model are given for the purpose of illustration and description. Although the embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the utility model. Any changes, modifications, substitutions and variations made by those skilled in the art to the above embodiments within the scope of this utility model should be included within the protection scope of this utility model.

Claims

1. A mechanical arm waist rotation mechanism based on worm gear transmission, characterized in that, include: The base (1) is used to support the overall structure; The waist (2) is rotatably disposed within the base (1) to enable the waist rotation of the robotic arm; The worm gear drive assembly (3) is disposed on the waist (2) and includes a worm gear (301) sleeved on the lower end of the waist (2) and a worm (302) meshing with the worm gear (301); A servo motor (4) is connected to the worm gear (302) for driving the worm drive assembly (3); A flywheel damper is located at the bottom of the waist (2) to absorb the residual kinetic energy when the waist (2) stops suddenly.

2. The mechanical arm waist rotation mechanism based on worm gear transmission as described in claim 1, characterized in that, The worm (302) adopts a double-lead circular arc cylindrical worm structure, with the middle lead angle designed as a self-locking angle and the two end lead angles designed as high-efficiency transmission angles.

3. The mechanical arm waist rotation mechanism based on worm gear transmission as described in claim 1, characterized in that, The worm gear drive assembly (3) also includes a brake (303), which is fixedly mounted on the inner wall of the base (1) and is used to brake the worm (302) to achieve emergency stop control of the waist (2).

4. The mechanical arm waist rotation mechanism based on worm gear transmission as described in claim 1, characterized in that, The flywheel damper includes: An inertial flywheel (5) is fixedly installed at the bottom of the waist (2); A multi-plate friction damper (6) is provided in conjunction with the inertial flywheel (5) and fixed on the base (1) to absorb the residual kinetic energy of the inertial flywheel (5) through friction.

5. The mechanical arm waist rotation mechanism based on worm gear transmission as described in claim 1, characterized in that, The base (1) has a pipe opening (7) on its bottom side for guiding the pipe of the robotic arm through the base (1).

6. The mechanical arm waist rotation mechanism based on worm gear transmission as described in claim 1, characterized in that, The base (1) is provided with a clearance guide groove (8) on its side to guide the tube body to slide and arrange, and to prevent the hose from getting tangled with the robotic arm.

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