CN107322468B - Modular array type multi-working-head end effector - Google Patents
Modular array type multi-working-head end effector Download PDFInfo
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- CN107322468B CN107322468B CN201710657237.0A CN201710657237A CN107322468B CN 107322468 B CN107322468 B CN 107322468B CN 201710657237 A CN201710657237 A CN 201710657237A CN 107322468 B CN107322468 B CN 107322468B
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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
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- 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
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- 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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- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
A modularized array type multi-working head end effector comprises a plurality of multi-rotation output shaft mechanism modules which are arranged in an array manner and a driving motor; the multiple rotary output shaft mechanism modules are connected to the industrial robot through mechanical interfaces under the drive of the driving motor; the transmission shafts of the adjacent two modules are connected end to end by an Oldham coupling, an adapter flange is arranged between the two adjacent working modules, and a bolt connecting hole is arranged on the flange; the driving motor transmits motor power to the plurality of multi-rotation output shaft mechanism modules which are arranged in an array manner, and the output shafts of the driving motor are connected with the input shafts of the plurality of multi-rotation output shaft mechanism modules through the Oldham coupling; bolt holes are respectively arranged on two sides of the mechanical interface, and the end effector is connected to the robot in a bolt connection mode.
Description
Technical Field
The invention relates to a modular array type multi-working-head end effector, and belongs to the technical field of machine tools and industrial robots.
Background
Numerous industrial products such as engine blades, bathroom hardware, automobile hubs, etc. require deburring, grinding and polishing during production, with the ultimate aim of obtaining a good quality surface quality of acceptable industrial product. The polishing and grinding of the existing industrial products also belongs to labor-intensive industries, and although industrial robots and numerical control machines are applied in this aspect, the polishing efficiency is not high, and the cost of workpiece polishing is not optimized.
To date, the application of grinding and polishing is carried out by adopting an industrial robot and a numerical control machine tool or the method of installing a polishing wheel by clamping a single main shaft is adopted to grind and polish a workpiece; or clamping a workpiece, and grinding and polishing the workpiece by a fixed polishing wheel or a belt sander. Although the above-mentioned manner partially replaces manual polishing, the industrial robot and the numerical control machine tool have higher polishing efficiency and cost due to higher cost and lower flexibility than those of hands.
The industrial robot and the numerical control machine tool are driven by a motor, so that the output and the movement precision far greater than those of a person can be realized. From the development point of view, industrial robots and numerical control machines have great potential to be excavated when applied to polishing. The invention provides a modularized array type multi-working-head end effector which is arranged at the working ends of an industrial robot and a numerical control machine tool, realizes synchronous processing by clamping a plurality of workpieces at one time, can improve the processing efficiency of the industrial robot and the numerical control machine tool, and reduces the production cost of products.
In addition, in view of the variety and types of industrial robots and numerically-controlled machine tools, modular array multi-working head end effectors are required to accommodate the workpiece space and power requirements of different types of machine tools; therefore, the device provided by the invention adopts a modularized design, and can be assembled according to the working space and the power parameters of the industrial robot and the numerical control machine tool as required so as to quickly form a high-efficiency array processing solution meeting the application requirements.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a modular array type multi-working head end effector, which aims to solve the problems of low processing efficiency, high cost and poor adaptability in the prior art.
A modular array type multi-working head end effector comprises a plurality of multi-rotation output shaft mechanism modules which are arranged in an array mode and a driving motor.
The multiple rotary output shaft mechanism modules are connected to the industrial robot through mechanical interfaces under the drive of the driving motor. The transmission shafts of the adjacent two modules are connected end to end by an Oldham coupling, an adapter flange is arranged between the two adjacent working modules, and a bolt connecting hole is arranged on the flange; the driving motor transmits motor power to the plurality of multi-rotation output shaft mechanism modules which are arranged in an array, and the output shafts of the driving motor are connected with the input shafts of the plurality of multi-rotation output shaft mechanism modules through the Oldham coupling. Bolt holes are respectively arranged on two sides of the mechanical interface, and the end effector is connected to the robot in a bolt connection mode.
The multi-rotation output shaft mechanism module comprises a frame structure and a mechanical transmission mechanism.
The frame structure is used for installing a fixing mechanism transmission device and consists of a plurality of side plates, and bolt holes are formed in the edges of the side plates and used for fixedly connecting the adjacent side plates; the two sides of the side plate of the frame are provided with bent edges, and the bent edges are provided with bolt holes which can be fixedly connected with the side plates of other multi-head mechanism modules in a threaded manner;
the mechanical transmission mechanism is used for transmitting motor power to a tail end output shaft and comprises an input transmission shaft, an output power shaft and a gear set force transmission assembly; the two ends of the input transmission shaft are supported by bearings, the bearings are arranged in bearing seat flanges, the flanges are screwed to a transmission device frame structure through adapter plates, and a coupling is arranged at the power input end of the input transmission shaft; two shaft shoulders are arranged on the input transmission shaft, and a gear set force transmission assembly is arranged at the shaft shoulders; the gear set force transmission assembly consists of a driving bevel gear and a driven bevel gear which are meshed with each other, wherein the driving bevel gear is coaxially connected with an input transmission shaft by a key, and the driven bevel gear is coaxially connected with an output power shaft by a key; the output power shaft is supported by a pair of bearings, the bearings are arranged in bearing seats, flange edges are arranged on the bearing seats, and the bearing seats are connected with a frame structure of the transmission device through bolts.
The driving motor is a servo motor with an encoder, and the servo motor can be coaxially connected with the input transmission shaft through a coupler or connected with the synchronous wheel in parallel with the input transmission shaft through a synchronous belt; the motor is connected to the frame structure of the multi-rotation output shaft working module by bolts.
The bolts, keys and bearings on the modules all use standard components.
The multi-rotation output shaft mechanism module is in a modularized design, namely a single modularized unit is independently applicable, and a plurality of modularized units can be freely assembled to form an array mechanism with different synchronous numbers, namely plug and play;
the number of working heads of the multi-rotation output shaft mechanism module can be circumferentially expanded, namely, the output power shaft of a single modularized unit can have a circumferential one-row structure and can have a circumferential two-row, three-row and four-row structure;
the number of working heads of the multi-rotation output shaft mechanism module can be axially expanded, namely, a single modularized unit can have two drive bevel gears and three, four and five drive bevel gears in a gear transmission assembly.
The circumferential number and the axial number of the working heads of the multi-rotation output shaft mechanism module can be expanded independently according to factors such as working space and power parameters of the industrial robot and the numerical control machine tool.
A plurality of input transmission shafts can be arranged in a mechanical transmission mechanism of the multi-rotation output shaft mechanism module, and the transmission shafts are connected end to end through a coupler.
Further, a driving bevel gear and a plurality of engaged driven bevel gears can be arranged in the gear set force transmission assembly, so that circumferential expansion of the rotary output shaft is realized;
further, the modular array type multi-working-head end effector can comprise one or more multi-head mechanism modules with a plurality of rotary output shafts arranged in an array manner, wherein the adjacent multi-head mechanism modules are connected with a shell side plate by bolts and are connected with an input transmission shaft by a coupler;
further, on the modular array type multi-working-head end effector, the number of the driving bevel gears in the gear set force transmission assembly can be one to a plurality of, and corresponding output power shafts are increased by corresponding times, so that the axial expansion of the rotary output shaft is realized;
further, the output power shaft of the modularized multi-rotation output shaft mechanism module can be connected with a planetary reducer, so that the load capacity of the output mechanism can be further improved.
Compared with the prior art, the invention has the following advantages:
the array type multi-working-head end effector can realize one-time clamping and synchronous processing of a plurality of workpieces, and greatly improves the working efficiency of a numerical control machine tool or an industrial robot;
the modular design array type multi-working-head end effector is formed by splicing a plurality of modular multi-rotation output shaft mechanism modules, the number of output shafts can be freely expanded, the flexibility of mechanism design can be greatly improved, and the design can be customized according to requirements;
according to the array type multi-working-head end effector, the maximum output moment and the rotating speed of the equipment can be adjusted through the reduction ratio of the gear set force transmission assembly, so that the applicability of products is enhanced;
the array type multi-working-head end effector adopts the gear set force transmission assembly, and one driving gear is meshed with a plurality of driven gears, so that gaps can be eliminated, the transmission precision is improved, and the transmission rigidity is good;
the array type multi-working-head end effector adopts the gear set force transmission assembly, wherein the number of driven gears meshed with the driving gears can be adjusted, so that the flexibility of product design is enhanced;
description of the drawings:
FIG. 1 is a general block diagram of a coordinated assembly of a multi-head end effector of the present invention with a six-axis industrial robot.
Fig. 2 is a schematic end structure of the multi-head end effector of the present invention assembled with a six-axis industrial robot.
FIG. 3 is a schematic diagram of the external configuration of the multiple rotary output shaft mechanism module of the present invention.
FIG. 4 is a schematic diagram of the internal transmission structure of the multiple rotary output shaft mechanism module of the present invention.
FIG. 5 is a schematic diagram of a multi-working head end effector consisting of only one eight-rotation output shaft mechanism module.
FIG. 6 is a schematic diagram of a multi-working head end effector comprising two eight-rotation output shaft mechanism modules.
FIG. 7 is a schematic illustration of a multi-head end effector with six-axis rotary output mechanism modules that are circumferentially expanded.
FIG. 8 is a schematic illustration of a multi-head end effector with four-axis rotary output mechanism modules that are circumferentially expanded.
FIG. 9 is a schematic diagram of a multi-head end effector having three four-rotation output shaft mechanism modules that are circumferentially expanded.
FIG. 10 is a schematic illustration of a multi-head end effector with six-axis rotary output shaft mechanism modules in axial expansion.
Fig. 11 is a schematic diagram of the end structure of a multi-working head end effector with six-axis industrial robot assembly comprising eight rotating output shaft mechanism modules.
FIG. 12 is a schematic diagram of a mechanical connection of a multi-working-head end effector with a six-axis industrial robot assembly comprising eight rotating output shaft mechanism modules.
Reference numerals illustrate:
1 upper side plate, 2 lower side plate, 3 right side plate, 4 left side plate, 5 rotary output shaft, 6 output shaft flange 1, 7 adapter plate, 8 input transmission shaft, 9 lock nut, 10 bearing support flange 2, 11 driven bevel gear, 12 drive bevel gear, 13 industrial robot, 14 output bearing block, 15 Oldham coupling, 16 servo motor, 17 synchronizing wheel, 18 multiple rotary output shaft mechanism module, 19 first rotary shaft, 20 second rotary shaft, 21 third rotary shaft, 22 fourth rotary shaft, 23 fifth rotary shaft, 24 sixth rotary shaft, 25 modular array multiple working head end effector, 26 planetary reducer, 27 and robot mechanical interface, 28 six rotary output shaft mechanism module, 38 four rotary output shaft mechanism module, 48 eight rotary output shaft mechanism module, 49 multi-head end effector support, 50 servo motor bearing frame, 51 servo motor bearing frame rotary shaft, 52 bearing frame rotary shaft flange, 53 station servo motor, 54 station reducer, 55 connecting frame
The specific embodiment is as follows:
the present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a modularized array type multi-working-head end effector which is provided for a six-axis industrial robot and a numerical control machine tool, and can be applied to a plurality of occasions in the field of machining, such as deburring of wheel hubs, polishing of motorcycle casting parts, polishing of hardware bathroom parts and the like. For example, the modular array type multi-working-head end effector provided by the invention can realize synchronous rotary polishing deburring processing of the automobile hub.
Figures 1-10 illustrate an assembly and partially implementable configuration of a modular array multi-head end effector. FIG. 1 is a general block diagram of a coordinated assembly of a multi-head end effector of the present invention with a six-axis industrial robot; in fig. 1 an industrial robot with a load of 500kg is used. The industrial robot is connected with the modularized array type multi-working-head end effector 25 through a mechanical interface 27, and the effector 25 can move in six degrees of freedom in space under the drive of the robot, so that a processed workpiece reaches a target position and is in a desired posture; to further increase the load capacity of the output mechanism. Planetary reducers 26 may be mounted on each output power shaft of the multi-head end effector 25.
Fig. 2 shows one possible assembly between the robot 13 and the multi-head end effector 25 of fig. 1, i.e. the industrial robot 13 is bolted to the multi-head end effector 25 via a mechanical interface 27. The multi-working-head end effector 25 is formed by fixedly connecting and assembling three multi-rotation output shaft mechanism modules 18 through bolts, a servo motor 16 is arranged on the power input end face of the multi-working-head end effector 25, and the output shafts of the servo motor and the input shafts of the multi-rotation output shaft mechanism modules are connected through an Oldham coupling 15 (figure 5).
An example of a multiple rotary output shaft mechanism module according to the present invention is shown in fig. 3 and 4. In fig. 3 and 4, the mechanism housing of the multiple rotation output shaft mechanism module 18 is formed by bolting an upper side plate 1, a lower side plate 2, a right side plate 3, and a left side plate 4. The main transmission shaft of the multi-rotation output shaft mechanism module 18 is an input transmission shaft 8, and the input transmission shaft 8 is matched with the two drive bevel gears 12 through splines; the two sides of the input transmission shaft 8 are supported by bearings, the bearings are arranged in a bearing support flange 10, and the flange 10 is connected with the upper side plate 1 of the multi-rotation output shaft mechanism module 18 through a bolt through an adapter plate 7. With which four driven bevel gears 11 can be engaged for each drive bevel gear 12; the driven bevel gear 11 is installed on the rotary output shaft 5, the rotary output shaft 5 is supported by a pair of bearings, the bearings are installed in the output bearing seat 14, the output bearing seat 14 is provided with flange edges, the flange edges are connected with one of the side plates 1, 2, 3 and 4 of the plurality of rotary output shaft mechanism modules 18 through bolts, and the rotary output shaft is provided with an output shaft flange 6 for switching, which is used for installing external equipment such as a speed reducer and the like, on the outer side of an extending shell of the rotary output shaft, and the shaft flange 6 is connected with one of the side plates 1, 2, 3 and 4 of the modules through bolts. The active input end of the input transmission shaft 8 is provided with a coupling 15 so as to be connected with the transmission shaft output end of the multi-rotation output shaft mechanism module 18 input by the upper stage or the output shaft of the servo motor 16 conveniently, the output end of the input transmission shaft 8 is provided with a key groove, and the shafts are connected by keys. The bolts, nuts, keys, and bearings used for connection of the components of the multiple rotation output shaft mechanism module 18 are standard components.
As shown in fig. 5, the modular array type multi-working head end effector is a schematic structural diagram when only one eight-rotation output shaft mechanism module is included, a servo motor 16 is installed on the input end face of the module, and the output shaft of the servo motor is connected with the input transmission shaft of the module through an Oldham coupling 15.
As shown in fig. 6, a schematic structural diagram of a modular array type multi-working head end effector includes two eight-rotation output shaft mechanism modules 18 (a) and 18 (b), wherein two sides of the upper side plates 1 (a), 1 (b) and the lower side plates 2 (a), 2 (b) are respectively provided with bent edges, and bolt holes are formed on the bent edges to form an adapter flange between the modules. The eight-turn output shaft mechanism modules 18 (a) and 18 (b) are bolted together by flange bolts on the side plates. In addition, the transmission shafts 8 of the eight-rotation output shaft mechanism modules 18 (a) and 18 (b) are connected end to end by an oldham coupling 15. The bolts, nuts and keys used for connecting the two multi-rotation output shaft mechanism modules are standard components.
In actual practice, the number of multiple rotary output shaft mechanism modules 18 may be adjusted as desired.
The gear set of the mechanical transmission mechanism of the multi-head mechanism module can be provided with a driving bevel gear 12 meshed with a plurality of driven bevel gears 11, so that the output power shaft of a single modularized unit can have a structure with four circumferential rows and a structure with Xiang Sanlie circumferential rows and two columns and one column; that is, on a modular array multi-head end effector, the number of driven bevel gears meshed with the drive bevel gears in the gear set force transmission assembly can be one to four, and the number of corresponding output power shafts can be two to eight.
As shown in fig. 7, the outline structure of the multi-rotation output shaft mechanism module with six rotation output shafts is schematically shown, and compared with the eight-rotation output shaft mechanism module 18, the gear set of the mechanical transmission mechanism of the six-rotation output shaft mechanism module 28 is that the driving bevel gear 12 is meshed with the three driven bevel gears 11, and the corresponding output power shafts 5 are six.
As shown in fig. 8, the outline structure of the multi-rotation output shaft mechanism module with four rotation output shafts is schematically shown, and compared with the eight-rotation output shaft mechanism module 18, the gear set of the mechanical transmission mechanism of the four-rotation output shaft mechanism module 38 is that the driving bevel gear 12 is meshed with the two driven bevel gears 11, and the corresponding output power shafts 5 are four.
When the drive bevel gear 12 of the gear set of the mechanical transmission mechanism of the multi-rotation output shaft mechanism module is meshed with one driven bevel gear 11, two output power shafts 5 are corresponding to the drive bevel gear.
Further, the output power shaft of the modular multiple rotary output shaft mechanism module may be coupled to the planetary reducer 26, further improving the load capacity of the output mechanism.
Further, the modular array type multi-working-head end effector can comprise one or more multi-head mechanism modules with a plurality of rotary output shafts arranged in an array mode, shell side plates are connected between adjacent multi-head mechanism modules through bolts, and input transmission shafts are connected through couplings.
Taking the four-rotation output shaft mechanism module as a multi-rotation output shaft mechanism module, an end effector is taken as an example to be assembled:
the multi-working-head end effector 25 in fig. 9 is assembled from three four-rotation output shaft mechanism modules 38 (a), 38 (b), and 38 (c). The upper side plates 1 (a), 1 (b), 1 (c) and the lower side plates 2 (a), 2 (b), 2 (c) are respectively provided with bent edges, and bolt holes are formed in the bent edges to form the adapter flange between the modules. The four rotating output shaft mechanism modules 38 (a), 38 (b) and 38 (c) are bolted together in sequence by flange bolts on the side plates. In addition, the transmission shafts 8 of the four-rotation output shaft mechanism modules 38 (a), 38 (b) and 38 (c) are connected end to end by the oldham coupling 15. The power input end face of the multi-working-head end effector 25 is provided with a servo motor 16, and the output shaft of the servo motor is connected with the input shaft of the four-rotation output shaft mechanism module 38 (a) by an Oldham coupling 15. The industrial robot 13 is bolted to the multi-head end effector 25 via a mechanical interface 27. The bolts, nuts, keys and bearings required for assembly are all standard components used for connection in the figure.
In actual practice, the number of four-way rotary output shaft mechanism modules 38 may be adjusted as desired.
As a more general case, as shown in fig. 10, the multi-rotation output shaft mechanism module according to the present invention may have a plurality of drive bevel gears 11 on the inner input transmission shaft, six drive bevel gears 11 are included in fig. 10, the drive input shaft 8 is connected to each of the drive bevel gears through a key connection, and drives the driven bevel gears and drives the rotation output shafts to rotate, so that the multi-rotation output shaft mechanism module shown in fig. 10 includes six rotation output shafts in a row. The six-rotation output shaft mechanism module shown in fig. 10 is provided with a synchronizing wheel 17 on one input side and is connected with a motor 16 through a synchronizing belt for transmission. The bolts, nuts, keys and bearings required for assembly are all standard components used for connection in the figure.
In actual practice, the number of drive bevel gears 11 that rotate the driven axial rotation shaft of the output shaft mechanism module may be adjusted as desired.
Furthermore, the circumferential number and the axial number of the working heads can be independently expanded according to factors such as working space and power parameters of the industrial robot and the numerical control machine tool.
It should be noted that, when the multi-rotation output shaft mechanism module of the end effector is a circumferentially expanded eight-rotation output shaft mechanism module, the industrial robot cannot be connected to a certain side plate of the end effector 25 through a simple mechanical interface 27 as in fig. 1 and 2, regardless of the number of axial output shafts of the module, due to the limitation of the space of four side plates of the module. For this purpose, special mechanical connection means have to be designed.
Fig. 11 and 12 show a design concept for solving the above-mentioned problems.
In fig. 11, the industrial robot 13 is connected in a threaded connection with a bracket 49 mounting a multi-headed end effector 25 through a mechanical interface 27; the modular array multi-head end effector 25 can be driven by the servo motor 16 to rotate the rotary output shaft 5, and driven by the station motor 53 to rotate on the multi-head end effector bracket 49, so that station conversion is realized.
The multi-working-head end effector 25 in fig. 12 is assembled from three eight-rotation output-shaft mechanism modules 48 (a), 48 (b), 48 (c), and the servo motor 16 drives and supplies power. On the right side of the figure, a servomotor carriage 50 is mounted outside the servomotor 16 and is connected with the side plate of the eight-rotation output shaft mechanism module 48 (c) by bolts. The servo motor force bearing frame 50 has good centering, a servo motor force bearing frame rotating shaft 51 is fixed at the tail part of the servo motor force bearing frame, the rotating shaft 51 is supported by a bearing, the bearing is arranged in a force bearing frame rotating shaft bearing flange 52, and the flange 52 is in threaded connection with the multi-head end effector bracket 49. On the left side of the figure, the input drive shaft 8 of the eight-turn output shaft mechanism module 48 (a) is likewise supported by bearings mounted in a bearing frame spindle bearing flange that is threadably connected to a multi-headed end effector bracket 49. The input drive shaft 8 of the module 48 (a) is connected by a coupling to a station reducer 54, the station reducer 54 being driven by a station servomotor 53, the station of the end effector 25 being changed once every 90 ° rotation of the station reducer 54. To prevent excessive winding of the input wire of the servo motor 16, it is required that the station servo motor 53 can drive the station reducer 54 to reciprocate only one revolution. The station servo motor 53 and the station speed reducer 54 are matched by keys and are connected to a connecting frame 55 through bolts, and the connecting frame 55 is fixed with the bracket 49. Wherein the multi-headed end effector holder 49 is a channel-section structure, the portion connected to the mechanical interface 27 is configured with reinforcing ribs for added rigidity and strength. The bolts, nuts, keys and bearings used in the scheme all adopt standard components.
The foregoing description of exemplary embodiments of the invention is merely illustrative of the invention and is not intended to limit the scope of the invention; modifications and equivalents of the invention may be made without departing from the spirit and scope of the invention, which is intended to be covered by the appended claims.
Claims (4)
1. The modular array type multi-working-head end effector is characterized by comprising a plurality of multi-rotation output shaft mechanism modules which are arranged in an array manner and a driving motor; the multiple rotary output shaft mechanism modules are connected to the industrial robot through mechanical interfaces under the drive of the driving motor; the transmission shafts of the adjacent two modules are connected end to end by an Oldham coupling, an adapter flange is arranged between the two adjacent working modules, and a bolt connecting hole is arranged on the flange; the driving motor transmits motor power to the plurality of multi-rotation output shaft mechanism modules which are arranged in an array manner, and the output shafts of the driving motor are connected with the input shafts of the plurality of multi-rotation output shaft mechanism modules through the Oldham coupling; bolt holes are respectively formed in two sides of the mechanical interface, and the end effector is connected to the robot in a bolt connection mode; the multi-rotation output shaft mechanism module comprises a frame structure and a mechanical transmission mechanism; the frame structure is used for installing a fixing mechanism transmission device and consists of a plurality of side plates, and bolt holes are formed in the edges of the side plates and used for fixedly connecting the adjacent side plates; the two sides of the side plate of the frame are provided with bent edges, bolt holes are formed in the bent edges, and the bent edges are fixedly connected with the side plates of other multi-head mechanism modules in a threaded manner; the mechanical transmission mechanism is used for transmitting motor power to a tail end output shaft and comprises an input transmission shaft, an output power shaft and a gear set force transmission assembly; the two ends of the input transmission shaft are supported by bearings, the bearings are arranged in bearing seat flanges, the flanges are screwed to a transmission device frame structure through adapter plates, and a coupling is arranged at the power input end of the input transmission shaft; two shaft shoulders are arranged on the input transmission shaft, and a gear set force transmission assembly is arranged at the shaft shoulders; the gear set force transmission assembly consists of a driving bevel gear and a driven bevel gear which are meshed with each other, wherein the driving bevel gear is coaxially connected with an input transmission shaft by a key, and the driven bevel gear is coaxially connected with an output power shaft by a key; the output power shaft is supported by a pair of bearings, the bearings are arranged in bearing seats, flange edges are arranged on the bearing seats, and the bearing seats are connected with a frame structure of the transmission device through bolts; the driving motor is a servo motor with an encoder, and the servo motor is coaxially connected with the input transmission shaft through a coupler or is connected with the synchronous wheel in parallel with the input transmission shaft through a synchronous belt; the motor is connected to the frame structure of the multi-rotation output shaft working module through bolts;
the multi-rotation output shaft mechanism module is in a modularized design, namely a single modularized unit is independently applied, and a plurality of modularized units are freely assembled to form an array mechanism with different synchronous numbers, and the array mechanism is plug and play;
the working heads of the multi-rotation output shaft mechanism module are circumferentially expanded, namely, the output power shaft of a single modularized unit has a circumferential one-row structure or a circumferential two-row, three-row and four-row structure.
2. A modular array multi-head end effector as claimed in claim 1, wherein: the working heads of the multi-rotation output shaft mechanism module are axially expanded, namely, a single modularized unit has two drive bevel gears or three, four and five drive bevel gears in a gear transmission assembly.
3. A modular array multi-head end effector as claimed in claim 1, wherein: and a plurality of input transmission shafts are arranged in a mechanical transmission mechanism of the multi-rotation output shaft mechanism module, and the transmission shafts are connected end to end through a coupler.
4. A modular array multi-head end effector as claimed in claim 1, wherein: the output power shaft of the modularized multi-rotation output shaft mechanism module is connected with the planetary reducer, so that the load capacity of the output mechanism is further improved.
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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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| CN108839057B (en) * | 2018-06-25 | 2023-05-02 | 河北工业大学 | Modularized parameterized design method for mechanical structure of industrial robot |
| 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 |
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| US12071262B2 (en) | 2019-12-20 | 2024-08-27 | Macdonald, Dettwiler And Associates Inc. | Refueling tool and system incorporating the refueling |
| CN113370041A (en) * | 2020-02-23 | 2021-09-10 | 湖南宇环智能装备有限公司 | Multi-shaft polishing machine |
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