CN216634449U

CN216634449U - Manipulator winding device

Info

Publication number: CN216634449U
Application number: CN202121539380.8U
Authority: CN
Inventors: 禹浪; 肖尧; 杨易; 张建; 杨波; 方向明
Original assignee: Chongqing Qiteng Technology Co ltd
Current assignee: Seven Teng Robot Co ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2022-05-31
Anticipated expiration: 2031-07-07

Abstract

The utility model belongs to the technical field of robots, and particularly discloses a manipulator winding device which comprises a machine shell, a power rope for controlling the bending of a manipulator and a driving assembly for winding and unwinding the power rope, wherein the driving assembly comprises a motor and a winding roller, the motor is fixedly connected to the machine shell, a first bevel gear is fixedly connected to an output shaft of the motor, the winding roller is rotatably connected to the machine shell, a second bevel gear meshed with the first bevel gear is fixedly matched on the winding roller, and one end, far away from the manipulator, of the power rope is wound on one side, far away from the second bevel gear, of the winding roller. The cooperation that this scheme passed through motor, wind-up roll and power rope realizes the bending and straightening of manipulator, and overall structure is simple, and the quality is little, and maneuverability is good.

Description

Manipulator winding device

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a manipulator winding device.

Background

Different from the traditional joint series type mechanical arm, the flexible mechanical arm has the advantages of high flexibility, strong obstacle avoidance capability and the like, has strong movement and operation capabilities in narrow space and complex environment, and has important application value in the fields of aerospace manufacturing, large-scale equipment detection and maintenance and the like.

The mechanical arm comprises a winding mechanism, a mechanical arm and the like, wherein the winding mechanism is a driving piece for controlling the winding mechanism to perform winding action, and the angle and the length of each joint are controlled by a driving mode of adopting a plurality of air cylinders or hydraulic cylinders disclosed in the prior patent (patent application number: 201210514688.6), so that the posture of the whole mechanical arm is controlled. Although the above-mentioned rolling structure realizes rolling of the robot arm, there are problems that the whole structure is too complicated, the robot arm is heavy and inconvenient to control, and the control accuracy is not high due to the flexible material.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator winding device which is simple in overall structure, small in mass and good in operability.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

the utility model provides a manipulator coiling mechanism, includes the casing, controls the crooked power rope of manipulator and receive and release the drive assembly of power rope, drive assembly includes motor and wind-up roll, motor fixed connection is on the casing, the first bevel gear of fixedly connected with on the motor output shaft, the wind-up roll rotates to be connected on the casing, fixed fit has the second bevel gear with first bevel gear meshing on the wind-up roll, the one end winding that the manipulator was kept away from to the power rope is in one side that the second bevel gear was kept away from to the wind-up roll.

Based on the above scheme, during the use, the motor passes through the rotation of the first bevel gear of output shaft drive, because second bevel gear and the meshing of first bevel gear, consequently can drive second bevel gear after the motor starts and rotate, and then drive the wind-up roll and rotate, the wind-up roll rotates and rolls or unreels the power rope, can drive the manipulator and carry out bending action when the wind-up roll rolling power rope, the manipulator can resume to initial condition under the drive of its self reset structure when the wind-up roll unreels the power rope again after the manipulator is crooked.

The cooperation that this scheme passed through motor, wind-up roll and power rope realizes the bending and straightening of manipulator, and overall structure is simple, and the quality is little, and maneuverability is good.

Preferably, one side of the winding roller, which is far away from the second bevel gear, is fixedly sleeved with two circular baffles, and the power rope is wound on the part of the winding roller, which is located between the two baffles. The baffle carries on spacingly to the position of power rope, makes the power rope concentrate on assigned position department, does benefit to the rolling and unreeling that realize the power rope.

Preferably, a hand connector is arranged between the manipulator and the winding roller, a lead sleeve is arranged on the side wall of the hand connector close to one side of the winding roller, and a wire hole for the power rope to pass through is formed in the lead sleeve. The lead wire sleeve plays a role in limiting the power rope, the power rope is prevented from being in direct contact with a machine body of the arm connector to generate friction, the service life of the power rope is prolonged, and the smoothness of movement of the manipulator is guaranteed.

Preferably, the arm connector includes first joint and second joint, and first joint is joined in marriage with the casing and is decided the cooperation, is connected with the connecting piece between second joint and the first joint, and the connecting piece includes intermediate gear, and lead wire cover fixed connection is in intermediate gear middle part and lead wire cover both ends run through second joint and first joint respectively, and the lead wire cover is close to first joint's one end joint and is had the snap ring, and intermediate gear and second joint fixed connection are connected to the joint.

Preferably, both ends of the wire hole are arranged into horn shapes with large outer parts and small inner parts, so that the power rope has a certain swing range, and the side edge of the lead sleeve is prevented from generating linear cutting force on the power rope.

Preferably, the height of the bottom edge of the winding roller is flush with the height of the wire hole, so that the power rope leading-out end wound on the winding roller is flush with the wire hole basically, the power rope is favorably led into the wire hole, the resistance received during winding and unwinding is smaller, and the smoothness of the power rope during winding and unwinding is ensured.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of the present invention with the housing and robot omitted;

FIG. 3 is a top view of FIG. 2;

fig. 4 is a cross-sectional view a-a of fig. 3.

Reference numerals in the drawings of the specification include: the device comprises a machine shell 10, a power rope 20, a motor 30, a speed reducer 31, a first bevel gear 32, a second bevel gear 33, a winding roller 34, a copper sleeve 35, a side plate 36, a baffle plate 37, a first connecting joint 40, an intermediate gear 41, a second connecting joint 42, a lead sleeve 43 and a wire hole 44.

Detailed Description

Various embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Here, it is to be noted that, in the drawings, the same reference numerals are given to constituent parts having substantially the same or similar structures and functions, and repeated description thereof will be omitted. The term "sequentially comprising A, B, C, etc" merely indicates the order of the included elements A, B, C, etc. and does not exclude the possibility of including other elements between a and B and/or between B and C. The description of "first" and its variants is merely for distinguishing the components and does not limit the scope of the utility model, and "first" may be written as "second" and the like without departing from the scope of the utility model.

The drawings accompanying this specification are for the purpose of illustrating the concepts of the utility model and are not necessarily to scale, the drawings being schematic representations of the shapes of the parts and their interrelationships.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to fig. 1 to 4.

The embodiment provides a manipulator winding device, which comprises a shell 10, a power rope 20 for controlling the bending of the manipulator and a driving assembly for winding and unwinding the power rope 20. Here, the bendable manipulator is a manipulator formed by sequentially articulating a plurality of joints, and can be bent to different extents under the action of a driving mechanism, referring to fig. 1, this embodiment exemplarily provides a bendable manipulator, each joint of the manipulator is an inverted trapezoid, so that a movable gap is formed between two adjacent joints, the upper ends of two adjacent joints are articulated through a connecting pin, so that the joints can rotate around the connecting pin into the movable gap, and two through holes arranged up and down are formed in each joint.

The housing 10 is an important component of the robot, and is used for installing internal structures such as a power supply, a motor 30, a transmission structure, and the like, and only components related to the winding mechanism are shown in the drawing of the present embodiment.

Referring to fig. 1 and 2, the driving assembly includes a motor 30 and a take-up roll 34, the motor 30 is fixedly mounted in the casing 10 through screws, and a first bevel gear 32 is fixedly connected to an output shaft of the motor 30, and the motor 30 drives the first bevel gear 32 to rotate. The wind-up roll 34 is in running fit on the casing 10, specifically, has seted up the through-hole on the casing 10 lateral wall, through screw fixedly connected with copper sheathing 35 in the through-hole, and wind-up roll 34 passes through shaft hole complex mode running fit in copper sheathing 35, and wind-up roll 34 left part is located the casing 10, and the right part is located the casing 10 outside. The left end of the winding roller 34 is fixedly connected with a second bevel gear 33 through a screw, and the second bevel gear 33 is meshed with the first bevel gear 32, so that the winding roller 34 can be driven to rotate when the motor 30 drives the first bevel gear 32 to rotate.

Referring to fig. 1 and 2, in some embodiments, in order to adaptively change the speed of the wind-up roll 34, a speed reducer 31 is further disposed in the housing 10, the speed reducer 31 is connected between the motor 30 and the wind-up roll 34, specifically, an input end of the speed reducer 31 is connected to an output shaft of the motor 30, and a first bevel gear 32 is fixedly connected to the output shaft of the speed reducer 31.

Referring to fig. 1, the power cord 20 is wound around the part of the wind-up roller 34 located outside the enclosure 10, the other end of the power cord 20 sequentially passes through the through holes on the joints of the manipulator and is fixedly fitted on the outermost joint, and the wind-up roller 34 can drive the manipulator to perform bending action when winding up the power cord 20.

Referring to fig. 2, in some embodiments, two circular baffles 37 are fixedly secured to the wind-up roller 34 on a side thereof away from the second bevel gear 33, and the power cord 20 is wound around a portion of the wind-up roller 34 between the two baffles 37. Specifically, two side plates 36 are fixedly connected to the outer side of the casing 10 through screws, two baffle plates 37 are integrally formed on the portion, located on the outer side of the casing 10, of the wind-up roll 34, and the two baffle plates 37 are located between the two side plates 36 and abut against the two side plates 36 respectively. So set up, make baffle 37 not only have the effect of gathering together power rope 20, still have the effect to wind-up roll 34 location, realize the location to wind-up roll 34 promptly when baffle 37 offsets with curb plate 36 in the installation.

Referring to fig. 2 and 4, in some embodiments, a hand connector is disposed between the manipulator and the wind-up roll 34, a lead sleeve 43 is disposed on the hand connector, and a wire hole 44 for the power cord 20 to pass through is disposed in the lead sleeve 43. The arm connector comprises a first connecting joint 40 and a second connecting joint 42, the first connecting joint 40 is fixedly connected between the right sides of the two side plates 36 through screws, and the second connecting joint 42 is connected with the first connecting joint 10 through a connecting piece. Specifically, the connecting piece includes intermediate gear 41, the through-hole has all been seted up at first joint 40 and second joint 42 middle part, intermediate gear 41 middle part integrated into one piece has lead wire cover 43, and lead wire cover 43 both ends are outwards protruding and insert respectively in first joint 40 and the middle part through-hole of second joint 42, lead wire cover 43 left end joint has made lead wire cover 43 can't break away from first joint 40, intermediate gear 41 passes through screw and second joint 42 fixed connection messenger lead wire cover 43 and second joint 42 fixed fit.

Referring to fig. 4, in some embodiments, the two ends of the wire hole 44 are formed in a trumpet shape with a large outer portion and a small inner portion, so that the power cord 20 has a certain swing range, and the side edge of the lead sheath 43 is prevented from generating cutting force on the power cord 20. Moreover, the height of the bottom edge of the winding roller 34 is flush with the height of the wire hole 44, so that the leading-out end of the power rope 20 wound on the winding roller 34 is flush with the height of the wire hole 44 basically, the power rope 20 is favorably led into the wire hole 44, the resistance applied during winding and unwinding is smaller, and the smoothness during winding and unwinding of the power rope 20 is ensured.

Based on the above scheme, during the use, starter motor 30 passes through reduction gear 31 and gives first bevel gear 32 with power transmission, because second bevel gear 33 and first bevel gear 32 meshing, so starter motor 30 can drive wind-up roll 34 through first bevel gear 32 and second bevel gear 33 and rotate, wind-up roll 34 rotates and rolls up or unreels power rope 20, can drive the manipulator when wind-up roll 34 is rolled up power rope 20 and carry out the bending action, manipulator crooked back wind-up roll 34 again unreels power rope 20 when the manipulator can resume to initial condition under its self reset structure drives.

The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. The utility model provides a manipulator coiling mechanism which characterized in that: including casing (10), control crooked power rope (20) of manipulator and receive and release the drive assembly of power rope (20), drive assembly includes motor (30) and wind-up roll (34), motor (30) fixed connection is on casing (10), first bevel gear (32) of fixedly connected with on motor (30) output shaft, wind-up roll (34) rotate and connect on casing (10), fixed fit has second bevel gear (33) with first bevel gear (32) meshing on wind-up roll (34), the one end of manipulator is kept away from in power rope (20) twines in one side that second bevel gear (33) were kept away from in wind-up roll (34).

2. The manipulator winding device according to claim 1, wherein: two round baffles (37) are fixedly sleeved on one side of the winding roller (34) far away from the second bevel gear (33), and the power rope (20) is wound on the part of the winding roller (34) between the two baffles (37).

3. A manipulator wind-up device according to claim 1 or 2, characterized in that: a hand arm connector is arranged between the manipulator and the wind-up roller (34), a lead sleeve (43) is arranged on the hand arm connector, and a wire hole (44) for the power rope (20) to pass through is arranged in the lead sleeve (43).

4. The manipulator winding device according to claim 3, wherein: the arm connector includes first joint (40) and second joint (42) of connecting, first joint (40) of connecting is joined in marriage with casing (10) and is decided the cooperation, be connected with the connecting piece between second joint (42) and the first joint of connecting, the connecting piece includes intermediate gear (41), lead wire cover (43) fixed connection in intermediate gear (41) middle part and lead wire cover (43) both ends are connected joint (42) and first joint (40) normal running fit with the second respectively, the one end joint that lead wire cover (43) are close to first joint (40) has the snap ring, intermediate gear (41) are connected joint (42) fixed connection with the second.

5. The manipulator winding device according to claim 3, wherein: the height of the bottom edge of the winding roller (34) is flush with the height of the thread holes (44).

6. The manipulator winding device according to claim 3, wherein: both ends of the wire hole (44) are in a horn shape with a large outer part and a small inner part.

7. The manipulator wind-up device according to claim 4 or 5, characterized in that: both ends of the wire hole (44) are in a horn shape with a large outside and a small inside.