CN210879661U - Transmission device of portable compact type rotary manipulator - Google Patents
Transmission device of portable compact type rotary manipulator Download PDFInfo
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- CN210879661U CN210879661U CN201922010646.9U CN201922010646U CN210879661U CN 210879661 U CN210879661 U CN 210879661U CN 201922010646 U CN201922010646 U CN 201922010646U CN 210879661 U CN210879661 U CN 210879661U
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- main shaft
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Abstract
The utility model relates to a manipulator transmission technical field especially relates to a transmission of light compact rotary manipulator, including arm, base, main shaft, crank drive mechanism and motor drive subassembly, the bottom of main shaft is fixed at the base, and the top that stretches out the base in the upper end of main shaft is connected with the arm, and motor drive subassembly and crank drive mechanism are connected, and crank drive mechanism can drive the main shaft and realize reciprocating rotation. The utility model discloses a crankshaft connecting rod carries out transition transmission's device, can realize better that the spiral arm manipulator steadily starts and stops, has avoided the impact, can replace the soft starting drive of motor, has reached the effect of the soft start-up of machinery.
Description
Technical Field
The utility model relates to a manipulator transmission technical field especially relates to a transmission of portable compact rotary manipulator.
Background
The manipulator is an indispensable tool for realizing automation and intellectualization in the manufacturing industry, and is widely applied to the aspects of feeding and discharging of a machine tool, workpiece carrying and the like at present. Compared with a common rectangular coordinate manipulator, the spiral arm manipulator has the characteristics of compact occupied space, flexible installation position and the like, and is particularly suitable for a production line with limited space and more complex equipment arrangement. However, when heavy workpieces need to be carried in a relatively small working stroke, if the traditional transmission mode of 'motor + reducer' is still adopted by the swing arm manipulator, an impact phenomenon occurs during starting and stopping, so that potential safety hazards exist and the service life of equipment is shortened. The common solution is mainly to control the soft start of the motor, and a soft start controller is required to be added, so that the complexity of a manipulator control system is increased.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: increase soft starting control ware in order to increase the technical problem of the complexity of manipulator control system among the prior art, the utility model provides a transmission of light compact rotary manipulator carries out transition driven device through the bent axle connecting rod, can realize better that the spiral arm manipulator steadily starts and stops, has avoided the impact, can replace the soft starting drive of motor, has reached the effect of the soft start of machinery.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a transmission of light compact rotatory manipulator, includes arm, base, main shaft, crank drive mechanism and motor drive assembly, the bottom of main shaft is fixed at the base, and the top that the base was stretched out to the upper end of main shaft is connected with the arm, and motor drive assembly is connected with crank drive mechanism, and crank drive mechanism can drive the main shaft and realize reciprocating rotation.
Further, specifically, for the convenience of assembly, crank drive mechanism includes connecting rod, bent axle piece output shaft and bent axle piece input shaft, two pull rods of fixedly connected with on the lower part of main shaft set up from top to bottom, and the fixed pull rod axle that is provided with between two pull rods, the one end and the rotation suit of connecting rod are on the pull rod axle, and the other end rotation suit of connecting rod is on bent axle piece output shaft, and bent axle piece is provided with left hole and right hole on the bent axle piece, the bottom of bent axle piece output shaft and the left hole interference fit on the bent axle piece, the upper end interference fit of the right hole on the bent axle piece and bent axle piece input shaft, and bent axle piece input shaft and motor drive assembly are connected.
Further, specifically, for the convenience of assembly, the motor drive assembly includes motor installing support, step motor and speed reducer, motor installing support and base fixed connection, speed reducer fixed mounting are on the motor installing support, and step motor and speed reducer directly link.
Furthermore, in order to adjust the angle of the main shaft to realize the reciprocating rotation, the connecting rod comprises a left connecting rod, a threaded connecting rod and a right connecting rod, one end of the left connecting rod is rotatably sleeved on the output shaft of the crankshaft block, the other end of the left connecting rod is in threaded connection with one end of the threaded connecting rod, the other end of the threaded connecting rod is in threaded connection with one end of the right connecting rod, and the other end of the right connecting rod is rotatably sleeved on the pull rod shaft.
Further, specifically, the crankshaft block is a strip shape with two ends being arc surfaces.
Further, for the convenience of detecting main shaft pivoted angle, the rotation of the regulation control main shaft of being convenient for is close to still be provided with the sensor fixed plate in the position of main shaft bottom, sensor fixed plate and base fixed connection are provided with the photoelectric sensor subassembly of right angle shape frame construction on the sensor fixed plate, and the main shaft is located the photoelectric sensor subassembly of right angle shape frame construction, is close to bottom fixedly connected with rotation induction piece, photoelectric sensor subassembly and controller signal connection on the main shaft.
The beneficial effects of the utility model are that, the utility model discloses a transmission of light compact rotating mechanical arm carries out transition transmission's device through the bent axle connecting rod, can realize the spiral arm manipulator better and start steadily and stop, has avoided the impact, can replace the soft starting drive of motor, has reached the effect of the soft start-up of machinery.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of a transmission device of the portable compact rotary manipulator of the present invention.
Fig. 2 is a sectional view a-a of fig. 1.
In the figure: 1. the mechanical arm comprises a mechanical arm body 2, a base 3, a main shaft 4, a connecting rod 41, a left connecting rod 42, a threaded connecting rod 43, a right connecting rod 5, a crankshaft block 6, a crankshaft block output shaft 7, a crankshaft block input shaft 8, a pull rod 9, a pull rod shaft 10, a speed reducer 11, a motor mounting support 12, a sensor fixing plate 13, a photoelectric sensor assembly 14, a rotary induction sheet 15 and a stepping motor.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1-2, the best embodiment of the present invention is a transmission device for a portable compact rotary manipulator, which comprises a mechanical arm 1, a base 2, a main shaft 3, a crank transmission mechanism and a motor drive assembly, wherein the bottom of the main shaft 3 is fixed on the base 2, the top of the base 2 extended from the upper end of the main shaft 3 is connected with the mechanical arm 1, the motor drive assembly is connected with the crank transmission mechanism, and the crank transmission mechanism can drive the main shaft 3 to realize reciprocating rotation.
Crank drive mechanism includes connecting rod 4, crankshaft block 5, crankshaft block output shaft 6 and crankshaft block input shaft 7, two pull rods 8 of fixedly connected with on the lower part of main shaft 3, two pull rods 8 set up from top to bottom, fixedly between two pull rods 8 be provided with pull rod 9, the one end and the rotation suit of connecting rod 4 are on pull rod 9, the other end rotation suit of connecting rod 4 is on crankshaft block output shaft 6, be provided with left hole and right hole on crankshaft block 5, the bottom of crankshaft block output shaft 6 and the left hole interference fit on crankshaft block 5, the upper end interference fit of right hole and crankshaft block input shaft 7 on crankshaft block 5, crankshaft block input shaft 7 and motor drive assembly are connected. The motor driving assembly comprises a motor mounting support 11, a stepping motor 15 and a speed reducer 10, the motor mounting support 11 is fixedly connected with the base 2, the speed reducer 10 is fixedly mounted on the motor mounting support 11, the stepping motor 15 is directly connected with the speed reducer 10, the crankshaft block input shaft 7 is fixedly mounted on the motor mounting support 11 through a bearing, and the speed reducer 10 is in transmission connection with the crankshaft block input shaft 7. The connecting rod 4 comprises a left connecting rod 41, a threaded connecting rod 42 and a right connecting rod 43, one end of the left connecting rod 41 is rotatably sleeved on the crankshaft block output shaft 6, the other end of the left connecting rod 41 is in threaded connection with one end of the threaded connecting rod 42, the other end of the threaded connecting rod 42 is in threaded connection with one end of the right connecting rod 43, and the other end of the right connecting rod 43 is rotatably sleeved on the pull rod shaft 9. The crankshaft block 5 is a strip shape with two ends being arc surfaces. Be close to still be provided with sensor fixed plate 12 on the position of main shaft 3 bottom, sensor fixed plate 12 and base 2 fixed connection are provided with right angle shape frame construction's photoelectric sensor subassembly 13 on the sensor fixed plate 12, and main shaft 3 is located right angle shape frame construction's photoelectric sensor subassembly 13, is close to bottom department fixedly connected with rotation induction piece 14 on the main shaft 3, photoelectric sensor subassembly 13 and controller signal connection.
The whole working process of the transmission is described as follows: the stepping motor 15 rotates to drive the crankshaft block input shaft 7 to rotate at a relatively low rotation speed through the speed reducer 10. At this time, the crank rocker mechanism is formed by the crank block 5, the crank block output shaft 6, the left connecting rod 41, the threaded connecting rod 42, the right connecting rod 43, the pull rod shaft 9 and the pull rod shaft 9, so as to drive the main shaft 20 connected with the pull rod 8 to rotate in a reciprocating manner, and the rotation angle can be adjusted by adjusting the threaded matching depth of the threaded connecting rod 42, the left connecting rod 41 and the right connecting rod 43, namely, the total length of the connecting rod 4 is changed to adjust the rotation angle of the main shaft 20. The main shaft 20 rotates to drive the rotary box fixedly connected with the upper end of the main shaft to rotate along with the main shaft, and further drive the mechanical arm 1 fixedly connected with the rotary box to rotate synchronously. Therefore, the mechanical arms arranged at different positions of the mechanical arm 1 can grab and convey heavy workpieces. Since the change in the rotation speed of the main shaft 20 is relatively gentle, the inertial impact caused by the start and stop under heavy load conditions can be significantly reduced. Suppose that the crankshaft block input shaft 7 rotates clockwise to drive the connecting rod 4 to rotate clockwise, the left end of the angle connecting rod 4 rotates clockwise 180 degrees in fig. 2, the main shaft 20 rotates counterclockwise 90 degrees, and the left end of the connecting rod 4 continues to rotate clockwise 180 degrees, then the main shaft 20 rotates clockwise 90 degrees, namely, the reciprocating rotation is realized.
The main shaft 20 can be in the counterclockwise direction and the clockwise direction, when the rotation sensing piece 14 on the main shaft 3 passes through the photoelectric sensor assembly 13, the photoelectric sensor assembly 13 sends a pulse signal to the controller, and the position at this time is used as a movement zero position for angle control.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. The utility model provides a transmission of light compact rotatory manipulator which characterized in that: including arm (1), base (2), main shaft (3), crank drive mechanism and motor drive assembly, the bottom of main shaft (3) is fixed in base (2), and the top that base (2) were stretched out to the upper end of main shaft (3) is connected with arm (1), and motor drive assembly is connected with crank drive mechanism, and crank drive mechanism can drive main shaft (3) and realize reciprocal rotation.
2. The transmission of a lightweight compact rotary robot as set forth in claim 1, wherein: crank drive mechanism includes connecting rod (4), bent axle piece (5), bent axle piece output shaft (6) and bent axle piece input shaft (7), two pull rod (8) of fixedly connected with on the lower part of main shaft (3), set up from top to bottom two pull rod (8), fixed pull rod axle (9) that is provided with between two pull rod (8), the one end and the rotation suit of connecting rod (4) are on pull rod axle (9), the other end rotation suit of connecting rod (4) is on bent axle piece output shaft (6), bent axle piece (5), be provided with left hole and right hole on bent axle piece (5), the bottom of bent axle piece output shaft (6) and the left hole interference fit on bent axle piece (5), the right hole on bent axle piece (5) and the upper end interference fit of bent axle piece input shaft (7), bent axle piece input shaft (7) are connected with motor drive assembly.
3. The transmission of a lightweight compact rotary robot as set forth in claim 2, wherein: the motor driving assembly comprises a motor mounting bracket (11), a stepping motor (15) and a speed reducer (10), the motor mounting bracket (11) is fixedly connected with the base (2), the speed reducer (10) is fixedly mounted on the motor mounting bracket (11), the stepping motor (15) is directly connected with the speed reducer (10), and the speed reducer (10) is in transmission connection with the crankshaft block input shaft (7).
4. The transmission of a lightweight compact rotary robot as set forth in claim 2, wherein: the connecting rod (4) comprises a left connecting rod (41), a threaded connecting rod (42) and a right connecting rod (43), one end of the left connecting rod (41) is rotatably sleeved on the crankshaft block output shaft (6), the other end of the left connecting rod (41) is in threaded connection with one end of the threaded connecting rod (42), the other end of the threaded connecting rod (42) is in threaded connection with one end of the right connecting rod (43), and the other end of the right connecting rod (43) is rotatably sleeved on the pull rod shaft (9).
5. The transmission of a lightweight compact rotary robot as set forth in claim 2, wherein: the crankshaft block (5) is in a strip shape with two arc surfaces at two ends.
6. The transmission of a lightweight compact rotary robot as set forth in claim 2, wherein: be close to still be provided with sensor fixed plate (12) on the position of main shaft (3) bottom, sensor fixed plate (12) and base (2) fixed connection are provided with right angle shape frame construction's photoelectric sensor subassembly (13) on sensor fixed plate (12), and main shaft (3) are located right angle shape frame construction's photoelectric sensor subassembly (13), are close to bottom department fixedly connected with rotation induction piece (14) on main shaft (3), photoelectric sensor subassembly (13) and controller signal connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922010646.9U CN210879661U (en) | 2019-11-20 | 2019-11-20 | Transmission device of portable compact type rotary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922010646.9U CN210879661U (en) | 2019-11-20 | 2019-11-20 | Transmission device of portable compact type rotary manipulator |
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| Publication Number | Publication Date |
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| CN210879661U true CN210879661U (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922010646.9U Active CN210879661U (en) | 2019-11-20 | 2019-11-20 | Transmission device of portable compact type rotary manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113669354A (en) * | 2021-07-06 | 2021-11-19 | 福建群峰机械有限公司 | Synchronous spline shaft, production process of synchronous spline shaft and material distributing vehicle |
-
2019
- 2019-11-20 CN CN201922010646.9U patent/CN210879661U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113669354A (en) * | 2021-07-06 | 2021-11-19 | 福建群峰机械有限公司 | Synchronous spline shaft, production process of synchronous spline shaft and material distributing vehicle |
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