CN213471191U - Servo flexible manipulator - Google Patents

Abstract

A servo flexible manipulator, comprising: the device comprises a base, a lifting mechanism, a first servo rotary joint, a second servo rotary joint and a forearm rod, wherein one end of the forearm rod is connected with the second servo rotary joint; the upper part of the base is provided with a fixed platform, and the lower part of the base is provided with a fixed frame; the lifting mechanism comprises: the first connecting rod and the second connecting rod are arranged in parallel, one ends of the first connecting rod and the second connecting rod are respectively pivoted in the fixed frame at the lower part of the base, and the end part of the end of the first connecting rod or the second connecting rod extends out of the fixed frame; the other ends of the first connecting rod and the second connecting rod are respectively pivoted with a connecting seat to form a parallelogram connecting rod mechanism; the cylinder body of the lifting cylinder is vertically arranged on one side of the upper part of the base and is connected to the upper part of the base through a mounting plate, and the end part of a piston rod of the lifting cylinder is connected to the end part of one end of the first connecting rod or the second connecting rod, which extends out of the fixed frame; the first servo rotary joint is arranged on a fixed table at the upper part of the base; the servo rotary joint is arranged on the connecting seat of the lifting mechanism.

Description

Servo flexible manipulator

Technical Field

The utility model relates to a manipulator field, in particular to servo flexible manipulator is applicable to the work of snatching, transport and assembly link of product spare part.

Background

Currently, in the production process of each equipment, the application scenarios of the equipment are generally as follows: three links of workpiece grabbing, carrying and assembling are provided; the traditional power-assisted mechanical arm needs workers to participate in the three links. The universal manipulator can realize the links of workpiece grabbing and carrying at present, but the automatic assembly (the working condition is complicated, and the assembly condition is uncertain) is difficult to realize in the assembly link.

The automation degree is higher and higher, the required capability of operators is higher and higher, the labor cost is increased, and therefore, the cost reduction is needed.

Disclosure of Invention

The utility model aims to design a servo flexible manipulator, which ensures that the grabbing and carrying links of workpieces in production and manufacturing are fully automatic, and the assembly link is manually completed; meanwhile, safe seamless switching between automatic operation and manual operation of the manipulator is realized; the manual use cost is reduced, and the complex assembly automation realization cost and difficulty are reduced.

In order to achieve the above purpose, the technical scheme of the utility model is that:

a servo flexible manipulator, comprising: the device comprises a base, a lifting mechanism, a first servo rotary joint, a second servo rotary joint and a forearm rod, wherein one end of the forearm rod is connected with the second servo rotary joint; the upper part of the base is provided with a fixed table, and the lower part of the base is provided with a fixed frame; the lifting mechanism comprises: the first connecting rod and the second connecting rod are arranged in parallel, one ends of the first connecting rod and the second connecting rod are respectively pivoted in the fixed frame at the lower part of the base, and the end part of the first connecting rod or the second connecting rod extends out of the fixed frame; the other ends of the first connecting rod and the second connecting rod are respectively pivoted with a connecting seat, so that a parallelogram connecting rod mechanism is formed; the cylinder body of the lifting cylinder is vertically arranged on one side of the upper part of the base and is connected to the upper part of the base through a mounting plate, and the end part of a piston rod of the lifting cylinder is connected to the end part of one end of the first connecting rod or the second connecting rod, which extends out of the fixed frame; and is connected with the controller; the first servo rotary joint is arranged on a fixed table at the upper part of the base; the second servo rotary joint is arranged on the connecting seat of the lifting mechanism.

Preferably, the first servo rotary joint includes: the system comprises a first servo rotating assembly, a first super-large torque clutch and a first rotating angle measuring assembly; wherein the content of the first and second substances,

the first servo rotary assembly comprises: the center of the arm lever connecting plate is provided with a central hole, and one side of the arm lever connecting plate is provided with an installation shell; the first outer-tooth-type slewing bearing is arranged on the arm lever connecting plate, and an inner ring of the first outer-tooth-type slewing bearing is connected to the arm lever connecting plate through a bolt; the rotary servo motor and the speed reducer are arranged below the arm connecting plate mounting shell, and the end part of an output shaft of the rotary servo motor and the speed reducer extends into the mounting shell; the first driving gear is arranged at the end part of an output shaft of the speed reducer extending into the mounting shell and is meshed with the outer ring of the first external-tooth-shaped slewing bearing;

the first super large torque clutch comprises: the slewing bearing is arranged above the first outer-tooth slewing bearing, and an outer ring of the slewing bearing is connected with an outer ring of the first outer-tooth slewing bearing through a plurality of bolts; the first tooth-shaped brake disc is a ring body, an annular groove is formed in the bottom surface of the first tooth-shaped brake disc along the circumferential direction, and a tooth-shaped structure is arranged on the outer side wall of the first tooth-shaped brake disc; the first tooth-shaped brake disc is sleeved between the slewing bearing and the first outer tooth-shaped slewing bearing; the center of the fixed base mounting plate is provided with a central hole; the fixed base mounting plate is connected with the slewing bearing inner ring through a bolt; the first brake device comprises a brake cylinder, and a cylinder body of the first brake device is connected to one side of the fixed base mounting plate through a fixed support; the end part of a piston rod of the brake cylinder is provided with a brake block, and the outer side surface of the brake block is a tooth surface meshed with the tooth-shaped structure of the outer side wall of the first tooth-shaped brake disc;

the first rotation angle measuring assembly includes: the first encoder driving shaft penetrates through the center holes of the fixed base mounting plate and the arm rod connecting plate, the lower end of the first encoder driving shaft is connected with the arm rod connecting plate, and the upper end of the first encoder driving shaft extends out of the center hole of the fixed base mounting plate; the first encoder is arranged on the upper end portion of the fixing base mounting plate, and the first encoder shell is fixed on the fixing base mounting plate.

Further, the first brake device further includes: the first connecting block is triangular, the upper part of the first connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the first connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in two sides of the lower part of the first connecting block; the fixed bracket is a U-shaped body, and the first connecting block is positioned at the inner side of the fixed bracket; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the fixed base mounting plate; the first connecting block is connected to the fixed support through a first connecting shaft from a first connecting block first shaft hole and a fixed support first connecting hole; the brake block is a U-shaped block, and the outer side surface of the bottom of the brake block is a tooth surface; waist-shaped holes are formed on two side walls of the brake block; the first connecting block is inserted into the brake block, a second shaft hole of the first connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake block; the first clamping block is L-shaped, one side edge of the first clamping block is connected with the second connecting holes at the lower parts of the two side edges of the fixed support through connecting bolts, and the other side edge of the first clamping block is inserted in the bottom surface of the first tooth-shaped brake disc and is provided with an annular groove along the circumferential direction.

Preferably, the second servo rotary joint comprises a second servo rotary component, a second super-torque clutch and a second rotary angle measuring component; wherein the second servo rotating assembly comprises: the fixed mounting seat comprises a fixed bottom plate and a shell on the fixed bottom plate; the center of the fixed bottom plate is provided with a shaft hole; the second external tooth type slewing bearing is arranged in the upper shell of the fixed mounting seat, and the inner ring of the second external tooth type slewing bearing is connected to the fixed bottom plate through a bolt; the servo motor and the speed reducer are arranged on one side of the fixed base plate of the fixed mounting seat; the second driving gear is arranged on one side in the upper shell of the fixed mounting seat and meshed with the outer ring of the second external tooth type slewing bearing, and the second driving gear is arranged on an output shaft of the speed reducer; the second super large torque clutch comprises: a base plate of the slewing bearing seat is connected to an inner ring of the second outer-tooth slewing bearing through a bolt; two ends of the shaft hole in the center of the rotary bearing block are respectively provided with a bearing; the center of the second tooth-shaped brake disc is provided with a through hole, and the second tooth-shaped brake disc outside the through hole is connected to the front end surface of the rotary bearing seat through a bolt; a tooth-shaped structure is arranged on the outer side of the outer side surface of the second tooth-shaped brake disc along the circumferential direction; the connecting half shaft consists of a connecting bottom plate and an upper shaft body, the shaft body passes through a through hole which is inserted in the center of the second toothed brake disc and is inserted in bearings at two ends in a shaft hole in the center of the rotary bearing seat, and the end part of the shaft body extends into the inner ring of the second outer-toothed rotary bearing; the second brake device comprises a brake cylinder, and a cylinder body of the second brake device is connected to one side of the connecting bottom plate of the connecting half shaft through a fixing support; the end part of the piston rod of the brake cylinder is provided with a brake pressing block, and the outer side surface of the brake pressing block is a tooth surface meshed with the tooth-shaped structure of the outer side surface of the second tooth-shaped brake disc; the second rotation angle measuring assembly includes: one end of the second encoder driving shaft penetrates through the shaft hole in the center of the fixed base plate of the fixed mounting seat and is connected with the end part of the connecting half shaft body extending into the inner ring of the second external tooth type slewing bearing, and the other end of the second encoder driving shaft extends out of the shaft hole in the center of the fixed base plate; and the second encoder is arranged at the upper end part of the second encoder driving shaft extending out of the fixed bottom plate, and the second encoder shell is fixed on the fixed bottom plate.

Preferably, the second brake device further includes: the second connecting block is triangular, the upper part of the second connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the second connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in the two sides of the lower part of the second connecting block; the fixed bracket is a U-shaped body, and the second connecting block is positioned at the inner side of the U-shaped body; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the connecting bottom plate; the two sides of the lower part of the two side edges are respectively provided with a first connecting hole and a second connecting hole, and the second connecting block is connected to the fixed bracket from a first shaft hole of the second connecting block and a first connecting hole of the fixed bracket through a connecting shaft; the brake pressing block is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface; waist-shaped holes are formed on two side walls of the brake pressing block; the second connecting block is inserted into the brake pressing block, a second shaft hole of the second connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake pressing block; and the second clamping block is L-shaped, one side edge of the second clamping block is connected with the second connecting hole at the lower part of the two side edges of the fixed bracket through a connecting bolt, and the other side edge of the second clamping block is buckled on the inner side surface of the second toothed brake disc.

Preferably, the fixing bracket of the second brake device is connected to one side of the connecting bottom plate of the connecting half shaft through a connecting plate.

Servo rotary joint among the servo flexible manipulator: and three layers of rotation are connected in series, namely a servo rotation layer, a manual rotation layer and a rotation angle detection layer. The tilting moment is from 500Nm to 34000Nm and the axial load is from 0.5KN to 16 KN.

Super large torque clutch among the servo flexible manipulator: flat construction, drive torque from 100Nm to 16000 Nm.

Servo flexible manipulator realizes that the work piece snatchs and the automatic completion of transport link, and the artifical supplementary participation of assembly link has so reduced workman's work load relative traditional helping hand arm. The contradiction that the full-automatic assembly of the workpiece is difficult is solved by the relative manipulator.

Compared with the prior art, the utility model the advantage or positive effect that have:

the servo flexible manipulator of the utility model ensures that the grabbing and carrying links of workpieces in production and manufacturing are fully automatic, and the assembly link is manually completed; meanwhile, safe seamless switching between automatic operation and manual operation of the servo flexible manipulator is realized.

Compared with the traditional power-assisted manipulator, the servo flexible manipulator of the utility model solves the problem of automatic grabbing and carrying of parts; the problem that automatic assembly of parts is difficult is solved by a relatively universal manipulator, and the assembly is completed through manual assistance; the manipulator of helping hand improves work efficiency relatively, and relative manipulator reduces equipment cost and function and realizes the degree of difficulty.

Servo flexible manipulator not only is a function product but as a semi-automatic work piece handling platform, can be through increasing corresponding auxiliary assembly expander service range, like servo electronic dolly similar manipulator 7 th axle. The use function of the equipment is expanded by configuring different tools. Such as a clamp or the like.

Drawings

Fig. 1 is a perspective view of an embodiment of the present invention;

fig. 2 is a perspective view of an embodiment of the present invention;

fig. 3 is a perspective view of an embodiment of the present invention;

fig. 4 is a perspective view of a first servo rotary joint in an embodiment of the present invention;

fig. 5 is a top view of a first servo rotary joint in an embodiment of the present invention;

fig. 6 is a bottom view of the first servo rotary joint according to the embodiment of the present invention;

FIG. 7 is a cross-sectional view A-A of FIG. 5;

FIG. 8 is a cross-sectional view B-B of FIG. 6;

fig. 9 is an exploded perspective view of a first servo rotary joint according to an embodiment of the present invention;

fig. 10 is a perspective view of a first brake device according to an embodiment of the present invention;

fig. 11 is an exploded perspective view of a first brake device according to an embodiment of the present invention 1;

fig. 12 is an exploded perspective view of a first brake device according to an embodiment of the present invention, fig. 2.

Fig. 13 is a perspective view 1 of a second servo rotary joint according to an embodiment of the present invention;

fig. 14 is a perspective view of a second servo rotary joint according to an embodiment of the present invention 2;

fig. 15 is a top view of a second servo rotary joint in an embodiment of the present invention;

FIG. 16 is a cross-sectional view C-C of FIG. 15;

fig. 17 is an exploded perspective view of a second servo rotary joint according to an embodiment of the present invention 1;

fig. 18 is an exploded perspective view of a second servo rotary joint according to an embodiment of the present invention, fig. 2;

fig. 19 is a perspective view of a second brake device according to an embodiment of the present invention;

fig. 20 is an exploded perspective view of a second brake device according to an embodiment of the present invention.

Detailed Description

Referring to fig. 1-20, the servo flexible manipulator of the present invention comprises: a base 100, a lifting mechanism 200, a first servo rotary joint 300, a second servo rotary joint 400, a forearm rod 500 with one end connected to the second servo rotary joint 400, and a controller (not shown);

the base 100 has a fixed platform 101 at the upper part and a fixed frame 102 at the lower part;

the lifting mechanism 200 includes:

the first connecting rod 201 and the second connecting rod 202 are arranged in parallel, one end of the first connecting rod 201 and one end of the second connecting rod 202 are respectively pivoted in the fixed frame 102 at the lower part of the base 100, and the end part of the first connecting rod 201 or the end part of the second connecting rod 202 extends out of the fixed frame 102; the other ends of the first link 201 and the second link 202 are respectively pivoted to a connecting seat 203, so as to form a parallelogram link mechanism;

a lifting cylinder 204, the cylinder body of which is vertically arranged on one side of the upper part of the base 100 and is connected to the upper part of the base 101 through a mounting plate, and the end part of the piston rod of which is connected to the end part of the first connecting rod 201 or the second connecting rod 202 extending out of the fixed frame 102; and is connected with the controller;

the first servo rotary joint 300 is mounted on the fixed table 101 on the upper part of the base 100;

the second servo rotary joint 400 is mounted on the connection base 203 of the lifting mechanism 200.

Preferably, the first servo rotary joint 300 includes: the device comprises a servo rotating assembly 1, an ultra-large torque clutch 2 and a rotating angle measuring assembly 3; wherein the content of the first and second substances,

the first servo rotary assembly 1 comprises:

the arm lever connecting plate 11 is provided with a central hole at the center, and one side of the arm lever connecting plate is provided with a mounting shell 111;

a first outer-tooth-type slewing bearing 12 provided on the arm lever connecting plate 11, an inner ring of the first outer-tooth-type slewing bearing 12 being connected to the arm lever connecting plate 11 by a bolt;

a rotary servo motor and speed reducer 13, which is arranged below the mounting shell 111 of the arm lever connecting plate 11, and the end part of an output shaft of the rotary servo motor and speed reducer extends into the mounting shell 111;

a first driving gear 14 provided at an output shaft end of the speed reducer 13 extending into the mounting housing 111 and meshed with an outer ring of the first outer-tooth-type slewing bearing 12;

the first extra-large torque clutch 2 comprises:

a slewing bearing 21 arranged above the first outer-tooth slewing bearing 12, wherein the outer ring of the slewing bearing 21 is connected with the outer ring of the first outer-tooth slewing bearing 12 through a plurality of bolts 25;

the first tooth-shaped brake disc 22 is a ring body, the bottom surface of the first tooth-shaped brake disc is provided with an annular groove 221 along the circumferential direction, and the outer side wall of the first tooth-shaped brake disc 22 is provided with a tooth-shaped structure; the first tooth-shaped brake disc 22 is sleeved between the slewing bearing 21 and the first outer tooth-shaped slewing bearing 12;

a fixed base mounting plate 23 with a central hole in the center; the fixed base mounting plate 23 is connected with the inner ring of the slewing bearing 21 through a bolt;

the first brake device 24 comprises a brake cylinder 241, the cylinder body of which is connected to one side of the fixed base mounting plate 23 through a fixed bracket 242; the end of the piston rod of the brake cylinder 241 is provided with a brake block 243, and the outer side surface of the brake block 243 is a tooth surface meshed with the tooth-shaped structure of the outer side wall of the first tooth-shaped brake disc 22;

the first rotation angle measuring assembly 3 includes:

the first encoder driving shaft 31 penetrates through the center holes of the fixed base mounting plate 23 and the arm lever connecting plate 11, the lower end of the first encoder driving shaft is connected to the arm lever connecting plate 11, and the upper end of the first encoder driving shaft extends out of the center hole of the fixed base mounting plate 23;

the first encoder 32 is provided in the upper end portion of the fixed base mounting plate 23 from which the first encoder driving shaft 31 extends, and the first encoder 32 is fixed to the fixed base mounting plate 23 by a housing.

Referring to fig. 10 to 12, the first brake device 24 further includes:

the first connecting block 244 is triangular, the upper part of the first connecting block is provided with a groove 2441 for inserting the end part of the output shaft of the brake cylinder 241, and the first connecting block is pivotally connected to the end part of the output shaft; a first shaft hole 2442 and a second shaft hole 2443 are respectively formed in two sides of the lower part of the first connecting block 244; the fixing bracket 242 is a U-shaped body, and the first connecting block 244 is located at the inner side thereof; the bottom of the fixing bracket 242 is provided with a through hole 2421 for the output shaft of the brake cylinder 241 to pass through, and the upper parts of the two side edges of the fixing bracket are connected with one side of the fixing base mounting plate 23; a first connecting hole 2422 and a second connecting hole 2423 are respectively formed on two sides of the lower portion of the two side edges of the first connecting block 244, and the first connecting block 244 is connected to the fixing bracket 242 through a first shaft hole 2442 of the first connecting block 244 and the first connecting hole 2422 of the fixing bracket 242 through a connecting shaft 245;

the brake block 243 is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface 2431; waist-shaped holes 2432 are arranged on two side walls of the brake block 243; the first connecting block 244 is inserted into the brake block 243, a second shaft hole 2443 of the first connecting block 244 is provided with a pin 246, and two ends of the pin 246 are inserted into the kidney-shaped holes 2432 on two side walls of the brake block 243;

the first latch 247 is L-shaped, one side 2471 of the first latch 247 is connected to the second connecting hole 2423 at the lower part of the two side edges of the fixing bracket 242 through the connecting bolt 248, and the other side 2472 of the first latch 247 is inserted into the annular groove 221 formed in the bottom surface of the first tooth-shaped brake disc 22 along the circumferential direction.

Among the first servo rotary joint:

the fixed base mounting plate, the first brake device and the inner ring of the slewing bearing are connected into a solid-fixed part through bolts. The slewing bearing outer ring, the first tooth-shaped brake disc and the first outer tooth-shaped slewing bearing outer ring are connected into an entity, namely the brake disc assembly, through bolts. The rotary servo motor, the speed reducer, the driving gear, the arm lever connecting plate and the first outer-tooth-shaped rotary support bearing inner ring are connected into a solid-rotary part through bolts.

When the super-large torque clutch is closed, the fixed part and the brake disc component are pressed tightly through the brake block and the tooth-shaped brake disc to be connected into an entity, and then the rotary servo motor rotates to rotate around the outer ring of the rotary supporting bearing through the driving gear.

When the ultra-large torque clutch is separated, the fixing part and the brake disc assembly are in a separated state, the brake disc assembly can freely rotate around the inner ring of the first outer-tooth-type slewing bearing, and the slewing servo motor is in a stopped state at the moment and is meshed with the brake disc assembly through the teeth of the driving gear and the outer ring of the slewing bearing to form a temporary entity.

The rotation angle measuring assembly can realize that no matter servo rotation or manual rotation, the encoder can measure the rotation angle of the arm lever connecting plate and the fixed base mounting plate in real time.

Referring to fig. 13 to 18, the second servo rotary joint 400 of the present invention includes a second servo rotary component 5, a second super-torque clutch 6 and a second rotation angle measuring component 7; wherein the content of the first and second substances,

the second servo rotary assembly 5 comprises:

a fixed mount 51 including a fixed base plate 511 and a case 512 thereon; the center of the fixed bottom plate 511 is provided with a shaft hole;

a second external-tooth-type slewing bearing 52 provided in the upper housing 512 of the fixed mount 51, and having an inner ring connected to the fixed base plate 511 by a bolt;

a servo motor and speed reducer 53 provided on one side of the fixed base plate 511 of the fixed mounting base 51;

a second driving gear 54 provided on one side of the fixed mount 51 inside the upper housing 512, engaged with the outer race of the second externally toothed slewing bearing 52, and mounted on the output shaft of the speed reducer 153;

the second super large torque clutch 6 comprises:

a rotary bearing housing 61 whose bottom plate 611 is bolted to the inner ring of the second outer-tooth type rotary support bearing 52; two ends in the shaft hole in the center of the rotary bearing block 61 are respectively provided with a bearing 62;

a through hole is formed in the center of the second toothed brake disc 63, and the second toothed brake disc 63 outside the through hole is connected to the front end face of the rotary bearing seat 61 through a bolt; a tooth-shaped structure 631 is arranged on the outer side of the outer side surface of the second tooth-shaped brake disc 63 along the circumferential direction;

a connecting half shaft 64 composed of a connecting bottom plate 641 and an upper shaft body 642, wherein the shaft body 642 is inserted into the bearings 62 at the two ends in the shaft hole in the center of the rotary bearing seat 61 through a through hole inserted in the center of the second toothed brake disc 63, and the end part of the shaft body extends into the inner ring of the second external-tooth-shaped rotary bearing 52;

a second brake device 65, which includes a brake cylinder 651, the cylinder body of which is connected to the connecting bottom plate 641 side of the connecting half shaft 64 through a fixing bracket 652; a brake pressing block 653 is arranged at the end part of the piston rod of the brake cylinder, and the outer side surface of the brake pressing block 653 is a tooth surface meshed with the tooth-shaped structure of the outer side surface of the second tooth-shaped brake disc 63;

the second rotation angle measuring assembly 7 includes:

a second encoder driving shaft 71, one end of which passes through the shaft hole at the center of the fixed base plate 511 of the fixed mounting seat 51 and is connected to the end of the shaft body 642 of the connecting half shaft 64 extending into the inner ring of the second external-tooth-type slewing bearing 62, and the other end of which extends out of the shaft hole at the center of the fixed base plate 511;

and a second encoder 72 provided at an upper end portion of the second encoder driving shaft 71 extending out of the fixed base plate 511, wherein the second encoder 72 is fixed to the fixed base plate 511 in a housing.

Referring to fig. 19 and 20, the second braking device 65 further includes:

the second connecting block 654 is triangular, the upper part of which is provided with a groove 6541 for the insertion of the output shaft end of the brake cylinder 651 and is pivotally connected with the output shaft end; a first shaft hole 6542 and a second shaft hole 6543 are respectively arranged at two sides of the lower part of the second connecting block 654; the fixed bracket 652 is a U-shaped body, and the connecting block 654 is positioned at the inner side thereof; the bottom of the fixed bracket 652 is provided with a through hole 6521 for the output shaft of the brake cylinder 651 to pass through, and the upper parts of the two side edges of the through hole 6521 are connected to one side of the connecting bottom plate 641; a first connecting hole 6522 and a second connecting hole 6523 are respectively arranged at two sides of the lower part of the two sides of the fixing bracket 652, and the second connecting block 654 is connected to the fixing bracket 652 through a connecting shaft 655 from a first shaft hole 6542 of the second connecting block 654 and the first connecting hole 6522 of the fixing bracket 652;

the brake pressing block 653 is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface 6531; waist-shaped holes 6532 are arranged on two side walls of the brake pressing block 653; the connecting block 654 is inserted into the brake pressing block 653, a pin 656 is arranged in the second shaft hole 6543 of the connecting block 654, and two ends of the pin 656 are arranged in the kidney-shaped holes 6532 on two side walls of the brake pressing block 653 in a penetrating manner;

the second latch 657 is L-shaped, one side 6571 of which is connected to the second connecting hole 6523 at the lower part of the two sides of the fixing bracket 652 by the connecting bolt 658, and the other side 6572 of the second latch 657 is fastened on the inner side surface of the tooth-shaped brake disc 63.

Preferably, the fixing bracket 652 of the second brake device 65 is connected to the connecting base plate 641 side of the connecting half shaft 64 through a connecting plate 659.

The servo rotary joint working process of second as follows:

among the servo rotary joint of second: the second brake device and the connecting half shaft are connected into an entity-arm rod connecting component through bolts.

The slewing bearing seat, the second toothed brake disc and the second outer toothed slewing bearing outer ring are connected into an entity, namely the brake disc assembly, through bolts.

The servo motor reducer, the driving gear, the fixed mounting seat and the second external tooth type slewing bearing inner ring are connected into a solid-rotating assembly through bolts.

When the super-large torque clutch is closed, the arm rod connecting assembly and the brake disc assembly are connected into an entity through the pressing of the brake pressing block and the tooth-shaped brake disc, and then the servo motor rotates to rotate around the inner ring of the second outer tooth-shaped slewing bearing.

The rotation angle measuring assembly can realize that whether servo rotation or manual rotation is adopted, the encoder can measure the rotation angle of the connecting half shaft and the fixed mounting seat in real time.

The utility model realizes the function of automatic ascending and descending up and down by lifting the driving cylinder when the equipment runs through the parallelogram link mechanism of the pneumatic lifting mechanism; when the equipment is operated manually, the system inputs compressed air with corresponding pressure to the lifting driving cylinder, so that the equipment is in a balanced state, and an operator can manually pull the arm rod to ascend and descend.

Each servo rotary joint is provided with an ultra-large torque clutch, and the switching between manual rotation and automatic rotation of the rotary joint is realized through the clutch of the clutch; and its driving torque is from 100Nm to 16000 Nm.

The angle detection assembly can realize the angle measurement of the arm lever when the arm lever of the equipment is manually rotated and the closed-loop control of a corner signal and an angle rotation value of the servo motor when the arm lever of the equipment is automatically rotated.

Claims (6)

1. A servo flexible manipulator, comprising: the device comprises a base, a lifting mechanism, a first servo rotary joint, a second servo rotary joint, a forearm rod with one end connected with the second servo rotary joint and a controller;

the upper part of the base is provided with a fixed table, and the lower part of the base is provided with a fixed frame;

the lifting mechanism comprises:

the first connecting rod and the second connecting rod are arranged in parallel, one ends of the first connecting rod and the second connecting rod are respectively pivoted in the fixed frame at the lower part of the base, and the end part of the first connecting rod or the second connecting rod extends out of the fixed frame; the other ends of the first connecting rod and the second connecting rod are respectively pivoted with a connecting seat, so that a parallelogram connecting rod mechanism is formed;

the cylinder body of the lifting cylinder is vertically arranged on one side of the upper part of the base and is connected to the upper part of the base through a mounting plate, and the end part of a piston rod of the lifting cylinder is connected to the end part of one end of the first connecting rod or the second connecting rod, which extends out of the fixed frame; and is connected with the controller; the first servo rotary joint is arranged on a fixed table at the upper part of the base; the second servo rotary joint is arranged on the connecting seat of the lifting mechanism.

2. The servo flexible robot of claim 1, wherein the first servo rotational joint comprises: the system comprises a first servo rotating assembly, a first super-large torque clutch and a first rotating angle measuring assembly; wherein the content of the first and second substances,

the first servo rotary assembly comprises:

the center of the arm lever connecting plate is provided with a central hole, and one side of the arm lever connecting plate is provided with an installation shell;

the first outer-tooth-type slewing bearing is arranged on the arm lever connecting plate, and an inner ring of the first outer-tooth-type slewing bearing is connected to the arm lever connecting plate through a bolt;

the rotary servo motor and the speed reducer are arranged below the arm connecting plate mounting shell, and the end part of an output shaft of the rotary servo motor and the speed reducer extends into the mounting shell;

the first driving gear is arranged at the end part of an output shaft of the speed reducer extending into the mounting shell and is meshed with the outer ring of the first external-tooth-shaped slewing bearing; the first super large torque clutch comprises:

the slewing bearing is arranged above the first outer-tooth slewing bearing, and an outer ring of the slewing bearing is connected with an outer ring of the first outer-tooth slewing bearing through a plurality of bolts;

the first tooth-shaped brake disc is a ring body, an annular groove is formed in the bottom surface of the first tooth-shaped brake disc along the circumferential direction, and a tooth-shaped structure is arranged on the outer side wall of the first tooth-shaped brake disc; the first tooth-shaped brake disc is sleeved between the slewing bearing and the first outer tooth-shaped slewing bearing;

the center of the fixed base mounting plate is provided with a central hole; the fixed base mounting plate is connected with the slewing bearing inner ring through a bolt;

the first brake device comprises a brake cylinder, and a cylinder body of the first brake device is connected to one side of the fixed base mounting plate through a fixed support; the end part of a piston rod of the brake cylinder is provided with a brake block, and the outer side surface of the brake block is a tooth surface meshed with the tooth-shaped structure of the outer side wall of the first tooth-shaped brake disc; the first rotation angle measuring assembly includes:

the first encoder driving shaft penetrates through the center holes of the fixed base mounting plate and the arm rod connecting plate, the lower end of the first encoder driving shaft is connected with the arm rod connecting plate, and the upper end of the first encoder driving shaft extends out of the center hole of the fixed base mounting plate;

the first encoder is arranged on the upper end portion of the fixing base mounting plate, and the first encoder shell is fixed on the fixing base mounting plate.

3. The servo flexible manipulator of claim 2, wherein the first brake device further comprises:

the first connecting block is triangular, the upper part of the first connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the first connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in two sides of the lower part of the first connecting block; the fixed bracket is a U-shaped body, and the first connecting block is positioned at the inner side of the fixed bracket; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the fixed base mounting plate; the first connecting block is connected to the fixed support through a first connecting shaft from a first connecting block first shaft hole and a fixed support first connecting hole;

the brake block is a U-shaped block, and the outer side surface of the bottom of the brake block is a tooth surface; waist-shaped holes are formed on two side walls of the brake block; the first connecting block is inserted into the brake block, a second shaft hole of the first connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake block;

the first clamping block is L-shaped, one side edge of the first clamping block is connected with the second connecting holes at the lower parts of the two side edges of the fixed support through connecting bolts, and the other side edge of the first clamping block is inserted in the bottom surface of the first tooth-shaped brake disc and is provided with an annular groove along the circumferential direction.

4. The servo flexible robot of claim 1, wherein the second servo rotary joint comprises a second servo rotary assembly, a second super torque clutch, and a second rotational angle measurement assembly; wherein the content of the first and second substances,

the second servo rotary assembly includes:

the fixed mounting seat comprises a fixed bottom plate and a shell on the fixed bottom plate; the center of the fixed bottom plate is provided with a shaft hole;

the second external tooth type slewing bearing is arranged in the upper shell of the fixed mounting seat, and the inner ring of the second external tooth type slewing bearing is connected to the fixed bottom plate through a bolt;

the servo motor and the speed reducer are arranged on one side of the fixed base plate of the fixed mounting seat;

the second driving gear is arranged on one side in the upper shell of the fixed mounting seat and meshed with the outer ring of the second external tooth type slewing bearing, and the second driving gear is arranged on an output shaft of the speed reducer;

the second super large torque clutch comprises:

a base plate of the slewing bearing seat is connected to an inner ring of the second outer-tooth slewing bearing through a bolt; two ends of the shaft hole in the center of the rotary bearing block are respectively provided with a bearing;

the center of the second tooth-shaped brake disc is provided with a through hole, and the second tooth-shaped brake disc outside the through hole is connected to the front end surface of the rotary bearing seat through a bolt; a tooth-shaped structure is arranged on the outer side of the outer side surface of the second tooth-shaped brake disc along the circumferential direction;

the connecting half shaft consists of a connecting bottom plate and an upper shaft body, the shaft body passes through a through hole which is inserted in the center of the second toothed brake disc and is inserted in bearings at two ends in a shaft hole in the center of the rotary bearing seat, and the end part of the shaft body extends into the inner ring of the second outer-toothed rotary bearing;

the second brake device comprises a brake cylinder, and a cylinder body of the second brake device is connected to one side of the connecting bottom plate of the connecting half shaft through a fixing support; the end part of the piston rod of the brake cylinder is provided with a brake pressing block, and the outer side surface of the brake pressing block is a tooth surface meshed with the tooth-shaped structure of the outer side surface of the second tooth-shaped brake disc;

the second rotation angle measuring assembly includes:

one end of the second encoder driving shaft penetrates through the shaft hole in the center of the fixed base plate of the fixed mounting seat and is connected with the end part of the connecting half shaft body extending into the inner ring of the second external tooth type slewing bearing, and the other end of the second encoder driving shaft extends out of the shaft hole in the center of the fixed base plate;

and the second encoder is arranged at the upper end part of the second encoder driving shaft extending out of the fixed bottom plate, and the second encoder shell is fixed on the fixed bottom plate.

5. The servo flexible manipulator of claim 4, wherein the second brake device further comprises:

the second connecting block is triangular, the upper part of the second connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the second connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in the two sides of the lower part of the second connecting block; the fixed bracket is a U-shaped body, and the second connecting block is positioned at the inner side of the U-shaped body; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the connecting bottom plate; the two sides of the lower part of the two side edges are respectively provided with a first connecting hole and a second connecting hole, and the second connecting block is connected to the fixed bracket from a first shaft hole of the second connecting block and a first connecting hole of the fixed bracket through a connecting shaft;

the brake pressing block is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface; waist-shaped holes are formed on two side walls of the brake pressing block; the second connecting block is inserted into the brake pressing block, a second shaft hole of the second connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake pressing block;

and the second clamping block is L-shaped, one side edge of the second clamping block is connected with a second connecting hole at the lower part of the two side edges of the fixed support through a connecting bolt, and the other side edge of the second clamping block is buckled on the inner side surface of the second toothed brake disc.

6. The servo flexible manipulator according to claim 4 or 5, wherein the fixing bracket of the second brake device is connected to the side of the connecting bottom plate of the connecting half shaft through a connecting plate.

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