CN106426150B - A kind of robot device of single motor driving - Google Patents
A kind of robot device of single motor driving Download PDFInfo
- Publication number
- CN106426150B CN106426150B CN201610987976.1A CN201610987976A CN106426150B CN 106426150 B CN106426150 B CN 106426150B CN 201610987976 A CN201610987976 A CN 201610987976A CN 106426150 B CN106426150 B CN 106426150B
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- China
- Prior art keywords
- toothed belt
- ratchet
- rack
- deceleration
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 230000001360 synchronised effect Effects 0.000 claims abstract description 49
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of robot devices of single motor driving, including arm and finger, it is characterised in that the finger includes that dynamic finger and fixation refer to, and dynamic refer to connects with the fixed top referred to；The arm includes rack, a stepper motor, driving shaft, connecting rod and main shaft ratchet deceleration transmission system, one stepper motor is fixedly connected by motor fixing frame with outer frame, main shaft ratchet deceleration transmission system is installed in rack, the output end of stepper motor is connect by driving shaft with main shaft ratchet deceleration transmission system；Main shaft ratchet deceleration transmission system is connected by connecting rod and dynamic refer to, and fixed refer to connect with the right end of rack；The main shaft ratchet deceleration transmission system includes a large ratchet, two small ratchets, two megacanthopore tires, four small ratchet pawls, transmission shaft, the whole axis of transmission, four synchronous toothed belt pulleys and two synchronous toothed belts.
Description
Technical field
The invention belongs to robotic technology field, specially a kind of robot device of single motor driving.The device is one
The universal machine arm device of material is transported on kind production line.
Background technology
Simple and practical robot device on production line is the essential critical component of automated production.
The robot device to come into operation at this stage mostly uses greatly hydraulic pressure group or the mode of series electric motor realizes operation, as usual
Tool-changing mechanical arm used by the numerical control machining center seen, it is by two motor point to realize crawl and transport the two actions
Not Qu Dong arm and finger, controlled by PLC, two sets of drive systems are mutual indepedent, due to capturing and transporting two actions
It is that alternately, within the whole operation period, it is idle that two sets of drive systems, which always have a set of,.Although in this type of drive
Most of work can be competent under various application occasions, but there is also some disadvantages, power configuration as such relies on
In complicated control system, more motors increase weight, cost, and electric device is excessively complicated, and failure rate is excessively high, maintaining
It is required that high.
Motor is driven output torque by key, and axis and gear, belt wheel are fixed together by key, can only be realized so same
Component on root axis rotates synchronously.
Existing single motor lack of driven machinery claw uses multiple degrees of freedom multi-connecting-rod mechanism, by the way of passive matrix, when certain
When a degree of freedom is limited by the external world, second action can be just driven, system controllability and measurability is weaker, lacks flexible.
For specific working environment, there may be redundancies and waste for multi-motor driving manipulator function, in such case
Under, it needs one kind simple in structure, reliably, there is certain flexibility and controllability, and can realize the Novel machine of existing manipulator function
Tool hand.
Invention content
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of machinery of single motor driving
Arm device.The device is with single motor -- and coaxial anti-dress ratchet group substitutes the scheme of dual motors drive, gives full play to existing portion
The use value of part, and existing resource is made full use of, accomplish cost-effective, raising on the basis of realizing crawl and transport function
Reliability.
The technical solution that the present invention solves the technical problem is to provide a kind of robot device of single motor driving, packet
Include arm and finger, it is characterised in that the finger includes that dynamic finger and fixation refer to, and dynamic refer to connects with the fixed top referred to；The hand
Arm includes rack, a stepper motor, driving shaft, connecting rod and main shaft ratchet deceleration transmission system, and one stepper motor is logical
It crosses motor fixing frame to be fixedly connected with outer frame, main shaft ratchet deceleration transmission system, the output of stepper motor is installed in rack
End is connect by driving shaft with main shaft ratchet deceleration transmission system；Main shaft ratchet deceleration transmission system is connected by connecting rod and dynamic refer to
It connects, fixed refer to connect with the right end of rack；
The main shaft ratchet deceleration transmission system includes a large ratchet, two small ratchets, two megacanthopore tires, four small
Ratchet pawl, transmission shaft, the whole axis of transmission, four synchronous toothed belt pulleys and two synchronous toothed belts；Four synchronous toothed belt pulley difference
It is the active synchronization toothed belt in first order deceleration system, the passive and synchronous toothed belt in first order deceleration system, second
The passive and synchronous toothed belt in active synchronization toothed belt and second level deceleration system in grade deceleration system；Large ratchet by
Nearly stepper motor side is mounted on by sleeve forward direction on driving shaft, and two megacanthopore tire one end are mounted in rack, the other end
It is meshed with large ratchet, tension spring is connected between megacanthopore tire and rack；One small ratchet is reversibly mounted on by sleeve
On driving shaft, two small ratchet pawl one end is mounted on the inside of the active synchronization toothed belt in first order deceleration system, another
End is engaged with small ratchet, and pulling force bullet is connected between the active synchronization toothed belt in small ratchet pawl and first order deceleration system
Spring；Driving shaft and rack form the connection for the rotational freedom for retaining an around direction, driving shaft one end by shaft coupling with
The motor shaft of stepper motor is fixed；Transmission shaft is located at the right side of driving shaft, and transmission shaft forms with rack and retains one around axis side
Connection to rotational freedom；The whole axle position of transmission is solid in one end of the close stepper motor of the whole axis of transmission in the right side of transmission shaft
It is scheduled in rack；
Synchronous toothed belt one end is sleeved in the active synchronization toothed belt in first order deceleration system, and the other end is sleeved on first
In passive and synchronous toothed belt in grade deceleration system；Passive and synchronous toothed belt and second in the first order deceleration system
Active synchronization toothed belt in grade deceleration system is sleeved on transmission shaft, is separated by sleeve therebetween, another synchronous gear
Shape is sleeved on one end in the active synchronization toothed belt in the deceleration system of the second level, and the other end is sleeved in the deceleration system of the second level
In passive and synchronous toothed belt；For another small ratchet formal dress on the whole axis of transmission, two small ratchet pawl one end is mounted on the second level
The inside of passive and synchronous toothed belt in deceleration system, the other end are engaged with the small ratchet, which subtracts with the second level
Tension spring is connected between passive and synchronous toothed belt in speed system；One end connection of the separate stepper motor of the whole axis of transmission turns
Disk；One end of the connecting rod is connect by pin with turntable, the other end and the connection axis connection in dynamic refer to；The top of the dynamic finger
It is connected in rack by pin rotation.
Compared with prior art, the beneficial effects of the present invention are：
1. simple in structure：The present apparatus realizes the function of two stepper motors using a stepper motor, is only walked by one
The action of stepper motor main story and reversion may be implemented, when driving finger motion, arm to be made to remain stationary as in a certain range,
Vice versa, and then realizes the action of robot device crawl and transhipment, and robot device chucking power is big, simple in structure, uses
Single power mechanism significantly reduces the weight of robot, has saved a stepper motor.
2. controllability is strong：Using ratchet driving mode, realizes two actions and do not interfere with each other, and possess certain self-locking work(
Can, improve the reliability and stability of crawl and transhipment.
3. good reliability：With mechanical drive mode, (in general, mechanically operated reliability is better than electrical equipment control, such as
The steering of automobile and speed control are all Mechanical course without using electrical control and Controlled by micro computer (such as control chip), ratchet
When main story, the foreign steamer with ratchet pawl can be driven, and when ratchet reversion, the foreign steamer with ratchet pawl would not rotate, this is
It is determined by the structure of ratchet, will not be by any interference of extraneous factor) electrical control is substituted, improve the anti-of mechanism entirety
Interference and reliability.
Description of the drawings
Fig. 1 is a kind of overall structure vertical view of embodiment of robot device of single motor of the present invention driving；
Fig. 2 is a kind of overall structure front view of embodiment of robot device of single motor of the present invention driving；
Fig. 3 is the partial enlarged view of I in Fig. 1；
In figure, 1, stepper motor；2, motor fixing frame；3, outer frame；4, large ratchet；5, megacanthopore tire；6, rack；7,
Active synchronization toothed belt in primary speed-down system；8, small ratchet pawl；9, small ratchet；10, driving shaft；11, synchronous toothed belt；
12, the passive and synchronous toothed belt in first order deceleration system；13, transmission shaft；14, the active synchronization in the deceleration system of the second level
Toothed belt；15, turntable；16, pin；17, connecting rod；18, it moves and refers to；19, connecting shaft；20, rubber sheet gasket；21, the second level is slowed down
Passive and synchronous toothed belt in system；22, it is driven whole axis；23, shaft coupling；24, tension spring.
Specific implementation mode
Technical solution in the embodiment of the present invention is subjected to clear, complete description below, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
The every other embodiment that art personnel are obtained without making creative work, belongs to the claims in the present invention
The range of protection.
The robot device (abbreviation device, referring to Fig. 1-3) of single motor driving of the present invention includes arm and finger, the hand
Opening and closing crawl object is referred to, including moves finger 18 and fixation and refers to, dynamic finger 18 is connected with the top referred to is fixed；The arm
Including 6, stepper motors 1 of rack, driving shaft 10, connecting rod 17 and main shaft ratchet deceleration transmission system, one stepping electricity
Machine 1 is fixedly connected by motor fixing frame 2 with outer frame 3, and main shaft ratchet deceleration transmission system, stepping electricity are installed in rack 6
The output end of machine 1 is connect by driving shaft 10 with main shaft ratchet deceleration transmission system；Main shaft ratchet deceleration transmission system passes through company
Bar 17 is connect with dynamic finger 18, and fixed refer to connecting with the right end of rack 6, and the two is structure as a whole；
The main shaft ratchet deceleration transmission system includes 9, two, a small ratchet megacanthopore tire 5, four of large ratchet 4, two
A small ratchet pawl 8, transmission shaft 13, whole 22, four synchronous toothed belt pulleys (7,12,14 and 21) of axis of transmission and two synchronous toothed belts
11；Four synchronous toothed belt pulleys are active synchronization toothed belt 7 in first order deceleration system respectively, in first order deceleration system
Passive and synchronous toothed belt 12, in active synchronization toothed belt 14 and second level deceleration system in the deceleration system of the second level
Passive and synchronous toothed belt 21；Large ratchet 4 is being mounted on by sleeve forward direction on driving shaft 10 close to 1 side of stepper motor, and two
A 5 one end of megacanthopore tire is mounted in rack 6, and the other end is meshed with large ratchet 4, is connected between megacanthopore tire 5 and rack 6
Tension spring 24；One small ratchet 9 is reversibly mounted on by sleeve on driving shaft 10, and two 8 one end of small ratchet pawl are mounted on the
The inside of active synchronization toothed belt 7 in primary speed-down system, the other end are engaged with small ratchet 9, in small ratchet pawl 8 and first
Tension spring 24 is connected between active synchronization toothed belt 7 in grade deceleration system；Transmission shaft 13 is located at the right side of driving shaft 10,
The whole axis 22 of transmission is located at the right side of transmission shaft 13；
One 11 one end of synchronous toothed belt is sleeved in the active synchronization toothed belt 7 in first order deceleration system, the other end
It is sleeved in the passive and synchronous toothed belt 12 in first order deceleration system；Driving shaft 10 passes through deep groove ball bearing, bearing (ball) cover, spiral shell
Nail forms the connection for the rotational freedom for retaining an around direction with rack 6, and 10 one end of driving shaft passes through shaft coupling 23 and electricity
Arbor is fixed；The active synchronization in passive and synchronous toothed belt 12 and second level deceleration system in the first order deceleration system
Toothed belt 14 is sleeved on transmission shaft 13, is separated by sleeve therebetween, and transmission shaft 13 passes through sleeve, deep groove ball bearing, axis
Socket end lid, screw form the connection for retaining an around direction rotational freedom with rack 6；Another one end cap of synchronous toothed belt
In active synchronization toothed belt 14 in the deceleration system of the second level, the other end is sleeved on passive and synchronous in the deceleration system of the second level
In toothed belt 21；On transmission end axis 22, two 8 one end of small ratchet pawl subtract another 9 formal dress of small ratchet mounted on the second level
The inside of passive and synchronous toothed belt 21 in speed system, the other end are engaged with the small ratchet 9, the small ratchet pawl 8 and the second level
Tension spring 24 is connected between passive and synchronous toothed belt 21 in deceleration system；In the close stepper motor 1 of transmission end axis 22
One end put on deep groove ball bearing, sleeve, deep groove ball bearing successively, and covered, be fixed in rack 6 with bearing (ball) cover, is driven
One end of the separate stepper motor 1 of whole axis 22 connects turntable 15；One end of the connecting rod 17 is connect by pin 16 with turntable 15,
The other end is connect with the connecting shaft 19 in dynamic finger 18；The top of the dynamic finger 18 is connected to by pin rotation in rack 6, dynamic
Refer to 18 and fix the inside referred to and is mounted on rubber sheet gasket 20.
The present invention operation principle and workflow be：When robot device rotates action, stepper motor 1 is clockwise
Rotation drives driving shaft 10 to rotate, two megacanthopore tires 5 rotation that the large ratchet 4 on driving shaft 10 is connect with rack 6 at this time,
And then rack 6 is driven to rotate, and the small ratchet 9 on driving shaft 10 fills the active that will not be driven in first order deceleration system due to counter
Synchronous toothed belt pulley 7 rotates, the passive and synchronous toothed belt 21 in the deceleration system of the second level due to the small ratchet that coordinates with it just
Dress, will not rotate because of the sliding of synchronous toothed belt.
After robot device turns to precalculated position, stepper motor 1 rotates counterclockwise, at this time the clavula on driving shaft 10
Wheel 9 drives the active synchronization toothed belt 7 in first order deceleration system to rotate counterclockwise by small ratchet pawl 8, passes through synchronous gear
Shape band 11 drives transmission shaft 13 to rotate counterclockwise, and drives the second level on transmission end axis 22 to slow down by Article 2 synchronous toothed belt
Passive and synchronous toothed belt 21 in system rotates counterclockwise, and the small ratchet inverse time on transmission end axis 22 is driven by small ratchet pawl
Needle rotates, and drives transmission end axis 22 to rotate counterclockwise by flat key, drives connecting rod 17 to swing by pin 16, and then drive dynamic finger
18 swing, to complete to capture and put down the action of material.
Aforementioned four synchronous toothed belt pulley and two synchronous toothed belts form torque transmission system, and effect is：
1. transmitting torque between driving shaft 10 and transmission end axis 22 when the output shaft of stepper motor 1 rotates counterclockwise, together
When play the role of deceleration, make crawl and put down material operation it is more stable.
2. when stepper motor 1 is rotated clockwise or shut down, play the role of 18 self-lockings of dynamic finger.
Being driven the effect of small ratchet on whole axis 22 is：
1. when 1 output shaft of stepper motor rotates counterclockwise, torque is transmitted.
2. when 1 output shaft of stepper motor is rotated clockwise or shut down, formed with the anti-small ratchet 9 filled on driving shaft 10 double
Insurance institution ensures that transmission shaft 13 will not all rotate clockwise under what circumstances.
The orientation such as heretofore described "left", "right" word is a relative concept, with 10 place side of driving shaft in Fig. 1
It is the right side with dynamic 18 directions that refer to for a left side.
The present invention does not address place and is suitable for the prior art.
Claims (2)
1. a kind of robot device of single motor driving, including arm and finger, it is characterised in that the finger include it is dynamic refer to and
Fixation refers to, and dynamic refer to connects with the fixed top referred to；The arm includes rack, a stepper motor, driving shaft, connecting rod and main shaft
Ratchet deceleration transmission system, one stepper motor are fixedly connected with outer frame by motor fixing frame, are installed in rack
The output end of main shaft ratchet deceleration transmission system, stepper motor is connect by driving shaft with main shaft ratchet deceleration transmission system；It is main
Axis ratchet deceleration transmission system is connected by connecting rod and dynamic refer to, and fixed refer to connect with the right end of rack；
The main shaft ratchet deceleration transmission system includes a large ratchet, two small ratchets, two megacanthopore tires, four small ratchets
Pawl, transmission shaft, the whole axis of transmission, four synchronous toothed belt pulleys and two synchronous toothed belts；Four synchronous toothed belt pulleys are respectively
The passive and synchronous toothed belt in active synchronization toothed belt, first order deceleration system in primary speed-down system, the second level subtract
The passive and synchronous toothed belt in active synchronization toothed belt and second level deceleration system in speed system；Large ratchet is close to step
Stepper motor side is mounted on by sleeve forward direction on driving shaft, and two megacanthopore tire one end are mounted in rack, the other end with it is big
Ratchet is meshed, and tension spring is connected between megacanthopore tire and rack；One small ratchet is reversibly mounted on actively by sleeve
On axis, two small ratchet pawl one end be mounted on first order deceleration system in active synchronization toothed belt inside, the other end with
Small ratchet engages, and tension spring is connected between the active synchronization toothed belt in small ratchet pawl and first order deceleration system；It is main
Moving axis forms the connection for the rotational freedom for retaining an around direction with rack, and driving shaft one end passes through shaft coupling and stepping electricity
The motor shaft of machine is fixed；Transmission shaft is located at the right side of driving shaft, and transmission shaft forms with rack and retains an around direction rotation
The connection of degree of freedom；The whole axle position of transmission is fixed on rack in the right side of transmission shaft, the one end for being driven the close stepper motor of whole axis
On；
Synchronous toothed belt one end is sleeved in the active synchronization toothed belt in first order deceleration system, and the other end is sleeved on the first order and subtracts
In passive and synchronous toothed belt in speed system；Passive and synchronous toothed belt and the second level in the first order deceleration system subtract
Active synchronization toothed belt in speed system is sleeved on transmission shaft, is separated by sleeve therebetween, another synchronous toothed belt
One end is sleeved in the active synchronization toothed belt in the deceleration system of the second level, and the other end is sleeved on passive in the deceleration system of the second level
In synchronous toothed belt pulley；Another small ratchet forward direction is mounted on the whole axis of transmission, and two small ratchet pawl one end is mounted on the second level
The inside of passive and synchronous toothed belt in deceleration system, the other end are engaged with the small ratchet, which subtracts with the second level
Tension spring is connected between passive and synchronous toothed belt in speed system；One end connection of the separate stepper motor of the whole axis of transmission turns
Disk；One end of the connecting rod is connect by pin with turntable, the other end and the connection axis connection in dynamic refer to；The top of the dynamic finger
It is connected in rack by pin rotation.
2. the robot device of single motor driving according to claim 1, it is characterised in that in dynamic finger and fixation refer to
Side is mounted on rubber sheet gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987976.1A CN106426150B (en) | 2016-11-10 | 2016-11-10 | A kind of robot device of single motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987976.1A CN106426150B (en) | 2016-11-10 | 2016-11-10 | A kind of robot device of single motor driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426150A CN106426150A (en) | 2017-02-22 |
| CN106426150B true CN106426150B (en) | 2018-08-28 |
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ID=58208361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987976.1A Expired - Fee Related CN106426150B (en) | 2016-11-10 | 2016-11-10 | A kind of robot device of single motor driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426150B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000898A (en) * | 2017-12-11 | 2018-05-08 | 安源客车制造有限公司 | Ceiling forming frock |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002307365A (en) * | 2001-04-11 | 2002-10-23 | Aitec:Kk | Arm of scalar robot |
| US7975568B2 (en) * | 2008-04-24 | 2011-07-12 | Asm Technology Singapore Pte Ltd | Robotic arm driving mechanism |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103909528B (en) * | 2014-04-28 | 2016-05-25 | 苏州大学张家港工业技术研究院 | A kind of single motor-driven Two dimension of freedom robot vision system |
| CN206140513U (en) * | 2016-11-10 | 2017-05-03 | 河北工业大学 | Single motor drive's manipulator device |
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2016
- 2016-11-10 CN CN201610987976.1A patent/CN106426150B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN106426150A (en) | 2017-02-22 |
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Granted publication date: 20180828 |