CN213196682U

CN213196682U - Transmission device

Info

Publication number: CN213196682U
Application number: CN202021128323.6U
Authority: CN
Inventors: 闫本镜; 张俊; 苏家玮; 刘文龙
Original assignee: Yuanguang Software Co Ltd
Current assignee: Yuanguang Software Co Ltd
Priority date: 2020-06-17
Filing date: 2020-06-17
Publication date: 2021-05-14
Anticipated expiration: 2030-06-17

Abstract

The utility model discloses a transmission device, which comprises a first transmission component, a second transmission component, a third transmission component and a clamping mechanism, wherein the first transmission component, the second transmission component and the third transmission component respectively or simultaneously drive the clamping mechanism to move; the first transmission assembly at least comprises a first end and a second end, the first end and the second end are driven to operate by a first driving mechanism and a second driving mechanism respectively, and the first driving mechanism and the second driving mechanism operate synchronously. The utility model discloses a transmission sets up actuating mechanism respectively for two ends of drive assembly, makes two independent synchronous motion in end, avoids two transmission shafts to form easily and interferes, and the desynchrony that probably appears leads to the dead problem of card in the motion process.

Description

Transmission device

Technical Field

The utility model relates to a driving tool technical field especially relates to a transmission.

Background

In engineering practice, sometimes the situation that the working space is a vertical plane is needed, in order to save the working space and make the mechanism look compact, the assembly and the maintenance are convenient, the failure probability of equipment is reduced, and in order to improve the universality, the working area is required to be expanded towards two sides. At this time, the traditional two-side guide rail and middle driving mechanism (such as a screw rod module driving mechanism) are difficult to meet the requirement, and interference can be formed between the module with the working space arranged in the middle being a horizontal plane and the module moving up and down in a vertical plane. Common two independent Z axle mechanisms on the market mostly adopt two hold-in range drive modules in both sides about, and the diaxon is passed through coupling joint and is accomplished the diaxon synchronous on same motor, can not bear great load, and this kind of structure simultaneously, driving motor end structure size protrusion module body, the space occupies greatly.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem that the prior transmission device is easy to form interference and the problem of blocking caused by possible desynchrony in the process of the motion of two transmission shafts is solved by providing a transmission device, so that the two vertical transmission shafts keep synchronous motion.

In order to solve the technical problem, the utility model discloses a technical scheme be: providing a transmission device, wherein the transmission device comprises a first transmission assembly, a second transmission assembly, a third transmission assembly and a clamping mechanism, and the first transmission assembly, the second transmission assembly and the third transmission assembly respectively or simultaneously drive the clamping mechanism to move;

the first transmission assembly at least comprises a first end and a second end, the first end and the second end are driven to operate by a first driving mechanism and a second driving mechanism respectively, and the first driving mechanism and the second driving mechanism operate synchronously.

Wherein the first end and the second end are parallel to each other and both are perpendicular to the second transmission assembly and the third transmission assembly, the first end/the second end and the second transmission assembly and the third transmission assembly forming a three-dimensional space;

the first end and the second end are respectively fixedly connected with the second transmission assembly, the third transmission assembly is arranged on the second transmission assembly, and the clamping mechanism is fixed on the third transmission assembly.

The first transmission assembly and the third transmission assembly are both screw rod driving modules, and the second transmission assembly is a belt driving module.

Wherein the distance interval between the first end and the second end is 2m-6 m.

Wherein the first driving mechanism and the second driving mechanism are controlled to synchronously operate through a driver and a motion control system.

Wherein the first drive mechanism and the second drive mechanism are both servo motors.

The clamping mechanism comprises a clamping motor, a clamping connecting piece and a clamping jaw, and the clamping motor drives the clamping jaw to clamp or release through the clamping connecting piece.

The clamping mechanism is characterized in that the clamping mechanism is further connected with a rotating mechanism, the rotating mechanism comprises a rotating motor and a rotating shaft, the clamping connecting piece is arranged on the rotating shaft, and the rotating motor drives the rotating shaft to rotate so as to drive the clamping mechanism to rotate.

The rotating motor and the rotating shaft are fixed on the third transmission assembly through a connecting seat.

And elastic pads are arranged at the joints of the first end and the second end with the second transmission assembly.

Compared with the prior art, the utility model discloses a beneficial effect that transmission reaches does: the two ends of the transmission assembly are respectively provided with the driving mechanism, so that the two ends independently move synchronously, and the problems that the two transmission shafts are easy to form interference and are blocked due to desynchrony possibly occurring in the moving process are avoided.

Drawings

To illustrate the technical solutions in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings without creative efforts.

FIG. 1 is a front view of the transmission of the present invention;

fig. 2 is a back view of the transmission of the present invention;

fig. 3 is a schematic structural view of the clamping mechanism in fig. 1.

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.

The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 and 2, fig. 1 and 2 are a front view and a back view of the transmission device of the present invention, respectively, the transmission device includes a first transmission assembly 1, a second transmission assembly 2, a third transmission assembly 3 and a clamping mechanism 4, and the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3 drive the clamping mechanism 4 to move respectively or simultaneously; the first transmission assembly 1 at least comprises a first end 11 and a second end 12, the first end 11 and the second end 12 are driven by a first driving mechanism and a second driving mechanism respectively, and the first driving mechanism and the second driving mechanism synchronously operate. The first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3 are used for displacing the clamping mechanism 4, so that the workpiece or the product clamped by the clamping mechanism 4 moves. Three-dimensional space is formed among the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3, the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3 are respectively used as a z axis, an x axis and a y axis, and the clamping mechanism 4 can move towards the x direction, the y direction and the z direction under the driving of the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3. The first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3 can move independently to perform unidirectional planar motion on the clamping mechanism 4, and the three components can also transmit simultaneously to enable the clamping mechanism 4 to perform motion in a three-dimensional space. In the present application, the first transmission assembly 1 includes at least two ends, when there are two ends, a four-shaft transmission device is formed, and of course, more ends may be provided according to the requirement, and the two ends will be taken as an example in this embodiment for description. The first end 11 and the second end 12 of the first transmission assembly 1 are transmission assemblies which independently run and form a support of the transmission device, and the first transmission assembly 1 can drive the second transmission assembly 2, the third transmission assembly 3 and the clamping mechanism 4 to move along the x-axis direction. In order to avoid the problem of jamming caused by asynchronous operation of the first end 11 and the second end 12, a common solution is to connect the first end 11 and the second end 12 to the same motor through a coupler to complete two-axis synchronous motion, but the two-axis synchronous motion cannot bear a large load, and the expansibility of the transmission device is limited, so that in the application, the first end 11 and the second end 12 are respectively provided with an independent first driving mechanism and an independent second driving mechanism, the first driving mechanism and the second driving mechanism respectively drive the first end 11 and the second end 12, and the first driving mechanism and the second driving mechanism run synchronously, so that the first end 11 and the second end 12 move synchronously, and the phenomena of motion interference, jamming and the like at two ends are avoided.

The first end 11 and the second end 12 in this embodiment are parallel to each other, and both are perpendicular to the second transmission assembly 2 and the third transmission assembly 3, and the first end 11/the second end 12 forms a three-dimensional space with the second transmission assembly 2 and the third transmission assembly 3; the first end 11 and the second end 12 are respectively fixedly connected with the second transmission assembly 2, the third transmission assembly 3 is arranged on the second transmission assembly 2, and the clamping mechanism 4 is fixed on the third transmission assembly 3.

In the embodiment of the present application, the transmission is a four-shaft transmission arranged vertically, the first transmission assembly 1 comprises a first end 11 and a second end 12, the first end 11 and the second end 12 being named first z-axis and second z-axis, respectively, for the sake of distinction. The first z-axis and the second z-axis are parallel and are arranged vertically and downwards, namely, one ends of the first z-axis and the second z-axis are fixed on the ground or bottom equipment, and the length directions of the first z-axis and the second z-axis are vertical directions to form two sides of the gantry transmission device. The second transmission component 2 and the third transmission component 3 are respectively an x axis and a y axis, the x axis, the y axis and the first z axis/the second z axis are mutually vertical, and the three components form a three-dimensional space to respectively or jointly drive the clamping mechanism 4 to move in a plane or the three-dimensional space. The second transmission assembly 2 is fixed with the first end 11 and the second end 12 respectively, the third transmission assembly 3 is fixed on the second transmission assembly 2, and the clamping mechanism 4 is arranged on the third transmission assembly 3. When the first end 11 and the second end 12 move synchronously, the second transmission assembly 2, the third transmission assembly 3 and the clamping mechanism 4 are driven to move on the z axis. When the second transmission assembly 2 moves independently, the third transmission assembly 3 and the clamping mechanism 4 are driven to move on the x axis. When the third transmission component 3 moves independently, the clamping mechanism 4 is driven to move on the y axis. When the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3 move simultaneously, the clamping mechanism 4 is driven to move in a three-dimensional space, and displacement of multiple dimensions is formed.

In this embodiment, the first transmission assembly 1 and the third transmission assembly 3 are both screw rod driving modules, and the second transmission assembly 2 is a belt driving module. The screw rod driving module is driven by the motor, can convert rotary motion into linear motion, has the characteristics of high precision, reversibility and high efficiency, has smaller frictional resistance and larger bearing capacity, and is a better choice for transmission. The second transmission assembly 2 is located in the middle of the transmission device, is connected with the first end 11 and the second end 12 of the first transmission assembly 1, and is simple in structure, convenient to assemble, disassemble and replace by adopting a belt driving module. Of course, when the bearing capacity of the first transmission assembly 1 and the third transmission assembly 3 is not large, the first transmission assembly and the third transmission assembly can be replaced by a belt driving module to drive, so that the cost is saved, and the use requirement of smaller load can be met.

The distance between the first end 11 and the second end 12 in this embodiment is in the interval 2m-6 m. The distance between the vertical shafts of the common four-shaft transmission device is influenced by load, and is set to be about 1 meter or within 1 meter, and the distance is short. The distance between the first end 11 and the second end 12 is also positively correlated with the span of the second transmission assembly 2, and the short distance of the second transmission assembly 2 causes the clamped object to have a small movable range when the clamped object is transmitted on the x axis, thereby affecting the application occasion and the application field of the whole transmission device. The distance between first end 11 and the second end 12 of this application is because independent drive operation, does not have the coupling joint, and with the second drive assembly 2 between rigid connection, can set up relatively great, set up to be greater than 2m usually, the span is big, the transmission range is wide. Correspondingly, the second transmission component 2 is a long-stroke belt driving module. Of course, the structure can also be used on a structure with the span less than 2 meters, and only the distance between the first end 11 and the second end 12 needs to be adjusted, so that the expansibility is strong.

The first driving mechanism and the second driving mechanism in the embodiment are controlled to synchronously operate by the driver and the motion control system. The first driving mechanism and the second driving mechanism are controlled by a driver with a gantry synchronous algorithm function and a motion control system with a bus control mode, the gantry synchronous algorithm achieves online automatic deviation correction through cross position following error real-time compensation, a cross coupling method is adopted, bilateral motion following errors are dynamically tracked, dynamic adjustment is achieved, the first end 11 and the second end 12 located on two sides are enabled to run synchronously, overall control is conducted on the whole equipment through the motion control system, and the problems of running interference and jamming caused by non-action synchronization on two sides are avoided.

First actuating mechanism and second actuating mechanism in this embodiment are servo motor, servo motor can be with voltage signal conversion torque and rotational speed with the drive control object, the speed of control operation, position accuracy is very accurate, have the response fast, inertia is little, it is smooth to rotate, advantages such as moment stability, the upper and lower operation of first end 11 and second end 12 that can the first transmission assembly 1 of accurate control, quick response when making first end 11 and second end 12 carry out the transmission to the article on fixture 4, and operate steadily.

The clamping mechanism 4 in this embodiment includes a clamping motor 41, a clamping connector 42, and a clamping jaw 43, and the clamping motor 41 drives the clamping jaw 43 to clamp or release through the clamping connector 42. Referring to fig. 3, fig. 3 is a schematic structural diagram of the clamping mechanism, the clamping motor 41 is used for driving the clamping mechanism 4, the clamping connecting member 42 is connected with an output shaft of the clamping motor 41, and the other end of the clamping connecting member is connected with the clamping jaw 43, so as to control the clamping jaw 43 to clamp or release the object to be transmitted. The clamping jaw 43 of the present embodiment is perpendicular to the clamping connecting piece 42 and protrudes out of the first transmission assembly 1, the second transmission assembly 2 and the third transmission assembly 3, so as to avoid the position conflict between the object and each transmission assembly.

In the application, the clamping mechanism 4 can also be replaced by other types of working mechanisms, such as a hook body and a rope which can fix an object, or a cage body which can bear the object, and the like, and the object to be transmitted can be transmitted to a preset position through a transmission device.

The clamping mechanism 4 in this embodiment is further connected to a rotating mechanism 5, the rotating mechanism 5 includes a rotating motor 51 and a rotating shaft 52, the clamping connector 42 is disposed on the rotating shaft 52, and the rotating motor 51 drives the rotating shaft 52 to rotate, so as to drive the clamping mechanism 4 to rotate. The rotating mechanism 5 is used for rotating the clamping mechanism 4 so as to adjust the direction of the clamped object, the rotating shaft 52 is driven to rotate by the rotating motor 51, the clamping connecting piece 42 of the clamping mechanism 4 is connected with the rotating shaft 52, so that the clamping mechanism 4 rotates along with the action of the rotating mechanism 5, and the direction of the object clamped by the clamping jaws 43 is changed along with the rotation.

The rotating motor 51 and the rotating shaft 52 of the present application are both fixed to the third transmission assembly 3 through the connecting base 6. In one embodiment, the connecting seat 6 in this embodiment is a triangular bracket, one side of the connecting seat 6 is fixed to the third transmission assembly 3, the other side is connected to the rotation motor 51 and the rotation shaft 52, and the rotation mechanism 5 is fixedly connected to the third transmission assembly 3 through the connecting seat 6, i.e., fixed on the y-axis, and moves along with the third transmission assembly 3.

In another embodiment, the connecting seat 6 may also be fixed on the second transmission assembly 2, i.e. fixed on the x-axis, and the rotation mechanism 5 is fixedly connected with the second transmission assembly 2 through the connecting seat 6, i.e. fixed on the x-axis, and moves with the second transmission assembly 2.

The joints of the first end 11 and the second end 12 and the second transmission assembly 2 in this embodiment are provided with elastic pads 7. The elastic pad 7 is arranged at the joint for reducing the control difficulty and improving the running speed, so that the first end 11 and the second end 12 run more stably in the z-axis direction. Preferably, the elastic pad 7 is a polyurethane rubber pad, has the characteristics of excellent elasticity, wear resistance and high strength, and is suitable for frequent and long-term use.

Because the first transmission component 1 has stronger load capacity, the tail end rotating platform can be additionally hung with a special or general clamping piece, a chuck or other moving mechanisms, the second transmission component 2 can be additionally hung with an auxiliary guide rail 8, the running speed of the whole machine can reach 2 m/s, the structure is stable, and the integral anti-unbalance-loading capacity can reach the maximum allowable load of each module.

Use the utility model discloses a transmission sets up actuating mechanism respectively for two ends of drive assembly, makes two independent synchronous motion of end, avoids two transmission shafts to form easily and interferes, and the desynchrony that probably appears leads to the dead problem of card in the motion process.

The above is only the embodiment of the present invention, not the limitation of the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A transmission device is characterized by comprising a first transmission assembly, a second transmission assembly, a third transmission assembly and a clamping mechanism, wherein the first transmission assembly, the second transmission assembly and the third transmission assembly respectively or simultaneously drive the clamping mechanism to move;

2. The transmission of claim 1, wherein the first end and the second end are parallel to each other and both are perpendicular to the second transmission assembly and the third transmission assembly, the first end/the second end forming a three-dimensional space with the second transmission assembly and the third transmission assembly;

3. The transmission of claim 2, wherein the first transmission assembly and the third transmission assembly are both screw drive modules and the second transmission assembly is a belt drive module.

4. The transmission of claim 1, wherein the distance between the first end and the second end is in the range of 2m-6 m.

5. The transmission of claim 1, wherein the first drive mechanism and the second drive mechanism are controlled to operate in synchronization by a drive and a motion control system.

6. The transmission of claim 5, wherein the first drive mechanism and the second drive mechanism are each servo motors.

7. The transmission of any one of claims 1 to 6, wherein the clamping mechanism comprises a clamping motor, a clamping connector and a clamping jaw, and the clamping motor drives the clamping jaw to clamp or release through the clamping connector.

8. The transmission device as claimed in claim 7, wherein the clamping mechanism further comprises a rotating mechanism, the rotating mechanism comprises a rotating motor and a rotating shaft, the clamping connector is disposed on the rotating shaft, and the rotating motor drives the rotating shaft to rotate, so as to drive the clamping mechanism to rotate.

9. The transmission of claim 8, wherein the rotary motor and the rotary shaft are each secured to the third transmission assembly by a connecting mount.

10. The transmission of claim 1, wherein resilient pads are provided at the junction of the first and second ends and the second transmission assembly.