CN209812319U - Four-freedom-degree operating device in limited space - Google Patents
Four-freedom-degree operating device in limited space Download PDFInfo
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- CN209812319U CN209812319U CN201920295375.3U CN201920295375U CN209812319U CN 209812319 U CN209812319 U CN 209812319U CN 201920295375 U CN201920295375 U CN 201920295375U CN 209812319 U CN209812319 U CN 209812319U
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- motor
- speed reducer
- assembly
- connecting piece
- tail end
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Abstract
The utility model discloses a four-degree-of-freedom operating device in a limited space, which comprises a substrate component, a motor lead screw component, a connecting piece A, a motor right-angle speed reducer component A, a connecting piece B, a motor right-angle speed reducer component B, a connecting piece C, a swing rod motor speed reducer component and a terminal component; the utility model discloses the device is synthesized through the second grade swing of the one-level swing, the output of motor right angle speed reducer subassembly B of the vertical linear motion of exporting with motor lead screw subassembly A, the output of motor right angle speed reducer subassembly B, realizes various terminal motion laws. Meanwhile, the whole device is driven to lift through the steel wire rope, and the operation requirements of different heights are met. And the connecting hole position at the tail end can be connected with different actuating mechanisms to complete different operation tasks. The whole machine has compact volume and high flexibility, has better adaptability to various pit operation tasks, and has considerable engineering application prospect.
Description
Technical Field
The utility model relates to a mechanical engineering field especially relates to a four degree of freedom operating means in finite space.
Background
The space within the pit is limited and a given task needs to be accomplished in a given space. The traditional well pit operation device is designed by considering application of a single form, generally only for completing a specific task, has poor flexibility, needs to redesign a corresponding operation device when different working requirements exist, has a complex design process and high repeatability, and therefore the well pit operation device with high flexibility and multiple adaptability is urgently needed to be developed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defects of the prior art, the four-degree-of-freedom operating device in the limited space is designed, and the four-degree-of-freedom operating device is particularly suitable for operation in a pit.
The purpose of the utility model is realized through the following technical scheme: a four-degree-of-freedom operating device in a limited space comprises a substrate assembly, a motor lead screw assembly, a connecting piece A, a motor right-angle speed reducer assembly A, a connecting piece B, a motor right-angle speed reducer assembly B, a connecting piece C, a swing rod motor speed reducer assembly and a tail end assembly; the base plate assembly comprises a steel wire rope and a base plate, and the steel wire rope is fixedly connected with the base plate; the motor lead screw assembly is fixed on the base plate, and the motor right-angle speed reducer assembly A is connected with the motor lead screw assembly through a connecting piece A; the motor right-angle speed reducer component B is connected with the motor right-angle speed reducer component A through a connecting piece B; the swing rod motor speed reducer component is connected with the motor right-angle speed reducer component B through a connecting piece C; the tail end assembly is provided with a tail end rotating shaft, and the tail end rotating shaft is connected with the swing rod motor speed reducer assembly through a coupler.
Further, the motor lead screw assembly comprises a first motor, a lead screw head end supporting piece, a lead screw nut, a sliding block, a lead screw, a sliding rail, a lead screw tail end supporting piece, a first coupler, a first bearing and a second bearing; wherein, the screw head end supporting piece adopts a clip block structure, the middle is hollowed, and two sides are respectively punched; the top of the leading screw head end supporting piece is fixedly connected with the base, the first motor is fixed on the side surface of the leading screw head end supporting piece, and the first motor is connected with the head end of the leading screw through a first coupler; a screw nut on the screw rod is fixedly connected with the connecting piece A; the connecting piece A is fixedly connected with the sliding block; the sliding rail is arranged on the base plate, and the sliding block is matched with the sliding rail; a first bearing is embedded in the side surface of the screw head end supporting piece, and the head end of the screw is supported by the first bearing; the screw tail end supporting piece is fixed on the base plate and is embedded with a second bearing, and the tail end of the screw is supported by the second bearing.
Furthermore, the connecting piece A is provided with a middle punching connecting screw nut, the bottom side is punched and connected with the motor right-angle speed reducer assembly A, and the top is milled with a notch and then is punched to connect with the sliding block.
Further, the motor right-angle speed reducer assembly A and the motor right-angle speed reducer assembly B are identical in structure, the motor right-angle speed reducer assembly A comprises a first right-angle speed reducer and a second motor, and the motor right-angle speed reducer assembly B comprises a second right-angle speed reducer and a third motor; the connecting piece B is provided with two vertical mounting surfaces, and a first right-angle speed reducer and a second right-angle speed reducer are respectively mounted on the two vertical mounting surfaces.
Further, the swing rod motor speed reducer assembly comprises a speed reducing motor, a second coupler and a swing rod fixing shell; the speed reducing motor is connected with the swing rod fixing shell, and a tail end rotating shaft of the tail end component is connected with an output shaft of the speed reducing motor through a second coupler; the connecting piece C is provided with two vertical mounting surfaces, and the swing rod motor speed reducer assembly is connected with the motor right-angle speed reducer assembly B through the connecting piece C.
Furthermore, a sliding ring is arranged on the swing rod fixing shell.
Furthermore, the swing rod fixing shell is designed into two rectangular groove structures, and installation spaces are respectively provided for the speed reducing motor and the second coupler; and a third bearing is embedded on the side surface of the swing rod fixing shell and used for supporting the tail end assembly.
Further, the tail end assembly comprises a limiting screw, a limiting sleeve and a tail end rotating shaft; the limiting sleeve is perforated along the radial direction; the limiting screw penetrates through a radial hole of the limiting cylinder sleeve to be connected with the tail end rotating shaft, so that the limiting cylinder sleeve is fixedly connected with the tail end rotating shaft; the side surface of the limiting sleeve props against the third bearing; the end rotating shaft is provided with a plurality of connecting hole positions for connecting an external mechanism.
The utility model has the advantages that: the utility model discloses four degree of freedom operating means in the finite space are synthesized through the vertical linear motion with motor screw subassembly output and the second grade swing of the one-level swing of motor right angle speed reducer subassembly A output, motor right angle speed reducer subassembly B output, realize various terminal motion laws. Meanwhile, the whole device is driven to lift through the steel wire rope, and the operation requirements of different heights are met. And the connecting hole position at the tail end can be connected with different actuating mechanisms to complete different operation tasks. The whole machine has compact volume and high flexibility, has better adaptability to various pit operation tasks, and has considerable engineering application prospect.
Drawings
FIG. 1 is a front elevational view of a four degree of freedom manipulator assembly in a confined space;
FIG. 2 is an isometric view of a four degree-of-freedom manipulator in a confined space;
FIG. 3 is a side view of a four degree-of-freedom manipulator in a confined space;
FIG. 4 is a front view of the motor lead screw assembly;
FIG. 5 is an exploded isometric view of a pendulum motor reducer assembly and a terminal assembly;
FIG. 6 is an isometric view of a lead screw nut;
FIG. 7 is an isometric view of the slider;
FIG. 8 is an isometric view of a lead screw tip support;
FIG. 9 is an end isometric view;
FIG. 10 is an isometric view of connector A;
FIG. 11 is an isometric view of connector C;
FIG. 12 is an isometric view of connector B;
FIG. 13 is an isometric view of a lead screw head end support;
figure 14 is an isometric view of a stop sleeve.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a four-degree-of-freedom operating device in a limited space, which comprises a base plate component 3, a motor lead screw component 1, a connecting piece A2, a motor right-angle speed reducer component A10, a connecting piece B8, a motor right-angle speed reducer component B9, a connecting piece C7, a swing rod motor speed reducer component 6 and a terminal component 4; the base plate component 3 comprises four steel wire ropes 3.1 and a base plate 3.2, the steel wire ropes 3.1 are symmetrically and fixedly connected on the base plate 3.2, and the whole device is driven to move up and down through the steel wire ropes 3.1; the motor lead screw assembly 1 is fixed on the base plate 3.2, and the motor right-angle speed reducer assembly A10 is connected with the motor lead screw assembly 1 through a connecting piece A2 to complete longitudinal linear motion; the motor right-angle speed reducer component B9 is connected with the motor right-angle speed reducer component A10 through a connecting piece B8 to complete primary swing; the swing rod motor speed reducer assembly 6 is connected with a motor right-angle speed reducer assembly B9 through a connecting piece C7 to complete secondary swing; the tail end assembly 4 is provided with a tail end rotating shaft 4.3, and the tail end rotating shaft 4.3 is connected with the swing rod motor speed reducer assembly 6 through a second coupling 6.2 to realize self-rotation movement.
As shown in fig. 1, 2, 4, 6, 7, 8, and 13, the motor screw assembly 1 includes a first motor 1.1, a screw head end support 1.2, a screw nut 1.3, a slider 1.4, a screw 1.5, a slide rail 1.6, a screw tail end support 1.7, a first coupling 1.8, a first bearing 1.9, and a second bearing 1.10; wherein, the screw head end supporting piece 1.2 (as shown in fig. 13) adopts a clip-shaped block structure, the middle is hollowed, and two sides are respectively punched; the top of the screw head end supporting piece 1.2 is fixedly connected with the base 3, the first motor 1.1 is fixed on the side surface of the screw head end supporting piece 1.2, and the first motor 1.1 is connected with the head end of the screw 1.5 through the first coupler 1.8; a screw nut 1.3 (shown in figure 6) on the screw 1.5 is fixedly connected with the connecting piece A2; the connecting piece A2 is fixedly connected with a sliding block 1.4 (shown in figure 7); the sliding rail 1.6 is arranged on the base plate 3.2, and the sliding block 1.4 is matched with the sliding rail 1.6 and can slide along the sliding rail 1.6; a first bearing 1.9 is embedded in the side surface of the screw head end supporting piece 1.2, and the head end of the screw 1.5 is supported by the first bearing 1.9; a screw tail end supporting piece 1.7 (shown in figure 8) is fixed on the base plate 3.2 and is embedded with a second bearing 1.10, and the tail end of the screw 1.5 is supported by the second bearing 1.10; the first motor 1.1 drives the screw nut 1.3 to finish horizontal movement by driving the screw 1.5 to rotate, and the horizontal movement of the screw nut 1.3 drives the connecting piece A2 to finish longitudinal linear movement along the sliding rail 1.6.
As shown in fig. 10, the connecting piece A2 adopts a structure that the middle is punched to be connected with a lead screw nut 1.3, the bottom side is punched to be connected with a motor right-angle speed reducer assembly a 10, and the top is firstly milled with a notch and then punched to be connected with a sliding block 1.4.
As shown in fig. 1, 2 and 12, the motor right-angle reducer assembly a 10 and the motor right-angle reducer assembly B9 have the same structure, the motor right-angle reducer assembly a 10 includes a first right-angle reducer 10.2 and a second motor 10.1, and the motor right-angle reducer assembly B9 includes a second right-angle reducer 9.1 and a third motor 9.2; wherein, the output ends of the first right-angle reducer 10.2 and the second right-angle reducer 9.1 are of a flange output type; the connecting piece B8 (shown in figure 12) is provided with two vertical mounting surfaces, and a first right-angle speed reducer 10.2 and a second right-angle speed reducer 9.1 are respectively mounted on the two vertical mounting surfaces; the second motor 10.1 drives the first right-angle reducer 10.2 to complete primary swing, and the third motor 9.2 drives the second right-angle reducer 9.1 to complete secondary swing.
As shown in fig. 1, 5, 9 and 11, the swing link motor reducer assembly 6 includes a reduction motor 6.1, a second coupling 6.2, a third bearing 6.3 and a swing link fixing housing 6.4; the speed reducing motor 6.1 is connected with the swing rod fixing shell 6.4, and the tail end rotating shaft 4.3 (shown in figure 9) is connected with an output shaft of the speed reducing motor 6.1 through a second coupling 6.2; the swing rod fixing shell 6.4 is designed into two rectangular groove structures, and installation spaces are respectively provided for the speed reducing motor 6.1 and the second coupler 6.2; the third bearing 6.3 is embedded in the side surface of the swing rod fixing shell 6.4 and used for supporting the tail end component 4; the connecting piece C7 is provided with two vertical mounting surfaces, and the swing rod motor speed reducer assembly 6 is connected with a motor right-angle speed reducer assembly B9 through the connecting piece C7 (shown in figure 11).
As shown in fig. 1, 2, 5, 9 and 14, the terminal assembly 4 comprises a limit screw 4.1, a limit sleeve 4.2 and a terminal rotating shaft 4.3; the limiting sleeve 4.2 (shown in figure 14) is perforated radially; the limiting screw 4.1 penetrates through a radial hole of the limiting cylinder sleeve 4.2 to be connected with the tail end rotating shaft 4.3, so that the limiting cylinder sleeve 4.2 is fixedly connected with the tail end rotating shaft 4.3; the side surface of the limiting sleeve 4.2 props against the third bearing 6.3 to ensure that the tail end rotating shaft 4.3 cannot slide along the axial direction; the end rotating shaft 4.3 is provided with a plurality of connecting hole positions for connecting an external mechanism. A sliding ring 5 is arranged on the swing rod fixing shell 6.4, so that the back-end electric circuit is prevented from being entangled during rotation.
As shown in fig. 1, 2, 3 and 5, the swing angle range of the second-level swing is controlled by setting the motor rotation angle of the third motor 9.2, so that the tail end rotating shaft 4.3 is ensured not to collide with the inner wall 11 of the pit.
The device completes the transverse linear motion of the tail end rotating shaft 4.3 by the cooperation of the rotation of the motor right-angle speed reducer component B9 and the longitudinal linear motion of the motor lead screw component 1.
The working process of the utility model is as follows:
(1) connecting all components in the four-degree-of-freedom operating device;
(2) the actuating mechanism is arranged on the tail end rotating shaft 4.3;
(3) after the installation, carrying out lifting motion and four-degree-of-freedom operation test;
(4) through the drive of each motor, the longitudinal linear motion output by the motor lead screw assembly 1 is synthesized with the primary swing output by the motor right-angle speed reducer assembly A10 and the secondary swing output by the motor right-angle speed reducer assembly B9, so that various terminal motion laws are realized.
The above detailed description is provided for illustrative purposes, and is not intended to limit the present invention, and any modifications and variations of the present invention are within the spirit and scope of the following claims.
Claims (8)
1. A four-degree-of-freedom operating device in a limited space is characterized by comprising a base plate assembly, a motor lead screw assembly, a connecting piece A, a motor right-angle speed reducer assembly A, a connecting piece B, a motor right-angle speed reducer assembly B, a connecting piece C, a swing rod motor speed reducer assembly and a tail end assembly; the base plate assembly comprises a steel wire rope and a base plate, and the steel wire rope is fixedly connected with the base plate; the motor lead screw assembly is fixed on the base plate, and the motor right-angle speed reducer assembly A is connected with the motor lead screw assembly through a connecting piece A; the motor right-angle speed reducer component B is connected with the motor right-angle speed reducer component A through a connecting piece B; the swing rod motor speed reducer component is connected with the motor right-angle speed reducer component B through a connecting piece C; the tail end assembly is provided with a tail end rotating shaft, and the tail end rotating shaft is connected with the swing rod motor speed reducer assembly through a coupler.
2. The four-degree-of-freedom operating device in a limited space according to claim 1, wherein the motor-lead screw assembly comprises a first motor, a lead screw head end support, a lead screw nut, a slide block, a lead screw, a slide rail, a lead screw tail end support, a first coupler, a first bearing and a second bearing; wherein, the screw head end supporting piece adopts a clip block structure, the middle is hollowed, and two sides are respectively punched; the top of the leading screw head end supporting piece is fixedly connected with the base, the first motor is fixed on the side surface of the leading screw head end supporting piece, and the first motor is connected with the head end of the leading screw through a first coupler; a screw nut on the screw rod is fixedly connected with the connecting piece A; the connecting piece A is fixedly connected with the sliding block; the sliding rail is arranged on the base plate, and the sliding block is matched with the sliding rail; a first bearing is embedded in the side surface of the screw head end supporting piece, and the head end of the screw is supported by the first bearing; the screw tail end supporting piece is fixed on the base plate and is embedded with a second bearing, and the tail end of the screw is supported by the second bearing.
3. The four-degree-of-freedom operating device in the limited space according to claim 2, wherein the connecting piece A is a structure that a middle hole is punched to connect with a lead screw nut, a bottom side hole is punched to connect with a motor right-angle speed reducer component A, and a top part is milled with a notch and then is punched to connect with a sliding block.
4. The four-degree-of-freedom operating device in a limited space according to claim 1, wherein the motor right-angle reducer assembly A and the motor right-angle reducer assembly B are identical in structure, the motor right-angle reducer assembly A comprises a first right-angle reducer and a second motor, and the motor right-angle reducer assembly B comprises a second right-angle reducer and a third motor; the connecting piece B is provided with two vertical mounting surfaces, and a first right-angle speed reducer and a second right-angle speed reducer are respectively mounted on the two vertical mounting surfaces.
5. The four-degree-of-freedom operating device in a limited space according to claim 1, wherein the swing link motor reducer assembly comprises a reduction motor, a second coupling and a swing link fixing shell; the speed reducing motor is connected with the swing rod fixing shell, and a tail end rotating shaft of the tail end component is connected with an output shaft of the speed reducing motor through a second coupler; the connecting piece C is provided with two vertical mounting surfaces, and the swing rod motor speed reducer assembly is connected with the motor right-angle speed reducer assembly B through the connecting piece C.
6. The four-degree-of-freedom manipulator of claim 5, wherein the pendulum fixed housing is provided with a slip ring.
7. The four-degree-of-freedom operating device in a limited space according to claim 5, wherein the swing link fixing housing is designed into two rectangular groove structures to provide installation spaces for the speed reduction motor and the second coupling respectively; and a third bearing is embedded on the side surface of the swing rod fixing shell and used for supporting the tail end assembly.
8. The four-degree-of-freedom manipulator according to claim 7, wherein the end assembly comprises a limit screw, a limit sleeve and an end rotating shaft; the limiting sleeve is perforated along the radial direction; the limiting screw penetrates through a radial hole of the limiting cylinder sleeve to be connected with the tail end rotating shaft, so that the limiting cylinder sleeve is fixedly connected with the tail end rotating shaft; the side surface of the limiting sleeve props against the third bearing; the end rotating shaft is provided with a plurality of connecting hole positions for connecting an external mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920295375.3U CN209812319U (en) | 2019-03-08 | 2019-03-08 | Four-freedom-degree operating device in limited space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920295375.3U CN209812319U (en) | 2019-03-08 | 2019-03-08 | Four-freedom-degree operating device in limited space |
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| Publication Number | Publication Date |
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| CN209812319U true CN209812319U (en) | 2019-12-20 |
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| CN201920295375.3U Active CN209812319U (en) | 2019-03-08 | 2019-03-08 | Four-freedom-degree operating device in limited space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A kind of four-degree-of-freedom operating device in the confined space |
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- 2019-03-08 CN CN201920295375.3U patent/CN209812319U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A kind of four-degree-of-freedom operating device in the confined space |
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