CN114714343A

CN114714343A - Manipulator with single motor for controlling revolution and rotation

Info

Publication number: CN114714343A
Application number: CN202210571900.6A
Authority: CN
Inventors: 冯晓明; 褚加辉; 田桂中; 张耀升; 赵磊; 周宏根; 张小伟
Original assignee: Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-07-08
Anticipated expiration: 2042-05-24
Also published as: CN114714343B

Abstract

The invention discloses a manipulator for controlling revolution and rotation by a single motor, which comprises a driving mechanism, a transmission mechanism and a clamping mechanism, wherein the driving mechanism is arranged on the driving mechanism; the driving mechanism drives the clamping mechanism through the transmission mechanism; the transmission mechanism comprises a synchronous belt transmission unit, a crank oscillating bar mechanism and a bevel gear set; the synchronous belt conveying unit is respectively connected with the driving mechanism and the crank oscillating bar mechanism; the bevel gear set is respectively connected with the crank oscillating bar mechanism and the clamping mechanism; the crank oscillating bar mechanism is used for transferring the position of the clamping mechanism, and the bevel gear group is used for rotating a fixed shaft of the clamping mechanism. According to the invention, a plurality of actions of manipulator position transfer and fixed-axis rotation are realized through a single motor, the length of a kinematic chain is effectively shortened, the space occupancy rate is reduced, and the mechanism maintenance cost is reduced; the synchronous belt transmission unit can ensure transmission accuracy under a low-load state, is not limited by transmission distance, provides possibility for adjusting the revolution angle of the clamping mechanism, relieves the structural damage degree when the device breaks down in the movement process, and is convenient to maintain and replace.

Description

Manipulator with single motor for controlling revolution and rotation

Technical Field

The invention belongs to a manipulator, in particular to a manipulator with revolution and rotation controlled by a single motor.

Background

In the unmanned automatic production process, the processing treatment of the product surface is mostly involved, such as the printing of a LOGO or production date on the product surface, the identification of a two-dimensional code or a bar code, and the like. In the above-mentioned processing process of the product, the product must be carried, turned over, and the like, and the operation is single and labor-intensive. The manipulator is as the ideal helping hand instrument in the automated production process, can accomplish a plurality of actions such as material snatchs, transport, upset, angular adjustment, and to a great extent has replaced artifical loaded down with trivial details work to realize the mechanization and the automation of production, reduced production and use cost simultaneously.

The mechanical arms put into use at present mostly control different actions such as mechanical device clamping, reversing and the like through a plurality of motor systems, so that the device has a complex structure, a long design period and high manufacturing cost. Meanwhile, along with the reciprocating motion of the tail end clamping device, the repeated starting and stopping of the motor can increase the heat generation and heat loss of the iron core and easily impact the device, so that the overall reliability is reduced and the service life is prolonged. How to solve the complicated structure problem that many motor drives brought, simplify the whole operation process of device, optimize mechanical structure operation mode has become the direction that needs urgent research.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention aims to provide the manipulator which effectively shortens the length of a motion chain, has high working efficiency and strong flexibility and controls revolution and rotation by a single motor.

The technical scheme is as follows: the invention relates to a manipulator for controlling revolution and rotation by a single motor, which comprises a driving mechanism, a transmission mechanism and a clamping mechanism; the driving mechanism drives the clamping mechanism through the transmission mechanism; the transmission mechanism comprises a synchronous belt transmission unit, a crank oscillating bar mechanism and a bevel gear set; the synchronous belt conveying unit is respectively connected with the driving mechanism and the crank oscillating bar mechanism; the bevel gear set is respectively connected with the crank oscillating bar mechanism and the clamping mechanism; the crank oscillating bar mechanism is used for transferring the position of the clamping mechanism, and the bevel gear group is used for rotating a fixed shaft of the clamping mechanism.

Further, the synchronous belt transmission unit comprises a driving belt wheel, a synchronous belt, a driven belt wheel and a driven shaft, the driving belt wheel is connected with the driving mechanism, the driving belt wheel is connected with the driven belt wheel through the synchronous belt, and the driven belt wheel is connected with the crank oscillating bar mechanism through the driven shaft. The driven belt wheel is connected with the driven shaft through a second shaft sleeve.

Furthermore, the crank swing rod mechanism comprises a crank, a roller bearing and a swing rod, the crank is respectively connected with the synchronous belt transmission unit and the roller bearing, and the roller bearing rotates circumferentially along with the crank and slides in the swing rod to drive the swing rod to swing. The swing rod comprises a large arm and a small arm which are connected with each other, a U-shaped groove is formed in the large arm, and a linear bearing is arranged on the small arm. The swing rod is L-shaped.

Further, the bevel gear group comprises a flange shaft, a fixed bevel gear, a driven bevel gear shaft, a driven bevel gear and a third shaft sleeve, the fixed bevel gear shaft is respectively connected with the fixed bevel gear and the flange shaft, the flange shaft is connected with the swing rod, the driven bevel gear is connected with the driven bevel gear shaft, the fixed bevel gear is mutually vertical and meshed with the driven bevel gear, the driven bevel gear shaft penetrates through the small arm through a linear bearing to rotate in a fixed shaft mode, and the third shaft sleeve is connected with the driven bevel gear shaft. The fixed bevel gear is connected with the fixed frame.

Further, the driving mechanism comprises a speed reducing motor, a driving shaft and a coupling, and the speed reducing motor is connected with the coupling through the driving shaft. The driving shaft is positioned and locked with a driving belt wheel of the synchronous belt transmission unit through a first shaft sleeve and is connected with the fixed frame through a rolling bearing and an elastic retainer ring.

Furthermore, the clamping mechanism comprises a cylinder fixing seat, a cylinder body, a cylinder sliding block and a clamping jaw, wherein the cylinder body is respectively connected with the cylinder fixing seat and the cylinder sliding block, and the clamping jaw is connected with the cylinder sliding block so as to realize single-degree-of-freedom translation of the clamping jaw.

The working principle is as follows: the synchronous belt transmission unit is used for transmitting the motion between the driving mechanism and the crank swing rod mechanism and between the driving mechanism and the bevel gear set. The bevel gear set is used for changing longitudinal rotation into transverse rotation, and the crank-L-shaped oscillating bar structure can realize that a single motor controls the mechanical clamping jaw to complete a plurality of actions of position transfer and fixed shaft rotation. When the speed reducing motor is started, the clamping jaw is driven to move and rotate through the transmission mechanism. The moving angle and the rotating angle of the clamping jaw can be correspondingly adjusted by changing the structural size. The swing angle of the swing rod, namely the revolution angle of the clamping jaw can be changed by adjusting the distance between the driving shaft and the driven shaft and the length of the crank. Through the tooth ratio of the fixed bevel gear and the driven bevel gear, the rotating angle of the clamping jaw around the driven bevel gear shaft can be changed, namely, the self-rotation angle is changed, and the possibility is provided for meeting the requirements of different working environments. In the whole movement process, a speed reducing motor provides power, and the speed reducing motor drives the crank oscillating bar mechanism to move in a whole circle, so that the reciprocating movement of the clamping jaw is realized.

Has the advantages that: compared with the prior art, the invention has the following remarkable characteristics:

1. the position transfer and the fixed-axis rotation of the manipulator are realized through a single motor, the length of a kinematic chain is effectively shortened, the space occupancy rate is reduced, and the maintenance cost of the mechanism is reduced;

2. the synchronous belt transmission unit can ensure the transmission accuracy in a low-load state, is not limited by the transmission distance, provides possibility for adjusting the revolution angle of the clamping mechanism, and when the device breaks down in the movement process, the elasticity of the synchronous belt can relieve the structural damage degree to a certain extent and is convenient for subsequent maintenance and replacement;

3. the bevel gear set integrates the position transfer and the self rotation of the clamping jaw, so that the space utilization rate and the energy transfer efficiency are improved;

4. the crank oscillating bar mechanism has a quick return characteristic, so that the idle return time is reduced, and the working efficiency of the manipulator is greatly improved;

5. the clamping jaw revolving angle adjusting mechanism has strong flexibility, can change the gear ratio of the two bevel gears to adjust the revolving angle of the clamping jaw, and can adjust the revolving angle of the clamping jaw by changing the size of the crank oscillating bar mechanism.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial cross-sectional view of the present invention;

FIG. 3 is a schematic diagram showing the connection of the drive mechanism 1 and the synchronous belt drive unit 21 according to the present invention

FIG. 4 is a schematic structural view of the crank rocker mechanism 22 of the present invention;

FIG. 5 is a schematic structural view of the rocker 223 of the present invention;

fig. 6 is a schematic view of the gripping mechanism 3 of the present invention;

fig. 7 is a schematic diagram of the movement process of the transmission mechanism 2 and the gripping mechanism 3 of the present invention;

fig. 8 is a kinematic location flow diagram of the present invention.

Detailed Description

As shown in fig. 1, the driving mechanism of the manipulator which controls revolution and rotation by a single motor drives the steering mechanism to drive the whole clamping mechanism 3 to rotate around the shaft. The revolution angle and the rotation angle of the clamping jaw 34 at the tail end of the clamping mechanism 3 can be respectively controlled by the size of the crank swing rod mechanism 22 and the gear ratio of the two bevel gears of the bevel gear group 23, and different installation requirements and working environments can be met.

As shown in fig. 2, the transmission mechanism 2 includes a synchronous belt 212 transmission unit 21, a crank-swing-lever mechanism 22 and a bevel gear set 23. The synchronous belt 212 transmission unit is respectively connected with the driving mechanism and the crank oscillating bar mechanism 22, and the bevel gear group 23 is respectively connected with the crank oscillating bar mechanism 22 and the clamping mechanism 3. The crank swing link mechanism 22 is used for position transfer of the gripping mechanism 3, and the bevel gear set 23 is used for fixed shaft rotation of the gripping mechanism 3.

As shown in fig. 3, the driving mechanism includes a speed reduction motor 11, a driving shaft 12, and a coupling 13, the speed reduction motor 11 is fixed to the fixing frame 4, and the output shaft is connected to the coupling 13. The coupling 13 is connected with the driving pulley 211 through the driving shaft 12, and the driving pulley 211 and the driving shaft 12 are positioned and locked through the first shaft sleeve 14 and the set screw. And a rolling bearing 5 is arranged between the driving shaft 12 and the fixed frame 4, and the rolling bearing 5 is arranged on the fixed frame 4 and is positioned by an elastic retainer ring 6. The timing belt 212 transmission unit 21 includes a driving pulley 211, a timing belt 212, a driven pulley 213, and a driven shaft 214. The driving pulley 211 transmits motion to the driven pulley 213 via a timing belt 212, and the driven pulley 213 is fixed to a driven shaft 214 via a second bushing 215, a set screw, and a bolt. The driven shaft 214 is connected with the fixed frame 4 through a rolling bearing 5; the rolling bearing 5 is mounted on the fixing frame 4 and is positioned by the elastic retainer ring 6.

As shown in fig. 4 to 5, the crank swing link mechanism 22 includes a crank 221, a roller bearing 222, and a swing link 223, the crank 221 is connected to the synchronous belt 212 transmission unit 21 and the roller bearing 222, the roller bearing 222 rotates circumferentially along with the crank 221, and slides in the swing link 223 to drive the swing link 223 to swing. One end of the crank 221 is mounted with a bolt to rotate synchronously with the bottom end of the driven shaft 214 along with the driven belt pulley 213, and the other end is mounted with a roller bearing 222. The swing rod 223 comprises a large arm 2231, a small arm 2232, a U-shaped groove 2233 and a linear bearing 2234. The swing rod 223 is L-shaped, and the roller bearing 222 slides in the U-shaped groove 2233 of the swing rod 223 while rotating with the crank 221 in a whole circle, and drives the large arm 2231 to swing at a fixed angle. The bevel gear set 23 includes a flange shaft 231, a fixed bevel gear shaft 232, a fixed bevel gear 233, a driven bevel gear shaft 234, a driven bevel gear 235, and a third shaft sleeve 236. The upper arm 2231 is connected to the fixed frame 4 via the flange shaft 231 and the bolt to rotate about a fixed axis. The flange shaft 231 is mounted on the large arm 2231 through bolts, a rolling bearing 5 is mounted between the flange shaft and the fixed frame 4, and the rolling bearing 5 is positioned through a bearing end cover. The fixed bevel gear 233 is fixed to the fixed bevel gear shaft 232 by a set screw, the fixed bevel gear shaft 232 is fixed to the fixed frame 4 by a bolt, and the driven bevel gear 235 is fixed to the driven bevel gear shaft 234 by a set screw. The driven bevel gear shaft 234 is fixed-axis rotated through a small arm 2232 by a linear bearing 2234, and is axially positioned by a third bushing 236, and the small arm 2232 is mounted to the large arm 2231 by a bolt. The linear bearing 2234 is mounted to the arm 2232 by a bolt to ensure relative rotation between the driven bevel gear shaft 234 and the arm 2232, and the third shaft sleeve 236 is connected to the driven bevel gear shaft 234 by a set screw, and the third shaft sleeve 236 is T-shaped. The crank swing rod mechanism 22 and the bevel gear group 23 are used for realizing rotation and revolution of the clamping jaws 34, the rotation of the clamping mechanism 3 around the driven bevel gear 235 axle is rotation, and the circular motion of the clamping mechanism 3 around the fixed bevel gear 233 axle is revolution.

As shown in fig. 6, the gripping mechanism 3 includes a cylinder fixing seat 31, a cylinder body 32, a cylinder slider 33, and a clamping jaw 34, and is mounted and fixed at the end of a driven bevel gear shaft 234; the cylinder body 32 is fixedly arranged on the cylinder fixing seat 31; the cylinder slide block 33 is used for controlling the single-degree-of-freedom translation of the clamping jaw 34 and controlling the clamping and releasing actions of the clamping jaw 34.

Referring to fig. 7-8, in order to distinguish the two ends of the clamping jaw 34 in the schematic diagram of the movement process, a cross circle is added at one end for marking, and a circle is added at the other end for marking. Fig. 7 and 8 show the steering mechanism and the gripping mechanism 3 in the starting and ending positions of the working stroke and the return stroke, respectively.

Initial state: the gear motor 11 is not started, the clamping jaw 34 is opened at the moment, and the material to be clamped moves into the clamping jaw 34.

The working process moves: the clamping jaw 34 clamps the material, the speed reduction motor 11 is started, the driving belt pulley 211 drives the driven belt pulley 213 and the crank 221 to rotate clockwise (looking down), at this time, the crank 221 drives the roller bearing 222 to slide outwards in the U-shaped groove 2233 of the swing rod 223, and simultaneously, the swing rod 223 and the clamping mechanism 3 rotate clockwise, namely revolve. Because the fixed bevel gear 233 is meshed with the driven bevel gear 235 to drive the driven bevel gear shaft 234 and the clamping mechanism 3 to rotate, the whole movement completes the clamping, transferring and reversing of the materials.

End state: jaws 34 are opened to release the material and deliver it to a designated location.

And (3) return movement: the crank 221 continues to rotate clockwise, the whole mechanism is in a quick return state, and finally the crank 221 completes one circular motion, and the mechanism returns to the initial state.

The rotation angle is not limited to 90 degrees of rotation of the L-shaped swing rod 223, and the wheel base of the two pulleys and the length of the crank 221 can be changed according to actual needs. The rotation angle of the clamping mechanism 3 can be designed by changing the tooth number ratio of the two bevel gears according to actual needs, and the multiple relation of the rotation angle and the revolution angle of the clamping mechanism 3 is consistent with the multiple relation of the tooth numbers of the fixed bevel gear 233 and the driven bevel gear 235. For example, when the number of teeth of the fixed bevel gear 233 is 2 times that of the driven bevel gear 235, the rotation angle of the gripping mechanism 3 is 2 times the revolution angle, i.e., 180 °.

Claims

1. A manipulator with a single motor for controlling revolution and rotation is characterized in that: comprises a driving mechanism (1), a transmission mechanism (2) and a clamping mechanism (3); the driving mechanism (1) drives the clamping mechanism (3) through the transmission mechanism (2); the transmission mechanism (2) comprises a synchronous belt transmission unit (21), a crank swing rod mechanism (22) and a bevel gear set (23); the synchronous belt conveying unit (21) is respectively connected with the driving mechanism (1) and the crank oscillating bar mechanism (22); the bevel gear set (23) is respectively connected with the crank swing rod mechanism (22) and the clamping mechanism (3); the crank swing rod mechanism (22) is used for transferring the position of the clamping mechanism (3), and the bevel gear set (23) is used for enabling a fixed shaft of the clamping mechanism (3) to rotate.

2. The manipulator of claim 1, which controls revolution and rotation by a single motor, comprising: synchronous belt drive unit (21) include driving pulley (211), synchronous belt (212), driven pulley (213) and driven shaft (214), driving pulley (211) link to each other with actuating mechanism (1), driving pulley (211) link to each other with driven pulley (213) through synchronous belt (212), driven pulley (213) link to each other with crank pendulum rod mechanism (22) through driven shaft (214).

3. The manipulator of claim 2, wherein the revolution and rotation are controlled by a single motor, and the manipulator further comprises: the driven belt wheel (213) is connected with a driven shaft (214) through a second shaft sleeve (215).

4. The manipulator of claim 1, which controls revolution and rotation by a single motor, comprising: the crank and swing rod mechanism (22) comprises a crank (221), a roller bearing (222) and a swing rod (223), the crank (221) is connected with the synchronous belt transmission unit (21) and the roller bearing (222) respectively, the roller bearing (222) rotates circumferentially along with the crank (221) and slides in the swing rod (223) to drive the swing rod (223) to swing.

5. The manipulator of claim 4, which controls revolution and rotation by a single motor, wherein: the swing rod (223) comprises a large arm (2231) and a small arm (2232) which are connected with each other, a U-shaped groove (2233) is arranged on the large arm (2231), and a linear bearing (2234) is arranged on the small arm (2232).

6. The robot of claim 5, wherein the revolution and rotation of the robot are controlled by a single motor, and the robot further comprises: the bevel gear set (23) comprises a flange shaft (231), a fixed bevel gear shaft (232), a fixed bevel gear (233), a driven bevel gear shaft (234), a driven bevel gear (235) and a third shaft sleeve (236), wherein the fixed bevel gear shaft (232) is respectively connected with the fixed bevel gear (233) and the flange shaft (231), the flange shaft (231) is connected with a swing rod (223), the driven bevel gear (235) is connected with the driven bevel gear shaft (234), the fixed bevel gear (233) and the driven bevel gear (235) are perpendicular to and meshed with each other, the driven bevel gear shaft (234) penetrates through a small arm (2232) through a linear bearing (2234) to rotate in a fixed shaft mode, and the third shaft sleeve (236) is connected with the driven bevel gear shaft (234).

7. The manipulator of claim 6, which controls revolution and rotation by a single motor, comprising: the fixed bevel gear (233) is connected with the fixed frame (4).

8. The manipulator of claim 1, which controls revolution and rotation by a single motor, comprising: the driving mechanism (1) comprises a speed reducing motor (11), a driving shaft (12) and a coupler (13), wherein the speed reducing motor (11) is connected with the coupler (13) through the driving shaft (12).

9. The robot hand of claim 8, wherein the revolution and rotation are controlled by a single motor, and further comprising: the driving shaft (12) is positioned and locked with a driving belt wheel (211) of the synchronous belt transmission unit (21) through a first shaft sleeve (14) and is connected with the fixed frame (4) through a rolling bearing (5) and an elastic retainer ring (6).

10. The manipulator of claim 1, wherein the revolution and rotation are controlled by a single motor, and the manipulator further comprises: the clamping mechanism (3) comprises a cylinder fixing seat (31), a cylinder body (32), a cylinder sliding block (33) and a clamping jaw (34), the cylinder body (32) is connected with the cylinder fixing seat (31) and the cylinder sliding block (33) respectively, and the clamping jaw (34) is connected with the cylinder sliding block (33).