CN114714328A - Mechanical arm based on backlash adjustable enveloping worm drive - Google Patents
Mechanical arm based on backlash adjustable enveloping worm drive Download PDFInfo
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- 210000000245 forearm Anatomy 0.000 claims abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a mechanical arm based on side gap adjustable enveloping worm transmission, which comprises an installation mechanism, a shoulder joint, a large arm joint, a small arm joint and an execution mechanism, wherein the large arm joint connects the shoulder joint and the small arm joint to form a profiling arm mechanism; the mounting mechanism is connected with the shoulder joint and is used for mounting the profiling arm mechanism at a preset position; the executing mechanism is arranged on the forearm joint and used for executing set instructions; side gap adjustable enveloping ring surface worm and gear transmission pairs are respectively and correspondingly arranged between the shoulder joint and the large arm joint, between the large arm joint and the small arm joint and between the small arm joint and the executing mechanism; the backlash adjustable enveloping ring surface worm gear and worm transmission pair comprises a tooth thickness variable involute gear and an enveloping ring surface worm which are meshed; the precision of the mechanical shaft joint is improved, the operating efficiency of the mechanical arm is improved under the condition of ensuring accurate operation, the cost can be reduced under the condition, the characteristics of cost reduction and efficiency improvement are achieved, and the market application is expanded.
Description
Technical Field
The invention relates to the field of mechanical transmission, in particular to a mechanical arm based on backlash adjustable enveloping worm transmission.
Background
Due to the overall development of industrial automation and the continuous improvement of scientific technology, the improvement of the working efficiency is imminent; the requirement of industrial automation is difficult to meet by simple manual work, so that the development of research hotspots and development trends are gradually formed by utilizing advanced equipment to produce automatic machinery to replace manual work to complete more refined tasks and meet the requirement of industrial automation; the mechanical arm is one of important products in the industrial automation development process, not only can improve the labor production efficiency, but also can replace manual work to finish high-intensity, dangerous and repeatedly boring work, reduce the labor intensity of personnel and generate greater economic and social values, so that the mechanical arm is more and more widely applied to the mechanical industry.
The manipulator can be used for assembling parts and transporting, loading and unloading processed workpieces, and is particularly more commonly used on an automatic numerical control machine tool and a combined machine tool; . Aiming at military application, the special robot power manipulator reasonably contacts with the robot for use to judge and control some enemy situations, and is particularly applied to some dangerous occasions, such as the detection of enemy situations by using an unmanned aerial vehicle, particularly the demolition of bombs by using the robot, the rescue of wounded persons by using the robot after disasters, the mine sweeping by using the robot, and the like.
Meanwhile, with the rapid development of modern microelectronic technology and control, the repeated precision of the manipulator required by the industry is higher and higher, and the manipulator is generally applied to the fields of modern nuclear industry, military and the like for scale production.
At present, robots such as traditional industrial mechanical arm, special type manipulator generally all are the drive transmission structural style who adopts servo motor + RV reduction gear, and combine high-accuracy sensor to realize error detection and control, though transmission precision is high, but traditional RV reduction gear still has the tooth side clearance on the mechanism body, can not realize zero backlash transmission completely, still lost the holistic transmission precision of robot to a certain extent, high and with great costs in view of high-accuracy RV reduction gear's manufacturing requirement, the use of present high-accuracy RV reduction gear all relies on the import, be unfavorable for the development of domestic high-accuracy robot.
Considering that worm transmission has many advantages such as the drive ratio is big, the transmission precision is high, the transmission is steady, the way is opened up, it is a feasible method to replace RV reduction gear with worm transmission reduction gear, but although current traditional worm transmission reduction gear is used extensively, but ordinary worm transmission pair exists the backlash can not be regulated and control accurately, flank of tooth wearing and tearing volume can't be compensated, can't be applied to high-accuracy requirement industrial robot field with it, and the existence of backlash mainly is used for preventing to cause the transmission pair card to die because error and heat altered shape, and reserve the space for the lubricating oil film between the flank of tooth, but the backlash brings the idle return stroke for the mechanism when reversing simultaneously, and then makes the mechanism can not accurate positioning.
Therefore, in order to meet the high-precision requirement of future development on the mechanical industry, in order to promote better development of related industries, the requirement on the precision of the mechanical arm is higher and higher, more and more researches are spread out aiming at improving the precision of the machine, and as an important part of an industrial robot, the mechanical arm plays a role in the unique function of the mechanical arm, so that the mechanical arm based on the backlash adjustable enveloping ring surface worm transmission is needed, the precision of a mechanical shaft joint can be improved, the operation efficiency of the mechanical arm is improved under the condition of ensuring accurate operation, the cost can be reduced under the condition, the characteristic of cost reduction and efficiency improvement is achieved, and the application of the market is expanded.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a mechanical arm based on backlash adjustable enveloping worm transmission, so as to improve the precision of a mechanical shaft joint and improve the operation efficiency of the mechanical arm under the condition of ensuring accurate operation, ensure that the cost can be reduced under the above conditions, achieve the characteristics of cost reduction and efficiency improvement, and expand the application of the market.
The mechanical arm based on the side gap adjustable enveloping ring surface worm transmission comprises an installation mechanism, a shoulder joint, a big arm joint, a small arm joint and an execution mechanism, wherein the shoulder joint and the small arm joint are connected by the big arm joint to form a profiling arm mechanism; the mounting mechanism is connected with the shoulder joint and is used for mounting the profiling arm mechanism at a preset position; the executing mechanism is arranged on the forearm joint and used for executing set instructions; side gap adjustable enveloping ring surface worm and gear transmission pairs are respectively and correspondingly arranged between the shoulder joint and the large arm joint, between the large arm joint and the small arm joint and between the small arm joint and the executing mechanism; the backlash adjustable type enveloping ring surface worm gear and worm transmission pair comprises a variable tooth thickness involute gear and an enveloping ring surface worm which are meshed with each other; the tooth surfaces of the variable tooth thickness involute gears are not equal in spiral angle, the tooth surfaces of the variable tooth thickness involute gears are involute surfaces, the gear teeth are wedge-shaped along the axial direction of the gear teeth, and contact points of the tooth surfaces of the variable tooth thickness involute gears are located on one thinner side of the gear teeth; the tooth surface of the enveloping ring surface worm is an enveloping surface formed by generating motion according to the meshing relationship of the worm wheel and the worm by respectively taking the corresponding side tooth surface of the involute surface worm wheel as a mother surface.
Furthermore, the backlash adjustable type enveloping worm gear transmission pair is driven by a power source, the power source is provided with an output shaft which is coaxially arranged with the enveloping worm, the power source inputs power to the enveloping worm through the output shaft and transmits the power to the tooth thickness variable involute gear, so that the tooth thickness variable involute gear serves as an output end of the backlash adjustable type enveloping worm gear transmission pair.
Furthermore, one side or two sides of the enveloping worm in the axial direction are provided with worm support assemblies which enable the enveloping worm to form rotary support; and one or two axial sides of the variable tooth thickness involute gears are provided with worm wheel supporting components which enable the variable tooth thickness involute gears to form rotary support.
Furthermore, the enveloping ring surface worm is connected with an output shaft of a power source through a coupler, and the variable tooth thickness involute gear is connected with the worm wheel supporting component through a shaft sleeve.
Furthermore, the bearing parameters of the profiling arm mechanism are gradually increased from the execution mechanism to the installation mechanism, so that each joint of the profiling arm mechanism has equal-strength bearing capacity.
Further, the shoulder joint transmission pair arranged between the shoulder joint and the big arm joint comprises a shoulder joint worm and a shoulder joint worm wheel which are in transmission connection, and the shoulder joint worm wheel is used as the output end of the shoulder joint and is connected with the big arm joint; the large arm joint transmission pair arranged between the large arm joint and the small arm joint comprises a large arm joint worm and a large arm joint worm wheel which are in transmission connection, and the large arm joint worm wheel is used as the output end of the large arm joint and is connected with the small arm joint; the small arm joint transmission pair arranged between the small arm joint and the transmission mechanism comprises a small arm joint worm and a small arm joint worm wheel which are in transmission connection, and the small arm joint worm wheel is used as the output end of the small arm joint and is connected with the execution mechanism.
Furthermore, the shoulder joint transmission pair, the large arm joint transmission pair and the small arm joint transmission pair which are positioned at the corresponding joints form a sealed environment through the corresponding sealing covers.
The invention has the beneficial effects that: the invention discloses a mechanical arm based on side gap adjustable enveloping worm transmission.A side gap adjustable enveloping worm gear transmission pair is respectively and correspondingly arranged between a shoulder joint and a large arm joint, between the large arm joint and a small arm joint and between the small arm joint and an actuating mechanism; the side clearance-free worm transmission of the three joints ensures the accurate positioning of the final actuating mechanism, meets the high-precision requirement of work, adopts novel side clearance-adjustable enveloping worm transmission pairs with different parameters at the three joints according to the difference of stress conditions of all parts of the mechanical arm, and gradually increases the main bearing parameters such as the module of the worm transmission pair from the tail end to the base according to the size of the force arm, thereby ensuring that the mechanical arm has equal-strength carrying capacity; the side gap adjustable type enveloping ring surface worm gear and worm transmission pair comprises a variable tooth thickness involute gear (worm wheel for short) and an enveloping ring surface worm (worm for short); the tooth surface of the worm wheel is an involute surface and the tooth surface of the worm wheel is wedge-shaped along the axial direction; the two side tooth surfaces of the worm are envelope surfaces formed by generating motion according to the meshing relationship of the worm wheel and the worm by respectively taking the corresponding side tooth surfaces of the involute surface worm wheel as mother surfaces; the spiral directions of the tooth surfaces at two sides of the enveloping ring surface worm and the variable tooth thickness involute gear are the same, point meshing space motion is respectively formed between the conjugate tooth surfaces at two sides of the enveloping ring surface worm and the variable tooth thickness involute gear, and the tooth surfaces of the enveloping ring surface worm and the variable tooth thickness involute gear are involute helicoids; on the basis of the prior art, the mechanical arm can not well realize the current situation of high-precision work requirement and the analysis of new use requirement, the characteristics of a backlash adjustable worm gear are utilized, backlash-free transmission is realized by adopting a backlash adjustable enveloping worm gear transmission pair, reasonable adjustment of all tooth backlash and compensation of tooth surface abrasion amount can be realized by axial displacement of a worm gear, backlash-free worm transmission is obtained after adjustment, the phenomena of error accumulation, return error and the like of the mechanical arm in the use process are prevented, the motion transmission precision is improved, compared with the existing speed reducer, the mechanical speed reducer has a higher power/volume ratio, the mechanical speed reducer is relatively easy to maintain and replace, and meanwhile, the mechanical self-locking is realized, the safety is improved, the cost is saved, and the mechanical arm is simple, flexible, light and convenient to install, superior in performance and easy to maintain and repair.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a partial cross-sectional view of the present invention;
FIG. 3 is a partial view of the shoulder joint transmission of the present invention;
FIG. 4 is a partial view of the large arm joint transmission of the present invention;
FIG. 5 is a partial view of the forearm joint drive pair of the invention;
FIG. 6 shows the arrangement of the frame of the backlash adjustable enveloping worm gear transmission pair;
fig. 7 is a variable tooth thickness involute gear frame arrangement.
Wherein: 1. an installation mechanism; 2. a shoulder joint; 3. a large arm joint; 4. a forearm joint; 5. an actuator;
6. a high-strength bolt I; 7. a shoulder joint low-voltage servo motor; 8. a coupler I; 9. an upper end bearing I; 10. a shoulder joint worm; 11. a lower end bearing I; 12. a shoulder worm gear; 13. a large arm joint low-voltage servo motor; 14. a coupler II; 15. a right end bearing; 16. a large arm joint worm; 17. a left end bearing; 18. a big arm joint worm gear; 19. a forearm joint low-voltage servo motor; 20. a coupler III; 21. a forearm joint worm gear; 22. an upper end bearing II; 23. a small arm joint worm; 24. a lower end bearing II; 25. a bearing I; 26. a bearing II; 27. a bearing III; 28. a bearing IV; 29. bearing assembly
V, performing primary filtration; 30. a sensor; 31. a high-strength bolt II; 32. a high-strength bolt III; 33. a high-strength bolt IV; 34. a flat bond I; 35. a flat bond II; 36. a flat bond III; 37. a shaft sleeve I; 38. a shaft sleeve II;
39. and a shaft sleeve III.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, and as shown in the figure, the mechanical arm based on the backlash adjustable enveloping toroidal worm drive in this embodiment includes a mounting mechanism 1, a shoulder joint 2, a big arm joint 3, a small arm joint 4 and an executing mechanism 5, where the big arm joint 3 connects the shoulder joint 2 and the small arm joint 4 to form a profiling arm mechanism; the mounting mechanism 1 is connected to the shoulder joint 2 and used for mounting the profiling arm mechanism at a preset position; the actuating mechanism 5 is arranged on the forearm joint 4 and used for executing a set instruction, the actuating mechanism 5 can be designed into various required structures according to working conditions, different mechanisms can be designed according to requirements for installation so as to meet the diversification of working conditions, and meanwhile, the connecting mode of the actuating mechanism 5 is not required to be changed and can be replaced at any time; side gap adjustable enveloping ring surface worm and gear transmission pairs are respectively and correspondingly arranged between the shoulder joint 2 and the large arm joint 3, between the large arm joint 3 and the small arm joint 4 and between the small arm joint 4 and the actuating mechanism 5; the backlash-free worm drives corresponding to the three joints ensure the accurate positioning of the final actuating mechanism 5, meet the high-precision requirement of work, adopt novel backlash-adjustable enveloping worm drive pairs with different parameters at the three joints according to the difference of stress conditions of all parts of the mechanical arm, and gradually increase the main bearing parameters such as the modulus of the worm drive pair from the tail end to the base according to the size of a force arm, thereby ensuring that the mechanical arm has equal-strength carrying capacity; the backlash adjustable enveloping ring surface worm gear and worm transmission pair comprises a variable tooth thickness involute gear (worm wheel for short) and an enveloping ring surface worm (worm for short) which are meshed; the tooth surfaces of the variable tooth thickness involute gears are not equal in spiral angle, the tooth surfaces of the variable tooth thickness involute gears are involute surfaces, the gear teeth are wedge-shaped along the axial direction of the gear teeth, and contact points of the tooth surfaces of the variable tooth thickness involute gears are located on one thinner side of the gear teeth; the tooth surface of the enveloping worm is an enveloping surface formed by generating motion according to the meshing relationship of the worm wheel and the worm by respectively taking the corresponding side tooth surface of the involute surface worm wheel as a mother surface; the normal modulus and the end face modulus of the tooth surfaces on two sides of the variable-tooth-thickness involute gear are equal, the tooth surfaces on two sides of the enveloping ring surface worm are involute spiral surfaces with different lead angles and the same lead, the spiral angles of the tooth surfaces on two sides of the variable-tooth-thickness involute gear are different and are also positive values so as to generate the gradually changed tooth thickness and meet the design of the lead angle of the enveloping ring surface worm, and backlash-free transmission can be met by axially adjusting the position of a worm gear; on the basis of the prior art, by analyzing the current situation that the mechanical arm cannot well meet the high-precision working requirement and the new use requirement, the characteristics of a backlash adjustable worm gear are utilized, the backlash-free transmission is realized by adopting a backlash adjustable enveloping worm gear transmission pair, the reasonable adjustment of all tooth backlash and the compensation of tooth surface abrasion amount can be realized by the axial displacement of a worm gear, the backlash-free worm transmission is obtained after adjustment, the phenomena of error accumulation, return error and the like in the use process of the mechanical arm are prevented, the motion transmission precision is improved, compared with the existing speed reducer, the speed reducer has a higher power/volume ratio, the speed reducer is relatively easy to maintain and replace, and meanwhile, the speed reducer is simple in structure, can realize mechanical self-locking, improves the safety, saves the cost, is simple to install, flexible, light and convenient, excellent in performance and easy to maintain and repair; the operation is stable, the noise is low, and the device is durable in use; the accuracy of the shoulder joint 2, the large arm joint 3 and the small arm joint 4 in transmission is ensured, the accumulated error is greatly reduced, so that the executing mechanism 5 still has high accuracy after multi-stage transmission is ensured, the executing mechanism 5 can be designed according to requirements, the application range is greatly improved, and the high-accuracy requirement in the industrial field is realized; the gear side clearance adjusting mechanism can be widely applied to large mechanisms in nuclear industry, vehicle factories and the like, the gear side clearance of a transmission pair is adjusted by axially moving the worm gear, the transmission without the side clearance is realized, and the use accuracy of the mechanical arm is greatly improved.
When the worm gear is in forward and reverse transmissionAccording to the transmission meshing principle analysis, when the transmission parameters are determined, the inclination angles of the tooth planes on the two sides of the worm gear are respectively smaller than and larger than the angle beta1、β2Because the tooth surface of the worm wheel is an involute surface and the worm wheel tooth is wedge-shaped along the axial direction, the tooth-side clearance of adjacent tooth-side surfaces or the tooth thickness reduction amount for compensating the abrasion of the tooth can be changed during transmission by adjusting the axial position of the worm wheel, thereby ensuring the normal tooth-side clearance of transmission and meeting the requirements of engineering on heavy load, high precision and small backlash of worm wheel transmission;
the spiral directions of the tooth surfaces on two sides of the enveloping ring surface worm and the variable-tooth-thickness involute gear are the same, point meshing space motion is formed between the conjugate tooth surfaces on two sides of the enveloping ring surface worm and the variable-tooth-thickness involute gear respectively, the tooth surfaces of the enveloping ring surface worm and the variable-tooth-thickness involute gear are involute helicoids, the characteristic of the separability of the center distance of the involute gear is inherited, and the sensitivity to assembly errors is low.
The standard frame of the side clearance adjustable enveloping ring surface worm gear and worm transmission pair (the involute gear A with variable tooth thickness-enveloping ring surface worm B) is arranged as shown in 6: sigmam(om:xm,ym,zm) And σn(on:xn,yn,zn) Is a space fixed frame, and the base vectors are respectively (i)m,jm,km) And (i)n,jn,kn)；σ1(o1:x1,y1,z1) And σ2(o2:x2,y2,z2) Is a motion frame, and the base vectors are respectively (i)1,j1,k1) And (i)2,j2,k2) (ii) a Involute gear with variable tooth thickness and standard frame sigma1(o1:x1,y1,z1) Fixedly connected and wound around z1Shaft at angular velocity ω1Rotating, variable tooth thickness involute gear enveloping ring surface worm and standard frame sigma2(o2:x2,y2,z2) Secured and wound z2Angular velocity of shaftω2Rotating; the instantaneous rotational displacements of the involute gear with variable tooth thickness and the enveloping ring surface worm are respectively
And
and is provided with
Wherein Z1For increasing the number of teeth of the involute gear, Z2Number of enveloping worms heads, i21Is a transmission ratio; the center distance between the involute gear with the variable tooth thickness and the enveloping ring surface worm is a.
The scale frame of the variable tooth thickness involute gear is arranged as shown in 7: beta is a betaRAnd betaLRespectively is a right tooth surface A of an involute gear with variable tooth thicknessRAnd left tooth surface ALPitch angle of reference circle d, and betaR≠βL(ii) a The base radius of the involute gear is rbThe starting point of the involute tooth profile of the left tooth surface is e, o1e and x1The included angle of the shaft is delta, and the tangent point of the normal line of any point M on the involute and the base circle is K; get & lt eo1K is a parameter, theta is a point M around z1The angle through which the shaft is rotated; let M point rotate theta angle to reach M ', the tangent point of normal line of M ' point and base circle is K ', obviously < Ko1K′＝θ。
For the left tooth surface A of the involute gear with variable tooth thicknessLThe equation of the involute is:
winding the involute on z1The shaft makes a spiral motion, the formed spiral surface is the left tooth surface of the variable tooth thickness involute gear, and the left tooth surface equation is as follows:
for the right tooth surface A of the involute gear with variable tooth thicknessRThe equation of the involute is:
right tooth face A of involute gear with variable tooth thicknessRThe equation is:
in the formula, tau and theta are tooth surface parameters of the variable tooth thickness involute gear; delta is a base circle half angle of the involute gear with variable tooth thickness; alpha is the end face pressure angle of the involute gear with variable tooth thickness; r isbThe radius of a base circle of the involute gear with variable tooth thickness; beta is aLAnd betaRThe spiral angles of the left and right side tooth surfaces of the involute gear with variable tooth thickness are respectively.
In the meshing process, the tooth surface contact line continuously changes along with the rotation angle along with the meshing process; the trace of the instantaneous contact line of the left tooth surface and the right tooth surface of the involute gear with variable tooth thickness under a space fixed coordinate system is a corresponding left meshing surface and a corresponding right meshing surface; and transforming the worm into a worm fixedly-connected coordinate system to obtain a right and left tooth surface equation of the enveloping worm.
Transforming the contact line equation of the left tooth surface of the involute gear with the variable tooth thickness into a coordinate system by utilizing coordinate transformation to obtain the left tooth surface B of the enveloping toroid wormLThe equation is:
transforming the contact line equation of the right tooth surface of the involute gear with variable tooth thickness into a coordinate system sigma by using coordinate transformation2In the middle, the right tooth surface B of the enveloping worm can be obtainedRThe equation is:
in the formula (I), the compound is shown in the specification,
i21＝1/i12＝Z1/Z2，Z1is the number of teeth of an externally-engaged involute cylindrical gear, Z2The number of heads of the involute surface enveloping ring surface worm is shown.
Different parameters are adopted for each joint worm pair due to different stress conditions, so that the stress of each part is reasonable, the adopted parameters can ensure the reasonable strength of the material, and the step-by-step stable transmission is realized; the joints are provided with multi-stage sealing devices, so that the worm wheel of the previous stage drives the joint of the next stage to move stably and is not interfered by the outside; each joint adopts a rotating pair, and the joint of the installation part is additionally provided with a moving pair, so that the vertical adjustment is realized, and the working range of the device is expanded.
In this embodiment, the backlash adjustable type enveloping worm gear transmission pair is driven by a power source, the power source is provided with an output shaft coaxially arranged with the enveloping worm, and the power source inputs power to the enveloping worm through the output shaft and transmits the power to the tooth thickness variable involute gear, so that the tooth thickness variable involute gear serves as an output end of the backlash adjustable type enveloping worm gear transmission pair. In the scheme, the power source is a motor, the output shaft of the motor is coaxially and fixedly installed with the worm, and the worm is meshed with the worm wheel, so that the worm wheel is used as an output end, and the structure compactness is improved.
In this embodiment, one or two axial sides of the enveloping worm are provided with worm support components for rotatably supporting the enveloping worm; and one or two axial sides of the variable tooth thickness involute gears are provided with worm wheel supporting components which enable the variable tooth thickness involute gears to form rotary support. In the scheme, the worm support assembly and the worm wheel support assembly are bearings arranged at corresponding positions, and can also be self-lubricating materials serving as support lubricating components, so that the stability and smoothness of the movement of the worm wheel and the worm are maintained, and the description is omitted.
In this embodiment, the enveloping worm is connected to an output shaft of the power source through a coupling, and the variable tooth thickness involute gear is connected to the worm wheel support assembly through a shaft sleeve. The arrangement of the shaft coupling can improve the connection strength of shaft connection and the input efficiency of power input and improve the conversion rate of power source power conversion, the arrangement of the shaft sleeve is favorable for improving the output strength of a worm wheel as a power output end, the loss of output force at a wheel shaft is reduced, and the power conversion efficiency of the power source in a transmission pair is improved.
In this embodiment, the loading parameters of the copying arm mechanism are gradually increased from the actuator 5 to the mounting mechanism 1, so that each joint of the copying arm mechanism has equal strength loading capacity. The service life of the mechanical arm is prolonged.
In the embodiment, a shoulder joint 2 transmission pair arranged between a shoulder joint 2 and a big arm joint 3 comprises a shoulder joint worm 10 and a shoulder joint worm wheel 12 which are in transmission connection, wherein the shoulder joint worm wheel 12 is used as the output end of the shoulder joint 2 and is connected with the big arm joint 3; the large arm joint 3 transmission pair arranged between the large arm joint 3 and the small arm joint 4 comprises a large arm joint worm 16 and a large arm joint worm wheel 18 which are in transmission connection, and the large arm joint worm wheel 18 is used as the output end of the large arm joint 3 and is connected with the small arm joint 4; the small arm joint 4 transmission pair arranged between the small arm joint 4 and the transmission mechanism comprises a small arm joint worm 23 and a small arm joint worm wheel 21 which are in transmission connection, and the small arm joint worm wheel 21 is used as the output end of the small arm joint 4 and is connected with the execution mechanism 5. As shown in the figure, the shoulder joint worm wheel 12 serves as an output end of the large arm to drive the large arm, the large arm joint worm wheel 18 serves as an output end of the small arm to drive the small arm, the small arm joint worm wheel 21 serves as an output end of the execution mechanism 5 to drive the execution mechanism 5, and a layer-by-layer progressive worm wheel driving mode is adopted, so that the mechanical arm is more compact in structure and more precise in transmission.
In the embodiment, the shoulder joint 2 transmission pair, the upper arm joint 3 transmission pair and the lower arm joint 4 transmission pair which are positioned at the corresponding joints form a sealed environment through the corresponding sealing covers. The sealing environment is a relative sealing structure, the interference of the external environment to the internal structure is reduced as much as possible, the actual use parameters are closer to the theoretical calculation parameters, the movement precision is improved, and the application to special places is met.
In the embodiment, the mechanical arm based on the backlash adjustable enveloping toroidal worm transmission can be divided into three parts, namely a driving system, a transmission system and an execution system; the driving system comprises a low-voltage servo motor, a sensor 30, a motor servo driver and an encoder, the connection relation of all components in the driving system and the transmission of internal electric signals belong to the prior art, the connection relation and the transmission of the internal electric signals are not within the protection range of the scheme, the description is omitted, each joint is driven by a motor, the motor and the outer part of the worm transmission pair are sealed by adopting a selective shell, the materials used by the shell are selected according to the use environment, the application range of the mechanical arm is improved, the cost is saved, and the efficient work is realized; the shell has high tightness, the external joints of all joints are provided with sealing rings and are tightly connected with gaskets through bolts, so that an internal driving system is prevented from being interfered by external conditions, and the safety is improved; the transmission system is a side gap adjustable enveloping worm transmission pair, reasonable design parameters exist at joints according to different stress of each joint, flexible motion of each joint is ensured, and the operation precision of the mechanical arm can be obviously improved; the executing system comprises a connecting mechanism and an end effector, wherein the connecting mechanism is used for assembling the transmission system at a preset position according to a set mode to form a mechanical arm main body, and the end effector can be generally designed into the shape of a mechanical grabbing hand according to the use environment or replaced by other working mechanisms, so that the executing system has a wider application range; the output shaft of the low-voltage servo motor is connected with a hole in a worm shaft through a key or interference fit, the low-voltage servo motor is directly connected with a worm through a coupler, the motor and a worm transmission pair are directly connected through a flat key in the scheme, the joint is tightly connected with a next section of mechanism through a worm wheel, bearings are arranged at two ends of the worm and the worm wheel, the operation stability is improved, the motor drives the worm transmission pair, and the high-reliability reverse self-locking function is realized while the precision transmission is realized; the side gap adjustable enveloping ring surface worm transmission pair is characterized in that a worm is connected with a power source motor of each worm to serve as a power input end of a joint, a worm wheel is connected with a next mechanism to serve as a power output end of the joint, and large-torque driving is achieved through speed reduction and torque increase of the worm and the worm wheel; the characteristics of small transmission center distance, large transmission ratio, high transmission precision, self-locking property, large bearing capacity, low vibration noise and the like of the enveloping worm are utilized to reduce the volume of a wheel driving system, so that a motor with smaller power can realize large torque output; the side-clearance-adjustable enveloping worm transmission pair can realize high-precision side-clearance-free transmission by axially adjusting the position of a worm wheel, reduce accumulated errors and return errors in a transmission mechanism and greatly improve the motion precision of the mechanical arm; the integrated design has lightened lectotype burden, through providing the customization actuating system who satisfies overall performance, can effectively solve the problem with high costs that present arm joint adopted the reduction gear to bring, is applicable to precision transmission fields such as high accuracy nuclear industry, automation line.
In this embodiment, the exterior of the mounting mechanism 1 and the shoulder joint 2 is provided with a telescopic mechanism which is movable in the height direction, so as to realize the up-and-down movement of the whole device, meanwhile, the interior of the mounting mechanism 1 is provided with a roller mechanism (not shown in the figure), so as to ensure the movement of the whole mechanical arm in the horizontal direction and improve the working range, and the lower end of the shoulder joint 2 can be provided with a relevant mechanism according to the actual requirement, so as to meet various working requirements; the actuating mechanism 5 is connected with the forearm joint 4 to realize transmission; meanwhile, due to the diversity of working environments and the difference of working targets, the executing mechanism 5 can be designed in a diversified manner, so that various functions can be realized without changing a connection mode; the side clearance of the tooth surface of the corresponding transmission pair is adjusted by axially moving the worm wheel, so that the transmission without the side clearance between the worm wheel and the worm is realized, the use accuracy of the mechanical arm is greatly improved, and meanwhile, the mechanical self-locking and the electric self-locking are adopted, so that the safety under special conditions is ensured, and the cost is also reduced.
Referring to fig. 2, a shoulder joint worm 10 connected with a shoulder joint low-voltage servo motor 7 through a coupler i 8 is installed inside the shoulder joint 2, an upper end bearing i 9 is installed at one end, connected with the shoulder joint low-voltage servo motor 7, of the shoulder joint worm 10 to ensure stable transmission, the connection position is connected through a flat key i 34 to achieve linkage, meanwhile, the other end of the shoulder joint worm 10 is matched with a shell of the shoulder joint 2 through a lower end bearing i 11 to ensure stability and reliability during transmission again, and the upper end bearing i 9 and the lower end bearing i 11 located at two ends of the shoulder joint worm 10 also ensure accurate positioning of the shoulder joint worm 10; the shoulder joint worm 10 is meshed with a shoulder joint worm wheel 12, the shoulder joint worm wheel 12 is used as an output mechanism of the shoulder joint 2 and is connected with a shell of the large arm joint 3, the shell of the large arm joint 3 and a bearing I25 are used for positioning the shoulder joint worm wheel 12, the bearing I25 and the shell of the large arm joint 3 are arranged on the shoulder joint worm wheel 12 through a shaft sleeve I37, and the motion of the large arm joint 3 is realized by the motion of the shoulder joint worm wheel 12;
a large arm joint worm 16 connected with a large arm joint low-voltage servo motor 13 through a coupler II 14 is arranged in the large arm joint 3, a right end bearing 15 is arranged at one end, connected with the large arm joint low-voltage servo motor 13, of the large arm joint worm 16, so that stable transmission is ensured, the connection part is connected through a flat key II 35 to realize linkage, meanwhile, the other end of the large arm joint worm 16 is matched with the shell of the large arm joint 3 through a left end bearing 17, the stability and the reliability in transmission are ensured again, and the right end bearing 15 and the left end bearing 17 which are positioned at the two ends of the large arm joint worm 16 also ensure accurate positioning of the large arm joint worm 16; the large arm joint worm 16 is meshed with a large arm joint worm gear 18, the large arm joint worm gear 18 is used as an output mechanism of the large arm joint 3 and is connected with a shell of the small arm joint 4, positioning of the shoulder joint worm gear 12 is completed by a bearing II 26 and a bearing III 27, the bearing II 26 and the bearing III 27 are installed on the large arm joint worm gear 18 through a shaft sleeve II 38, the small arm joint 4 is directly driven by the large arm joint worm gear 18 in the large arm joint 3, and movement of the small arm joint 4 is realized by movement of the large arm joint worm gear 18;
a small arm joint worm 23 connected with a small arm joint low-voltage servo motor 19 through a coupler III 20 is arranged in the small arm joint 4, one end, connected with the small arm joint low-voltage servo motor 19, of the small arm joint worm 23 is provided with a lower end bearing II 24 to ensure stable transmission, the connection part is connected through a flat key III 36 to realize linkage, meanwhile, the other end of the small arm joint worm 23 is matched with a small arm joint 4 shell through an upper end bearing II 22 to ensure stability and reliability in transmission again, and the upper end bearing II 22 and the lower end bearing II 24 positioned at the two ends of the small arm joint worm 23 also ensure accurate positioning of the small arm joint worm 23; the small arm joint worm 23 is meshed with the small arm joint worm wheel 21, the small arm joint worm wheel 21 is used as an output mechanism of the actuating mechanism 5 and is connected with the shell of the actuating mechanism 5, the bearing IV 28 and the bearing V29 are used for positioning the small arm joint worm wheel 21, the bearing IV 28 and the bearing V29 are mounted on the small arm joint worm wheel 21 through a shaft sleeve III 39, the actuating mechanism 5 is directly driven by the small arm joint worm wheel 21 in the small arm joint 4, and the movement of the actuating mechanism 5 is realized by the movement of the small arm joint worm wheel 21.
In the embodiment, in addition to positioning and mounting the bearings for the worms (including the shoulder joint worm 10, the large arm joint worm 16 and the small arm joint worm 23), the bearings are also mounted at two ends of the worm wheel (including the shoulder joint worm wheel 12, the large arm joint worm wheel 18 and the small arm joint worm wheel 21), and when the bearings are added at two ends of the worm wheel, a shaft sleeve is mounted between the worm wheel and the bearings, so that the accuracy of the positions of the worm wheel and the bearings is ensured on one hand, the stability of the motion of a next-stage mechanism driven by the worm wheel is also ensured on the other hand, the disturbance is reduced, and the service life of the device is prolonged; meanwhile, aiming at the toroidal worm transmission at different positions, the requirements of the bearings are different, and the selection can be carried out according to the size and the stress of the part; in the angular contact bearing, the stress part of the contact has a certain angle and can bear a certain axial force, so that the support is more stable; therefore, the angular contact bearing may be a tapered roller bearing structure or an angular contact ball bearing structure; in particular, a deep groove ball bearing can be adopted at the position where the shoulder joint 2 is connected with the large arm joint 3, and the other side of the shoulder joint is positioned through a shell hole.
In the embodiment, the accuracy of the installation and the positioning of the worm pair of each joint is ensured by the position of the motor at the corresponding position and the corresponding shell installation hole, and the sealing covers are added at the positions where the worms are assembled with the shell installation holes through the bearings to form a closed box body, so that the relevant joints are ensured not to be interfered by the outside as much as possible during working; meanwhile, in order to ensure the convenience of assembly, disassembly and replacement of internal parts, all the related shells are connected by high-strength bolts, and only the mounting positions of part of high-strength nuts are shown in the figure, such as a high-strength bolt I6, a high-strength bolt II 31, a high-strength bolt III 32 and a high-strength bolt IV 33, and the high-strength nuts are mounted on the shells to be tightly connected with other positions to form the mechanical arm, so that the connection tightness and the device compactness are ensured, and the details are not repeated; secondly, a peeping port is arranged on the part, close to the motor, of the corresponding box body, so that the running condition of the motor can be observed; and to opening near the inside worm gear of corresponding box has the oil inlet, can lubricate worm gear, observes its behavior simultaneously.
In the embodiment, the shoulder joint 2 transmission pair (shoulder joint worm 10-shoulder joint worm wheel 12), the large arm joint 3 transmission pair (large arm joint worm 16-large arm joint worm wheel 18) and the small arm joint 4 transmission pair (small arm joint worm 23-small arm joint worm wheel 21) are all the side gap adjustable enveloping ring surface worm gear and worm transmission pairs, have the characteristic of adjustable transmission side gap, and meet the requirement of no side gap in worm gear-worm transmission after being adjusted; meanwhile, the corresponding worm pairs are set by adopting different parameters, so that the transmission requirements of different parts are met and the reliability is improved; the output shafts of the low-voltage servo motors (the shoulder joint low-voltage servo motor 7, the large arm joint low-voltage servo motor 13 and the small arm joint low-voltage servo motor 19) are connected with corresponding holes on corresponding worm shafts (the shoulder joint worm 10, the large arm joint worm 16 and the small arm joint worm 23) through corresponding couplers (a coupler I8, a coupler II 14 and a coupler III 20) by using keys or interference fit, corresponding flat keys (a flat key I34, a flat key II 35 and a flat key III 36) are adopted for connection in the scheme, and meanwhile, the motors (the shoulder joint low-voltage servo motor 7, the large arm joint low-voltage servo motor 13 and the small arm joint low-voltage servo motor 19) of each corresponding joint are sealed correspondingly through corresponding shells on the mechanical arm, so that the transmission reliability is ensured; for motors at all parts, two modes of connected motion and independent motion are provided, so that the safety and the reliability of the whole mechanism are improved while the working range and the motion precision are ensured.
In the embodiment, when the lead angle of the worm is smaller than the equivalent friction angle between the teeth of the meshing wheel, the mechanism has self-locking property, can realize reverse self-locking, namely the worm wheel is only driven by the worm, but the worm wheel cannot drive the worm, can realize mechanical self-locking under special conditions, and adds a self-locking function to the used motor in order to ensure that the mechanism can realize timely self-locking under various environments and ensure reliability; meanwhile, the safety under special conditions is guaranteed by adopting mechanical self-locking and electric self-locking, and the tight connection among all mechanisms is guaranteed by the non-backlash transmission of the worm pair, so that the occupied space of all mechanisms is reduced, the mechanism is more anthropomorphic and the cost is reduced.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. The utility model provides a driven arm of enveloping ring surface worm with adjustable backlash which characterized in that: the mechanism comprises an installation mechanism, a shoulder joint, a big arm joint, a small arm joint and an execution mechanism, wherein the big arm joint connects the shoulder joint and the small arm joint to form a profiling arm mechanism; the mounting mechanism is connected with the shoulder joint and is used for mounting the profiling arm mechanism at a preset position; the actuating mechanism is arranged on the forearm joint and used for executing a set instruction; side gap adjustable enveloping ring surface worm and gear transmission pairs are respectively and correspondingly arranged between the shoulder joint and the large arm joint, between the large arm joint and the small arm joint and between the small arm joint and the executing mechanism; the backlash adjustable enveloping ring surface worm gear and worm transmission pair comprises a tooth thickness variable involute gear and an enveloping ring surface worm which are meshed; the tooth surfaces of the variable tooth thickness involute gears are not equal in spiral angle, the tooth surfaces of the variable tooth thickness involute gears are involute surfaces, the gear teeth are wedge-shaped along the axial direction of the gear teeth, and contact points of the tooth surfaces of the variable tooth thickness involute gears are located on one thinner side of the gear teeth; the tooth surface of the enveloping ring surface worm is an enveloping surface formed by generating motion according to the meshing relationship of the worm wheel and the worm by respectively taking the corresponding side tooth surface of the involute surface worm wheel as a mother surface.
2. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 1, wherein: the side gap adjustable enveloping ring surface worm gear transmission pair is driven by a power source, the power source is provided with an output shaft which is coaxially arranged with the enveloping ring surface worm, the power source inputs power to the enveloping ring surface worm through the output shaft and transmits the power to the tooth thickness variable involute gear, so that the tooth thickness variable involute gear is used as the output end of the side gap adjustable enveloping ring surface worm gear transmission pair.
3. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 2, wherein: one side or two sides of the enveloping worm in the axial direction are provided with worm support components which enable the enveloping worm to form rotary support; and one or two axial sides of the variable tooth thickness involute gears are provided with worm wheel supporting components which enable the variable tooth thickness involute gears to form rotary support.
4. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 3, wherein: the enveloping ring surface worm is connected with an output shaft of a power source through a coupler, and the variable tooth thickness involute gear is connected with a worm wheel supporting assembly through a shaft sleeve.
5. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 4, wherein: the bearing parameters of the profiling arm mechanism are gradually increased from the execution mechanism to the installation mechanism, so that each joint of the profiling arm mechanism has equal-strength bearing capacity.
6. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 5, wherein: the shoulder joint transmission pair arranged between the shoulder joint and the big arm joint comprises a shoulder joint worm and a shoulder joint worm wheel which are in transmission connection, and the shoulder joint worm wheel is used as the output end of the shoulder joint and is connected with the big arm joint; the large arm joint transmission pair arranged between the large arm joint and the small arm joint comprises a large arm joint worm and a large arm joint worm wheel which are in transmission connection, and the large arm joint worm wheel is used as the output end of the large arm joint and is connected with the small arm joint; the small arm joint transmission pair arranged between the small arm joint and the transmission mechanism comprises a small arm joint worm and a small arm joint worm wheel which are in transmission connection, and the small arm joint worm wheel is used as the output end of the small arm joint and is connected with the execution mechanism.
7. The mechanical arm based on the backlash adjustable enveloping worm drive of claim 6, wherein: the shoulder joint transmission pair, the large arm joint transmission pair and the small arm joint transmission pair which are positioned at the corresponding joints form a sealed environment through the corresponding sealing covers.
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| CN202210308046.4A CN114714328A (en) | 2022-03-27 | 2022-03-27 | Mechanical arm based on backlash adjustable enveloping worm drive |
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| CN1511680A (en) * | 2002-12-26 | 2004-07-14 | 哈尔滨工业大学 | Multiple joint human-imitating robot arm |
| CN103465272A (en) * | 2013-09-29 | 2013-12-25 | 哈尔滨工业大学 | Six-degree-of-freedom humanoid robot arm |
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