CN113048210B - Structure module for multi-shaft transmission torque and push-pull force transmission - Google Patents
Structure module for multi-shaft transmission torque and push-pull force transmission Download PDFInfo
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- CN113048210B CN113048210B CN202110261510.4A CN202110261510A CN113048210B CN 113048210 B CN113048210 B CN 113048210B CN 202110261510 A CN202110261510 A CN 202110261510A CN 113048210 B CN113048210 B CN 113048210B
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- motor
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- pull force
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Abstract
The utility model provides a multi-axis transmission moment of torsion and push-pull force's structure module includes: the supporting pieces are supported by the supporting rods and are arranged in parallel; axial displacement mechanism, set up on support piece, include: a first motor; the lead screw is connected with the first motor; the first nut is connected with the screw rod in a threaded fit manner; the first sliding pipe is sleeved on the first nut; the first end cover shaft is connected with the first nut; a rotation mechanism disposed on the support, comprising: a second motor; the gear is connected with the second motor; the gear ring is connected with the gear in a matching way; the second sliding pipe is matched with the gear ring; the second nut is sleeved in the second sliding pipe; and a second end cap shaft connected with the second nut. The multi-shaft transmission device has the advantages of simple structure, convenience in operation and capability of simultaneously realizing multi-shaft transmission torque transmission and push-pull force transmission.
Description
Technical Field
The utility model belongs to machine-building and multi-axis drive structure field, concretely relates to multi-axis drive transmits structure module of moment of torsion and push-pull power.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The handheld operation power system has no other products than simple electric drills and other cutting tools in China at present. The limited reasons are that the size of the power transmission mechanism is large, the mechanism is complex, the precision requirement is high, and no effective structural form is realized. And large-scale surgical robot is bigger in size, with high costs, and the machine shifts with high costs, is unfavorable for portablely.
The common power module is large in size and inconvenient to hold and use. The common single-shaft transmission mode is mainly single transmission torque or thrust and tension, and the effect is single.
Disclosure of Invention
The utility model discloses in order to solve above-mentioned problem, provide a structure module of multiaxis transmission moment of torsion and push-and-pull power, this disclosure is in order to solve current power module bulky, handheld use inconvenient, be difficult to realize the multiaxis transmission and transmit moment of torsion and push-and-pull power's technical problem simultaneously.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a structural module for multi-axis transmission of torque and push-pull forces, comprising:
the supporting pieces are supported by the supporting rods and are arranged in parallel;
axial displacement mechanism, set up on support piece, include:
a first motor;
the lead screw is connected with the first motor;
the first nut is connected with the screw rod in a threaded fit manner;
the first sliding pipe is sleeved on the first nut; and
a first end cap shaft connected with the first nut;
a rotation mechanism disposed on the support, comprising:
a second motor;
the gear is connected with the second motor;
the gear ring is connected with the gear in a matching way;
the second sliding pipe is matched with the gear ring;
the second nut is sleeved in the second sliding pipe; and
the second end cover shaft is connected with the second nut;
the first motor drives the screw rod to rotate, and the screw rod drives the nut to move in the first sliding pipe so as to drive the first end cover shaft to move axially; the second motor drives the gear to rotate, the gear drives the gear ring to rotate, and the gear ring drives the second sliding pipe to rotate so as to drive the second end cover shaft to rotate.
In addition, the structural module for transmitting torque and push-pull force by multi-shaft transmission according to the embodiment of the present disclosure may have the following additional technical features:
preferably, the support member includes a first support member, a second support member, a third support member and a fourth support member.
Preferably, the first support member is provided with a conductive slip ring, and the conductive slip ring is connected with a second motor located at the center of the first support member.
Preferably, a first motor, a second motor and a support rod are arranged between the first support member and the second support member.
Preferably, a screw rod is arranged on the third supporting piece, and a nut and a sliding pipe are arranged between the third supporting piece and the fourth supporting piece.
Preferably, the first motor is connected with the lead screw through a coupler, the lead screw is in threaded fit with the nut, and the lead screw is matched with the support piece through a shaft sleeve.
Preferably, the nut slides relatively in the slide tube, and the motor is fixed on the support piece through a motor fixing frame.
Preferably, the rotating mechanism is located at the central axis of the support frame.
Preferably, one of the axial mechanisms is located centrally and axially on the support and the others are arranged in a matrix around the axis of the support.
Preferably, the lead screw at the central axis of the support is both rotatable about the axis and moveable along the axis.
Compared with the prior art, the beneficial effect of this disclosure is:
the first motor is connected with the first lead screw through the coupling, the first nut is arranged in the square sliding pipe, is in threaded connection with the first lead screw and is fixedly connected with the first end cover shaft, and the first end cover shaft is driven to move axially through the rotation of the first motor. The second motor is arranged, a second motor power supply is provided through the conductive sliding ring and serves as a rear shaft sleeve of the rotating mechanism assembly, the front side assembly limits axial movement through the shaft sleeve, the rotating action of the second end cover shaft provides power through the second motor to drive the gear to rotate, and the gear is matched with the gear ring for transmission. The integrated design reduces the number of parts, and has compact structure and small volume. The overall structure design improves the stability of the product. And multi-shaft transmission is realized, and single-shaft transmission of torque, thrust and tension is realized. The miniaturization of the transmission module is realized; the output of a plurality of transmission shafts with small space is realized; a method for realizing a transmission mechanism with a single shaft capable of simultaneously transmitting torque and pulling and pushing force.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic structural diagram of a multi-axis transmission torque and push-pull force transmitting structural module of the present disclosure;
FIG. 2 is an exploded elevation view of a multi-axis transmission transmitting torque and push-pull force structural modules of the present disclosure;
FIG. 3 is a front view of the structural modules of the multi-axis transmission of the present disclosure transmitting torque and push-pull forces;
FIG. 4 is an exploded side view of the structural module of the multi-axis transmission of the present disclosure transmitting torque and push-pull forces;
FIG. 5 is a partial view of the structural modules of the multi-axis transmission of the present disclosure transmitting torque and push-pull forces;
FIG. 6 is a cross-sectional view of a structural module of the multi-axis transmission of the present disclosure transmitting torque and push-pull forces;
FIG. 7 is a partial structural view of the structural module of the multi-axis transmission of the present disclosure transmitting torque and push-pull forces;
fig. 8 is a cross-sectional structural view of the disclosed multi-axis transmission structural module transmitting torque and push-pull force.
Description of reference numerals:
in fig. 1-8, a first support 1; a support rod 2; a first motor 3; a second support 4; a gear 5; a third support 6; a fourth support 7; a square sliding pipe 8; a motor bracket 9; a retainer ring 10; a second motor 11; a conductive slip ring 12; a ring gear 13; a motor mount 14; a first lead screw 15; a second lead screw 16; a first bushing 17; a first nut 18; a second nut 19; a second bushing 20; a first end cap shaft 21; a second end cap shaft 22; a rear cover 23; a front cover 24; a coupling 25; a third hub 26.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
1-8, a multi-axis transmission transmits torque and push-pull forces comprising: the supporting pieces are supported by the supporting rods 2 and are arranged in parallel; axial displacement mechanism, set up on support piece, include: a first motor 3; the lead screw is connected with the first motor 3; the first nut 18 is connected with the lead screw in a threaded fit manner; the first sliding pipe 8 is sleeved on the first nut 18; and a first end cap shaft 21 connected to the first nut 18; a rotation mechanism disposed on the support, comprising: a second motor 11; the gear 5 is connected with the second motor 11; the gear ring 13 is connected with the gear 5 in a matching way; the second sliding pipe 8 is matched with the gear ring 13; the second nut 19 is sleeved in the second sliding pipe 8; and a second end cap shaft 22 connected to the second nut 19; wherein, the first motor 3 drives the screw rod to rotate, and the screw rod drives the nut to move in the first sliding pipe 8 so as to drive the first end cover shaft 21 to move axially; the second motor 11 drives the gear 5 to rotate, the gear 5 drives the gear ring 13 to rotate, and the gear ring 13 drives the second sliding pipe 8 to rotate so as to drive the second end cover shaft 22 to rotate.
The first motor 3 is connected with the first lead screw 15 through a coupling, the first nut 18 is arranged in the square sliding tube 8, is in threaded connection with the first lead screw and is fixedly connected with the first end cover shaft 21, and the first end cover shaft 21 is driven to axially move by the rotation of the first motor 3. The rotary mechanism component comprises a connecting rod shaft, a motor fixing frame 14, a second motor 11, a motor support 9, a gear ring 13, a coupler 25, a second lead screw 16, a baffle ring 10, a shaft sleeve, a square sliding pipe 8, a rear sleeve 23, a square sliding pipe 8 nut, a second end cover shaft 22 and a front sleeve 24, wherein the square sliding pipe 8 is connected with the front sleeve 24.
The power supply of the second motor 11 is provided through the conductive slip ring 12 and serves as a rear shaft sleeve of the rotating mechanism assembly, the front side assembly limits axial movement through the shaft sleeve, the rotating action of the second end cover shaft 22 is realized by driving the gear 5 to rotate through the power provided by the second motor 11, and the gear 5 and the gear ring 13 are in matched transmission.
The supports include a first support 1, a second support 4, a third support 6 and a fourth support 7. The first support 1 is provided with a conductive slip ring 12, and the conductive slip ring 12 is connected with a second motor 11 located at the center of the first support 1. A first motor 3, a second motor 11 and a support rod 2 are arranged between the first support member 1 and the second support member 4. A screw rod is arranged on the third supporting piece 6, and a nut and a sliding pipe 8 are arranged between the third supporting piece 6 and the fourth supporting piece 7.
The first motor 3 is connected with the lead screw through a coupler 25, the lead screw is in threaded fit with the nut, and the lead screw is matched with the supporting piece through a shaft sleeve. The nut slides relatively in the slide tube 8, and the motor is fixed on the support piece through a motor fixing frame 14. The rotating mechanism is positioned on the central axis of the support frame. The axial mechanisms, one of which is located axially at the center of the support and the others are arranged in a matrix around the axis of the support. A lead screw located at the central axis of the support is both rotatable about the axis and moveable along the axis.
This patent integrated form design has reduced part quantity, compact structure, small. The overall structure design improves the stability of the product. And multi-shaft transmission is realized, and single-shaft transmission of torque, thrust and tension is realized. The miniaturization of the transmission module is realized; the output of a plurality of transmission shafts with small space is realized; a method for realizing a transmission mechanism with a single shaft capable of simultaneously transmitting torque and pulling and pushing force.
The first support member 1, the second support member 4, the third support member 6 and the fourth support member 7 are arranged in parallel at a short distance, each support member is supported and connected through a support rod 2, the support members are disc-shaped and are fixed between the support rods 2 and the support members through studs to form a support framework, wherein a conductive slip ring 12 is fixed on the first support member 1 through threads, the conductive slip ring 12 is connected with a second motor 11, the second motor 11 is fixed between the first support member 1 and the second support member 4, a rotating shaft of the second motor 11 is connected with a coupler 25, the second motor 11 is connected with a gear 5 through the coupler 25, the arrangement of the second motor 11 is realized for realizing the rotation motion of a second end cover shaft 22, the second motor 11 drives teeth to rotate, the gear 5 is meshed with the gear ring 13 to further drive the gear ring 13 to rotate, and the gear ring 13 is fixedly connected with a second slip pipe 8, and then drive the second slip pipe 8 and rotate, the rotation of the second slip pipe 8 drives the rotation of second nut 19, second nut 19 is connected with second end cap axle 22 and consequently can drive second end cap axle 22 and rotate, wherein slip pipe 8 and nut are all square, and establish clearance fit setting for the cover, consequently not only can realize that the nut can slide in slip pipe 8, and can realize that slip pipe 8 drives the nut and rotate, it can realize axial displacement, can realize the axis rotation again, it is really because the two is square, and the cover is established and is set up and be realized.
The motor only realizing the axis movement is the first motor 3, the lead screw is the first lead screw 15, the nut is the first nut 18, the end cover shaft is the first end cover shaft 21, wherein the first motor 3, the first lead screw 15, the first nut 18 and the first end cover shaft 21 can be arranged around multiple shafts in a matrix manner, the end of the end cover shaft is connected with a surgical knife to realize the axial movement, and further realize the cutting by stretching and pulling, wherein the first motor 3 rotates to drive the first lead screw 15 to rotate, the first lead screw 15 rotates to drive the first nut 18 to move in the first sliding pipe 8 along the sliding pipe 8, and further drive the first end cover shaft 21 to move to drive the surgical knife to cut, the multiple shafts are arranged, the multiple shafts work together, and the synchronous operation of the multiple shafts is realized.
The gear 5 is arranged to realize transmission, the square sliding pipe 8 is arranged to play a role of a guide rail, the gear ring 13 is arranged to realize transmission, the motor fixing frame 14 is arranged to support the motor, the first lead screw 15 and the second lead screw 16 are arranged to realize linear motion of an axis, the first nut 18 and the second nut 19 are arranged to realize axis movement, the front sleeve 24, the rear sleeve 23 and the shaft sleeve are arranged to realize matching with the support piece, and the shaft coupler 25 is arranged to realize connection between shafts.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (9)
1. A multi-axis transmission transmits torque and push-pull force's structure module, its characterized in that includes:
the supporting pieces are supported by the supporting rods and are arranged in parallel;
axial displacement mechanism, set up on support piece, include:
a first motor;
the lead screw is connected with the first motor;
the first nut is connected with the screw rod in a threaded fit manner;
the first sliding pipe is sleeved on the first nut; and
a first end cap shaft connected with the first nut;
a rotation mechanism disposed on the support, comprising:
a second motor;
the gear is connected with the second motor;
the gear ring is connected with the gear in a matching way;
the second sliding pipe is matched with the gear ring;
the second nut is sleeved in the second sliding pipe; and
the second end cover shaft is connected with the second nut;
the first motor drives the screw rod to rotate, and the screw rod drives the first nut to move in the first sliding pipe so as to drive the first end cover shaft to move axially; the second motor drives the gear to rotate, the gear drives the gear ring to rotate, and the gear ring drives the second sliding pipe to rotate so as to drive the second end cover shaft to rotate.
2. The multi-axis drive transmission torque and push-pull force structural module of claim 1, wherein the support members comprise a first support member, a second support member, a third support member, and a fourth support member.
3. The multi-axis drive torque and push-pull force transfer structural module of claim 2, wherein the first support member has an electrically conductive slip ring coupled to a second motor located centrally on the first support member.
4. The multi-axis drive structural module for transmitting torque and push-pull force as claimed in claim 2, wherein a first motor, a second motor and a support rod are provided between the first support and the second support.
5. The multi-axis drive structural module for transmitting torque and push-pull force as claimed in claim 2, wherein a lead screw is provided on the third support member, and a nut and a slide tube are provided between the third support member and the fourth support member.
6. The multi-axis transmission structural module for transmitting torque and push-pull force as claimed in claim 1, wherein the first motor is connected with a lead screw through a coupling, the lead screw is in threaded fit with a first nut, and the lead screw is in fit with a support through a bushing.
7. The multi-axis drive structural module for transmitting torque and push-pull force as claimed in claim 1, wherein the first nut slides relatively in a first slide tube and the second nut slides relatively in a second slide tube, and the motor is fixed to the support member by a motor fixing bracket.
8. The multi-axis drive torque and push-pull force transmitting structural module of claim 1, wherein the rotation mechanism is located at a central axis of the support frame.
9. A multi-axis drive torque transmitting and push-pull force structural module as claimed in claim 1, wherein the axial mechanisms are arranged with one at a central axial position of the support and the others in a matrix around the support axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261510.4A CN113048210B (en) | 2021-03-10 | 2021-03-10 | Structure module for multi-shaft transmission torque and push-pull force transmission |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261510.4A CN113048210B (en) | 2021-03-10 | 2021-03-10 | Structure module for multi-shaft transmission torque and push-pull force transmission |
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| Publication Number | Publication Date |
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| CN113048210A CN113048210A (en) | 2021-06-29 |
| CN113048210B true CN113048210B (en) | 2022-03-15 |
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| CN202110261510.4A Active CN113048210B (en) | 2021-03-10 | 2021-03-10 | Structure module for multi-shaft transmission torque and push-pull force transmission |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113389879B (en) * | 2021-07-28 | 2022-05-03 | 东莞市勃航传动科技有限公司 | Precise motor gear box transmission device |
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| JP2021023080A (en) * | 2019-07-30 | 2021-02-18 | 日本電産コパル株式会社 | Geared motor |
| CN112401944A (en) * | 2020-10-14 | 2021-02-26 | 极限人工智能有限公司 | Minimally invasive surgery device |
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| US9844368B2 (en) * | 2013-04-16 | 2017-12-19 | Ethicon Llc | Surgical system comprising first and second drive systems |
| SI3219283T1 (en) * | 2016-03-09 | 2021-04-30 | Memic Innovative Surgery Ltd. | Modular surgical device comprising mechanical arms |
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| CN101700656A (en) * | 2009-10-21 | 2010-05-05 | 昆山市工业技术研究院有限责任公司 | Surgical mechanical arm joint hydraulic locking power generator |
| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
| CN106321770A (en) * | 2016-08-26 | 2017-01-11 | 西北工业大学 | Dual-redundancy electric steering engine |
| EP3468009A1 (en) * | 2017-10-06 | 2019-04-10 | Memotec GmbH & Co. KG | Rotation stroke module for the rotation and/or linear movement of a work element |
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