CN216731843U - Novel crossbeam translation actuating mechanism of manipulator - Google Patents
Novel crossbeam translation actuating mechanism of manipulator Download PDFInfo
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- CN216731843U CN216731843U CN202123377885.1U CN202123377885U CN216731843U CN 216731843 U CN216731843 U CN 216731843U CN 202123377885 U CN202123377885 U CN 202123377885U CN 216731843 U CN216731843 U CN 216731843U
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Abstract
The utility model discloses a novel cross beam translation driving mechanism of a manipulator, which comprises a cross beam frame, cross beam translation sliding rails, cross beam translation sliding blocks, straight racks, gears and a cross beam translation driving device, wherein two ends of the cross beam frame are respectively connected to the two cross beam translation sliding rails in a sliding manner through the cross beam translation sliding blocks, the cross beam translation driving device is longitudinally arranged at two ends of the cross beam frame, the tooth positions of the straight racks are arranged towards the central direction of the cross beam frame, the gears are horizontally arranged on an output shaft of the cross beam translation driving device, and the tooth positions of the gears are meshed with the tooth positions of the straight racks in the horizontal direction. The two sides of the utility model are provided with the driving components such as the spur rack, the gear, the beam translation driving device and the like, the transmission effect is good, the operation is stable, the gear teeth are meshed with the teeth of the spur rack in the horizontal direction, the gear does not jump at the top of the spur rack, and the fit clearance between the gear and the spur rack can be conveniently adjusted.
Description
Technical Field
The utility model relates to the technical field of battery production and processing equipment, in particular to a novel transverse beam translation driving mechanism of a manipulator.
Background
In the production and processing process of the battery, a manipulator is needed to grab and carry the material. However, the existing robot has the following disadvantages: 1. the translation mechanism of the manipulator has a complex structure, only one motor drives one long transmission shaft to rotate, so that gears on two sides of the transmission shaft are driven to rotate, the transmission torque on one side of the motor is large, the transmission effect is poor, and the balance performance of horizontal movement is influenced; 2. the gear is placed at the top of the spur rack, and in the operation process, the gear can jump at the top of the spur rack, and meanwhile, the installation mode can not adjust the fit clearance between the gear and the spur rack.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provides a novel transverse beam translation driving mechanism of a manipulator.
In order to achieve the purpose, the utility model provides a novel cross beam translation driving mechanism of a manipulator, which comprises a cross beam frame, cross beam translation sliding rails, cross beam translation sliding blocks, spur racks, gears and a cross beam translation driving device, wherein the cross beam translation sliding rails and the spur racks are respectively arranged beside two end parts of the cross beam frame along the width direction of the cross beam frame, two ends of the cross beam frame are respectively connected to the two cross beam translation sliding rails in a sliding manner through the cross beam translation sliding blocks, the cross beam translation driving device is longitudinally arranged at two ends of the cross beam frame, the spur racks are fixed between the end parts of the cross beam frame and the cross beam translation sliding rails, the tooth positions of the spur racks are arranged towards the central direction of the cross beam frame, the gears are horizontally arranged on an output shaft of the cross beam translation driving device, the tooth positions of the gears are meshed with the tooth positions of the spur racks in the horizontal direction, and the cross beam translation driving device can drive the gears to rotate, thereby driving the beam frame to move on the beam translation slide rail along the horizontal direction through the matching of the gear and the spur rack.
Preferably, the crossbeam translation driving device comprises a crossbeam translation driving motor and a crossbeam translation driving speed reducer, an output shaft of the crossbeam translation driving motor is connected with an input end of the crossbeam translation driving speed reducer, and an output shaft of the crossbeam translation driving speed reducer is connected with the gear.
Preferably, the crossbeam translation driving speed reducer is installed at two ends of the crossbeam frame through the installation seats, and an output shaft of the crossbeam translation driving speed reducer penetrates through the installation seats to be connected with the gear.
Preferably, the cross beam frame comprises a front frame plate, a rear frame plate, a left frame plate, a right frame plate and a mounting cross beam, the front frame plate and the rear frame plate are arranged between the left frame plate and the right frame plate in parallel along the length direction, the mounting cross beam is arranged on the inner sides of the front frame plate and the rear frame plate along the length direction, a strip-shaped groove extending along the length direction is formed in the outer surface of the mounting cross beam, and the cross beam translation sliding blocks are respectively arranged at the bottoms of the left frame plate and the right frame plate.
Preferably, a plurality of reinforcing bottom plates are arranged between the two mounting cross beams.
Compared with the prior art, the utility model has the beneficial effects that:
the two sides of the beam translation driving mechanism are provided with the driving components such as the spur rack, the gear, the beam translation driving device and the like, a long transmission shaft is not required to be arranged, the transmission effect is good, the operation is stable, the gear teeth are meshed with the teeth of the spur rack in the horizontal direction, the gear cannot jump at the top of the spur rack, and meanwhile, the fit clearance between the gear and the spur rack can be conveniently adjusted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a novel manipulator provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a lower end structure of a novel manipulator provided by an embodiment of the utility model;
FIG. 3 is a schematic structural diagram of a beam translation driving mechanism provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a half-side structure of a beam translation driving mechanism provided in an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of the beam translation drive mechanism provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a manipulator lifting mechanism provided in the embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a linkage type lead screw elevator device according to an embodiment of the present invention;
fig. 8 is a side view of a lower end structure of a novel robot provided by an embodiment of the present invention;
FIG. 9 is a schematic structural view of a translational driving mechanism of a clamping jaw module according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a clamping jaw module provided in an embodiment of the utility model;
fig. 11 is an enlarged view of a portion of a clamping jaw module provided in an embodiment of the utility model.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a novel manipulator, which includes a beam translation driving mechanism 1, a manipulator lifting mechanism 2, a clamping jaw module translation driving mechanism 3, and two clamping jaw modules 4, wherein the manipulator lifting mechanism 2 is mounted on the beam translation driving mechanism 1, the beam translation driving mechanism 1 can drive the manipulator lifting mechanism 2 to move in a horizontal direction, the clamping jaw module 4 translation driving mechanism 3 is mounted at a lower end portion of the manipulator lifting mechanism 2, the two clamping jaw modules 4 are parallel to each other and are respectively connected with the lower end portion of the manipulator lifting mechanism 2 in a sliding manner, the manipulator lifting mechanism 2 can drive the two clamping jaw modules 4 to move up and down, the clamping jaw module 4 translation driving mechanism 3 is respectively in transmission connection with the two clamping jaw modules 4 and can drive the clamping jaw modules to move towards the direction close to each other or move towards the direction away from each other in the horizontal direction.
The following describes each component of the present embodiment in detail with reference to the drawings.
As shown in fig. 3, 4 and 5, the traverse translation driving mechanism 1 may include a traverse frame 11, traverse translation slide rails 12, a traverse translation slider 13, a spur rack 14, a gear 15 and a traverse translation driving device 16, the traverse translation slide rails 12 and the spur rack 14 are respectively arranged beside two end portions of the traverse frame 11 along a width direction of the traverse frame 11, the traverse translation slide rails 12 and the spur rack 14 may be fixed on a designated mounting surface, two ends of the traverse frame 11 are respectively connected to the two traverse translation slide rails 12 through the traverse translation slider 13 in a sliding manner, the traverse translation driving device 16 is longitudinally mounted at two ends of the traverse frame 11, the spur rack 14 is fixed between the end portion of the traverse frame 11 and the traverse translation slide rails 12, a tooth position of the spur rack 14 is set toward a center direction of the traverse frame 11, the gear 15 is horizontally mounted on an output shaft of the traverse translation driving device 16, a tooth position of the gear 15 is engaged with a tooth position of the spur rack 14 in a horizontal direction, the beam translation driving device 16 can drive the gear 15 to rotate, so that the beam frame 11 is driven to move on the beam translation sliding rail 12 along the horizontal direction through the cooperation of the gear 15 and the spur rack 14.
In this embodiment, the beam translation driving device 16 may include a beam translation driving motor 161 and a beam translation driving reducer 162, an output shaft of the beam translation driving motor 161 is connected to an input end of the beam translation driving reducer 162, and an output shaft of the beam translation driving reducer 162 is connected to the gear 15.
As shown in fig. 4 and 5, the beam translation driving reducer 162 may be mounted at both ends of the beam frame 11 through mounting seats 163, and an output shaft of the beam translation driving reducer 162 passes through the mounting seats 163 to be connected to the gear 15.
Preferably, as shown in fig. 3, the cross frame 11 may include a front frame plate 111, a rear frame plate 112, a left frame plate 113, a right frame plate 114, and a mounting cross member 115, wherein the front frame plate 111 and the rear frame plate 112 are installed in parallel along the length direction between the left frame plate 113 and the right frame plate 114, the mounting cross member 115 is installed at the inner sides of the front frame plate 111 and the rear frame plate 112 along the length direction, and the cross member translation sliders 13 are respectively installed at the bottoms of the left frame plate 113 and the right frame plate 114.
In this embodiment, the outer surface of the mounting beam 115 may be provided with a plurality of strip-shaped grooves extending along the length direction, which facilitates the mounting of the lifting fixing plate 21 of the manipulator lifting mechanism 2 in the strip-shaped grooves by screws, thereby facilitating the position adjustment of the lifting fixing plate 21.
In order to reinforce the structural strength of the beam frame 11, a plurality of reinforcing bottom plates 116 may be disposed between the two mounting beams 115.
The both sides of the crossbeam translation actuating mechanism of this embodiment all are equipped with drive assembly such as spur rack, gear and crossbeam translation drive arrangement, and transmission effect is good, operates steadily to the gear teeth position is meshed mutually with the tooth position of spur rack on the horizontal direction, and the gear is not directly placed at the top of spur rack, can not take place the condition that the gear takes place to beat at the top of spur rack, makes things convenient for the fit clearance between adjustment gear and the spur rack simultaneously.
As shown in fig. 6, the manipulator lifting mechanism 2 may include a lifting fixing plate 21, a lifting frame top plate 22, a lifting frame bottom plate 23, a lifting frame guide post 24 and a linkage type lead screw lifter device 25, the lifting fixing plate 21 is fixedly installed on the crossbeam translation driving mechanism 1, the lifting frame top plate 22 is located above the lifting fixing plate 21, the lifting frame bottom plate 23 is located below the lifting fixing plate 21, the upper end of the lifting frame guide post 24 is connected with the lifting frame top plate 22, the lower end of the lifting frame guide post 24 passes through a hole site of the lifting fixing plate 21 and is connected with the lifting frame bottom plate 23, the lifting frame top plate 22, the lifting frame bottom plate 23 and the lifting frame guide post 24 form a lifting frame, the linkage type lead screw lifter device 25 is installed on the lifting fixing plate 21, a lead screw of the linkage type lead screw lifter device 25 is connected with the lifting frame top plate 22, and can drive the whole lifting frame to move up and down.
Specifically, as shown in fig. 7, the coordinated lead screw elevator device 25 may include an elevation driving motor 251, an elevation driving reducer 252, a T-shaped diverter 253, a first worm gear elevator 254 and a second worm gear elevator 255, an output shaft of the elevation driving motor 251 is connected to an input end of the elevation driving reducer 252, an output shaft of the elevation driving reducer 252 is connected to an input shaft of the diverter 253, the diverter 253 is located between the first worm gear elevator 254 and the second worm gear elevator 255, output shafts at two ends of the diverter 253 are respectively connected to input shafts of the first worm gear elevator 254 and the second worm gear elevator 255, and top ends of output lead screws of the first worm gear elevator 254 and the second worm gear elevator 255 are respectively connected to the crane top plate 22. In operation, the lifting driving motor 251 can synchronously drive the output screws of the first worm gear lifter 254 and the second worm gear lifter 255 to move up and down, thereby driving the lifting frame to move up and down.
Shaft-to-shaft connection is realized between the output shaft of the lifting drive speed reducer 252 and the input shaft of the steering gear 253, between the output shaft at one end of the steering gear 253 and the input shaft of the first worm gear lifter 254, and between the output shaft at the other end of the steering gear 253 and the input shaft of the second worm gear lifter 255 through a first coupling 256.
In order to improve the lifting smoothness of the lifting frame, linear bearings 26 can be arranged at the hole positions of the lifting fixing plate 21, and each lifting frame guide post 24 respectively penetrates through the corresponding linear bearing 26.
The manipulator elevating system of this embodiment adopts coordinated type lead screw elevator device to drive the crane and reciprocates, and the structure is simplified greatly, and transmission effect is good, goes up and down steadily, need not to adopt belt and belt pulley transmission subassembly.
As shown in fig. 8 and 9, the gripper module translation driving mechanism 3 may include a gripper module translation driving device 31, a first translation driving lead screw 32, a second translation driving lead screw 33, and a lead screw transmission block 34, the gripper module translation driving device 31 is installed at a lower end portion of the manipulator elevating mechanism 2, the first translation driving lead screw 32 is connected to the second translation driving lead screw 33, threads of the first translation driving lead screw 32 and threads of the second translation driving lead screw 33 are opposite, the first translation driving lead screw 32 and the second translation driving lead screw 33 are installed at a lower end portion of the manipulator elevating mechanism 2 through a lead screw installation base 35, the gripper module translation driving device 31 is in transmission connection with the first translation driving lead screw 32 and the second translation driving lead screw 33, two lead screw transmission blocks 34 are provided and are in thread connection with the first translation driving lead screw 32 and the second translation driving lead screw 33 respectively, the two lead screw transmission blocks 34 are respectively connected with the corresponding clamping jaw modules 4, and the clamping jaw module translation driving device 31 can drive the first translation driving lead screw 32 and the second translation driving lead screw 33 to synchronously rotate, so that the two lead screw transmission blocks 34 and the two clamping jaw modules 4 connected with the lead screw transmission blocks are driven to move towards the direction close to each other or move towards the direction away from each other.
The gripper module translation driving device 31 may include a gripper module translation driving motor 311, a driving wheel 312, a driven wheel 313 and a belt 314, an output shaft of the gripper module translation driving motor 311 is connected with the driving wheel 312, the driven wheel 313 is mounted on the first translation driving screw rod 32 or the second translation driving screw rod 33, the belt 314 is sleeved between the driving wheel 312 and the driven wheel 313, and the gripper module translation driving motor 311 may drive the first translation driving screw rod 32 and the second translation driving screw rod 33 to rotate through the driving wheel 312, the driven wheel 313 and the belt 314.
In this embodiment, the first translation drive screw 32 and the second translation drive screw 33 may be connected by a second coupling 36. Of course, according to actual needs, in other embodiments, the first translation driving screw 32 and the second translation driving screw 33 may also be directly connected to form one screw, and only two sections of threads with opposite directions need to be arranged on the screw.
The clamping jaw module translation actuating mechanism of this embodiment only needs to drive the first translation drive lead screw and the synchronous rotation of second translation drive lead screw that the screw thread is opposite through a clamping jaw module translation drive arrangement, can drive two lead screw drive blocks and two clamping jaw modules that are connected rather than and remove or remove toward the direction of keeping away from each other toward the direction that is close to each other, has realized the interval control, and its structure has realized simplifying, and transmission effect is good, and the operation is stable.
As shown in fig. 2, 10 and 11, the two jaw modules 4 may each include a jaw mounting bracket 41, a jaw opening and closing driving device 42 and a plurality of jaws 43, the jaws 43 are sequentially installed in the jaw mounting bracket 41 along the length direction of the jaw mounting bracket 41, the jaw opening and closing driving device 42 is installed at the top of the jaw mounting bracket 41, the jaw opening and closing driving device 42 is in transmission connection with a push-pull rod 431 of the jaw 43 and drives the jaw 43 to open or close, the jaw mounting bracket 41 is in sliding connection with the lower end of the manipulator lifting mechanism 2 through a connecting bracket 44 at the top, and the jaw mounting bracket 41 is connected with a lead screw transmission block 34 of the translation driving mechanism 3 of the jaw module 4.
The clamping jaw opening and closing driving device 42 may include a plurality of clamping jaw opening and closing driving cylinders 421 and a linkage bar 422, the clamping jaw opening and closing driving cylinders 421 are installed on the top of the clamping jaw installation frame 41 through cylinder installation seats 423, an output rod of the clamping jaw opening and closing driving cylinders 421 is connected with the linkage bar 422, and the linkage bar 422 is connected with a push-pull rod 431 of the clamping jaw 43.
As shown in fig. 2, the connecting frames 44 of the two gripper modules 4 can be slidably connected to the lower end of the manipulator lifting mechanism 2 through the gripper module translation slide rails 45 and the gripper module translation slide blocks 46 slidably connected to the gripper module translation slide rails 45.
In conclusion, the manipulator disclosed by the utility model has the advantages of simplified overall structure, stable and reliable operation, capability of adjusting the distance, suitability for batteries with various specifications and wide application range.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (5)
1. The utility model provides a novel crossbeam translation actuating mechanism of manipulator which characterized in that: including crossbeam frame (11), crossbeam translation slide rail (12), crossbeam translation slider (13), spur rack (14), gear (15) and crossbeam translation drive arrangement (16), crossbeam translation slide rail (12) and spur rack (14) are arranged on the both ends next door of crossbeam frame (11) along the width direction of crossbeam frame (11) respectively, the both ends of crossbeam frame (11) are respectively through crossbeam translation slider (13) sliding connection on two crossbeam translation slide rails (12), crossbeam translation drive arrangement (16) vertically install the both ends at crossbeam frame (11), spur rack (14) are fixed between the tip of crossbeam frame (11) and crossbeam translation slide rail (12), the position of tooth of spur rack (14) sets up towards the central direction of crossbeam frame (11), gear (15) horizontal installation is on the output shaft of crossbeam translation drive arrangement (16), the tooth position of the gear (15) is meshed with the tooth position of the spur rack (14) in the horizontal direction, and the transverse beam translation driving device (16) can drive the gear (15) to rotate, so that the transverse beam frame (11) is driven to move on the transverse beam translation sliding rail (12) along the horizontal direction through the matching of the gear (15) and the spur rack (14).
2. The novel cross beam translation driving mechanism of the mechanical arm as claimed in claim 1, wherein: the crossbeam translation driving device (16) comprises a crossbeam translation driving motor (161) and a crossbeam translation driving speed reducer (162), an output shaft of the crossbeam translation driving motor (161) is connected with an input end of the crossbeam translation driving speed reducer (162), and an output shaft of the crossbeam translation driving speed reducer (162) is connected with the gear (15).
3. The novel cross beam translation driving mechanism of the mechanical arm as claimed in claim 2, wherein: the transverse beam translation driving speed reducer (162) is installed at two ends of the transverse beam frame (11) through the installation seat (163), and an output shaft of the transverse beam translation driving speed reducer (162) penetrates through the installation seat to be connected with the gear (15).
4. The novel cross beam translation driving mechanism of the mechanical arm as claimed in claim 1, wherein: the cross beam frame (11) comprises a front frame plate (111), a rear frame plate (112), a left frame plate (113), a right frame plate (114) and a mounting cross beam (115), wherein the front frame plate (111) and the rear frame plate (112) are mounted between the left frame plate (113) and the right frame plate (114) in parallel along the length direction, the mounting cross beam (115) is mounted on the inner sides of the front frame plate (111) and the rear frame plate (112) along the length direction, a strip-shaped groove extending along the length direction is formed in the outer surface of the mounting cross beam (115), and cross beam translation sliders (13) are mounted at the bottoms of the left frame plate (113) and the right frame plate (114) respectively.
5. The novel cross beam translation driving mechanism of the mechanical arm as claimed in claim 4, wherein: a plurality of reinforcing bottom plates (116) are arranged between the two mounting cross beams (115).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123377885.1U CN216731843U (en) | 2021-12-29 | 2021-12-29 | Novel crossbeam translation actuating mechanism of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123377885.1U CN216731843U (en) | 2021-12-29 | 2021-12-29 | Novel crossbeam translation actuating mechanism of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216731843U true CN216731843U (en) | 2022-06-14 |
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ID=81911000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123377885.1U Active CN216731843U (en) | 2021-12-29 | 2021-12-29 | Novel crossbeam translation actuating mechanism of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216731843U (en) |
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2021
- 2021-12-29 CN CN202123377885.1U patent/CN216731843U/en active Active
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