CN218505637U - Conveniently-disassembled mounting structure for servo electric cylinder of six-freedom-degree parallel walking robot - Google Patents

Abstract

The utility model discloses a just, tear formula mounting structure open for servo electric jar of the parallelly connected walking robot of six degrees of freedom, including the suit at the outside just, tear formula installation base open of servo electric jar main part and install the card post formula mount sleeve seat at the telescopic link tip of servo electric jar main part. Through the stretching of the spring clamping column in the conveniently-disassembled installation base, the spring clamping column can be quickly connected with the clamping groove to complete clamping work and separation work, the inserting plate can be quickly connected with the inserting groove to complete inserting work and separation work, and therefore the upper installation base can be quickly assembled with the lower installation base. Simultaneously, manpower pulling cylinder handle drives expanding spring's flexible, will make the cross insert two through-holes I that the post can be quick insert through-hole cover seat and be located the sufficient through-hole of walking between two through-holes I to make through-hole cover seat can be quick and the sufficient through-hole connecting block of walking accomplish dismouting work, make things convenient for the installation and the change of servo electric cylinder main part, improved change efficiency.

Description

Conveniently-disassembled mounting structure for servo electric cylinder of six-freedom-degree parallel walking robot

Technical Field

The utility model belongs to the technical field of servo electric jar connects piece soon, concretely relates to a just tear formula mounting structure open for servo electric jar of the parallelly connected walking robot of six degrees of freedom.

Background

The servo electric cylinder is a modularized product which integrally designs a servo motor and a lead screw, and the speed of the servo electric cylinder is 0.1-2 m/s. Because of closed-loop servo control, the control precision of the servo electric cylinder is higher, the servo electric cylinder has the characteristics of low cost, flexible configuration and the like, is the best substitute of the hydraulic cylinder and the air cylinder, and is widely applied to industries such as industry, military, entertainment facilities, automobiles and the like.

Current servo electric jar is when being applied to the parallelly connected walking robot of six degrees of freedom, can drive the sufficient walking work that accomplishes of walking robot, however, servo electric jar is the assigned position department of installing at the parallelly connected walking robot of six degrees of freedom through clamp and bolt, the connecting seat of servo electric jar front side is through-hole connecting block fixed mounting on bolt and nut and the walking foot simultaneously, so when servo electric jar damages, and when needing to be changed, the staff just need carry out dismouting work to all bolt and nut, thereby staff's operating time will be delayed, the change efficiency is reduced.

Therefore, there is a need in the art for a new solution to solve this problem.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: the utility model provides a just, tear formula mounting structure open for six degrees of freedom parallel walking robot servo electric jar is used for solving current servo electric jar when being applied to six degrees of freedom parallel walking robot, and the dismouting needs to carry out the dismouting to a large amount of bolts and nuts, and the technical problem that change efficiency is low.

In order to achieve the above object, the utility model provides a following technical scheme: a conveniently-disassembled mounting structure for a servo electric cylinder of a six-freedom-degree parallel walking robot comprises a conveniently-disassembled mounting base sleeved outside a servo electric cylinder main body and a clamping column type mounting sleeve seat arranged at the end part of a telescopic rod of the servo electric cylinder main body,

the conveniently-disassembled installation base comprises a bottom plate, a lower installation base and an upper installation base; the middle part of the upper surface of the bottom plate is fixedly connected with the lower part of the lower mounting seat; the lower mounting seat is of a groove-shaped structure with an upper opening; the upper mounting seat is of a groove-shaped structure with an opening at the lower part, the upper mounting seat and the lower mounting seat are buckled and fixedly connected to form an accommodating cavity for the servo electric cylinder main body to penetrate through, and the top of the upper mounting seat is provided with at least two threaded hole fixing columns; a handle bolt is connected with the inner thread of the threaded hole fixing column through a thread; the bottom of the handle bolt penetrates through the top of the upper mounting seat and then abuts against the servo electric cylinder main body;

the clamping column type mounting sleeve seat comprises an internal thread sleeve column, a clamping column fixing component and a through hole sleeve seat; the through hole sleeve seat is of a concave groove structure, and through holes I are symmetrically formed in the groove walls of the two sides of the through hole sleeve seat; one end of the internal thread sleeve column is in threaded connection with the end part of the telescopic rod of the servo electric cylinder main body, and the other end of the internal thread sleeve column is fixedly connected with the outside of the bottom of the through hole sleeve seat; the cross-shaped inserting column of the clamping column fixing component penetrates through the through holes I symmetrically arranged on the two side groove walls of the through hole sleeve seat and the through holes of the through hole connecting blocks on the walking legs located between the two through holes I in a pulling and inserting mode.

Slots are formed in the upper end faces of the two side slot walls of the lower mounting seat, and clamping slots are further formed in the two side slot walls of the lower mounting seat and are communicated with the slots; the lower ends of the two side groove walls of the upper mounting seat are fixedly connected with inserting plates; the two inserting plates are inserted into the slots, and spring clamping columns are arranged on one sides of the two inserting plates close to the clamping grooves; the spring clamping column is clamped with the clamping groove.

The inner wall that holds the chamber all is equipped with anti-skidding cushion.

The clamping column fixing component also comprises an anti-drop hollow sleeve column, a cylindrical handle and a telescopic spring; two ends of the anti-falling hollow sleeve column are provided with through holes II for the cross-shaped inserting columns to penetrate through and slide relatively, the anti-falling hollow sleeve column is fixedly arranged on one side of the through hole sleeve seat, and the through holes II and the through holes I are coaxially arranged; the cross-shaped inserting column penetrates through holes at two ends of the anti-falling hollow sleeve column, one end head of the cross-shaped inserting column is fixedly connected with the cylindrical handle, the other end head of the cross-shaped inserting column sequentially penetrates through the two through holes I, and a fixing baffle is arranged in the middle of the cross-shaped inserting column; the fixed baffle is positioned inside the anti-falling hollow sleeve column; the telescopic spring is sleeved outside the cross-shaped inserting column, one end of the telescopic spring is abutted against the fixed baffle, and the other end of the telescopic spring is abutted against the inner wall of the anti-falling hollow sleeve column; the cylindrical handle is contacted with the outer wall of the anti-falling hollow sleeve column.

Through the design scheme, the utility model discloses following beneficial effect can be brought:

1. the utility model discloses in accomplish the joint or the separation of spring strap post and draw-in groove through the flexible of spring strap post to accomplish down the lock and the separation of mount pad and last mount pad fast, also make things convenient for picture peg and slot to accomplish grafting work and separation work. The upper mounting seat can be rapidly assembled and disassembled with the lower mounting seat, and the servo electric cylinder main body is convenient to install and replace. Handle bolt and servo electricity jar main part butt make servo electricity jar main part more firm in the intracavity that holds between mount pad and the last mount pad down, difficult production relative slip. The mounting and dismounting are quick, the use of a large number of bolts and nuts is saved, no tool is needed, the time of workers is saved, and the replacement efficiency is improved;

2. the utility model discloses a pulling and loosening the cylinder handle, make expanding spring's compression and reset, will make the cross insert the through-hole that two through-holes I and the sufficient through-hole connecting block of going up of walking that the post can be quick, accomplish the sufficient dismouting work of walking. The internal thread sleeve column is in threaded connection with the end part of the telescopic rod of the servo electric cylinder body, so that the servo electric cylinder body is convenient to install and replace, the time of workers is saved, and the replacement efficiency is improved.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

FIG. 1 is a schematic structural view of a detachable installation structure of a servo electric cylinder of a six-degree-of-freedom parallel walking robot of the present invention;

FIG. 2 is a schematic diagram of an explosive structure of a conveniently-disassembled installation base in the conveniently-disassembled installation structure for the servo electric cylinder of the six-degree-of-freedom parallel walking robot of the present invention;

FIG. 3 is a schematic view showing the structure of the clamping column type mounting sleeve seat in the easy-to-detach mounting structure for the servo electric cylinder of the six-degree-of-freedom parallel walking robot of the present invention;

FIG. 4 is a schematic diagram of a cross-sectional structure of a clamping column type mounting sleeve seat in a conveniently disassembled mounting structure for a servo electric cylinder of a six-degree-of-freedom parallel walking robot according to the present invention;

in the figure: 1. a servo electric cylinder main body; 2. a base is installed in a detachable mode; 21. an upper mounting seat; 22. a spring clip post; 23. a card slot; 24. a base plate; 25. a lower mounting seat; 26. inserting slots; 27. inserting plates; 28. a threaded hole fixing column; 29. a handle bolt; 3. a clamping column type mounting sleeve seat; 31. sleeving a column with an internal thread; 32. a clamping column fixing component; 321. an anti-drop hollow sleeve column; 322. a cylindrical handle; 323. a tension spring; 324. a cross-shaped inserting column; 325. fixing a baffle plate; 33. and a through hole sleeve seat.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

As shown in the figure, the utility model provides a technical scheme: a just, tear formula mounting structure open for servo electric jar of six degree of freedom parallel walking robot, including just tearing formula installation base 2 open, just, the inside servo electric jar main part 1 that runs through of upside of tearing formula installation base 2 open, the telescopic link tip outer wall screw-thread sleeve of servo electric jar main part 1 has been used for installing the work fast card post formula installation sleeve seat 3.

For quick installation work, just, tear formula installation base 2 open includes bottom plate 24 and last mount pad 21, mount pad 25 under the upper surface middle part fixedly connected with of bottom plate 24, set up slot 26 that extends to its upper surface on two lateral walls of lower mount pad 25, be equipped with draw-in groove 23 on two lateral walls of lower mount pad 25, and draw-in groove 23 and slot 26 intercommunication, two lateral wall lower extreme fixedly connected with picture peg 27 of going up mount pad 21, and inside picture peg 27 inserted slot 26, two picture pegs 27 were close to one side of draw-in groove 23 and have cup jointed spring card post 22, and picture peg 27 passes through spring card post 22 and draw-in groove 23 joint, the upper end both sides fixedly connected with screw hole fixed column 28 of last mount pad 21, the internal thread of two screw hole fixed columns 28 has cup jointed handle bolt 29, and the top of mount pad 21 is run through to the bottom of handle bolt 29. Through carrying out dismouting work to just tearing open formula installation base 2, can be quick carry out installation work to servo electric cylinder main part 1 to make things convenient for the staff can be quick change work and maintenance work to servo electric cylinder main part 1.

In order to carry out fixing work, open groove has been seted up to the upside of lower mount pad 25, and open groove's inner wall is equipped with anti-skidding cushion, and two slots 26 and two draw-in grooves 23 all use open groove as the center of symmetry simultaneously, through lower mount pad 25, can better carry out fixing work to servo electric cylinder main part 1, also can carry out anti-skidding work and protection work to servo electric cylinder main part 1 simultaneously.

In order to carry out fixing work, the shape structure of going up mount pad 21 is character cut in bas-relief square structure, and the inner wall of going up mount pad 21 also is equipped with anti-skidding cushion, goes up both sides around the upper end of mount pad 21 and has seted up and link up the round hole, and link up the round hole and communicate with screw hole fixed column 28, through last mount pad 21, can be better carry out fixing work to servo electric cylinder main part 1, also can carry out anti-skidding work and protection work to servo electric cylinder main part 1 simultaneously.

In order to be fast and the walking foot of the robot to be disassembled, the clamping column type mounting sleeve seat 3 comprises an internal thread sleeve column 31, a clamping column fixing component 32 and a through hole sleeve seat 33, the shape structure of the through hole sleeve seat 33 is a concave square structure, the internal thread sleeve column 31 is fixedly connected to the middle of one end of the through hole sleeve seat 33, two side walls of the other end of the through hole sleeve seat 33 are arc surfaces, and the clamping column fixing component 32 is mounted on the outer portion of one arc surface side wall.

The clamping column fixing component 32 comprises a retaining hollow sleeve column 321, a cylindrical handle 322, a telescopic spring 323 and a cross-shaped inserting column 324. The cross-shaped inserting column 324 is sleeved in the anti-falling hollow sleeve column 321 in a sliding mode, one end of the cross-shaped inserting column 324 penetrates through the cylindrical handle 322 fixedly connected to the rear end face of the anti-falling hollow sleeve column 321, the cylindrical handle 322 is in contact with the outer end face of the anti-falling hollow sleeve column 321, and the fixing baffle 325 is arranged in the middle of the cross-shaped inserting column 324. The telescopic spring 323 is sleeved outside the cross-shaped inserting column 324, one end of the telescopic spring 323 is abutted to the fixed baffle 325, and the other end of the telescopic spring 323 is abutted to the inner wall of the anti-dropping hollow sleeve column 321, so that the cross-shaped inserting column 324 can automatically reset after being manually pulled and released.

Through-hole I has all been seted up on two lateral walls of through-hole cover seat 33, and the cross other end of inserting post 324 runs through two through-holes I respectively and is located the through-hole connecting block on the robot walking foot between two through-holes I and accomplishes quick installation work.

In order to perform telescopic work, the outer wall of the end head of the telescopic rod of the servo electric cylinder main body 1 is provided with threads, the telescopic rod of the servo electric cylinder main body 1 is in threaded connection with the internal thread sleeve column 31 through the threads, telescopic work can be performed better through the servo electric cylinder main body 1, and therefore the robot can be driven to walk sufficiently.

The utility model discloses a theory of operation and use flow: before the servo electric cylinder is used, a worker firstly installs the bottom plate 24 at a designated position of the robot through a bolt, then the worker can enable the spring clamping column 22 to perform telescopic work by pressing the spring clamping column 22, when the spring clamping column 22 performs telescopic work, the spring clamping column 22 can rapidly complete clamping work and separation work with the clamping groove 23, and the plug board 27 can rapidly complete plugging work and separation work with the slot 26, so that the upper mounting seat 21 can rapidly complete dismounting work with the lower mounting seat 25, the servo electric cylinder body 1 can be rapidly installed inside the upper mounting seat 21 and the lower mounting seat 25 and complete fixing work, and then the servo electric cylinder body 1 can complete threaded sleeve joint work with the internal thread sleeve column 31 in the clamping column type mounting sleeve seat 3 through threads on the telescopic rod in the servo electric cylinder body 1, thereby just can install card column type installation sleeve seat 3, afterwards, the staff carries out tensile work and slowly relaxs the work through the cylinder handle 322 in the card post fixed subassembly 32, will make the cross insert post 324 at the inside reciprocating sliding of anticreep cavity sleeve post 321, and simultaneously, expanding spring 323 also can stretch out and draw back the work, thereby make the cross insert post 324 can fast respectively with two through-hole I of through-hole sleeve seat 33 and the through-hole completion grafting work of the through-hole connecting block on the walking foot, thereby make through-hole sleeve seat 33 can be quick with the walking foot completion dismouting work, just so can accomplish the installation work with servo electric cylinder main part 1 and the parallelly connected walking robot of six degrees of freedom fast, and finally, just can carry out the electric connection work with servo electric cylinder main part 1 and the parallelly connected walking robot's of six degrees of freedom controller through the electric wire.

When the six-degree-of-freedom parallel walking robot is used, the servo electric cylinder main body 1 can be fixed through the conveniently-disassembled installation base 2, the telescopic rod of the servo electric cylinder main body 1 can conveniently stretch and retract, the sliding phenomenon of the servo electric cylinder main body 1 is avoided, the servo electric cylinder main body 1 can also be protected, the telescopic rod of the servo electric cylinder main body 1 can stretch and retract, the column clamping type installation sleeve seat 3 can be driven to move in a reciprocating mode, the walking foot can be driven to move, and therefore the six-degree-of-freedom parallel walking robot can walk;

when servo electric cylinder main part 1 damaged, the staff just can be quick according to above-mentioned installation procedure carries out dismouting and change work to servo electric cylinder main part 1 to make the parallelly connected walking robot of whole six degrees of freedom can be quick to come into operation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (4)

1. A just, tear formula mounting structure open for servo electric jar of six degree of freedom parallel walking robot, its characterized in that: comprises a conveniently-disassembled mounting base (2) sleeved outside a servo electric cylinder main body (1) and a clamping column type mounting sleeve seat (3) arranged at the end part of a telescopic rod of the servo electric cylinder main body (1),

the conveniently-detached mounting base (2) comprises a bottom plate (24), a lower mounting base (25) and an upper mounting base (21); the middle part of the upper surface of the bottom plate (24) is fixedly connected with the lower part of the lower mounting seat (25); the lower mounting seat (25) is of a groove-shaped structure with an upper opening; the upper mounting seat (21) is of a groove-shaped structure with an open lower part, the upper mounting seat (21) and the lower mounting seat (25) are buckled and fixedly connected to form an accommodating cavity for the servo electric cylinder main body (1) to penetrate through, and at least two threaded hole fixing columns (28) are arranged at the top of the upper mounting seat (21); a handle bolt (29) is connected with the inner thread of the threaded hole fixing column (28) in a threaded manner; the bottom of the handle bolt (29) penetrates through the top of the upper mounting seat (21) and then is abutted against the servo electric cylinder main body (1);

the clamp column type mounting sleeve seat (3) comprises an internal thread sleeve column (31), a clamp column fixing component (32) and a through hole sleeve seat (33); the through hole sleeve seat (33) is of a concave groove structure, and through holes I are symmetrically formed in the groove walls of the two sides of the through hole sleeve seat (33); one end of the internal thread sleeve column (31) is in threaded connection with the end part of the telescopic rod of the servo electric cylinder main body (1), and the other end of the internal thread sleeve column (31) is fixedly connected with the outside of the bottom of the through hole sleeve seat (33); the cross-shaped inserting column (324) of the clamping column fixing component (32) penetrates through the through holes I symmetrically arranged on the two side groove walls of the through hole sleeve seat (33) in a pulling and inserting mode and the through hole of the through hole connecting block on the walking foot positioned between the two through holes I.

2. The easy-to-detach mounting structure for the servo electric cylinder of the six-degree-of-freedom parallel walking robot according to claim 1, wherein: slots (26) are formed in the upper end faces of the two side slot walls of the lower mounting seat (25), clamping slots (23) are further formed in the two side slot walls of the lower mounting seat (25), and the clamping slots (23) are communicated with the slots (26); the lower ends of the two side groove walls of the upper mounting seat (21) are fixedly connected with inserting plates (27); the inserting plates (27) are inserted into the inserting grooves (26), and spring clamping columns (22) are arranged on one sides, close to the clamping grooves (23), of the two inserting plates (27); the spring clamping column (22) is clamped with the clamping groove (23).

3. The easy-to-detach mounting structure for the servo electric cylinder of the six-degree-of-freedom parallel walking robot according to claim 1, wherein: the inner wall of the accommodating cavity is provided with anti-skidding soft pads.

4. The easy-to-detach mounting structure for the servo electric cylinder of the six-degree-of-freedom parallel walking robot according to claim 1, wherein: the clamping column fixing component (32) also comprises an anti-dropping hollow sleeve column (321), a cylindrical handle (322) and an expansion spring (323); two ends of the anti-falling hollow sleeve column (321) are provided with through holes II for the cross-shaped inserting columns (324) to penetrate through and slide relatively, the anti-falling hollow sleeve column (321) is fixedly installed on one side of the through hole sleeve seat (33), and the through holes II and the through holes I are coaxially arranged; the cross-shaped inserting column (324) penetrates through holes at two ends of the anti-falling hollow sleeve column (321), one end head of the cross-shaped inserting column (324) is fixedly connected with the cylindrical handle (322), the other end head of the cross-shaped inserting column (324) penetrates through the two through holes I in a pulling and inserting mode in sequence, and a fixing baffle (325) is arranged in the middle of the cross-shaped inserting column (324); the fixed baffle (325) is positioned inside the anti-drop hollow sleeve column (321); the telescopic spring (323) is sleeved outside the cross-shaped inserting column (324), one end of the telescopic spring (323) is abutted with the fixed baffle (325), and the other end of the telescopic spring (323) is abutted with the inner wall of the anti-falling hollow sleeve column (321); the cylindrical handle (322) is in contact with the outer wall of the anti-falling hollow sleeve column (321).

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