CN114474132A - Motor quick-change device based on manipulator and motor quick-change method based on manipulator - Google Patents
Motor quick-change device based on manipulator and motor quick-change method based on manipulator Download PDFInfo
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- CN114474132A CN114474132A CN202011167076.5A CN202011167076A CN114474132A CN 114474132 A CN114474132 A CN 114474132A CN 202011167076 A CN202011167076 A CN 202011167076A CN 114474132 A CN114474132 A CN 114474132A
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- quick
- motor
- positioning
- manipulator
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a manipulator-based motor quick-change device, which comprises a quick-change module clamped by a manipulator, a fixed module assembled on a speed reducer and a guide assembly for assisting the quick-change module in butt joint with the fixed module; the quick-change module comprises a frame for mounting a motor, a flexible clamping assembly fixedly mounted above the frame, a mechanical butt-joint assembly connected with an output shaft of the motor and an aerial plug assembly mounted on the side surface of the frame; the fixed module comprises an aerial socket fixedly arranged on the speed reducer and a lower outer gear arranged on an input shaft of the speed reducer; when the inner gear ring floats downwards, the inner gear ring is meshed with the upper outer gear and the lower outer gear simultaneously to realize mechanical butt joint; and the aerial plug in the aerial plug assembly is downwards butted with the aerial socket to realize electric connection. The device has the functions of quickly fixing the motor, quickly butting the motor cable and flexibly clamping the manipulator, and can complete the replacement of the motor through the manipulator in the whole process.
Description
Technical Field
The invention relates to the technical field of automatic machinery, in particular to a motor quick-change device based on a manipulator and a motor quick-change method based on the manipulator.
Background
Generally, a driving motor of the movement mechanism is installed and fixed through bolts, the motor is connected with cables for power supply, control and the like, and replacement of the motor can be completed only through manual operation. Under some special operating conditions, the motor is installed in the region that is unsuitable personnel to get into or contact, needs long-range change operation of accomplishing the motor through the manipulator, and traditional motor mounting means then can't satisfy the long-range demand of changing of motor.
Disclosure of Invention
The invention aims to provide a motor quick-change device based on a manipulator, aiming at the defect that the traditional motor installation mode in the prior art cannot meet the requirement of remotely and quickly changing a motor.
Another object of the present invention is to provide a method for replacing the quick-change device of the motor.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a motor quick-change device based on a manipulator comprises a quick-change module clamped by the manipulator, a fixing module assembled on a speed reducer and a guide assembly assisting the quick-change module in butt joint with the fixing module;
the quick-change module comprises a frame for mounting a motor, a flexible clamping assembly fixedly mounted above the frame, a mechanical butt-joint assembly connected with an output shaft of the motor and an aerial plug assembly mounted on the side surface of the frame;
the flexible clamping assembly comprises two fixed plates relatively fixed on a frame, two groups of Y-direction flexible connecting pieces positioned between the two fixed plates, an X-direction flexible connecting piece positioned between the two groups of Y-direction flexible connecting pieces and an operation block for clamping a manipulator, and the operation block and the frame form flexible connection under the connection action of the X-direction flexible connecting piece and the Y-direction flexible connecting piece;
the mechanical butt joint component comprises a gear shaft connected with an output shaft of the motor, an upper outer gear fixedly installed at the lower end of the gear shaft and an inner gear ring which is vertically sleeved outside the upper outer gear in a floating manner through an installation component and is meshed with the upper outer gear;
the fixed module comprises an aerial socket fixedly arranged on the speed reducer and a lower outer gear arranged on an input shaft of the speed reducer; when the inner gear ring floats downwards, the inner gear ring is meshed with the upper outer gear and the lower outer gear simultaneously to realize mechanical butt joint; and the aerial plug in the aerial plug assembly is downwards butted with the aerial socket to realize electric connection.
In the above technical scheme, the gear shaft is connected with the output shaft of the motor through a coupling.
In the technical scheme, the mounting assembly comprises a compression spring sleeved on the gear shaft and a clamping ring mounted on the inner wall of the upper end of the inner gear ring; the compression spring is positioned between the coupler and the inner gear ring; the inner diameter of the clamping ring is smaller than the outer diameter of the upper external gear so as to prevent the inner gear ring from falling off.
In the technical scheme, the aerial plug assembly comprises an operation board used for pressing or lifting, a clamping board and an aerial plug clamped between the operation board and the clamping board, and the clamping board is slidably mounted on the side face of the frame through a sliding assembly.
In the above technical solution, the sliding assembly includes a sliding rail vertically installed on the side surface of the frame and a sliding block installed on the side surface of the clamping plate, and the sliding block slides up and down along the sliding rail.
In the technical scheme, the guide assembly comprises a guide sleeve and a positioning outer sleeve, the guide sleeve is coaxially arranged with the output shaft of the motor, the positioning outer sleeve is coaxially arranged with the input shaft of the speed reducer, the upper end of the positioning outer sleeve is provided with an opening, and the guide sleeve is downwards inserted into the positioning outer sleeve to realize axial positioning;
the positioning sleeve is characterized in that a positioning pin is arranged on the outer side wall of the guide sleeve, a positioning groove for inserting the positioning pin is formed in the positioning outer sleeve, and the positioning pin is inserted into the positioning groove to realize circumferential positioning.
In the technical scheme, the outer diameter of the guide sleeve and the inner diameter of the positioning outer sleeve are reduced from top to bottom.
In the above technical scheme, the positioning groove is a funnel-shaped groove with a flared top.
In the above technical solution, the positioning outer sleeve is provided with a plurality of elastic plungers arranged in an annular matrix, and each elastic plunger is located in a radial direction of the positioning outer sleeve.
In the technical scheme, the positioning outer sleeve is fixedly mounted on the speed reducer through the first mounting plate.
In the above technical scheme, each group of the Y-direction flexible connecting pieces comprises a spring limiting block and two first springs, and two ends of the spring limiting block are respectively elastically connected with the inner sides of the end parts of the fixing plates through the first springs;
the X-direction flexible connecting piece comprises a flexible base and two second springs, and two opposite side surfaces of the flexible base are respectively and elastically connected with the inner side surface of one spring limiting block through the second springs; the operation block is fixed on the flexible base.
In another aspect of the present invention, the replacing manner of the quick-change device for motor includes the following steps:
the flexible clamping structure of manipulator centre gripping drives the quick change module and removes directly over the speed reducer, again downwards realizes the accurate butt joint of guide assembly: specifically, in the accurate butt joint process of the guide assembly, if the inner gear ring is downward and accurately meshed with the lower outer gear, the inner gear ring is simultaneously meshed with the upper outer gear and the lower outer gear to complete mechanical butt joint; if the inner gear ring cannot be accurately meshed with the lower outer gear downwards, the inner gear ring floats upwards under the resistance action of the lower outer gear, and when the upper outer gear and the inner gear ring rotate to an angle capable of being accurately butted with the lower outer gear after electric connection, the inner gear ring automatically slides downwards to be meshed with the lower outer gear, so that mechanical connection is completed;
after the accurate butt joint of the guide assembly, the aerial plug in the aerial plug assembly is downwards in butt joint with the aerial socket to realize electric connection.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a quick-change device for a motor. The replacement of the motor is changed into two simple operations of poking the aerial plug module and lifting away the motor quick-change module by the traditional mode of manually removing the bolt and the cable, and the action requirement of the operation of the manipulator can be well met.
2. According to the motor quick-change device provided by the invention, the flexible clamping component for clamping the manipulator is fixedly arranged above the frame in the quick-change module, so that the phenomenon that overlarge unbalance loading force is generated between the manipulator and the motor quick-change device due to position deviation during the operation of a manipulator clamp can be effectively avoided, and the safety of the manipulator and the motor quick-change device in the process of replacing the motor can be effectively guaranteed.
Drawings
Fig. 1 is a schematic diagram of the general structure of a quick change device of a motor;
fig. 2 is a schematic structural view of the quick-change module of the quick-change device of the motor after being butted with the fixing module;
fig. 3 is a sectional view of the quick-change device of the motor;
FIG. 4 is a structural assembly of the aviation plug assembly;
FIG. 5 is a structural assembly of a flexible clamping assembly;
fig. 6 structural components of the stationary module.
In the figure: 3-motor, 4-frame, 10-coupler, 11-gear shaft, 12-spring, 13-upper external gear, 14-internal gear, 15-guide sleeve, 16-positioning pin, 17-aviation plug, 18-operation plate, 19-slide block, 20-guide rail, 21-clamping block, 22-first spring, 23-second spring, 24-spring limiting block, 25-lower external gear, 26-positioning outer sleeve, 27-elastic plunger, 28-aviation plug socket, 29-speed reducer, 30-speed reducer input shaft, 31-speed reducer output shaft, 32-positioning groove, 33-first mounting plate, 36-clamping plate, 37-second mounting plate, 39-fixing plate and 40-flexible base.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example 1
A quick-change device for a motor, as shown in fig. 1 and fig. 2, comprises a quick-change module, a fixing module and a guide assembly for assisting the quick-change module to be in butt joint with the fixing module;
as shown in fig. 3, the quick-change module includes a frame 4 for mounting a motor 3, a flexible clamping assembly fixedly mounted above the frame 4, a mechanical docking assembly connected to an output shaft of the motor 3, and an aerial plug assembly mounted on a side surface of the frame 4;
the mechanical butt joint component comprises a gear shaft 11 connected with an output shaft of the motor 3 through a coupler 10, an upper outer gear 13 installed at the lower end of the gear shaft 11, and an inner gear ring 14 which is vertically sleeved outside the upper outer gear 14 in a floating mode through an installation component and is meshed with the upper outer gear 13; the mounting assembly comprises a compression spring 12 sleeved on the gear shaft 11 and a clamping ring mounted on the inner wall of the upper end of the inner gear ring 14; the compression spring 12 is positioned between the coupler 10 and the inner gear ring 14; the inner diameter of the collar is smaller than the outer diameter of the upper external gear 13 to prevent the inner gear ring 14 from falling off;
the aviation plug assembly comprises an operating plate 18 used for pressing or lifting, a clamping plate 36 and two aviation plugs 17 clamped between the operating plate 18 and the clamping plate 36, wherein the operating plate 18 and the clamping plate 36 are connected through bolts, and the clamping plate 36 is slidably mounted on the side face of the frame 4 through a sliding assembly. The sliding assembly comprises a guide rail 20 vertically installed on the side surface of the frame 4 and a sliding block 19 installed on the side surface of the clamping plate 36, wherein the sliding block 19 slides up and down along the guide rail 20.
The fixed module comprises an aerial socket 28 fixedly arranged on the speed reducer 29 through a second mounting plate 37 and a lower outer gear 25 arranged on the input shaft 30 of the speed reducer; when the inner gear ring 14 floats downwards, the inner gear ring is meshed with the upper external gear 13 and the lower external gear 25 simultaneously to realize mechanical butt joint; the aerial plug 17 in the aerial plug assembly is downwards butted with the aerial socket 28 to realize electric connection.
The replacing method of the motor quick-replacing device comprises the following steps:
before butt joint, under the action of a spring 12, the upper half part of the inner gear ring 14 is meshed with the upper outer gear 13; the manipulator clamps the flexible clamping structure, drives the quick-change module to move right above the speed reducer, downwards enables the guide sleeve 15 to be inserted into the positioning outer sleeve 26 to achieve axial positioning, and meanwhile enables the positioning pin 16 to be inserted into the positioning groove 32 to achieve circumferential positioning, so that accurate butt joint of the guide assembly is achieved;
after the accurate butt joint of the guiding assembly, the aerial plug 17 in the aerial plug assembly is downwards butted with the aerial socket 28 to realize electric connection;
in the accurate butt joint process of the guide assembly, if the inner gear ring 14 is accurately meshed with the lower outer gear 25 downwards, the inner gear ring 14 is simultaneously meshed with the upper outer gear 13 and the lower outer gear 25 to complete mechanical butt joint; if the inner gear ring 14 cannot be precisely engaged with the lower outer gear 25 in a downward direction, the inner gear ring 14 floats upwards under the resistance of the lower outer gear 25, and when the electrically connected upper outer gear 13 and the inner gear ring 14 rotate to an angle capable of being precisely abutted to the lower outer gear 25, the inner gear ring 14 automatically slides downwards under the action of the compression spring 12 to be engaged with the lower outer gear 25, so that mechanical connection is completed.
In the process that the manipulator clamping flexible clamping structure drives the quick-change module to move and descend, under the connecting action of the X-direction flexible connecting piece and the Y-direction flexible connecting piece, an operation block in the flexible clamping structure is flexibly connected with the frame. When the flexible clamping structure meets resistance in the moving and descending processes, the flexible clamping structure can flexibly adjust the position, so that overlarge unbalance loading force generated between the manipulator and a workpiece due to position deviation during the manipulator clamping operation is avoided, the unbalance loading force caused by the position deviation can be effectively reduced, and the workpiece damage is avoided.
Example 2
This embodiment is described with reference to embodiment 1.
The guide assembly comprises a guide sleeve 15 coaxially arranged with the output shaft of the motor 3 and a positioning outer sleeve 26 coaxially arranged with the input shaft 30 of the speed reducer, the upper end of the positioning outer sleeve 26 is opened, and the guide sleeve 15 is downwards inserted into the positioning outer sleeve 26 to realize axial positioning; the outer side wall of the guide sleeve 15 is provided with a positioning pin 16, the positioning sleeve 26 is provided with a positioning groove 32 for inserting the positioning pin 16, and the positioning pin 16 is inserted into the positioning groove 32 to realize circumferential positioning. The mechanical docking assembly is located in the inner cavity of the guide sleeve 15, and the lower edges of the upper external gear 13 and the inner gear ring 14 are lower than the lower edge of the guide sleeve 15.
Preferably, the outer diameter of the guide sleeve 15 and the inner diameter of the positioning outer sleeve 26 are both reduced in steps from top to bottom. The positioning groove 32 is a funnel-shaped groove with a flared top. This structure can make uide bushing 15 insert location overcoat 26 and locating pin 16 insert the constant head tank 32 in-process, realizes progressively adjusting final accurate location, more is applicable to the manipulator installation.
Preferably, the positioning sleeve is provided with an elastic plunger 27, which generates pressure and friction with the outer side surface of the guide sleeve 15 to prevent the guide sleeve 15 from sliding upwards.
The positioning outer sleeve 26 is fixedly mounted on the speed reducer 29 through a first mounting plate 33.
Example 3
This embodiment is based on embodiment 1 and describes the flexible clamping assembly.
And a flexible clamping assembly for clamping the manipulator is fixedly arranged above the frame 4. The flexible clamping assembly comprises two fixing plates 39 fixed on the frame relatively, two groups of Y-direction flexible connecting pieces positioned between the two fixing plates 39, an X-direction flexible connecting piece positioned between the two groups of Y-direction flexible connecting pieces and a clamping block 21 for clamping a manipulator, and under the connecting action of the X-direction flexible connecting piece and the Y-direction flexible connecting piece, the clamping block 21 and the frame 4 form flexible connection;
each group of the Y-direction flexible connecting pieces comprises a spring limiting block 24 and two first springs 22, and two ends of the spring limiting block 24 are respectively elastically connected with the inner side of the end part of the fixing plate 39 through the first springs 22;
the X-direction flexible connecting piece comprises a flexible base 40 and two second springs 23, and two opposite side surfaces of the flexible base 40 are respectively and elastically connected with the inner side surface of one spring limiting block 24 through the second springs 23; the clamping block 21 is fixed on the flexible base 40.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A motor quick-change device based on a manipulator is characterized by comprising a quick-change module clamped by the manipulator, a fixing module assembled on a speed reducer and a guide assembly assisting the quick-change module in butt joint with the fixing module;
the quick-change module comprises a frame for mounting a motor, a flexible clamping assembly fixedly mounted above the frame, a mechanical butt-joint assembly connected with an output shaft of the motor and an aerial plug assembly mounted on the side surface of the frame;
the flexible clamping assembly comprises two fixed plates relatively fixed on a frame, two groups of Y-direction flexible connecting pieces positioned between the two fixed plates, an X-direction flexible connecting piece positioned between the two groups of Y-direction flexible connecting pieces and an operation block for clamping a manipulator, and the operation block and the frame form flexible connection under the connection action of the X-direction flexible connecting piece and the Y-direction flexible connecting piece;
the mechanical butt joint component comprises a gear shaft connected with an output shaft of the motor, an upper outer gear fixedly installed at the lower end of the gear shaft and an inner gear ring which is vertically sleeved outside the upper outer gear in a floating manner through an installation component and is meshed with the upper outer gear;
the fixed module comprises an aerial socket fixedly arranged on the speed reducer and a lower outer gear arranged on an input shaft of the speed reducer; when the inner gear ring floats downwards, the inner gear ring is meshed with the upper outer gear and the lower outer gear simultaneously to realize mechanical butt joint; and the aerial plug in the aerial plug assembly is downwards butted with the aerial socket to realize electric connection.
2. The quick-change device for the motor according to claim 1, wherein the gear shaft is connected with the output shaft of the motor through a coupler.
3. The quick-change device for the motor as claimed in claim 2, wherein the mounting assembly comprises a compression spring sleeved on the gear shaft and a collar mounted on the inner wall of the upper end of the inner gear ring; the compression spring is positioned between the coupler and the inner gear ring; the inner diameter of the clamping ring is smaller than the outer diameter of the upper outer gear so as to prevent the inner gear ring from falling off.
4. The quick-change device for the motor according to claim 1, wherein the aerial plug assembly comprises an operating plate for pressing or lifting, a clamping plate and an aerial plug clamped between the operating plate and the clamping plate, and the clamping plate is slidably mounted on the side surface of the frame through a sliding assembly.
5. The quick-change device for the motor according to claim 4, wherein the sliding assembly comprises a sliding rail vertically mounted on the side surface of the frame and a sliding block mounted on the side surface of the clamping plate, and the sliding block slides up and down along the sliding rail.
6. The quick-change device for the motor according to claim 1, wherein the guide assembly comprises a guide sleeve coaxially arranged with the output shaft of the motor and a positioning outer sleeve coaxially arranged with the input shaft of the speed reducer, the upper end of the positioning outer sleeve is open, and the guide sleeve is inserted downwards into the positioning outer sleeve to realize axial positioning;
the positioning sleeve is characterized in that a positioning pin is arranged on the outer side wall of the guide sleeve, a positioning groove for inserting the positioning pin is formed in the positioning outer sleeve, and the positioning pin is inserted into the positioning groove to realize circumferential positioning.
7. The quick-change device for the motor as claimed in claim 6, wherein the outer diameter of the guide sleeve and the inner diameter of the positioning outer sleeve are both reduced in steps from top to bottom.
8. The quick-change device for the motor according to claim 6, wherein the positioning groove is a funnel-shaped groove with a flared top.
9. The quick-change device for the motor according to claim 6, wherein a plurality of elastic plungers are arranged on the positioning outer sleeve in an annular matrix, and each elastic plunger is located in a radial direction of the positioning outer sleeve.
10. The quick-change device for the motor as claimed in claim 6, wherein the positioning outer sleeve is fixedly mounted on the speed reducer through a first mounting plate.
11. The quick-change device for the motor according to claim 1, wherein each group of the Y-direction flexible connecting pieces comprises a spring limiting block and two first springs, and two ends of the spring limiting block are respectively and elastically connected with the inner sides of the end parts of the fixing plates through the first springs;
the X-direction flexible connecting piece comprises a flexible base and two second springs, and two opposite side surfaces of the flexible base are respectively and elastically connected with the inner side surface of one spring limiting block through the second springs; the operation block is fixed on the flexible base.
12. A method of changing over a quick-change device for an electric machine according to any one of claims 1 to 11, comprising the steps of:
the flexible clamping structure of manipulator centre gripping drives the quick change module and removes directly over the speed reducer, again downwards realizes the accurate butt joint of guide assembly: specifically, in the accurate butt joint process of the guide assembly, if the inner gear ring is downward accurately meshed with the lower outer gear, the inner gear ring is simultaneously meshed with the upper outer gear and the lower outer gear to complete mechanical butt joint; if the inner gear ring cannot be accurately meshed with the lower outer gear downwards, the inner gear ring floats upwards under the resistance action of the lower outer gear, and when the upper outer gear and the inner gear ring rotate to an angle capable of being accurately butted with the lower outer gear after electric connection, the inner gear ring automatically slides downwards to be meshed with the lower outer gear, so that mechanical connection is completed;
after the accurate butt joint of the guide assembly, the aerial plug in the aerial plug assembly is downwards in butt joint with the aerial socket to realize electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011167076.5A CN114474132A (en) | 2020-10-27 | 2020-10-27 | Motor quick-change device based on manipulator and motor quick-change method based on manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011167076.5A CN114474132A (en) | 2020-10-27 | 2020-10-27 | Motor quick-change device based on manipulator and motor quick-change method based on manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114474132A true CN114474132A (en) | 2022-05-13 |
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ID=81470589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011167076.5A Pending CN114474132A (en) | 2020-10-27 | 2020-10-27 | Motor quick-change device based on manipulator and motor quick-change method based on manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114474132A (en) |
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2020
- 2020-10-27 CN CN202011167076.5A patent/CN114474132A/en active Pending
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