CN113664515B - Passive mechanical screwing device - Google Patents
Passive mechanical screwing device Download PDFInfo
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- CN113664515B CN113664515B CN202110983355.7A CN202110983355A CN113664515B CN 113664515 B CN113664515 B CN 113664515B CN 202110983355 A CN202110983355 A CN 202110983355A CN 113664515 B CN113664515 B CN 113664515B
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- 238000004806 packaging method and process Methods 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 6
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- 238000006243 chemical reaction Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention provides a passive mechanical screwing device, which belongs to the technical field of machinery and comprises two parallel pressing plates, a ratchet wheel transmission unit, a planetary gear acceleration unit, two groups of elastic connecting rod units and a screwing drape head; the ratchet transmission unit and the planetary gear acceleration unit are positioned between the two pressing plates, and the planetary gear acceleration unit is coaxially connected with the ratchet transmission unit through a coupler. The elastic connecting rod unit comprises a multi-connecting-rod assembly and elastic assemblies, the multi-connecting-rod assembly is rotatably connected between the ratchet wheel transmission unit and the planetary gear acceleration unit, and the two groups of multi-connecting-rod assemblies are respectively rotatably connected with the pressing plate on the corresponding side; the screwing drape head is detachably connected to the planetary gear acceleration unit; when in screwing operation, the clamping force is applied to the pressure plate, and the ratchet transmission unit drives the planetary gear accelerating unit to rotate in an accelerating way, so that the screwing drape head rotates. The invention converts the radial translation motion applied to the pressure plate by external force application equipment such as a mechanical arm and the like into the rotation motion of the screwing drape head, and has simple and convenient operation, time saving and labor saving.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a passive mechanical screwing device.
Background
The teleoperation manipulator is widely applied to the fields of military, ocean, aerospace and the like, and the screwing operation of a target is a common requirement of the teleoperation manipulator. At present, the teleoperation manipulator is not enough to execute screwing operation: on one hand, in an inaccessible manual operation environment, the teleoperation manipulator has screwing capacity by replacing the end effector, and the repeated disassembly and assembly operation consumes long time and has complex steps; on the other hand, the screwing operation has high requirement on coaxiality, and the remote operation often has large error, so that the conventional tool is difficult to ensure the operation precision, and even the improper operation can cause equipment damage.
Disclosure of Invention
The embodiment of the invention provides a passive mechanical screwing device which can be directly matched with a mechanical arm and other force application equipment for use, can realize screwing operation without an additional power source, and is simple to operate, time-saving and labor-saving.
In order to realize the purpose, the invention adopts the technical scheme that: there is provided a passive mechanical screwing device comprising: the device comprises two parallel pressing plates, a ratchet wheel transmission unit, a planetary gear acceleration unit, two groups of elastic connecting rod units and a screwing drape head; the ratchet wheel transmission unit is positioned between the two pressure plates and comprises a reversing execution component for screwing and reversing; the planetary gear acceleration unit is positioned between the two pressure plates and is coaxially connected with the ratchet wheel transmission unit through a coupler; the elastic connecting rod unit comprises a multi-connecting-rod assembly and an elastic assembly, the multi-connecting-rod assembly is rotationally connected between the ratchet wheel transmission unit and the planetary gear acceleration unit, and two groups of multi-connecting-rod assemblies are respectively rotationally connected with the pressing plate on one corresponding side; the multi-link assembly keeps the pressure plates parallel through the support of the elastic assembly; the screwing drape head is detachably connected to the planetary gear accelerating unit; during screwing operation, the pressing plate is clamped by external clamping force, the ratchet wheel transmission unit is pushed to rotate through the elastic connecting rod unit, and the planetary gear acceleration unit is driven to rotate in an accelerated manner, so that the screwing drape head rotates.
In one possible implementation, the ratchet transmission unit includes: the ratchet wheel is provided with a ratchet wheel shaft, and the ratchet wheel is coaxially connected with the coupler through the ratchet wheel shaft; the middle of the first long rod is provided with a containing groove for containing and supporting the ratchet wheel to rotate, and the bottom of the containing groove is provided with a through hole through which the ratchet wheel shaft passes; the reversing executing component is connected to the first long rod and drives the ratchet wheel to rotate positively and negatively along with the rotation of the first long rod; the second long rod is arranged on one side of the first long rod, which is far away from the ratchet wheel, and a through hole through which the ratchet wheel shaft passes is arranged in the middle of the second long rod; the multi-link assembly is rotatably connected with the second long rod and the first long rod, and the second long rod and the first long rod are arranged in a crossed mode by means of the elastic force of the elastic assembly.
In one possible implementation, the reversing execution component includes: the reversing pawl is provided with a forward driving claw for forward driving the ratchet wheel and a reverse driving claw for reverse driving the ratchet wheel, a sliding groove is formed in one end, close to the ratchet wheel, of the reversing pawl, and a positioning rod is arranged at one end, far away from the ratchet wheel, of the reversing pawl; the first long rod is provided with a limiting rod in sliding fit with the sliding groove, and the reversing pawl is rotatably connected with the first long rod through the limiting rod; the first long rod is also provided with a reversing adjusting groove, the reversing adjusting groove is internally provided with three positioning grooves for positioning the positioning rod, and when the positioning rod is positioned in the three positioning grooves, the reversing pawl can positively drive, separate and reversely drive the ratchet wheel; the two ends of the tension spring are respectively connected with the limiting rod and the positioning rod, and the tension spring enables the reversing pawl to be located at different positions.
In a possible implementation manner, a cover plate for packaging the ratchet wheel is arranged on the accommodating groove of the first long rod.
In one possible implementation, the planetary gear acceleration unit includes: the clamping device comprises a planetary gear assembly, a packaging plate, a clamping assembly, a third long rod and a fourth long rod, wherein the planetary gear assembly comprises a planetary gear ring, a sun gear coaxial with the planetary gear ring and a plurality of planetary gears surrounding the sun gear, and the planetary gears are meshed with the sun gear and the planetary gear ring simultaneously; the planetary gear ring is provided with a fluted disc and a gear shaft which support the sun gear and the planet gears, and is coaxially connected with the coupler through the gear shaft; the packaging plate is packaged on the planet gear ring, and a positioning column which is rotationally connected with a central hole of the planet gear is arranged on the inner side of the packaging plate; the clamping assembly comprises a quick chuck and a screwing shaft connected to one end of the quick chuck, and the screwing shaft penetrates through a central hole of the packaging plate and is connected with the sun wheel in an interference fit manner; the screwing drape head is connected to the quick chuck; the middle of the third long rod is provided with a through hole through which the gear shaft passes; the axial orthographic projection of the third long rod is superposed with that of the first long rod, and the packaging plate is connected with the third long rod through a bolt; a through hole through which the gear shaft penetrates is formed in the middle of the fourth long rod, the fourth long rod is positioned on one side, away from the sun wheel, of the third long rod, and the axial orthographic projection of the fourth long rod is superposed with that of the second long rod; the multi-link assembly is rotatably connected with the fourth long rod and the third long rod, and the fourth long rod and the third long rod are arranged in a crossed mode by means of the elastic force of the elastic assembly.
In one possible implementation, the multi-link assembly includes: the first connecting rod, the second connecting rod and the third connecting rod are arranged on the same side of the first long rod, and one end of the first connecting rod is rotatably connected with the first long rod through a first rotating shaft; the first end of the second connecting rod is rotatably connected with the first long rod through a second rotating shaft, and the second end of the second connecting rod is rotatably connected with the second long rod through a third rotating shaft; two ends of the third rotating shaft are rotatably connected to the second long rod and the fourth long rod; the first end of the third connecting rod is rotatably connected with the third long rod through the first rotating shaft, and the second end of the third connecting rod is rotatably connected with the second connecting rod and the first connecting rod through the second rotating shaft; the two ends of the first rotating shaft are rotatably connected to the first long rod and the third long rod, and the two ends of the second rotating shaft are rotatably connected to the pressing plate; the elastic component comprises two torsional springs, the two torsional springs are sleeved on the second rotating shaft, one torsional spring is arranged between the first connecting rod and the second connecting rod, and one torsional spring is arranged between the second connecting rod and the third connecting rod.
In a possible implementation manner, two ends of the first long rod and the third long rod are connected through a fourth rotating shaft respectively; and the two ends of the second long rod and the fourth long rod are connected through a fifth rotating shaft respectively.
In a possible implementation manner, rollers capable of rolling and contacting with the pressing plate are respectively arranged on the fourth rotating shaft and the fifth rotating shaft.
In a possible implementation manner, an upper limiting block and a lower limiting block which limit the roller are arranged on the inner side of the pressing plate.
In a possible implementation manner, a supporting disc with the same outer diameter as that of the planetary gear ring is arranged in the middle of each of the third long rod and the fourth long rod.
The passive mechanical screwing device provided by the embodiment of the invention has the beneficial effects that: (1) the ratchet transmission unit is designed, and the radial translational motion of a manipulator or other external force applied to the pressing plate is converted into the rotary motion of the screwing drape head through the reciprocating motion of the elastic connecting rod unit; the target can be screwed by means of remote control operation of the manipulator, and the operation is simple and convenient; (2) the planetary gear accelerating unit is adopted to adjust the slow rotation driven by the ratchet wheel into high rotation, so that the requirement on frequent reciprocating operation of the manipulator is reduced, the efficiency of screwing operation is improved, and time and labor are saved; (3) an additional connecting mechanism is not needed, the screwing device is firmly clamped by the manipulator end effector, and the device is strong in universality and convenient to use; (4) the screwing direction reversing executing assembly is arranged, and the screwing direction of the device can be changed through simple operation.
Drawings
Fig. 1 is a schematic perspective view illustrating a passive mechanical screwing device according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of the passive mechanical screwing device of FIG. 1 (with the package plate removed);
fig. 3 is a schematic perspective view of a passive mechanical screwing device according to an embodiment of the present invention;
FIG. 4 is a schematic plan view of the passive mechanical screwing device shown in FIG. 3 (with the cover plate removed);
FIG. 5 is an enlarged view of a portion of the structure shown at A in FIG. 4;
fig. 6 is a schematic three-dimensional structure diagram of a passive mechanical screwing device according to an embodiment of the present invention;
fig. 7 is a schematic perspective view illustrating a passive mechanical screwing device according to a fourth embodiment of the present invention;
fig. 8 is an exploded view of a planetary gear acceleration unit according to an embodiment of the present invention;
fig. 9 is a first schematic diagram illustrating an explosive structure of a passive mechanical screwing device according to an embodiment of the present invention;
fig. 10 is a second schematic diagram illustrating an explosive structure of a passive mechanical screwing device according to an embodiment of the present invention;
FIG. 11 is a schematic perspective view of a pressing plate according to an embodiment of the present invention;
fig. 12 is a schematic perspective view of a first long rod according to an embodiment of the present invention;
fig. 13 is a partial enlarged structural view of the first long rod provided in fig. 12 at B;
FIG. 14 is a perspective view of a reversing pawl according to an embodiment of the present invention;
FIG. 15 is a schematic view of the reversing pawl of the passive mechanical screwing device of the present invention in the position C1;
FIG. 16 is a schematic view of the reversing pawl of the passive mechanical screwing device of the present invention moving at position C3;
description of reference numerals:
1. pressing a plate; 11. an upper limit block; 12. a lower limiting block; 2. a ratchet transmission unit; 21. a ratchet wheel; 22. a reversing pawl; 23. a cover plate; 24. a tension spring; 25. a first long rod; 26. a second long rod; 27. a third long rod; 28. a fourth long rod; 29. a limiting rod; 291. positioning a rod; 292. a reversing adjusting groove; 293. a chute; 3. an elastic link unit; 31. a first rotating shaft; 32. a first link; 33. a second rotation shaft; 34. a second link; 35. a third rotation axis; 36. a torsion spring; 37. a fourth rotation axis; 38. a roller; 39. a fifth rotation axis; 391. a third link; 4. a planetary gear acceleration unit; 41. a planetary gear ring; 42. a package board; 43. a sun gear; 44. a planet wheel; 45. a bearing; 5. screwing the cape head; 6. a coupling; 7. a clamping assembly; 71. a quick chuck; 72. and screwing the shaft.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 16, a passive mechanical screwing device according to the present invention will be described. The passive mechanical screwing device comprises two parallel pressing plates 1, a ratchet wheel transmission unit 2, a planetary gear acceleration unit 4, two groups of elastic connecting rod units 3 and a screwing drape head 5; the ratchet wheel transmission unit 2 is positioned between the two pressure plates 1 and comprises a reversing execution component for screwing and reversing; the planetary gear accelerating unit 4 is positioned between the two pressure plates 1, and the planetary gear accelerating unit 4 is coaxially connected with the ratchet transmission unit 2 through a coupler 6. The coupler is used for coaxial connection, so that the high requirement of the screwing operation on the coaxiality can be improved, the operation error of remote control operation is reduced, and the screwing efficiency is improved.
The elastic connecting rod unit 3 comprises a multi-connecting-rod assembly and an elastic assembly, the multi-connecting-rod assembly is rotationally connected between the ratchet wheel transmission unit 2 and the planetary gear acceleration unit 4, and two groups of multi-connecting-rod assemblies are respectively rotationally connected with the pressing plate 1 on the corresponding side; the multi-link assembly keeps the pressure plates 1 parallel through the support of the elastic assembly; the screwing drape head 5 is detachably connected to the planetary gear accelerating unit 4; during screwing operation, the pressing plate 1 is clamped by external clamping force, the ratchet wheel transmission unit 2 is pushed to rotate through the elastic connecting rod unit 3, and the planetary gear acceleration unit 4 is driven to rotate in an accelerated manner, so that the screwing drape head 5 rotates.
Compared with the prior art, the passive mechanical screwing device provided by the embodiment (1) converts the radial translation motion of a manipulator or other external force applied to the pressure plate 1 into the rotation motion of the screwing drape head 5 through the ratchet transmission unit 2 by the reciprocating motion of the elastic connecting rod unit 3; the target screwing operation can be realized by means of remote control operation of the manipulator, and the operation is simple and convenient.
(2) The planetary gear accelerating unit 4 is adopted to adjust the slow rotation of the ratchet wheel transmission into high rotation, the requirement on the frequent reciprocating operation of the manipulator is reduced, the efficiency of screwing operation is improved, and time and labor are saved.
(3) The manipulator end effector can directly clamp the pressing plate, so that screwing operation can be realized, an additional connecting mechanism is not needed, the universality is high, and the use is convenient.
(4) The screwing direction reversing executing assembly is arranged, and the screwing direction of the device can be changed through simple operation.
The force transfer process of this embodiment is as follows: the external clamping force clamps the pressing plate 1, the pressing plate 1 is stressed and is transmitted to the ratchet transmission unit 2, the ratchet transmission unit 2 converts linear power into rotary power, the rotary power is transmitted to the planetary gear acceleration unit 4 through the coupler 6, and the screwing drape head 5 is accelerated at a high speed through the planetary gear acceleration unit 4, so that rapid screwing operation is realized.
In some embodiments, referring to fig. 3 to 5, 9, 12 to 14, the ratchet transmission unit 2 comprises: the ratchet wheel 21 is provided with a ratchet wheel shaft, and the ratchet wheel 21 is coaxially connected with the coupling 6 through the ratchet wheel shaft; the middle of the first long rod 25 is provided with a containing groove for containing and supporting the ratchet wheel to rotate, and the bottom of the containing groove is provided with a through hole through which the ratchet wheel shaft passes; the reversing executing component is connected to the first long rod 25 and drives the ratchet wheel 21 to rotate positively and negatively along with the rotation of the first long rod 25; the second long rod 26 is arranged on one side of the first long rod 25 departing from the ratchet wheel 21, and a through hole through which the ratchet wheel shaft passes is arranged in the middle of the second long rod 26; the multi-link assembly is rotatably connected with the second long rod 26 and the first long rod 25, and the second long rod 26 and the first long rod 25 are arranged in a crossed manner by means of the elastic force of the elastic assembly. The through holes of the first long rod 25 and the second long rod 26 are respectively provided with a bearing, the first long rod 25 and the second long rod 26 are in interference fit with the outer ring of the bearing respectively, and the ratchet shaft is in interference fit with the corresponding inner ring of the bearing. The force transmission process of the embodiment is as follows: the radial clamping force of the pressing plate 1 drives the first long rod 25 to rotate through the elastic connecting rod unit 3, the first long rod 25 drives the reversing execution assembly to drive the ratchet wheel to rotate, and the rotating power is transmitted to the planetary gear accelerating unit 4 through the coupler 6 connected with the ratchet wheel shaft.
As an embodiment of the ratchet transmission unit 2, referring to fig. 3 to 5, the reversing actuator assembly comprises: the reversing pawl 22 is provided with a forward driving claw for driving the ratchet wheel forward and a reverse driving claw for driving the ratchet wheel reverse, a sliding groove 293 is arranged at one end of the reversing pawl 22 close to the ratchet wheel, and a positioning rod 291 is arranged at one end of the reversing pawl 22 far away from the ratchet wheel; the first long rod 25 is provided with a limiting rod 29 which is in sliding fit with the sliding groove 293, and the reversing pawl 22 is rotatably connected with the first long rod 25 through the limiting rod 29; the first long rod 25 is also provided with a reversing adjusting groove 292, three positioning grooves for positioning the positioning rods 291 are arranged in the reversing adjusting groove 292, and when the positioning rods 291 are positioned in the three positioning grooves, the reversing pawl 22 can drive, disengage and drive the ratchet wheel in a forward direction; two ends of the tension spring 24 are respectively connected with the limiting rod 29 and the positioning rod 291, and the tension spring 24 enables the reversing pawl 22 to be in different positions.
In this embodiment, the rotational speed of the ratchet wheel can be varied by varying the structural parameters of the ratchet wheel and the reversing pawl 22 to form different gear ratios.
In this embodiment, referring to fig. 3 to 5, 9, 12 to 14, when the tension spring 24 is initially in a tension state, i.e. a tension force is initially applied between the first long rod 25 and the reversing pawl 22, the positioning rod 291 of the reversing pawl 22 can be limited to the corresponding position of the screwing direction adjusting grooves C1, C2, C3 of the first long rod 25, and can not slide out; through the cooperation of the arranged sliding groove 293 and the limiting rod 29, the positioning rod 291 of the reversing pawl 22 can be switched among different positioning grooves, and the change of the screwing direction is realized.
As shown in fig. 12 to 13, it is illustrated that: three positioning grooves of a reversing adjustment groove 292 on the first long rod 25 enable the reversing pawl 22 to correspond to three positioning grooves C1, C2 and C3 which are sequentially arranged on the ratchet wheel 21, a positioning rod 291 of the reversing pawl 22 is switched among the three positioning grooves, and when the positioning rod 291 of the reversing pawl 22 is positioned in the C1 positioning groove, the ratchet wheel 21 rotates forwards; when the positioning rod 291 of the reversing pawl 22 is located at the C2 positioning slot, that is, the positioning slot at the middle position, the reversing pawl 22 is separated from the ratchet wheel, and the ratchet wheel stops acting; when the locating lever 291 of the reversing pawl 22 is in the C3 locating slot, reverse rotation of the ratchet wheel is achieved.
As another embodiment of the ratchet transmission unit 2 with the above feature, referring to fig. 3, a cover plate 23 for enclosing the ratchet is provided on the accommodating groove of the first long rod 25.
On the basis of the ratchet gear transmission unit 2, referring to fig. 1 to 2, 6, 8 and 10, the planetary gear acceleration unit 4 includes: a planetary gear assembly, a packaging plate 42, a clamping assembly 7, a third long rod 27 and a fourth long rod 28, wherein the planetary gear assembly comprises a planetary gear ring 41, a sun gear 43 coaxial with the planetary gear ring 41 and a plurality of planetary gears 44 surrounding the sun gear 43, and the planetary gears 44 are simultaneously meshed with the sun gear 43 and the planetary gear ring 41; the planetary gear ring 41 is provided with a fluted disc and a gear shaft which support the sun gear 43 and the planet gears 44, and the planetary gear ring 41 is coaxially connected with the coupling 6 through the gear shaft; the packaging plate 42 is packaged on the planetary gear ring 41, and a positioning column which is rotationally connected with a central hole of the planetary gear 44 is arranged on the inner side of the packaging plate 42; the clamping assembly 7 comprises a quick clamping head 71 and a screwing shaft 72 connected to one end of the quick clamping head 71, wherein the screwing shaft 72 penetrates through the central hole of the packaging plate 42 and is connected with the sun wheel 43 in an interference fit manner; the screwing mantle head 5 is connected to the quick chuck 71; the middle of the third long rod 27 is provided with a through hole through which a gear shaft passes; the axial orthographic projection of the third long rod 27 and the first long rod 25 is superposed, and the packaging plate 42 is connected with the third long rod 27 through a bolt; the middle of the fourth long rod 28 is provided with a through hole through which a gear shaft passes, the fourth long rod 28 is positioned on one side of the third long rod 27 far away from the sun wheel 43, and the axial orthographic projection of the fourth long rod 28 and the axial orthographic projection of the second long rod 26 are superposed; the multi-link assembly is rotatably connected with the fourth long rod 28 and the third long rod 27, and the fourth long rod 28 and the third long rod 27 are arranged in a crossed manner by means of the elastic force of the elastic assembly.
The force transmission process of the embodiment is as follows: the radial clamping force of the pressure plate 1 drives the first long rod 25 to rotate through the elastic connecting rod unit 3, the first long rod 25 drives the reversing pawl 22 to drive the ratchet wheel to rotate, the rotating power is transmitted to the planetary gear ring 41 through the coupler 6 connected with the ratchet wheel shaft, the planetary gear ring 41 drives the planetary gear 44, the planetary gear 44 drives the sun gear 43 to rotate to realize acceleration, the sun gear 43 drives the screwing shaft 72, and the screwing shaft 72 drives the screwing drape head 5 clamped on the quick chuck 71 to perform screwing operation.
The through holes of the third long rod 27 and the fourth long rod 28 are provided with bearings, the third long rod 27 and the fourth long rod 28 are in interference connection with the outer rings of the bearings respectively, and the gear shaft is in interference fit with the inner rings of the bearings. And a bearing 45 is arranged in the central hole of the packaging plate, the screwing shaft is in interference fit with the inner ring of the bearing 45, and the outer ring of the bearing is in interference fit with the packaging plate, so that the screwing shaft rotates along with the sun wheel. Herein, only the bearing 45 on the package plate is numbered, and since the arrangement of the bearing is a conventional technology, the bearing at other positions is not labeled any more.
In the embodiment, the planetary gear acceleration unit 4 converts the low-speed rotation of the ratchet transmission unit 2 into the high-speed rotation of the screw shaft 72, the planetary gear ring 41 is a driving wheel, the sun wheel 43 is a driven wheel, and the rotation speed of the screw shaft 72 can be adjusted by setting the gear ratio of the planetary gear ring 41 to the planetary gear 44 and the gear ratio of the planetary gear 44 to the sun wheel 43.
The quick chuck is a spare part commonly used by the existing machinery, and is convenient for replacing screwdriver screwing heads with different specifications or other operating tools.
As shown in fig. 1 to 10, the elastic link unit 3, which is an embodiment of the ratchet transmission unit 2 and the planetary gear acceleration unit 4, includes: a first link 32, a second link 34 and a third link 391, one end of the first link 32 is rotatably connected with the first long rod 25 through a first rotating shaft 31; a first end of the second connecting rod 34 is rotatably connected with the first long rod 25 through a second rotating shaft 33, and a second end of the second connecting rod 34 is rotatably connected with the second long rod 26 through a third rotating shaft 35; wherein, the two ends of the third rotating shaft 35 are rotatably connected to the second long rod 26 and the fourth long rod 28; a first end of the third link 391 is rotatably connected with the third long rod 27 through the first rotating shaft 31, and a second end of the third link 391 is rotatably connected with the second link 34 and the first link 32 through the second rotating shaft 33; wherein, the two ends of the first rotating shaft 31 are rotatably connected to the first long rod 25 and the third long rod 27, and the two ends of the second rotating shaft 33 are rotatably connected to the pressing plate 1; the elastic component comprises two torsion springs 36, the two torsion springs 36 are sleeved on the second rotating shaft 33, a torsion spring 36 is arranged between the first connecting rod 32 and the second connecting rod 34, and a torsion spring 36 is arranged between the second connecting rod 34 and the third connecting rod 391. The second connecting rod 34 in this embodiment is located between the first connecting rod 32 and the third connecting rod 391, and is supported at an angle with the first connecting rod 32 and the third connecting rod 391 by the elastic force of the torsion spring 36, so as to support the first long rod 25 and the second long rod 26, and the third long rod 27 and the fourth long rod 28.
Fig. 1 to 7 and 9 to 10 show an embodiment of the elastic link unit 3, in which both ends of the first long rod 25 and the third long rod 27 are connected by a fourth rotating shaft 37, respectively; both ends of the second long rod 26 and the fourth long rod 28 are connected by a fifth rotation shaft 39, respectively. The stability of the first long bar 25 and the third long bar 27, the second long bar 26 and the fourth long bar 28 is ensured by the connection of the fourth rotation shaft 37 and the fifth rotation shaft 39, thereby ensuring the structural stability of the whole.
It should be noted that the coaxial shafts presented herein are all coaxial with the coupling 6, i.e. on the same axis.
In the present embodiment, based on the elastic link unit 3, as shown in fig. 1 to 7 and 9 to 10, the fourth rotating shaft 37 and the fifth rotating shaft 39 are respectively provided with rollers 38 capable of rolling contact with the platen 1. Through the rolling contact of gyro wheel 38 and clamp plate 1, for first stock 25, second stock 26, third stock 27 and fourth stock 28 provide the support, and rolling contact, each stock is rolling friction with clamp plate 1, reduces frictional force, improves the sensitivity of action. The roller 38 can be replaced by a bearing or a pulley. The second long rod 26, the third long rod 27 and the fourth long rod 28 have the same structure.
Alternatively, as shown in fig. 1 to 7 and 11, the inner side of the pressing plate 1 in this embodiment is provided with an upper limiting block 11 and a lower limiting block 12 of the limiting roller 38. Set up mechanical limit structure, the inboard of clamp plate 1 is equipped with two sets of limit structure, carries on spacingly to the gyro wheel 38 of first stock 25 and the 27 tip of third stock and the gyro wheel 38 of second stock 26 and the 28 tip of fourth stock respectively, guarantees reasonable angle between first stock 25 and the second stock 26, prevents that the too big and deformation of twisting the device soon that causes of outside application of force.
In the present embodiment, on the basis of the ratchet transmission unit 2 and the planetary gear acceleration unit 4, referring to fig. 9 and 10, a support plate having the same outer diameter as that of the planetary gear ring 41 is disposed between the third long rod 27 and the fourth long rod 28. The reliability of mutual supporting and mutual matching between the components is ensured.
The invention converts the radial linear motion of a manipulator or other force application equipment (not shown) into the rotation motion of the ratchet wheel through the ratchet wheel transmission unit 2, and in the process, the transmission directions of the reversing pawl 22 and the ratchet wheel can be changed by changing the position of the positioning rod 291 of the reversing pawl 22 in the reversing adjusting groove 292 of the first long rod 25, so that the screwing direction of the whole device is changed, specifically:
(1) the detent lever 291 is in position C1 in the reversing adjustment slot 292 of the first long lever 25, see fig. 15;
assuming that the clamping force of the manipulator on the screwing device at the current moment is F10; if the clamping force is reduced to F11(F11< F10), the radial distance between the two side pressure plates 1 of the screwing device is increased under the reaction of the torsion spring 36, the first long rod 25 rotates anticlockwise, and drives the reversing pawl 22 to drive the ratchet wheel 21 to rotate anticlockwise; if the clamping force is increased to F12(F12> F10), the torsion spring 36 is further stressed, the radial distance between the pressure plates 1 at the two sides of the screwing device is reduced, the first long rod 25 rotates clockwise, the reversing pawl 22 cannot drive the ratchet wheel 21 to rotate, the screwing drape head 5 stops working, and the screwing drape head 5 can be separated from the screwed object; therefore, through the repeated increase and decrease change of the clamping force of the manipulator to the screwing device, in the process of reducing the clamping force of the manipulator, the reversing pawl 22 drives the ratchet wheel 21 to rotate anticlockwise continuously, and the screwing drape head 5 is driven to achieve the purpose of screwing.
(2) The locating rod 291 of the reversing pawl 22 is at the position C2 in the reversing adjustment slot 292 of the first long rod 25
Referring to fig. 4 and 5, since the reversing pawl 22 does not contact the ratchet wheel, the reversing pawl 22 cannot drive the ratchet wheel to rotate at this position, and the screwing operation is stopped.
(3) The locating rod 291 of the reversing pawl 22 is at the position C3 in the reversing adjustment slot 292 of the first long rod 25
Referring to fig. 16, assume that the holding force of the robot to the screwing device at the present time is F20; if the clamping force is increased to F21(F21< F20), the torsion spring 36 is further stressed, the radial distance between the two side pressure plates 1 of the screwing device is reduced, the first long rod 25 rotates clockwise, and the reversing pawl 22 is driven to drive the ratchet wheel 21 to rotate clockwise; if the clamping force is reduced to F22(F22> F20), the radial distance between the two side pressure plates 1 of the screwing device is increased under the reaction of the torsion spring 36, the first long rod 25 rotates anticlockwise, and the reversing pawl 22 cannot drive the ratchet wheel 21 to rotate; therefore, through the repeated increase and decrease of the clamping force of the manipulator on the screwing device, the reversing pawl 22 drives the ratchet wheel 21 to continuously rotate clockwise in the process of increasing the clamping force of the manipulator, and the purpose of screwing is achieved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A passive mechanical screwing device, comprising:
two parallel press plates (1);
the ratchet wheel transmission unit (2) is positioned between the two pressure plates (1) and comprises a reversing execution component for screwing and reversing;
the planetary gear acceleration unit (4) is positioned between the two pressure plates (1), and the planetary gear acceleration unit (4) is coaxially connected with the ratchet wheel transmission unit (2) through a coupler (6);
the two groups of elastic connecting rod units (3) comprise multi-connecting-rod assemblies and elastic assemblies, the multi-connecting-rod assemblies are rotatably connected between the ratchet wheel transmission unit (2) and the planetary gear acceleration unit (4), and the two groups of multi-connecting-rod assemblies are respectively rotatably connected with the pressing plate (1) on the corresponding side; the multi-link assembly keeps the pressure plates (1) parallel through the support of the elastic assembly; and
the screwing drape head (5) is detachably connected to the planetary gear acceleration unit (4);
during screwing operation, the pressing plate (1) is clamped by external clamping force, the ratchet wheel transmission unit (2) is pushed to rotate through the elastic connecting rod unit (3), and the planetary gear acceleration unit (4) is driven to rotate in an accelerated manner so as to enable the screwing drape head (5) to rotate;
the ratchet transmission unit (2) comprises:
the ratchet wheel (21) is provided with a ratchet wheel (21) shaft, and the ratchet wheel (21) is coaxially connected with the coupler (6) through the ratchet wheel (21) shaft;
the middle of the first long rod (25) is provided with a containing groove for containing and supporting the ratchet wheel (21) to rotate, and the bottom of the containing groove is provided with a through hole through which the ratchet wheel (21) passes;
the second long rod (26) is arranged on one side, away from the ratchet wheel (21), of the first long rod (25), and a through hole through which the ratchet wheel (21) passes is formed in the middle of the second long rod (26); the multi-link assembly is rotatably connected with the second long rod (26) and the first long rod (25), and the second long rod (26) and the first long rod (25) are arranged in a crossed manner by virtue of the elastic force of the elastic assembly;
the reversing executing component is connected to the first long rod (25) and drives the ratchet wheel (21) to rotate positively and negatively along with the rotation of the first long rod (25);
the planetary gear acceleration unit (4) comprises:
a planetary gear assembly comprising a planetary ring gear (41), a sun gear (43) coaxial with the planetary ring gear (41), and a plurality of planet gears (44) surrounding the sun gear (43), the planet gears (44) meshing with both the sun gear (43) and the planetary ring gear (41); the planetary gear ring (41) is provided with a fluted disc and a gear shaft which support the sun gear (43) and the planet gears (44), and the planetary gear ring (41) is coaxially connected with the coupler (6) through the gear shaft;
the packaging plate (42) is packaged on the planetary gear ring (41), and a positioning column which is rotationally connected with a central hole of the planetary gear (44) is arranged on the inner side of the packaging plate (42);
the clamping assembly (7) comprises a quick chuck (71) and a screwing shaft (72) connected to one end of the quick chuck (71), and the screwing shaft (72) penetrates through the central hole of the packaging plate (42) to be connected with the sun wheel (43) in an interference fit mode; the screwing drape head (5) is connected to the quick chuck (71);
a third long rod (27) with a through hole in the middle for the gear shaft to pass through; the axial orthographic projection of the third long rod (27) is superposed with that of the first long rod (25), and the packaging plate (42) is connected with the third long rod (27) through a bolt;
a fourth long rod (28) with a through hole in the middle for the gear shaft to pass through, wherein the fourth long rod (28) is positioned on one side of the third long rod (27) far away from the sun wheel (43), and the axial orthographic projection of the fourth long rod (28) and the second long rod (26) is superposed; the multi-link assembly is rotatably connected with the fourth long rod (28) and the third long rod (27), and the fourth long rod (28) and the third long rod (27) are arranged in a crossed manner by virtue of the elastic force of the elastic assembly;
the multi-link assembly includes:
the first connecting rod (32), one end of the first connecting rod (32) is connected with the first long rod (25) through a first rotating shaft (31) in a rotating way;
a second connecting rod (34), wherein a first end of the second connecting rod (34) is rotatably connected with the first long rod (25) through a second rotating shaft (33), and a second end of the second connecting rod (34) is rotatably connected with the second long rod (26) through a third rotating shaft (35); wherein, both ends of the third rotating shaft (35) are rotatably connected to the second long rod (26) and the fourth long rod (28);
a third connecting rod (391), a first end of the third connecting rod (391) is rotatably connected with the third long rod (27) through the first rotating shaft (31), and a second end of the third connecting rod (391) is rotatably connected with the second connecting rod (34) and the first connecting rod (32) through the second rotating shaft (33); wherein, two ends of the first rotating shaft (31) are rotatably connected to the first long rod (25) and the third long rod (27), and two ends of the second rotating shaft (33) are rotatably connected to the pressing plate (1);
the elastic component comprises two torsion springs (36), the two torsion springs (36) are sleeved on the second rotating shaft (33), one torsion spring (36) is arranged between the first connecting rod (32) and the second connecting rod (34), and one torsion spring (36) is arranged between the second connecting rod (34) and the third connecting rod (391).
2. The passive mechanical screwing device of claim 1 wherein said reversing actuator assembly comprises:
the reversing pawl (22) is provided with a forward driving pawl for forward driving the ratchet wheel (21) and a reverse driving pawl for reverse driving the ratchet wheel (21), a sliding groove (293) is formed in one end, close to the ratchet wheel (21), of the reversing pawl (22), and a positioning rod (291) is formed in one end, far away from the ratchet wheel (21), of the reversing pawl (22); the first long rod (25) is provided with a limiting rod (29) in sliding fit with the sliding groove (293), and the reversing pawl (22) is rotatably connected with the first long rod (25) through the limiting rod (29); the first long rod (25) is further provided with a reversing adjusting groove (292), three positioning grooves for positioning the positioning rods (291) are formed in the reversing adjusting groove (292), and when the positioning rods (291) are respectively positioned in the three positioning grooves, the reversing pawl (22) can drive, disengage and reversely drive the ratchet wheel (21) in a forward direction; and
and two ends of the tension spring (24) are respectively connected with the limiting rod (29) and the positioning rod (291), and the tension spring (24) enables the reversing pawl (22) to be in different positions.
3. The passive mechanical screwing device according to claim 1, wherein said receiving slot of said first long rod (25) is provided with a cover plate (23) enclosing said ratchet wheel (21).
4. The passive mechanical screwing device according to claim 1, wherein both ends of the first long rod (25) and the third long rod (27) are connected by a fourth rotating shaft (37), respectively; the two ends of the second long rod (26) and the fourth long rod (28) are respectively connected through a fifth rotating shaft (39).
5. The passive mechanical screwing device according to claim 4, wherein said fourth rotation shaft (37) and said fifth rotation shaft (39) are respectively provided with rollers (38) which can be in rolling contact with said pressing plate (1).
6. The passive mechanical screwing device according to claim 5, wherein the inner side of the pressure plate (1) is provided with an upper limit block (11) and a lower limit block (12) which limit the rollers (38).
7. The passive mechanical screwing device according to claim 1, characterized in that the third long rod (27) and the fourth long rod (28) are each provided with a support disc in the middle with the same outer diameter as the planetary ring gear (41).
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| CN202110983355.7A CN113664515B (en) | 2021-08-25 | 2021-08-25 | Passive mechanical screwing device |
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| CN202110983355.7A CN113664515B (en) | 2021-08-25 | 2021-08-25 | Passive mechanical screwing device |
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