CN210616529U

CN210616529U - Transmission device of manipulator

Info

Publication number: CN210616529U
Application number: CN201921537760.0U
Authority: CN
Inventors: 江政; 肖现坤; 高阳; 华琪; 高桐; 王玉鑫
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-05-26
Anticipated expiration: 2029-09-17

Abstract

The utility model discloses a transmission device of a manipulator, which comprises a mounting frame component and a transmission component, wherein the transmission component is fixedly arranged on the mounting frame component, the end part of a side spring extends out of a clamping block to be tightly attached with the inner wall of a box body shell, the vibration of the joint of the mounting frame and the box body shell is reduced, the structural stability is enhanced, a driving cylinder drives a mandril to eject out through a transmission shaft, the mandril is fixedly connected with a push plate, the push plate is fixedly connected with a manipulator arm component to realize the position change of the manipulator, two groups of transmission components are respectively fixedly connected with two sections of arm components at the joint of the manipulator, the aim of increasing the motion range of the manipulator is fulfilled through the independent operation of the two groups of transmission components, the practicability is better, the arrangement of a foam plate and an elastic protective sleeve reduces the collision between the transmission component and the mounting frame component in the, avoid resonance between the components, and reduce the noise of the device while increasing the stability of the device.

Description

Transmission device of manipulator

Technical Field

The utility model relates to an industrial production mechanical equipment technical field specifically is a transmission of manipulator.

Background

The manipulator is an automatic operation device which can imitate certain action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, and is widely applied to the field of industrial production, and the driving mechanisms used by the manipulator mainly comprise 4 types: hydraulic drive, pneumatic drive, electric drive and mechanical drive, wherein use most with hydraulic drive, hydraulic drive formula manipulator is usually by hydraulic motor (various hydro-cylinders, oily motor), the servovalve, the oil pump, oil tank etc. constitute actuating system, carry out work by driving manipulator actuating mechanism, it has very big ability of grabbing, but mechanical parts are numerous, can only accomplish straight-up operation down, the removal of manipulator still relies on the mobile device who installs additional to assist going on, the self-motion scope of manipulator is little, two sections junctions subassembly of the current type of bending manipulator on the market are complicated, the part is numerous, friction between each subassembly is serious, mechanical loss aggravates, and easy resonance takes place between the subassembly during the transmission, reduction device stability, the noise is big, the practicality is poor.

Disclosure of Invention

An object of the utility model is to provide a transmission of manipulator, it is wider to possess manipulator motion range, reduce the surface loss that vibration friction caused between the subassembly, avoid taking place resonance between the subassembly, the advantage of reducing the device noise when increasing device stability, can solve among the prior art and drive the manipulator part numerous, can only accomplish straight-up operation down, the removal of manipulator still relies on the mobile device who installs additional to come supplementary going on, the self-motion range of manipulator is little, two sections junctions subassemblies of the current formula of bending manipulator on the market are complicated, the part is numerous, friction between each subassembly is serious, mechanical loss aggravation, and take place resonance easily between the subassembly during the transmission, reduce device stability, the noise is big, the poor problem of practicality.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a transmission of manipulator, including mount pad subassembly and transmission assembly, transmission assembly fixed mounting is on the mount pad subassembly, the mount pad subassembly includes the box shell, the fixture block, the side spring, the installing frame, a separation plate, cystosepiment and elasticity protective sheath, the box shell passes through draw-in groove and fixture block on the inside wall, the inside fixed mounting multiunit side spring of fixture block, the tip of side spring stretches out the inner wall of fixture block and box shell and closely laminates, the fixture block is fixed to be set up in the both sides of installing frame, the inside fixed mounting baffle of installing frame, baffle and elasticity protective sheath fixed connection, elasticity protective sheath suit is on transmission assembly.

The transmission assembly comprises a driving cylinder, a connecting rod sleeve, a mounting flange, a transmission shaft, a fastening bolt piece, a buffer spring, a limiting plate, an ejector rod and a push plate, the power output end and the transmission shaft fixed connection of the driving cylinder, the transmission shaft is movably sleeved in the connecting rod sleeve, the connecting rod sleeve is fixedly sleeved with the mounting flange, the mounting flange is fixed on the outer wall of the mounting frame, the fastening bolt piece is fixedly sleeved on the transmission shaft, the fastening bolt piece is fixedly connected with the limiting plate through the buffer spring, the limiting plate is fixed on the transmission shaft, the transmission shaft is fixedly connected with the ejector rod, and the end.

Preferably, the fastening bolt pieces and the limiting plate are respectively located on the inner side and the outer side of the mounting frame, the foam board is fixedly mounted at the connecting position of the fastening bolt pieces and the inner wall of the mounting frame, and the buffer spring is located inside the foam board.

Preferably, the connecting rod sleeve is fixedly sleeved inside the elastic protective sleeve, the essence of the elastic protective sleeve is a sleeve structure formed by overlapping a plurality of groups of elastic rubber rings, one end of the elastic protective sleeve is fixedly connected with the partition plate, and the other end of the elastic protective sleeve is fixed on the inner wall of the mounting frame.

Preferably, the transmission assemblies are arranged in two groups, and the two groups of transmission assemblies are respectively and fixedly connected with the two sections of arm assemblies at the joints of the manipulator.

Preferably, the driving cylinder is fixed on the inner wall of the manipulator.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the transmission device of the mechanical arm realizes the adjustment of the bending or straightening state of the two sections of devices at the joint of the mechanical arm through the independent operation of the two groups of transmission assemblies, achieves the purpose of increasing the motion range of the mechanical arm, and is better in practicability.

The transmission of this manipulator, the setting of cystosepiment and elasticity protective sheath reduces the collision between transmission in-process transmission subassembly and the mount pad subassembly, plays the effect of protection subassembly, reduces the surface loss that vibration friction caused between the subassembly, avoids taking place resonance between the subassembly, and the reduction device noise when increasing device stability.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the connection between the mounting bracket assembly and the transmission assembly of the present invention;

fig. 3 is a schematic structural view of the transmission assembly in an operating state of the present invention;

fig. 4 is a schematic structural diagram of the transmission assembly of the present invention.

In the figure: 1. a mounting bracket assembly; 11. a case body shell; 12. a clamping block; 13. a side spring; 14. installing a frame; 15. a partition plate; 16. a foam board; 17. an elastic protective sleeve; 2. a transmission assembly; 21. a driving cylinder; 22. a connecting rod sleeve; 23. installing a flange; 24. a drive shaft; 25. a fastening bolt member; 26. a buffer spring; 27. a limiting plate; 28. a top rod; 29. a push plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, a transmission device for a manipulator includes a mounting frame assembly 1 and two transmission assemblies 2, the transmission assemblies 2 are fixedly mounted on the mounting frame assembly 1, the two transmission assemblies 2 are provided in two groups, and the two groups of transmission assemblies 2 are respectively and fixedly connected with two sections of arm assemblies at joints of the manipulator.

Referring to fig. 2, the mounting bracket assembly 1 includes a box housing 11, a fixture block 12, side springs 13, a mounting frame 14, a partition plate 15, a foam board 16 and an elastic protection sleeve 17, the box housing 11 is engaged with the fixture block 12 through a clamping groove on an inner side wall, a plurality of groups of side springs 13 are fixedly mounted inside the fixture block 12, end portions of the side springs 13 extend out of the fixture block 12 to be closely attached to the inner wall of the box housing 11, the fixture block 12 is fixedly disposed on two sides of the mounting frame 14, the partition plate 15 is fixedly mounted inside the mounting frame 14, the partition plate 15 is fixedly connected with the elastic protection sleeve 17, and the elastic protection sleeve 17 is sleeved on.

Referring to fig. 3-4, the transmission assembly 2 includes a driving cylinder 21, a connecting rod bushing 22, a mounting flange 23, a transmission shaft 24, a fastening bolt 25, a buffer spring 26, a limiting plate 27, a top rod 28 and a push plate 29, the driving cylinder 21 is fixed on the inner wall of the manipulator, the power output end of the driving cylinder 21 is fixedly connected with the transmission shaft 24, the transmission shaft 24 is movably sleeved inside the connecting rod bushing 22, the connecting rod bushing 22 is fixedly sleeved with the mounting flange 23, the mounting flange 23 is fixed on the outer wall of the mounting frame 14, the fastening bolt 25 is fixedly sleeved on the transmission shaft 24, the fastening bolt 25 is fixedly connected with the limiting plate 27 through the buffer spring 26, the limiting plate 27 is fixed on the transmission shaft 24, the transmission shaft 24 is fixedly connected with the top rod 28, the push plate 29 is fixedly mounted on the end of the top rod 28, the fastening bolt 25 and the limiting plate 27 are respectively located on the inner side and the outer side, the buffer spring 26 is located inside the foam board 16, the connecting rod sleeve 22 is fixedly sleeved inside the elastic protection sleeve 17, the elastic protection sleeve 17 is of a sleeve structure formed by overlapping a plurality of groups of elastic rubber rings, one end of the elastic protection sleeve 17 is fixedly connected with the partition board 15, and the other end of the elastic protection sleeve 17 is fixed on the inner wall of the installation frame 14.

The working principle is as follows: the end part of the side spring 13 extends out of the clamping block 12 and is tightly attached to the inner wall of the box body shell 11, the vibration of the joint of the installation frame 14 and the box body shell 11 is reduced, the driving cylinder 21 drives the ejector rod 28 to eject through the transmission shaft 24, the ejector rod 28 is fixedly connected with the push plate 29, the push plate 29 is fixedly connected with the mechanical arm component to realize the position change of the mechanical arm, the two groups of transmission components 2 are respectively and fixedly connected with the two sections of arm components at the joint of the mechanical arm, through the independent operation of two sets of drive assembly 2 (for example, a set of drive assembly 2 extends, another set of drive assembly 2 shortens, drives the relative position of two sections devices of manipulator joint department and changes), realize the regulation of the bending or straightening state of two sections devices of manipulator joint department, the setting of cystosepiment 16 and elasticity protective sheath 17 reduces the collision between drive assembly 2 and mounting bracket subassembly 1 among the transmission process, plays the effect of protection subassembly.

In summary, the following steps: the transmission device of the mechanical arm has the advantages that the end part of the side spring 13 extends out of the clamping block 12 to be tightly attached to the inner wall of the box body shell 11, vibration at the joint of the installation frame 14 and the box body shell 11 is reduced, structural stability is enhanced, the driving cylinder 21 drives the ejector rod 28 to eject through the transmission shaft 24, the ejector rod 28 is fixedly connected with the push plate 29, the push plate 29 is fixedly connected with the mechanical arm component, position change of the mechanical arm is realized, the two groups of transmission components 2 are respectively fixedly connected with the two sections of arm components at the joint of the mechanical arm, the bending or straightening state adjustment of the two sections of devices at the joint of the mechanical arm is realized through independent operation of the two groups of transmission components 2, the purpose of increasing the motion range of the mechanical arm is achieved, compared with the traditional one-way mechanical arm, the practicability is better, the arrangement of the foam, the device has the advantages that the effect of protecting the components is achieved, the surface loss caused by vibration friction among the components is reduced, resonance among the components is avoided, and the noise of the device is reduced while the stability of the device is improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a transmission of manipulator, includes mount assembly (1) and transmission assembly (2), transmission assembly (2) fixed mounting on mount assembly (1), its characterized in that: installing frame subassembly (1) is including box shell (11), fixture block (12), side spring (13), installing frame (14), baffle (15), cystosepiment (16) and elasticity protective sheath (17), box shell (11) are through draw-in groove and fixture block (12) block on the inside wall, the inside fixed mounting multiunit side spring (13) of fixture block (12), the tip of side spring (13) stretches out the inner wall of fixture block (12) and box shell (11) and closely laminates, the fixed both sides that set up in installing frame (14) of fixture block (12), inside fixed mounting baffle (15) of installing frame (14), baffle (15) and elasticity protective sheath (17) fixed connection, elasticity protective sheath (17) suit is on transmission subassembly (2), transmission subassembly (2) are including driving cylinder (21), connecting rod cover (22), mounting flange (23), transmission shaft (24), Fastening bolt spare (25), buffer spring (26), limiting plate (27), ejector pin (28) and push pedal (29), the power take off end and transmission shaft (24) fixed connection who drives actuating cylinder (21), transmission shaft (24) activity suit is in the inside of connecting rod cover (22), connecting rod cover (22) and mounting flange (23) fixed cup joint, mounting flange (23) are fixed on the outer wall of installing frame (14), fixed suit fastening bolt spare (25) on transmission shaft (24), fastening bolt spare (25) are through buffer spring (26) and limiting plate (27) fixed connection, limiting plate (27) are fixed on transmission shaft (24), transmission shaft (24) and ejector pin (28) fixed connection, the tip fixed mounting push pedal (29) of ejector pin (28).

2. A transmission of a manipulator according to claim 1, characterized in that: the fastening bolt pieces (25) and the limiting plates (27) are respectively located on the inner side and the outer side of the installation frame (14), the foam plate (16) is fixedly installed at the connection position of the fastening bolt pieces (25) and the inner wall of the installation frame (14), and the buffer spring (26) is located inside the foam plate (16).

3. A transmission of a manipulator according to claim 1, characterized in that: the connecting rod sleeve (22) is fixedly sleeved inside the elastic protective sleeve (17), the essence of the elastic protective sleeve (17) is a sleeve structure formed by overlapping a plurality of groups of elastic rubber rings, one end of the elastic protective sleeve (17) is fixedly connected with the partition plate (15), and the other end of the elastic protective sleeve (17) is fixed on the inner wall of the mounting frame (14).

4. A transmission of a manipulator according to claim 1, characterized in that: the two groups of transmission assemblies (2) are arranged, and the two groups of transmission assemblies (2) are respectively and fixedly connected with the two sections of arm assemblies at the joints of the manipulator.

5. A transmission of a manipulator according to claim 1, characterized in that: the driving cylinder (21) is fixed on the inner wall of the manipulator.