CN108483024A - A kind of robot servo driving equipment - Google Patents

Abstract

The invention discloses a kind of robot servo driving equipments, including balancing bottom plate, the left and right ends of the balance bottom plate are symmetrically arranged with mobile device, the rear end of the balance bottom plate upper surface is fixedly connected with a supporting rod, the upper end for reinforcing connecting rod passes through the upper end wall of rotation space and is fixedly connected with a bearing bar extended forward, the front end of the bearing bar lower face is fixedly connected with a lifting shell, the lifting enclosure interior is provided with a sealing space, the sealing space is internally provided with a sealing plate, the center position of the sealing plate lower face is fixedly connected with an axis rod, the lower end of the axis rod passes through the lower end wall of sealing space and is fixedly connected with a mechanical gripping means.In present invention work, device movement is more steady, and after gripping article, servo motor maintains always working condition, to avoid article from falling, reduces torque, protects the connection of bearing bar and supporting rod, anti-locking apparatus damage.

Description

A kind of robot servo driving equipment

Technical field

The present invention relates to servo-drive field, specially a kind of robot servo driving equipment.

Background technology

Currently, manufacturing industry is mostly assembly line transfer in the state procedure of item transfer, heavier article is all using dragon Gantry crane lifts, and above method for carrying is all more traditional, for removed article, and carries stroke and path suffers from fixation Requirement can not adapt to the manufacturing industry of fast transition at this stage using underaction, there has also been partial robotics to remove in the market Shipping unit, but be all transportation robot, there is defined stroke, it can not automatic loading and unloading article.

Invention content

It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of robot servo driving equipment Problem.

To achieve the above object, the present invention provides the following technical solutions：A kind of robot servo driving equipment, including balance The left and right ends of bottom plate, the balance bottom plate are symmetrically arranged with mobile device, and the mobile device includes support plate, the support Plate is fixedly connected on the end face of balance bottom plate, and the intermediate position of the balance bottom plate is provided with a driving space, the driving A driving motor is fixed on the inward bottom wall in space, the outer end of the driving motor is provided with a transmission shaft, the transmission shaft Far from balance bottom plate one end pass through driving space outer end wall and be fixedly connected with a driving turntable, the support plate it is front and back Both ends are symmetrically arranged with a limit space, and the limit space is internally provided with a limiting plate, in the limiting plate outer end face Connecting rod is fixedly connected at heart position, the one end of the connecting rod far from balance bottom plate passes through the outer end wall of limit space and consolidates Surely it is connected with a connection turntable, the front end of the connection turntable outer end face is provided with a swingle, the outer end point of the swingle It is not fixedly connected with the rear and front end rotary type of drive link, the front end of the driving turntable outer end face is provided with a rotating bar, institute The outer end for stating rotating bar is fixedly connected with the centre position rotary type of drive link, and the support plate outer sheath is carried out equipped with a movement Band, the mobile crawler belt are hinged with turntable is connect, and the rear end of the balance bottom plate upper surface is fixedly connected with a supporting rod, described Upper end inside supporting rod is provided with a rotation space, and a rotary electric machine is fixed on the lower end wall of the rotation space, described Rotary electric machine is fixedly connected with limited block by the motor mandrel of the upper end, and the center position of the limited block upper surface, which is fixed, to be connected It is connected to a reinforcement connecting rod, the upper end for reinforcing connecting rod, which passes through the upper end wall of rotation space and is fixedly connected with one, to be extended forward The front end of bearing bar, the bearing bar lower face is fixedly connected with a lifting shell, and it is close that the lifting enclosure interior is provided with one Space is sealed, the sealing space is internally provided with a sealing plate, and the center position of the sealing plate lower face is fixedly connected There are an axis rod, the lower end of the axis rod to pass through the lower end wall of sealing space and be fixedly connected with a mechanical gripping means, institute The upper and lower ends for stating sealing space aft bulkhead are respectively arranged with a upper connector and lower connector, the upper connector and lower connection Connecting hole and lower connecting hole are respectively arranged with inside pipe, the center position in the lifting housing rear end face is fixedly connected with one Hydraulic pump, the upper connecting hole and lower connecting hole are connected to hydraulic pump and sealing space, and the upper connecting hole and lower connecting hole Inside is both provided with an electrically-controlled valve, and the mechanical gripping means includes fixed shell, and the fixed enclosure interior is provided with a work Make space, the upper end of the working space aft bulkhead is provided with a slip draw-in groove for opening forward, the slip draw-in groove upper end wall Center position be fixed with a servo motor, the lower end be connected by power of the servo motor has a sliding screw, the sliding The lower end of lead screw is fixedly connected with the lower end wall rotary type of slip draw-in groove, and the sliding fluting is internally provided with a sliding fixture block, The sliding fixture block is connected by the threaded hole of its center position with sliding screw, and the front end of the sliding fixture block is located at In working space and be fixedly connected with a bilateral rack extended downwardly, the left and right ends of the bilateral rack be symmetrically arranged with Its transmission gear being connected, the center position of the transmission gear are fixedly connected with a transmission axle, the transmission axle Rear and front end is fixedly connected with the rear and front end wall rotary type of working space respectively, fixing sleeve on the rear side axis body of the transmission axle Equipped with a rotate gear, the lower end of the rotate gear is connected with the driving rack of a horizontal direction, the driving cog Lower face one end close to each other is fixedly connected with one and is slidably connected bar, and a left side is provided at the lower end wall of the working space The sliding channel of right direction, the sliding channel connection working space and free surrounding space, the lower end of the bar that is slidably connected pass through Sliding channel is simultaneously fixedly connected with a grip block, and the working space left hand end wall is symmetrically set at position corresponding with driving rack It is equipped with through hole, the through hole is connected to working space and free surrounding space, electronics control is installed on the rotary electric machine outer wall Control equipment, the control electronics and the rotary electric machine are electrically connected, and the control electronics are controlling described turn The velocity of rotation of dynamic motor, and then realize that controlling the motor mandrel by the rotary electric machine drives at the top of the reinforcement connecting rod The velocity of rotation of the bearing bar.

Preferably, the driving turntable and connection turntable center in the same horizontal line, and the swingle and turn The radius of turn of lever is identical.

Preferably, the intermediate bar body region of the supporting rod is provided with an annular slot, it is equipped in the annular slot One annular link block, the front end of the annular link block are fixedly connected with a force rod tilted upward, before the force rod End is fixedly connected among bearing bar on the lower face of the body of rod.

Preferably, the diameter of the rotate gear is much larger than the diameter of transmission gear, to reduce the upper of bilateral rack Lower operating range, while increase driving rack moves left and right distance.

Compared with prior art, the beneficial effects of the invention are as follows：In present invention work, driving motor work passes through transmission Axis drives driving turntable rotation, and when driving turntable rotates, rotating bar moves in a circle, and drives swingle to do simultaneously by drive link Circular motion drives mobile crawler belt to be rotated around support plate to make connection turntable rotate, and the displacement of realization device entirety moves Dynamic more steady, after being moved to designated position, rotary electric machine work drives limited block rotation, to drive by motor mandrel Bearing bar is rotated around supporting rod, and mechanical gripping means is made to be located at the surface of required gripping workpiece, at this point, hydraulic pump works, Under the cooperation of electrically-controlled valve, sealing plate is pushed to move down, meanwhile, servo motor work, sliding screw rotation is blocked by sliding Block drives bilateral rack to move down, and to drive the transmission gear of left and right ends to rotate in the opposite direction, passes through transmission axle Rotate gear rotation is driven, to drive grip block two end motion to the left and right respectively of left and right ends by driving rack, then Article is gripped, after gripping article, servo motor maintains always working condition, to avoid article from falling, wherein pass through stress Bar makes the stress distance of load-bearing rod rear end increase, and the equalization point of active force is made to become force rod and bearing bar from the upper end of supporting rod Junction, reduce torque, protect the connection of bearing bar and supporting rod, anti-locking apparatus damage, meanwhile, annular link block and ring The cooperating of shape card slot ensure that force rod can follow the rotation of bearing bar and rotate.

Description of the drawings

Fig. 1 is a kind of left view structural representation of robot servo driving equipment entirety complete section of the present invention；

Fig. 2 is the overlooking structure diagram of mobile device complete section in a kind of robot servo driving equipment of the present invention；

Fig. 3 is the main structure diagram of mechanical gripping means complete section in a kind of robot servo driving equipment of the present invention；

Fig. 4 is the left view structural representation of mechanical gripping means complete section in a kind of robot servo driving equipment of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

- 4 are please referred to Fig.1, a kind of embodiment provided by the invention：A kind of robot servo driving equipment, including balance bottom The left and right ends of plate 1, the balance bottom plate 1 are symmetrically arranged with mobile device 2, and the mobile device 2 includes support plate 3, described Support plate 3 is fixedly connected on the end face of balance bottom plate 1, and the intermediate position of the balance bottom plate 1 is provided with a driving space 4, It is fixed with a driving motor 5 on the inward bottom wall in the driving space 4, the outer end of the driving motor 5 is provided with a transmission shaft 6, the one end of the transmission shaft 6 far from balance bottom plate 1 passes through the outer end wall in driving space 4 and is fixedly connected with a driving turntable 7, The rear and front end of the support plate 3 is symmetrically arranged with a limit space 8, and the limit space 8 is internally provided with a limiting plate 9, The center position of 9 outer end face of the limiting plate is fixedly connected with connecting rod 10, and the connecting rod 10 is separate to balance the one of bottom plate 1 It holds the outer end wall across limit space 8 and is fixedly connected with a connection turntable 11, the front end of connection 11 outer end face of turntable is set It is equipped with a swingle 12, the outer end of the swingle 12 is fixedly connected with the rear and front end rotary type of drive link 13 respectively, described The front end of 7 outer end face of driving turntable is provided with a rotating bar 14, the centre position of the outer end and drive link 13 of the rotating bar 14 Rotary type is fixedly connected, and 3 outer sheath of the support plate is cut with scissors equipped with a movement crawler belt 15, the mobile crawler belt 15 with turntable 11 is connect It connects, the rear end of 1 upper surface of the balance bottom plate is fixedly connected with a supporting rod 16, and the upper end inside the supporting rod 16 is provided with One rotation space 17 is fixed with a rotary electric machine 18 on the lower end wall of the rotation space 17, and the rotary electric machine 18 passes through it The motor mandrel 19 of upper end is fixedly connected with limited block 20, and the center position of 20 upper surface of the limited block is fixedly connected with one and adds Strong connecting rod 21, the upper end for reinforcing connecting rod 21 pass through the upper end wall of rotation space 17 and be fixedly connected with one extend forward hold The front end of weight bar 22,22 lower face of the bearing bar is fixedly connected with a lifting shell 23,23 inside setting of the lifting shell There are a sealing space 24, the sealing space 24 to be internally provided with a sealing plate 25, the center of 25 lower face of the sealing plate An axis rod 26 is fixedly connected at position, the lower end of the axis rod 26 passes through the lower end wall of sealing space 24 and is fixedly connected There are a mechanical gripping means 27, the upper and lower ends of 24 aft bulkhead of the sealing space to be respectively arranged with a upper connector 28 and lower company Connecting hole 30 and lower connecting hole 31, the liter are respectively arranged with inside take over 29, the upper connector 28 and lower connector 29 The center position of drop 23 rear end face of shell is fixedly connected with a hydraulic pump 32, and the upper connecting hole 30 and lower connecting hole 31 connect Logical hydraulic pump 30 and sealing space 24, and it is both provided with an electrically-controlled valve 33, institute inside the upper connecting hole 30 and lower connecting hole 31 It includes fixed shell 34 to state mechanical gripping means 27, and the fixed shell 34 is internally provided with a working space 35, the work The upper end of 35 aft bulkhead of space is provided with a slip draw-in groove 36 for opening forward, the center of 36 upper end wall of the slip draw-in groove Place is fixed with a servo motor 37, and the lower end be connected by power of the servo motor 37 has a sliding screw 38, the sliding screw 38 lower end is fixedly connected with the lower end wall rotary type of slip draw-in groove 36, and the sliding fluting is internally provided with a sliding fixture block 39, the sliding fixture block 39 is connected by the threaded hole 40 of its center position with sliding screw 38, the sliding fixture block 39 front end is located in working space 35 and is fixedly connected with a bilateral rack 41 extended downwardly, a left side for the bilateral rack 41 Right both ends are symmetrically arranged with the transmission gear 42 being connected with it, and the center position of the transmission gear 42 is fixedly connected with The rear and front end of one transmission axle 43, the transmission axle 43 is fixedly connected with the rear and front end wall rotary type of working space 35 respectively, Fixing sleeve is equipped with a rotate gear 44 on the rear side axis body of the transmission axle 43, and the lower end of the rotate gear 44 is connected There are the driving rack 45 of a horizontal direction, 45 lower face of driving rack one end close to each other to be fixedly connected with sliding company Extension bar 46, the sliding channel 47 of a left and right directions is provided at the lower end wall of the working space 35, and the sliding channel 47 connects The lower end of logical working space 35 and free surrounding space, the bar 46 that is slidably connected passes through sliding channel 47 and is fixedly connected with a clamping Plate 48,35 left hand end wall of the working space is symmetrically arranged with through hole 49 at position corresponding with driving rack 45, described to pass through Through-hole 49 is connected to working space 35 and free surrounding space, and control electronics 181, institute are installed on 18 outer wall of the rotary electric machine It states control electronics 181 and the rotary electric machine 18 to be electrically connected, the control electronics 181 are controlling the rotation The velocity of rotation of motor 18, and then realize that controlling the motor mandrel 19 by the rotary electric machine 18 drives the reinforcement connecting rod 21 The velocity of rotation of the bearing bar 22 at top.

Valuably, the center of the driving turntable 7 and connection turntable 11 in the same horizontal line, and 12 He of the swingle The radius of turn of rotating bar 14 is identical.Its effect is that when driving turntable 7 rotates, rotating bar 14 moves in a circle, and passes through drive link 13 drive swingles 12 move in a circle simultaneously, to make connection turntable 11 rotate, mobile crawler belt 15 are driven to surround 3 turns of support plate Dynamic, the displacement of realization device entirety is mobile more steady.

Valuably, the intermediate bar body region of the supporting rod 16 is provided with an annular slot 161, and the annular slot is built-in There is an annular link block 162, the front end of the annular link block 161 is fixedly connected with a force rod 163 tilted upward, described The front end of force rod 163 is fixedly connected on the lower face of the 22 intermediate body of rod of bearing bar.Its effect is made by force rod 163 The stress distance of 22 rear end of bearing bar increases, and the equalization point of active force is made to be become force rod 163 from the upper end of supporting rod 16 and be held The junction of weight bar 22 reduces torque, and the connection of bearing bar 22 and supporting rod 16, anti-locking apparatus is protected to damage, meanwhile, annular The cooperating of link block 162 and annular slot 161 ensure that force rod 163 can follow the rotation of bearing bar 22 and rotate.

Valuably, the diameter of the rotate gear 44 is much larger than the diameter of transmission gear 42, to reduce bilateral rack 41 Up and down distance, while increase driving rack 45 moves left and right distance.

Specifically used mode：In present invention work, driving motor 5 works, and drives driving turntable 7 to rotate by transmission shaft 6, When driving turntable 7 rotates, rotating bar 14 moves in a circle, and drives swingle 12 to move in a circle simultaneously by drive link 13, from And connection turntable 11 is made to rotate, drive mobile crawler belt 15 to be rotated around support plate 3, the displacement of realization device entirety, movement is more Steadily, after being moved to designated position, rotary electric machine 18 works, and drives limited block 20 to rotate by motor mandrel 19, to drive Bearing bar 22 is rotated around supporting rod 16, so that mechanical gripping means 27 is located at the surface of required gripping workpiece, at this point, hydraulic pump 32 work push sealing plate 25 to move down under the cooperation of electrically-controlled valve 33, meanwhile, servo motor 37 works, sliding screw 38 Rotation drives bilateral rack 41 to move down by sliding fixture block 39, to drive the transmission gears 42 of left and right ends to opposite Direction rotate, by transmission axle 43 drive rotate gear 44 rotate, to pass through driving rack 45 drive left and right ends folder Two end motion to the left and right respectively of plate 48 is held, article is then gripped, after gripping article, servo motor 37 maintains always work shape State, to avoid article from falling, wherein make the stress distance of 22 rear end of bearing bar increase by force rod 163, make active force Equalization point is become the junction of force rod 163 and bearing bar 22 from the upper end of supporting rod 16, is reduced torque, is protected bearing bar 22 With the connection of supporting rod 16, anti-locking apparatus damages, meanwhile, the cooperating of annular link block 162 and annular slot 161 ensures Force rod 163 can follow the rotation of bearing bar 22 and rotate.

It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.

Claims (4)

1. a kind of robot servo driving equipment, including balance bottom plate, it is characterised in that：The left and right ends pair of the balance bottom plate Title is provided with mobile device, and the mobile device includes support plate, and the support plate is fixedly connected on the end face of balance bottom plate, The intermediate position of the balance bottom plate is provided with a driving space, and driving electricity is fixed on the inward bottom wall in the driving space The outer end of machine, the driving motor is provided with a transmission shaft, and the one end of the transmission shaft far from balance bottom plate passes through driving space Outer end wall and be fixedly connected with a driving turntable, the rear and front end of the support plate is symmetrically arranged with a limit space, described Limit space is internally provided with a limiting plate, and the center position of the limiting plate outer end face is fixedly connected with connecting rod, described The one end of connecting rod far from balance bottom plate passes through the outer end wall of limit space and is fixedly connected with a connection turntable, and the connection turns The front end of disk outer end face is provided with a swingle, and the outer end of the swingle is fixed with the rear and front end rotary type of drive link respectively Connection, the front end of the driving turntable outer end face is provided with a rotating bar, the outer end of the rotating bar and the interposition of drive link It sets rotary type to be fixedly connected, the support plate outer sheath is hinged equipped with a movement crawler belt, the mobile crawler belt with turntable is connect, institute The rear end for stating balance bottom plate upper surface is fixedly connected with a supporting rod, and the upper end inside the supporting rod is provided with rotation sky Between, a rotary electric machine is fixed on the lower end wall of the rotation space, the rotary electric machine is solid by the motor mandrel of the upper end Surely limited block is connected, the center position of the limited block upper surface is fixedly connected with a reinforcement connecting rod, the reinforcement connecting rod Upper end passes through the upper end wall of rotation space and is fixedly connected with a bearing bar extended forward, the front end of the bearing bar lower face It is fixedly connected with a lifting shell, the lifting enclosure interior is provided with a sealing space, the inside setting of the sealing space There are a sealing plate, the center position of the sealing plate lower face to be fixedly connected with an axis rod, the lower end of the axis rod is worn It crosses the lower end wall of sealing space and is fixedly connected with a mechanical gripping means, the upper and lower ends difference of the sealing space aft bulkhead It is provided with a upper connector and lower connector, connecting hole and lower company are respectively arranged with inside the upper connector and lower connector Hole is connect, the center position in the lifting housing rear end face is fixedly connected with a hydraulic pump, the upper connecting hole and lower connecting hole It is connected to hydraulic pump and sealing space, and an electrically-controlled valve, the machinery are both provided with inside the upper connecting hole and lower connecting hole Clamping device includes fixed shell, and the fixed enclosure interior is provided with a working space, the working space aft bulkhead it is upper End is provided with a slip draw-in groove for opening forward, and the center position of the slip draw-in groove upper end wall is fixed with a servo motor, The lower end be connected by power of the servo motor has a sliding screw, the lower end of the sliding screw and the lower end wall of slip draw-in groove to turn Dynamic formula is fixedly connected, and the sliding fluting is internally provided with a sliding fixture block, and the sliding fixture block passes through its center position Threaded hole and sliding screw are connected, and it is interior and be fixedly connected with one to downward that the front end of the sliding fixture block is located at working space The left and right ends of the bilateral rack stretched, the bilateral rack are symmetrically arranged with the transmission gear being connected with it, the transmission The center position of gear is fixedly connected with a transmission axle, and the rear and front end of the transmission axle is respectively with before and after working space two End wall rotary type is fixedly connected, and fixing sleeve is equipped with a rotate gear on the rear side axis body of the transmission axle, the rotate gear Lower end is connected with the driving rack of a horizontal direction, and driving rack lower face one end close to each other is fixedly connected There is one to be slidably connected bar, the sliding channel of a left and right directions, the sliding channel are provided at the lower end wall of the working space It is connected to working space and free surrounding space, the lower end of the bar that is slidably connected passes through sliding channel and is fixedly connected with a grip block, The working space left hand end wall is symmetrically arranged with through hole at position corresponding with driving rack, and the through hole is connected to work Make space and free surrounding space, be installed with control electronics on the rotary electric machine outer wall, the control electronics with it is described Rotary electric machine is electrically connected, and the control electronics are realized to control the velocity of rotation of the rotary electric machine by institute State the velocity of rotation that rotary electric machine controls the bearing bar that the motor mandrel drives at the top of the reinforcement connecting rod.

2. a kind of robot servo driving equipment according to claim 1, it is characterised in that：The driving turntable and connection In the same horizontal line, and the swingle is identical with the radius of turn of rotating bar at the center of turntable.

3. a kind of robot servo driving equipment according to claim 1, it is characterised in that：The intermediate bar of the supporting rod Body region is provided with an annular slot, consolidates equipped with an annular link block, the front end of the annular link block in the annular slot Surely it is connected with a force rod tilted upward, the front end of the force rod is fixedly connected on the lower face of the body of rod among bearing bar On.

4. a kind of robot servo driving equipment according to claim 1, it is characterised in that：The diameter of the rotate gear Much larger than the diameter of transmission gear, to reduce the up and down distance of bilateral rack, while the left and right for increasing driving rack is moved Dynamic distance.