CN107322468A - A kind of modular array formula multi-working-head end effector - Google Patents
A kind of modular array formula multi-working-head end effector Download PDFInfo
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- CN107322468A CN107322468A CN201710657237.0A CN201710657237A CN107322468A CN 107322468 A CN107322468 A CN 107322468A CN 201710657237 A CN201710657237 A CN 201710657237A CN 107322468 A CN107322468 A CN 107322468A
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- output shaft
- shaft
- rotating output
- end effector
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/006—Deburring or trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of modular array formula multi-working-head end effector, including several have many rotating output shaft mechanism modules and motor of array arrangement；Several many rotating output shaft mechanism modules are connected on industrial robot under the driving of motor by mechanical interface；Coaxially arranged between each described many rotating output shaft mechanism module, the power transmission shaft of adjacent two module head and the tail are attached by sliding cross coupling, and are set between two operated adjacent modules and be provided with bolt connecting hole on adapter flange, flange；Motor power is delivered to above-mentioned several by motor to be had on many rotating output shaft mechanism modules of array arrangement, and the input shaft of driving motor output shaft and several many rotating output shaft mechanism modules is connected by sliding cross coupling；Mechanical interface both sides are respectively provided with bolt hole, and end effector is connected in robot in bolted mode.
Description
Technical field
The present invention relates to a kind of modular array formula multi-working-head end effector, belong to lathe and Industrial Robot Technology
Field.
Background technology
Numerous industrial products such as engine blade, bathroom hardware part, automotive hub etc., need in process of production
Burr, grinding and buffing, its final purpose are the acceptable industrial product for obtaining excellent surface quality.The polishing of current industrial goods is beaten
Mill still belongs to labor-intensive industry, although industrial robot and Digit Control Machine Tool are applied in this regard, but polishing
Efficiency is not also high, and the cost of workpiece grinding and polishing is not optimized.
Up to the present, the application of grinding and polishing is carried out using industrial robot and Digit Control Machine Tool or pacified using single main shaft is clamped
The method for filling polishing wheel carries out grinding and polishing to workpiece；Or using one workpiece of clamping, carried out close to fixed polishing wheel or belt sander
Grinding and polishing.It is due to that the cost of industrial robot and Digit Control Machine Tool is higher although aforesaid way partly instead of artificial grinding and polishing
And flexibility is not so good as human hand, therefore its polishing efficiency and cost are still higher.
Industrial robot and Digit Control Machine Tool are driven using motor, and exerting oneself and kinematic accuracy much larger than people can be achieved.From hair
From the perspective of exhibition, industrial robot is applied to grinding and polishing with Digit Control Machine Tool still has very big potentiality to have to be excavated.The present invention is carried
Go out a kind of modular array formula multi-working-head end effector, be installed on the working end of industrial robot and Digit Control Machine Tool, realize
The multiple workpiece of clamped one time synchronize processing, can improve the processing efficiency of industrial robot and Digit Control Machine Tool, reduction product
Production cost.
In addition, in view of industrial robot and Digit Control Machine Tool species and model are various, modular array formula multi-working-head end
Actuator needs to adapt to the workpiece space and power demand of the lathe of different model；Therefore the present invention proposes that device uses modularization
Design, can on demand be assembled according to the working space of industrial robot and Digit Control Machine Tool with power parameter, quickly to be formed
Meet the efficient array processing solution of application demand.
The content of the invention
In order to solve problems of the prior art, the present invention provides a kind of modular array formula multi-working-head end and held
Row device, it is intended to solve processing efficiency is low in the prior art, cost is high, bad adaptability the problem of.
A kind of modular array formula multi-working-head end effector, including several have array arrangement many rotations export
Axis mechanism module and motor.
Several many rotating output shaft mechanism modules are connected to industrial machine under the driving of motor by mechanical interface
On people.Wherein coaxially arranged between each many rotating output shaft mechanism module, the power transmission shaft head and the tail of adjacent two module are slided by cross
Block shaft coupling is attached, and is set between two operated adjacent modules and be provided with bolt connecting hole on adapter flange, flange；
Motor power is delivered to above-mentioned several by motor to be had on many rotating output shaft mechanism modules of array arrangement, motor
The input shaft of output shaft and several many rotating output shaft mechanism modules is connected by sliding cross coupling.Mechanical interface both sides are each
Provided with bolt hole, end effector is connected in robot in bolted mode.
Many rotating output shaft mechanism modules include frame structure and mechanical transmission mechanism.
The frame structure is used for mechanism for installing transmission device, is made up of, is set in the edge of side plate multiple side plates
Bolt hole is put, for adjacent side plates to be connected；The side plate both sides of the framework, which are provided with crimp, crimp, bolt hole, can be with
The side plate of other bull mechanism modules is spirally connected connected；
The mechanical transmission mechanism is used to motor power being delivered to end output shaft, including input shaft, output are moved
Power axle and gear train power transmission component composition；The input shaft two ends use bearings, and bearing is arranged on bearing block flange
Interior, flange is screwed in transmission device framework structure by pinboard, and the power intake of input shaft is provided with shaft coupling；
Set on input shaft at two shaft shoulders, the shaft shoulder and gear train power transmission component is installed；The gear train power transmission component is by actively
Bevel gear and the driven wheel of differential composition being meshed, drive bevel gear are coaxially connected using key with input shaft, from mantle tooth
It is also coaxially connected using key between wheel and output power shaft；The output power shaft is supported by a pair of bearings, and bearing is arranged on axle
In bearing, there is flange on bearing block, be bolted between the frame structure of transmission device.
The motor is servomotor with encoder, and servomotor can be coaxial with input shaft by shaft coupling
Connection, or pass through the connection parallel with input shaft of timing belt and synchronizing wheel；It is defeated that motor is bolt-connected to many rotations
The frame structure of shaft operational module.
Bolt, key and bearing in module use standard component.
Many rotating output shaft mechanism modules are that can independently apply for the unit of modularized design, i.e. individual module
, and multiple modular units can assemble freely, form the different array mechanism of synchronous number, plug and play；
The work head number of many rotating output shaft mechanism modules can be expanded circumferentially, i.e. its output of the unit of individual module
Line shaft can have the structure of a circumferential row, can there is circumferential two row, three row, the structure of four row；
The work head number of many rotating output shaft mechanism modules can be expanded axially, i.e. its gear of the unit of individual module
Transmission component can have two drive bevel gears, can there is three, four, five drive bevel gears.
The circumferential quantity of work head and axial quantity of many rotating output shaft mechanism modules can according to industrial robot and
The factors such as the working space and power parameter of Digit Control Machine Tool are separate to be expanded.
Multiple input shafts can be set in the mechanical transmission mechanism of many rotating output shaft mechanism modules, power transmission shaft is first
Tail is connected by shaft coupling.
Further, can be set in the gear train power transmission component drive bevel gear and it is multiple be meshed from mantle
Gear, realizes the circumferential expansion of rotating output shaft；
Further, modular array formula multi-working-head end effector can have array arrangement many comprising one or more
Housing side plate is connected by screw bolts between the bull mechanism module composition of individual rotating output shaft, adjacent bull mechanism module, is used
Shaft coupling connects input shaft；
Further, on modular array formula multi-working-head end effector, drive bevel gear in gear train power transmission component
Quantity can have one to arrive multiple, and corresponding output power shaft also into the increase of corresponding multiple, realizes that the axial direction of rotating output shaft is opened up
Exhibition；
Further, the output power shaft of many rotating output shaft mechanism modules of modularization can connect planetary reduction gear, can enter
One step improves the load capacity of output mechanism.
Using above technical scheme, the present invention has the following advantages that compared between prior art：
The array multi-working-head end effector of the present invention, the clamped one time of achievable multiple workpiece, synchronous processing, greatly
Big improves Digit Control Machine Tool or industrial machine task efficiency；
The array multi-working-head end effector of the modularized design of the present invention, by many rotating output shafts of multiple modularizations
Mechanism module is spliced, and the output number of axle can be expanded freely, be greatly improved the flexibility of mechanism design, and customization on demand is set
Meter；
The array multi-working-head end effector of the present invention, can be set by the speed reducing ratio of gear train power transmission component to adjust
Standby maximum output torque and rotating speed, enhance the applicability of product；
The array multi-working-head end effector of the present invention, using gear train power transmission component, a driving gear with it is many
Individual driven gear is meshed, and can eliminate gap, improves transmission accuracy, and with good transmission stiffness；
The present invention array multi-working-head end effector, using gear train power transmission component, wherein with driving gear phase
The driven gear quantity of engagement can adjust, and enhance the flexibility of product design；
Brief description of the drawings：
Fig. 1 is the multi-working-head end effector and six-shaft industrial robot Coordinative assembling overall construction drawing of the present invention.
Fig. 2 is the multi-working-head end effector and the end structure schematic diagram of six-shaft industrial robot assembling of the present invention.
Fig. 3 is many rotating output shaft mechanism module contour structures schematic diagrames of the present invention.
Fig. 4 is many rotating output shaft mechanism module internal drive structural representations of the present invention.
Fig. 5 is the multi-working-head end effector schematic diagram only containing an eight rotating output shaft mechanism modules composition.
Fig. 6 is the multi-working-head end effector schematic diagram containing two eight rotating output shaft mechanism modules compositions.
Fig. 7 is the multi-working-head end effector signal of the six rotating output shaft mechanism modules for carrying out circumferential expansion
Figure.
Fig. 8 is the multi-working-head end effector signal of the four rotating output shaft mechanism modules for carrying out circumferential expansion
Figure.
Fig. 9 is that the multi-working-head end effector containing three four rotating output shaft mechanism modules for carrying out circumferential expansion shows
It is intended to.
Figure 10 is the multi-working-head end effector signal of the six rotating output shaft mechanism modules for carrying out axial expansion
Figure.
Figure 11 is the multi-working-head end effector and six-shaft industrial machine constituted containing eight rotating output shaft mechanism modules
The end structure schematic diagram of people's assembling.
Figure 12 is the multi-working-head end effector and six-shaft industrial machine constituted containing eight rotating output shaft mechanism modules
The mechanical connecting structure schematic diagram of people's assembling.
Description of reference numerals：
It is 1 epipleural, 2 lower side panels, 3 right plates, 4 left plates, 5 rotating output shafts, 6 output shaft flanges 1,7 pinboards, 8 defeated
Enter power transmission shaft, 9 locking nuts, 10 bearings flanges 2,11 driven wheels of differential, 12 drive bevel gears, 13 industrial robots, 14
Export bearing block, 15 sliding cross couplings, 16 servomotors, 17 synchronizing wheels, the mechanism module of rotating output shaft more than 18,19 first
Rotary shaft, 20 second rotary shafts, 21 the 3rd rotary shafts, 22 the 4th rotary shafts, 23 the 5th rotary shafts, 24 the 6th rotary shafts, 25 moulds
Block array multi-working-head end effector, 26 planetary reduction gears, 27 and robotic interface, 28 6 rotating output shaft machines
Structure module, 38 4 rotating output shaft mechanism modules, 48 8 rotating output shaft mechanism modules, 49 bull end effector supports, 50
Servomotor load frame, 51 servomotor load frame rotating shafts, 52 load frame shaft bearing flanges, 53 station servo motors, 54 works
Position decelerator, 55 connection frames
Embodiment：
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and examples, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
A kind of modular array formula multi-working-head end effector of the present invention is to be directed to six-shaft industrial robot and numerical control
What lathe was proposed, it can be applied to numerous occasions of field of machining, such as wheel hub deburring, motorcycle cast polishing, five
Golden bathroom part polishing etc..Such as, modular array formula multi-working-head end effector proposed by the present invention can realize automotive hub
Synchronous rotary polishing deburring.
Fig. 1~10 show that structure can be achieved with part in a kind of assembly of modular array formula multi-working-head end effector
Form.Fig. 1 is the multi-working-head end effector and six-shaft industrial robot Coordinative assembling overall construction drawing of the present invention；In Fig. 1
Use load 500kg industrial robots.Industrial robot passes through mechanical interface 27 and modular array formula multi-working-head end
End actuator 25 is connected, and actuator 25 can do space six-freedom motion under robot drive, processed workpiece is reached mesh
Cursor position and in desired posture；In order to further improve the load capacity of output mechanism.Multi-working-head end effector 25
Each output power shaft on planetary reduction gear 26 can be installed.
Fig. 2 indicates a kind of achievable assembling between Liao Tu1Zhong robots 13 and multi-working-head end effector 25
Form, i.e. industrial robot 13 pass through mechanical interface 27 and the bolt connection of multi-working-head end effector 25.Multi-working-head end
Actuator 25 is bolted to connection by rotating output shaft mechanism module 18 more than three to be assembled, and multi-working-head end is performed
The power intake face of device 25 is provided with the input shaft of servomotor 16, servo motor output shaft and many rotating output shaft mechanism modules
Connected by sliding cross coupling 15 (Fig. 5).
It is as shown in Figure 3, Figure 4 the examples of implementation of rotating output shaft mechanism module of the invention more than one.In figs. 3 and 4,
The mechanism shell of many rotating output shaft mechanism modules 18 is bolted by epipleural 1, lower side panel 2, right plate 3, left plate 4
Form.The final drive shaft of many rotating output shaft mechanism modules 18 is to pass through spline and two on input shaft 8, input shaft 8
Individual drive bevel gear 12 coordinates；The both sides of input shaft 8 are arranged in bearings flange 10 by bearings, bearing, method
The bolt connection of epipleural 1 that orchid 10 passes through pinboard 7 and many rotating output shaft mechanism modules 18.For each drive bevel gear
12 can be engaged with by four driven wheels of differential 11；Driven wheel of differential 11 is arranged on rotating output shaft 5, and rotating output shaft 5 is adopted
It is supported with a pair of bearings, bearing is arranged in output bearing block 14, flange is set on output bearing block 14, passes through bolt
With the side plate 1 of multiple rotating output shaft mechanism modules 18, side plate 2, side plate 3, side plate 4 one of them be connected, rotation output
The outside of the stretching housing of axle, is provided with switching output shaft flange 6, for installing external equipment such as decelerator etc., shaft flange 6
It is connected by the way that bolt and module side plate 1,2,3,4 are one of.The end that is actively entered of input shaft 8 is provided with shaft coupling 15,
To facilitate the power transmission shaft output end of many rotating output shaft mechanism modules 18 inputted with higher level to be connected or defeated with servomotor 16
Shaft is connected, and the output end of input shaft 8 sets connection between keyway, axle to be connected using key.Many rotating output shaft mechanisms mould
Each part of block 18 connection bolt used, nut, key and cooperation bearing used use standard component.
As shown in figure 5, only containing an eight rotating output shaft mechanisms for modular array formula multi-working-head end effector
Structural representation during module, the module input face is provided with servomotor 16, and servo motor output shaft is defeated with the module
Enter power transmission shaft to be connected by sliding cross coupling 15.
As shown in fig. 6, containing two eight rotating output shaft mechanism moulds for modular array formula multi-working-head end effector
Structural representation when block 18 (a) and 18 (b), epipleural 1 (a), 1 (b) and lower side panel 2 (a), 2 (b) both sides are each provided with curved
There is bolt hole on side, crimp, constitute the adapter flange between module.Eight rotating output shaft mechanism modules 18 (a) and 18 (b) just lead to
The method switching orchid crossed on side plate is by being bolted together.In addition, eight rotating output shaft mechanism modules 18 (a) and 18 (b) biography
Connected between the head and the tail of moving axis 8 by sliding cross coupling 15.The connection of rotating output shaft mechanism module more than two bolt used,
Nut, key use standard component.
In actual implementation process, the quantity of many rotating output shaft mechanism modules 18 can adjust according to demand.
The gear train of the bull mechanism module mechanical transmission mechanism can be set a drive bevel gear 12 with it is multiple driven
Bevel gear 11 is meshed, then its output power shaft of the unit of individual module can have the structure of circumferential four row, can there is week
Xiang Sanlie, two row, the structure of a row；I.e. on modular array formula multi-working-head end effector, in gear train power transmission component with
The driven wheel of differential quantity of drive bevel gear engagement can have one to four, and corresponding output power shaft also has two to eight.
As shown in fig. 7, be the contour structures schematic diagram of many rotating output shaft mechanism modules with six rotating output shafts,
Compared with eight rotating output shaft mechanism modules 18, the gear train of the mechanical transmission mechanism of six rotating output shaft mechanism module 28 is a master
Dynamic bevel gear 12 is meshed with three driven wheels of differential 11, and corresponding output power shaft 5 is also just six.
As shown in figure 8, be the contour structures schematic diagram of many rotating output shaft mechanism modules with four rotating output shafts,
Compared with eight rotating output shaft mechanism modules 18, the gear train of the mechanical transmission mechanism of four rotating output shaft mechanism module 38 is a master
Dynamic bevel gear 12 is meshed with two driven wheels of differential 11, and corresponding output power shaft 5 is also just four.
When drive bevel gear 12 in the gear train of many rotating output shaft mechanism module mechanical transmission mechanisms and one are from mantle
When gear 11 is meshed, its corresponding output power shaft 5 is also just two.
Further, the output power shaft of many rotating output shaft mechanism modules of modularization can connect planetary reduction gear 26, can
Further improve the load capacity of output mechanism.
Further, modular array formula multi-working-head end effector can have array arrangement many comprising one or more
Housing side plate is connected by screw bolts between the bull mechanism module composition of individual rotating output shaft, adjacent bull mechanism module, is used
Shaft coupling connects input shaft.
So that four rotating output shaft mechanism modules are assembled into end effector for many rotating output shaft mechanism modules as an example：
Multi-working-head end effector 25 in Fig. 9 is by three four rotating output shaft mechanism modules 38 (a), 38 (b) and 38
(c) assemble.Epipleural 1 (a), 1 (b), 1 (c) and lower side panel 2 (a), 2 (b), 2 (c) both sides are each provided with crimp, crimp
There is bolt hole, constitute the adapter flange between module.Four rotating output shaft mechanism modules 38 (a), 38 (b) and 38 (c) will pass through
Method switching orchid on side plate is successively by being bolted together.In addition, four rotating output shaft mechanism modules 38 (a), 38 (b) and 38
(c) connected between the head and the tail of power transmission shaft 8 by sliding cross coupling 15.The power intake face of multi-working-head end effector 25
Servomotor 16 is installed, the input shaft of servo motor output shaft and four rotating output shaft mechanism modules 38 (a) is by crosshead shoe
Shaft coupling 15 is connected.Industrial robot 13 passes through mechanical interface 27 and the bolt connection of multi-working-head end effector 25.Connect in figure
Bearing needed for connecing bolt used, nut, key and assembling uses standard component.
In actual implementation process, the quantity of four rotating output shaft mechanism modules 38 can adjust according to demand.
As more common scenario, such as Figure 10, many rotating output shaft mechanism modules proposed by the present invention, internal input
Power transmission shaft can have in multiple drive bevel gears 11, Figure 10 containing six drive bevel gears 11, be actively entered axle 8 by key connection with
Each drive bevel gear is connected, and is driven driven wheel of differential and is driven rotating output shaft to rotate, therefore many rotations shown in Figure 10
Output shaft mechanism module contains six row's rotating output shafts.The input one side of six rotating output shaft mechanism modules shown in Figure 10
Synchronizing wheel 17 is installed, transmission is connected by timing belt with motor 16.Bolt used, nut, key and assembling institute are connected in figure
The bearing needed uses standard component.
In actual implementation process, the initiative taper of institute's driving axial rotary shaft of many rotating output shaft mechanism modules according to demand
The quantity of gear 11 can adjust.
Further, the circumferential quantity of present invention work head and axial direction quantity can be according to industrial robot and Digit Control Machine Tools
The factor such as working space and power parameter is separate to be expanded.
It should be noted that when many rotating output shaft mechanism modules of end effector are the circumferential eight rotation outputs expanded
During axis mechanism module, limited by four side plate spaces of module, no matter the axial output shaft quantity of module, industrial robot
It can not be connected again as Fig. 1, Fig. 2 by simple mechanical interface 27 with certain side plate of end effector 25.Therefore, needing
Design special mechanical connecting device.
As Figure 11, Figure 12 show a kind of mentality of designing solved the above problems.
In fig. 11, industrial robot 13 is by mechanical interface 27 and installs the support 49 of bull end effector 25 with spiral shell
The form connection of line connection；Modular array formula multi-working-head end effector 25 both can be real under the driving of servomotor 16
The rotation of existing rotating output shaft 5, can be rotated under the driving of station motor 53 on bull end effector support 49 again, so that
Realize the conversion of station.
Multi-working-head end effector 25 in Figure 12 is by three eight rotating output shaft mechanism modules 48 (a), 48 (b), 48
(c) assemble, the driving of servomotor 16 provides power.On the right side of figure, servomotor load frame 50 is arranged on servomotor 16
Outside is simultaneously connected with the side plate of eight rotating output shaft mechanism modules 48 (c) by bolt.Servomotor load frame 50 has well
Centering, its afterbody fixes a servomotor load frame rotating shaft 51, and rotating shaft 51 is arranged on load by bearings, bearing
In frame shaft bearing flange 52, flange 52 is threadedly coupled with bull end effector support 49.On the left of figure, eight rotating output shafts
The input shaft 8 of mechanism module 48 (a) is arranged in load frame shaft bearing flange again by bearings, bearing, method
Orchid is threadedly coupled with bull end effector support 49.The input shaft 8 of module 48 (a) passes through shaft coupling and station decelerator
54 connections, station decelerator 54 is driven by station servo motor 53, and station decelerator 54 is often rotated by 90 °, end effector 25
Station changes once.To prevent servomotor 16 from inputting the excessive winding of electric wire, it is desirable to which station servo motor 53 is only capable of driving work
Position 54 reciprocating rotation of decelerator one week.Station servo motor 53 and station decelerator 54 are bolted even by key with merging
Connect on frame 55, connection frame 55 is fixed with support 49.Wherein bull end effector support 49 is channel-section steel structure, firm in order to increase its
Degree and intensity, the part design reinforcement being connected with mechanical interface 27.Bolt, nut, key and bearing used in such scheme
Use standard component.
The foregoing is only the present invention representative embodiment, not for limit the present invention practical range；
If not departing from the spirit and scope of the present invention, to invent into ground modification or equivalent substitution, all should cover the present invention power
Among the protection domain that profit is required.
Claims (6)
1. a kind of modular array formula multi-working-head end effector, it is characterised in that there are many of array arrangement including several
Rotating output shaft mechanism module and motor；Several many rotating output shaft mechanism modules are under the driving of motor by machine
Tool interface is connected on industrial robot；Coaxially arranged, adjacent two module between each described many rotating output shaft mechanism module
Power transmission shaft head and the tail be attached by sliding cross coupling, and adapter flange, method are set between two operated adjacent modules
Bolt connecting hole is provided with orchid；Motor power is delivered to several above-mentioned many rotations for having array arrangement and exported by motor
In axis mechanism module, the input shaft of driving motor output shaft and several many rotating output shaft mechanism modules is by crosshead shoe shaft coupling
Device is connected；Mechanical interface both sides are respectively provided with bolt hole, and end effector is connected in robot in bolted mode；Institute
Stating many rotating output shaft mechanism modules includes frame structure and mechanical transmission mechanism；The frame structure is used for mechanism for installing
Transmission device, is made up of multiple side plates, bolt hole is set in the edge of side plate, for adjacent side plates to be connected；The framework
Side plate both sides be provided with crimp, crimp and have bolt hole, can be spirally connected with the side plate of other bull mechanism modules connected；The machine
Tool transmission mechanism is used to motor power being delivered to end output shaft, including input shaft, output power shaft and gear train are passed
Power component is constituted；The input shaft two ends use bearings, and bearing is arranged in bearing block flange, and flange passes through switching
Plate is screwed in transmission device framework structure, and the power intake of input shaft is provided with shaft coupling；Set on input shaft
Put and gear train power transmission component is installed at two shaft shoulders, the shaft shoulder；The gear train power transmission component is by drive bevel gear and is meshed
Driven wheel of differential composition, drive bevel gear and input shaft use key coaxially connected, driven wheel of differential and output power shaft
Between also using key it is coaxially connected；The output power shaft is supported by a pair of bearings, and bearing is arranged in bearing block, on bearing block
There is flange, be bolted between the frame structure of transmission device；The motor is servo with encoder electricity
Machine, servomotor can be coaxially connected with input shaft by shaft coupling, or passes through timing belt and synchronizing wheel and input shaft
Parallel connection；Motor is bolt-connected to the frame structure of many rotating output shaft operational modules.
2. a kind of modular array formula multi-working-head end effector according to claim 1, it is characterised in that：It is described many
Rotating output shaft mechanism module is that independence is applicable for the unit of modularized design, i.e. individual module, and multiple modularizations
Unit can be assembled freely, form the different array mechanism of synchronous number, plug and play.
3. a kind of modular array formula multi-working-head end effector according to claim 1, it is characterised in that：It is described many
The work head number of rotating output shaft mechanism module can be expanded circumferentially, i.e. its output power shaft of the unit of individual module can have week
To the structure of a row, can there are circumferential two row, three row, the structure of four row.
4. a kind of modular array formula multi-working-head end effector according to claim 1, it is characterised in that：It is described many
The work head number of rotating output shaft mechanism module can be expanded axially, i.e. its gear-driven assembly of the unit of individual module can have
Two drive bevel gears, can there is three, four, five drive bevel gears.
5. a kind of modular array formula multi-working-head end effector according to claim 1, it is characterised in that：It is described many
Multiple input shafts can be set in the mechanical transmission mechanism of rotating output shaft mechanism module, power transmission shaft head and the tail are connected by shaft coupling
Connect.
6. a kind of modular array formula multi-working-head end effector according to claim 1, it is characterised in that：Modularization
The output power shaft of many rotating output shaft mechanism modules can connect planetary reduction gear, can further improve the load energy of output mechanism
Power.
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| CN201710657237.0A CN107322468B (en) | 2017-08-03 | 2017-08-03 | Modular array type multi-working-head end effector |
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| CN201710657237.0A CN107322468B (en) | 2017-08-03 | 2017-08-03 | Modular array type multi-working-head end effector |
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| CN107322468B CN107322468B (en) | 2023-09-12 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356670A (en) * | 2018-02-26 | 2018-08-03 | 广东天机工业智能系统有限公司 | Grinding device |
| CN108422315A (en) * | 2018-02-26 | 2018-08-21 | 广东天机工业智能系统有限公司 | Grinding head and milling robot |
| CN108839057A (en) * | 2018-06-25 | 2018-11-20 | 河北工业大学 | A kind of modularization parameterization design method of Industrial robots Mechanical's structure |
| CN108857713A (en) * | 2018-06-25 | 2018-11-23 | 珠海格力智能装备有限公司 | Cell-phone shell grinding device |
| CN110653705A (en) * | 2019-09-25 | 2020-01-07 | 东莞市金太阳精密技术有限责任公司 | Grinding machine |
| CN110695778A (en) * | 2019-09-25 | 2020-01-17 | 东莞市金太阳精密技术有限责任公司 | Driving device for multiple workpieces |
| CN110774084A (en) * | 2019-10-24 | 2020-02-11 | 深圳市精速五金机械有限公司 | Five numerical control burr-grinding machines |
| CN112260473A (en) * | 2020-09-27 | 2021-01-22 | 中车工业研究院有限公司 | Modular motor assembly and motor driving system |
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| CN110695778A (en) * | 2019-09-25 | 2020-01-17 | 东莞市金太阳精密技术有限责任公司 | Driving device for multiple workpieces |
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| CN113370041A (en) * | 2020-02-23 | 2021-09-10 | 湖南宇环智能装备有限公司 | Multi-shaft polishing machine |
| CN112260473A (en) * | 2020-09-27 | 2021-01-22 | 中车工业研究院有限公司 | Modular motor assembly and motor driving system |
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