CN113231961A - Multi-shaft plate spring transmission structure - Google Patents
Multi-shaft plate spring transmission structure Download PDFInfo
- Publication number
- CN113231961A CN113231961A CN202110407827.4A CN202110407827A CN113231961A CN 113231961 A CN113231961 A CN 113231961A CN 202110407827 A CN202110407827 A CN 202110407827A CN 113231961 A CN113231961 A CN 113231961A
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- Prior art keywords
- leaf spring
- transmission
- rigid plate
- control unit
- plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
- B24B41/042—Balancing mechanisms
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
Abstract
The invention relates to a multi-shaft transmission mechanism, in particular to a multi-shaft plate spring transmission structure which comprises a transverse transmission plate group, a longitudinal transmission plate group, a vertical transmission plate group, a first connecting block, a second connecting block, a transverse motion control unit, a longitudinal motion control unit and a vertical motion control unit, wherein the transverse transmission plate group is connected with the longitudinal transmission plate group through the first connecting block, and the longitudinal transmission plate group is connected with the vertical transmission plate group through the second connecting block. According to the invention, through the plurality of groups of transmission plate groups connected in series, spatial overlapping arrangement of multi-axis offset transmission is realized, transmission space is effectively saved, and the device is suitable for application occasions of micro-motion transmission; meanwhile, the transmission structure adopted by the invention relays acting force through the nested transmission plate group, and elastic connection is realized through the elastic plate spring connected with the transmission structure, so that the transmission effect of the multi-shaft plate spring is realized together.
Description
Technical Field
The invention relates to a multi-shaft transmission mechanism, in particular to a multi-shaft plate spring transmission structure.
Background
In the field of machining, with the continuous development of automation technology, the robot technology is widely used in various production links. In the production process, the end effector of the robot or the mechanical arm generally needs to meet the working requirements under various different working conditions, in general, after an engineer selects a universal mechanical arm with a certain type of technical parameters, the end effector needs to be designed and selected in a targeted manner, in some specific production environments, such as robot polishing equipment, a multi-shaft buffer transmission structure is needed to counteract the influence of forces in different directions and postures, or the force action at the front end is transmitted, and a micro-motion type multi-freedom plate spring type transmission structure with a compact spatial layout is urgently needed.
The invention patent (CN109773654A) discloses an omnibearing floating polishing spindle device, which comprises a fixed shell, wherein an axial floating shell is arranged in the fixed shell, the axial floating shell is elastically connected with the inner top wall of the fixed shell through an axial floating spring, one end of the axial floating shell is fixedly connected with a joint bearing, the inner side wall of the joint bearing is fixedly connected with a spindle motor, and the other end of the spindle motor is fixedly connected with a polishing tool. Therefore, the invention adopts a spring mechanical floating structure to realize the radial and axial omnibearing floating of the main shaft so as to avoid damaging a workpiece or a cutter.
The Chinese invention patent (CN112059904A) discloses a floating spindle, which comprises an installation mechanism and a swinging mechanism, wherein the installation mechanism and the swinging mechanism are both in a circular ring shape, the installation mechanism is used for being coaxially installed on a spindle flange, the swinging mechanism is used for being in swinging connection with one side of the installation mechanism, which is far away from the spindle flange, the swinging mechanism and the installation mechanism are coaxially distributed, a grinding device is used for being coaxially installed on one side of the swinging mechanism, which is far away from the installation mechanism, and the grinding device can drive the swinging mechanism to swing relative to the installation mechanism under the action of external force. Therefore, the grinding device can float in the grinding process and swing along the outline of the workpiece.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-shaft plate spring transmission structure aiming at the defects of the prior art.
The invention discloses a multi-shaft plate spring transmission structure, which comprises a transverse transmission plate group, a longitudinal transmission plate group, a vertical transmission plate group, a first connecting block, a second connecting block, a transverse motion control unit, a longitudinal motion control unit and a vertical motion control unit, wherein the transverse transmission plate group is connected with the longitudinal transmission plate group through the first connecting block, the longitudinal transmission plate group is connected with the vertical transmission plate group through the second connecting block, the transverse motion control unit, the longitudinal motion control unit and the vertical motion control unit are respectively arranged in the transverse transmission plate group, the longitudinal transmission plate group and the vertical transmission plate group, and are respectively used for driving and/or detecting relative motion parameters in the plate groups in corresponding directions, the transverse motion control unit, the longitudinal motion control unit and the vertical motion control unit all comprise motor transmission devices.
Further, horizontal transmission plate group includes rigid plate, lower rigid plate, left leaf spring and right leaf spring, go up the rigid plate and set up with rigid plate upper and lower parallel relatively, it is the I shape wide board with lower rigid plate to go up the rigid plate, it is connected with respectively with rigid plate left and right sides down left side leaf spring and right leaf spring to go up the rigid plate and down the accessible between the rigid plate left side leaf spring and right leaf spring's elastic connection effect and produce the horizontal relative motion of left and right directions.
Further, the transverse motion control unit is connected between the upper rigid plate and the lower rigid plate.
Further, vertical driving plate group includes left rigidity board, right rigidity board, preceding leaf spring and back leaf spring, the parallel relative setting in the left and right sides of left side rigidity board and right rigidity board, left side rigidity board and right rigidity board are the I shape broad slab, both sides are connected with respectively around left side rigidity board and the right rigidity board preceding leaf spring and back leaf spring, accessible between left side rigidity board and the right rigidity board the elastic connection effect of preceding leaf spring and back leaf spring and the vertical relative motion of direction around producing.
Further, the longitudinal motion control unit is connected between the left rigid plate and the right rigid plate.
Further, vertical drive plate group includes preceding rigid plate, back rigid plate, goes up leaf spring and leaf spring down, preceding rigid plate and back rigid plate parallel relative setting around, preceding rigid plate and back rigid plate are the I shape broad slab, preceding rigid plate and back rigid plate upper and lower both sides are connected with respectively go up leaf spring and lower leaf spring, the accessible between preceding rigid plate and the back rigid plate go up the elastic connection effect of leaf spring and leaf spring down and produce the vertical relative motion of direction from top to bottom.
Further, the vertical motion control unit is connected between the front rigid plate and the rear rigid plate.
Further, motor drive is used for the conversion of signal of telecommunication and motion signal, motor drive's outer end is connected with transmission coupling assembling, transmission coupling assembling is used for the transmission process of motion signal.
Further, the transverse transmission plate group, the longitudinal transmission plate group and the vertical transmission plate group form an I-shaped nested three-dimensional symmetrical six-sided structure through rigid connection of the first connecting block and the second connecting block.
Compared with the prior art, the invention has the following advantages:
according to the invention, through the plurality of groups of transmission plate groups connected in series, spatial overlapping arrangement of multi-axis offset transmission is realized, transmission space is effectively saved, and the device is suitable for application occasions of micro-motion transmission; meanwhile, the transmission structure adopted by the invention relays acting force through the nested transmission plate group, and realizes elastic connection through the elastic plate spring connected with the transmission structure, so that the transmission effect of the multi-shaft plate spring is realized together.
Drawings
FIG. 1 is a schematic view of the overall external structure of the present invention;
FIG. 2 is a schematic structural view of FIG. 1 with the front rigid plate 31 and the front leaf spring 23 removed;
fig. 3 is a schematic structural view of fig. 2 with the lateral motion control unit 6, the longitudinal motion control unit 7, and the vertical motion control unit 8 removed;
fig. 4 is a schematic view of the installation structure of the longitudinal motion control unit 7 on the longitudinal transmission plate group 2;
1-a transverse transmission plate group, 11-an upper rigid plate, 12-a lower rigid plate, 13-a left plate spring, 14-a right plate spring, 2-a longitudinal transmission plate group, 21-a left rigid plate, 22-a right rigid plate, 23-a front plate spring, 24-a rear plate spring, 3-a vertical transmission plate group, 31-a front rigid plate, 32-a rear rigid plate, 33-an upper plate spring, 34-a lower plate spring, 4-a first connecting block, 5-a second connecting block, 6-a transverse motion control unit, 7-a longitudinal motion control unit, 8-a vertical motion control unit, 9-a motor transmission device and 91-a transmission connecting assembly.
Detailed Description
As shown in fig. 1-4, the invention discloses a multi-axis plate spring transmission structure, which includes a transverse transmission plate group 1, a longitudinal transmission plate group 2, a vertical transmission plate group 3, a first connecting block 4, a second connecting block 5, a transverse motion control unit 6, a longitudinal motion control unit 7 and a vertical motion control unit 8, wherein the transverse transmission plate group 1 is connected with the longitudinal transmission plate group 2 through the first connecting block 4, the longitudinal transmission plate group 2 is connected with the vertical transmission plate group 3 through the second connecting block 5, the transverse motion control unit 6, the longitudinal motion control unit 7 and the vertical motion control unit 8 are respectively arranged in the transverse transmission plate group 1, the longitudinal transmission plate group 2 and the vertical transmission plate group 3, the transverse motion control unit 6, the longitudinal motion control unit 7 and the vertical motion control unit 8 are respectively used for driving and/or detecting relative motion parameters in each corresponding direction plate group, the transverse motion control unit 6, the longitudinal motion control unit 7 and the vertical motion control unit 8 all comprise a motor transmission device 9, and the vertical motion control unit 8 is connected between the front rigid plate 31 and the rear rigid plate 32. Motor drive 9 is used for the conversion of signal of telecommunication and motion signal, motor drive 9's outer end is connected with transmission coupling assembling 91, transmission coupling assembling 91 is used for motion signal's transmission process. The transverse transmission plate group 1, the longitudinal transmission plate group 2 and the vertical transmission plate group 3 form an I-shaped nested three-dimensional symmetrical six-sided structure through rigid connection of the first connecting block 4 and the second connecting block 5.
Specifically, the transverse transmission plate group 1 includes an upper rigid plate 11, a lower rigid plate 12, a left plate spring 13 and a right plate spring 14, the upper rigid plate 11 and the lower rigid plate 12 are disposed in parallel and opposite up and down, the upper rigid plate 11 and the lower rigid plate 12 are both i-shaped wide plates, the left plate spring 13 and the right plate spring 14 are respectively connected to the left side and the right side of the upper rigid plate 11 and the lower rigid plate 12, and a transverse relative motion in the left-right direction can be generated between the upper rigid plate 11 and the lower rigid plate 12 through the elastic connection effect of the left plate spring 13 and the right plate spring 14. The transverse motion control unit 6 is connected between the upper rigid plate 11 and the lower rigid plate 12; the longitudinal transmission plate group 2 comprises a left rigid plate 21, a right rigid plate 22, a front plate spring 23 and a rear plate spring 24, the left rigid plate 21 and the right rigid plate 22 are arranged in parallel and oppositely, the left rigid plate 21 and the right rigid plate 22 are I-shaped wide plates, the front plate spring 23 and the rear plate spring 24 are respectively connected to the front side and the rear side of the left rigid plate 21 and the right rigid plate 22, and longitudinal relative movement in the front-rear direction can be generated between the left rigid plate 21 and the right rigid plate 22 through the elastic connection effect of the front plate spring 23 and the rear plate spring 24. The longitudinal motion control unit 7 is connected between the left rigid plate 21 and the right rigid plate 22; the vertical transmission plate group 3 comprises a front rigid plate 31, a rear rigid plate 32, an upper plate spring 33 and a lower plate spring 34, wherein the front rigid plate 31 and the rear rigid plate 32 are arranged in parallel and oppositely in front and rear directions, the front rigid plate 31 and the rear rigid plate 32 are both I-shaped wide plates, the upper plate spring 33 and the lower plate spring 34 are respectively connected to the upper side and the lower side of the front rigid plate 31 and the lower side of the rear rigid plate 32, and vertical relative motion in the vertical direction can be generated between the front rigid plate 31 and the rear rigid plate 32 through the elastic connection effect of the upper plate spring 33 and the lower plate spring 34. For those skilled in the art, the transverse motion control unit 6, the longitudinal motion control unit 7, and the vertical motion control unit 8 can be set to an active driving mode as required, that is, the motor transmission device 9 is set to be a driving motor, so that displacement driving is realized under the engagement action with the transmission connection assembly 91, and control motion processes in three directions are generated by utilizing superposition of motions. Specifically, the transmission connection assembly 91 may be selected from different devices according to specific situations and characteristics, such as a rack gear, a rope rolling driving device, and the like.
In practical application, the lateral motion control unit 6, the longitudinal motion control unit 7 and the vertical motion control unit 8 can also be set to be in a passive detection mode, that is, the motor driving unit is set to be a detection motor for converting motion parameters into electric signals to realize real-time detection of motion parameters, the lower rigid plate 12 can be used as an input end of force, the front rigid plate 31 can be used as an output end of force, specifically, a working device can be connected to the output end of force, a positioning and holding device is connected to the input end of force, the lower rigid plate 12 can transmit left and right force action through the left plate spring 13 and the right plate spring 14, relative displacement motion can be generated between the upper rigid plate 11 and the lower rigid plate 12, if the lateral motion control unit 6 is set to be in a detection mode, the motor transmission device 9 arranged inside the lower rigid plate 12 can convert the detected motion into electric signals, so as to reflect the relative displacement motion parameters between the upper rigid plate 11 and the lower rigid plate 12 in real time, meanwhile, as the first connecting block 4 connects the transverse transmission plate group 1 and the longitudinal transmission plate group 2 together, specifically, the first connecting block 4 can be arranged above the middle part of the right rigid plate 22 and above the right side of the upper rigid plate 11 and welded into a whole, so that the upper rigid plate 11 can transmit the transverse motion to the right rigid plate 22, the right rigid plate 22 transmits the motion to the left rigid plate 21 through the front plate spring 23 and the rear plate spring 24, the left rigid plate 21 generates relative displacement motion in the front-back direction relative to the right rigid plate 22, according to the motion synthesis principle, the left rigid plate 21 can generate relative displacement in the transverse direction and the longitudinal direction relative to the lower rigid plate 12, and similarly, when the longitudinal motion control unit 7 is set to be in a detection mode, the motor transmission device 9 arranged inside can convert the detected motion into an electric signal, so as to reflect the relative displacement motion parameter between the left rigid plate 21 and the right rigid plate 22 in real time, in conclusion, the motion parameters in two motion directions can be obtained, the second connecting block 5 connects the longitudinal transmission plate group 2 and the vertical transmission plate group 3 together, and specifically, the second connecting block 5 can be arranged behind the right side of the left rigid plate 21 and in the middle of the right side of the rear rigid plate 32 and welded into a whole, so that the left rigid plate 21 and the rear rigid plate 32 move synchronously, the motion is transmitted to the rear rigid plate 32, the rear rigid plate 32 is connected with the front rigid plate 31 through the upper plate spring 33 and the lower plate spring 34 on the upper and lower sides, so that the up-and-down relative motion is generated, and finally, the relative motion in three directions is output through the front rigid plate 31. The occupied space of each plate group is used as a space carrier for force transmission in an overlapped mode, so that the effective space is greatly utilized, and the device has the advantages of being compact in structure and ingenious in design.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. Multiaxis leaf spring transmission structure, its characterized in that: comprises a transverse transmission plate group, a longitudinal transmission plate group, a vertical transmission plate group, a first connecting block, a second connecting block, a transverse motion control unit, a longitudinal motion control unit and a vertical motion control unit, the transverse transmission plate group is connected with the longitudinal transmission plate group through the first connecting block, the longitudinal transmission plate group is connected with the vertical transmission plate group through the second connecting block, the transverse motion control unit, the longitudinal motion control unit and the vertical motion control unit are respectively arranged in the transverse transmission plate group, the longitudinal transmission plate group and the vertical transmission plate group, the transverse motion control unit, the longitudinal motion control unit and the vertical motion control unit are respectively used for driving and/or detecting relative motion parameters in the corresponding direction plate groups, the transverse motion control unit, the longitudinal motion control unit and the vertical motion control unit all comprise motor transmission devices.
2. The multi-axis leaf spring drive structure of claim 1, wherein: horizontal transmission plate group includes rigid plate, lower rigid plate, left leaf spring and right leaf spring, go up the rigid plate and set up with rigid plate upper and lower parallel relatively, it is I shape wide board with lower rigid plate to go up the rigid plate, it is connected with respectively with lower rigid plate left and right sides left side leaf spring and right leaf spring to go up the rigid plate and down the accessible between the rigid plate left side leaf spring and right leaf spring's elastic connection effect and produce the horizontal relative motion of left and right directions.
3. The multi-axis leaf spring drive structure of claim 2, wherein: the transverse motion control unit is connected between the upper rigid plate and the lower rigid plate.
4. The multi-axis leaf spring drive structure of claim 1, wherein: vertical driving plate group includes left rigidity board, right rigidity board, preceding leaf spring and back leaf spring, the parallel relative setting in the left and right sides of left side rigidity board and right rigidity board, left side rigidity board and right rigidity board are the I shape broad slab, both sides are connected with respectively around left side rigidity board and the right rigidity board preceding leaf spring and back leaf spring, accessible between left side rigidity board and the right rigidity board the elastic connection effect of preceding leaf spring and back leaf spring and the vertical relative motion of direction around producing.
5. The multi-axis leaf spring drive structure of claim 4, wherein: the longitudinal motion control unit is connected between the left rigid plate and the right rigid plate.
6. The multi-axis leaf spring drive structure of claim 1, wherein: vertical drive plate group includes preceding rigid plate, back rigid plate, goes up leaf spring and leaf spring down, preceding rigid plate and back rigid plate parallel relative setting around, preceding rigid plate and back rigid plate are the I shape wide plate, both sides are connected with respectively about preceding rigid plate and the back rigid plate go up leaf spring and leaf spring down, accessible between preceding rigid plate and the back rigid plate go up the vertical relative motion of direction about the elastic connection effect of leaf spring and leaf spring down and produce.
7. The multi-axis leaf spring drive structure of claim 6, wherein: the vertical motion control unit is connected between the front rigid plate and the rear rigid plate.
8. The multi-axis leaf spring drive structure of claim 1, wherein: the motor drive is used for the conversion of signal of telecommunication and motion signal, motor drive's outer end is connected with transmission coupling assembling, transmission coupling assembling is used for motion signal's transmission process.
9. The multi-axis leaf spring drive structure of claim 1, wherein: the transverse transmission plate group, the longitudinal transmission plate group and the vertical transmission plate group form an I-shaped nested three-dimensional symmetrical six-sided structure through rigid connection of the first connecting block and the second connecting block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110407827.4A CN113231961B (en) | 2021-04-15 | 2021-04-15 | Multi-shaft plate spring transmission structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110407827.4A CN113231961B (en) | 2021-04-15 | 2021-04-15 | Multi-shaft plate spring transmission structure |
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| CN113231961A true CN113231961A (en) | 2021-08-10 |
| CN113231961B CN113231961B (en) | 2022-08-12 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT257286B (en) * | 1965-08-30 | 1967-09-25 | Wild Heerbrugg Ag | Pivot bearing |
| GB8515363D0 (en) * | 1984-06-26 | 1985-07-17 | Deutsche Forsch Luft Raumfahrt | Positioning articles |
| DE102008037930A1 (en) * | 2008-08-14 | 2010-02-25 | Linus Valentin Grunert | Controllable ball-joint for e.g. robot, has artificial muscles i.e. actuators, provided between joint parts, where muscles are hydraulically, electrical, pneumatic driven and part of muscles are replaced by spring element |
| WO2011138378A1 (en) * | 2010-05-07 | 2011-11-10 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Flexible joint with a wide range of movement and robotized kinematic assembly comprising such a joint |
| CN105835084A (en) * | 2015-12-31 | 2016-08-10 | 广东工业大学 | Rigidity-adjustable multi-dimensional passive compliance device |
| CN107186750A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | The flat spring compliant wrist of manipulator |
| CN108050151A (en) * | 2018-01-24 | 2018-05-18 | 南京航空航天大学 | A kind of ball chain based on biorthogonal elastic spring |
| CN109773659A (en) * | 2019-02-25 | 2019-05-21 | 华中科技大学 | A kind of antioverloading intelligent Force control grinding and polishing apparatus and grinding and polishing robot |
| CN110744584A (en) * | 2019-11-29 | 2020-02-04 | 河北工业大学 | Flexible active-passive variable stiffness joint |
-
2021
- 2021-04-15 CN CN202110407827.4A patent/CN113231961B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT257286B (en) * | 1965-08-30 | 1967-09-25 | Wild Heerbrugg Ag | Pivot bearing |
| GB8515363D0 (en) * | 1984-06-26 | 1985-07-17 | Deutsche Forsch Luft Raumfahrt | Positioning articles |
| DE102008037930A1 (en) * | 2008-08-14 | 2010-02-25 | Linus Valentin Grunert | Controllable ball-joint for e.g. robot, has artificial muscles i.e. actuators, provided between joint parts, where muscles are hydraulically, electrical, pneumatic driven and part of muscles are replaced by spring element |
| WO2011138378A1 (en) * | 2010-05-07 | 2011-11-10 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Flexible joint with a wide range of movement and robotized kinematic assembly comprising such a joint |
| CN105835084A (en) * | 2015-12-31 | 2016-08-10 | 广东工业大学 | Rigidity-adjustable multi-dimensional passive compliance device |
| CN107186750A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | The flat spring compliant wrist of manipulator |
| CN108050151A (en) * | 2018-01-24 | 2018-05-18 | 南京航空航天大学 | A kind of ball chain based on biorthogonal elastic spring |
| CN109773659A (en) * | 2019-02-25 | 2019-05-21 | 华中科技大学 | A kind of antioverloading intelligent Force control grinding and polishing apparatus and grinding and polishing robot |
| CN110744584A (en) * | 2019-11-29 | 2020-02-04 | 河北工业大学 | Flexible active-passive variable stiffness joint |
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| CN113231961B (en) | 2022-08-12 |
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