CN113757329A

CN113757329A - A double screw rope drive structure

Info

Publication number: CN113757329A
Application number: CN202110958479.XA
Authority: CN
Inventors: 康存锋; 陈伟康; 王一辰
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-12-07

Abstract

The invention discloses a double-screw rope drive structure, comprising a rope, an output end plate, a side plate I, a lead screw I, a slider, a lead screw nut I, a pulley, an input end plate, a gearbox, a DC motor, and a lead screw. II, side plate II, screw nut II; the output end plate and the input end plate are connected by side plate I and side plate II, the motor output shaft is connected with the lead screw I and the lead screw II through the gearbox, and the lead screw nut I is connected with the lead screw II. The screw nut II is fixed on the slider; the initial end of the rope is fixed on the slider, the screw pushes the slider to move in a straight line, and the slider drags the initial end of the rope, so that the rope has a higher movement accuracy; driven by the double screw , the rope can generate a large pulling force; the pulleys installed on both sides of the slider and the tracks of the left and right side plates cooperate with each other to prevent the slider from rolling over and improve the stability of the movement of the initial end of the rope.

Description

Double-screw rod rope driving structure

Technical Field

The invention relates to the field of rope-driven robots, in particular to a double-screw rope driving mechanism.

Background

In the transmission field, the rope can be used as a transmission medium, and long-distance and low-vibration transmission can be realized in a motion mechanism, and not only linear displacement and angular displacement can be transmitted, but also force can be transmitted. The rope driving mechanism does not need lubrication in the motion process, has small impact and is easy to realize stable motion. At present, the rope drive is applied to the field of mechanical arms and robot claws, the joint weight of the mechanical arms or the robot claws is greatly reduced by adopting a rope drive mode, and the maintenance cost is reduced.

The screw rod transmission has the characteristics of high precision and stable operation, and is very suitable for mechanisms with low requirements on speed and high requirements on transmission precision.

A power that is used for the driven mechanism in robot field generally needs higher motion accuracy, traditional rope winding disc that uses relies on the disc to rotate as the drive and realizes the mode of rope transmission, when the rope winding number of turns is many, the rope overlaps when the winding and can lead to the precision to reduce, if carousel diameter increase, through the rope transmission will reduce.

Disclosure of Invention

The invention aims to provide a rope driving mechanism to solve the problems of low precision and small rope tension in a rope driving robot transmission device.

The technical scheme adopted by the invention is as follows: the utility model provides a two lead screw rope actuating mechanism, includes the rope, output end plate, curb plate I, lead screw I, pulley I, slider, screw-nut I, input end plate, gearbox, direct current motor, lead screw II, curb plate II, screw-nut II, gear I, gear II, gear III, thrust ball bearing I, deep groove ball bearing II, thrust ball bearing II, deep groove ball bearing III, deep groove ball bearing IV, pulley II, fixing bolt. The mechanism is bilaterally symmetrical, the double screws are driven by a single motor, and the screw rod I and the screw rod II rotate in the same direction during movement.

Further, curb plate I and curb plate II pass through bolted connection output end plate and input end plate left and right sides respectively, and screw-nut I is fixed on the slider with screw-nut II, and screw-nut I cooperates screw-nut I and screw-nut II respectively with screw-nut II, and when direct current motor will rotate the transmission and give the lead screw through the reducing gear box, two lead screws rotate simultaneously and promote screw-nut and slider rectilinear motion, and the slider pulls the rope and makes it follow the slider motion. An elongated slot is machined between the side plate I and the side plate II to serve as a guide rail, and the sliding block is matched with the elongated slot through the pulley I and the pulley II to prevent the sliding block from turning on one side.

Furthermore, a deep groove for placing a gear I, a gear II and a gear III is formed in the input end plate, the gear I and the gear II are respectively and fixedly matched with a head end shaft of a screw I and a head end shaft of a screw II, the gear III is fixedly matched with an output shaft of a reduction gearbox, a direct current motor drives the gear III to rotate through the reduction gearbox, the gear III drives the gear I and the gear II to rotate in the same direction, and the gear I and the gear II respectively drive the screw I and the screw II to rotate in the same direction.

Furthermore, a thrust ball bearing and a deep groove ball shaft are embedded in an inner hole at the head of the lead screw placed on the input end plate, the end shaft at the head of the lead screw sequentially penetrates through inner holes of the thrust ball bearing and the deep groove ball bearing, left and right symmetrical stepped holes are machined in the output end plate, the deep groove ball bearing is embedded in the left and right stepped holes respectively, the inner holes of the deep groove ball bearing are matched with the end shafts at the tail of the two lead screws respectively, the thrust ball bearing bears axial tension of the lead screws, and the deep groove ball bearing bears radial pressure together.

Furthermore, a through hole is formed in the middle of the sliding block, and the initial end of the rope penetrates through the through hole and is fixed on the sliding block in an extruding mode through a fixing bolt. The middle of the output end plate is provided with a through hole, the axis of the through hole in the middle of the output end plate is collinear with the axis of the through hole in the middle of the sliding block, the initial end of the rope is fixed on the sliding block, and the other end of the rope extends out of the through hole in the middle of the output end plate.

Compared with the prior art, the invention has the following effects:

the invention relates to a rope driving mechanism with double lead screws, which has a compact structure. The single motor is adopted for driving, the output torque of the motor is amplified through the gearbox, the double screw rods are driven to simultaneously move in the same direction, the screw rods push the screw rod nuts and the sliding blocks to do linear motion, and the sliding blocks drag ropes.

The rope is dragged by the screw rod transmission device, so that the transmission precision and stability of the mechanism can be improved; under the drive of two lead screws, the slider passes through the pulley and mutually supports with the curb plate, and the in-process slider atress that pulls the rope is balanced, and the thrust that the lead screw produced turns into the tensile efficient of rope.

The robot joint driving device has the characteristic of modularization, and can be applied to the occasions of low-speed high-precision rope-driven robot joint driving.

Drawings

FIG. 1 is a schematic view of the overall structure of a dual lead screw rope drive mechanism;

FIG. 2 is a schematic diagram of the motor reduction box and the gears in the input end plate according to the present invention;

FIG. 3 is a schematic view of a thrust ball bearing and a deep groove ball bearing of the present invention disposed in an input end plate;

FIG. 4 is a schematic view of a deep groove ball bearing installed in an output end plate according to the present invention;

FIG. 5 is a schematic view of the engagement of the input gear in the input end plate according to the present invention;

in the drawings, the components represented by the respective reference numerals are explained as follows:

the device comprises a rope 1, an output end plate 2, a side plate 3, a lead screw I4, a pulley I5, a sliding block 6, a lead screw nut I7, an input end plate 8, a transmission 9, a direct current motor 10, a lead screw II 11, a side plate II 12, a lead screw nut II 13, a gear I14, a gear II 15, a gear III 16, a thrust ball bearing I17, a deep groove ball bearing I18, a deep groove ball bearing II 19, a thrust ball bearing II 20, a deep groove ball bearing III 21, a deep groove ball bearing IV 22, a pulley II 23, and a fixing bolt 24.

Detailed Description

The present application is further described below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a specific implementation manner and an operation process are given, but the scope of the present invention is not limited to the following embodiments.

As shown in fig. 1, 3, 4 and 5, the double-screw rope driving mechanism according to the present invention includes a rope 1, an output end plate 2, a side plate i 3, a screw i 4, a pulley i 5, a slider 6, a screw nut i 7, an input end plate 8, a transmission case 9, a dc motor 10, a screw ii 11, a side plate ii 12, a screw nut ii 13, a gear i 14, a gear ii 15, a gear iii 16, a thrust ball bearing i 17, a deep groove ball bearing i 18, a deep groove ball bearing ii 19, a thrust ball bearing ii 20, a deep groove ball bearing iii 21, a deep groove ball bearing iv 22, a pulley ii 23 and a fixing bolt 24. Wherein output end plate 2 and input end plate 9 are by curb plate I3, curb plate I12, lead screw I4 and II 11 connections of lead screw, curb plate I3 and II 12 of curb plate pass through bolted connection output end plate 2 and the input end plate 9 left and right sides respectively, screw-nut I7 is fixed on slider 6 with screw-nut II 13, screw-nut I7 and screw-nut II 11 cooperate screw-nut I13 and screw-nut II 13 respectively for lead screw I4, when direct current motor 10 will rotate through reducing gear box 9 and transmit the lead screw for the lead screw, two lead screws rotate simultaneously and promote screw-nut and 6 linear motion of slider, slider 6 drives rope 1 and follows slider 6 and is linear motion. The side plate I3 and the side plate II 12 are bilaterally symmetrical, the elongated slot is machined between the side plate I3 and the side plate II 12 to serve as a guide rail, and the sliding block 6 is matched with the elongated slot through the pulley I and the pulley II 23 to prevent the side turning over.

A deep groove for placing a gear I14, a gear II 15 and a gear III 16 is formed in the input end plate 2, the gear I14 and the gear II 15 are fixedly matched with the head of a screw rod I4 and the head of a screw rod II 11 respectively, and the gear III 16 is fixedly matched with an output shaft of the reduction gearbox 9. The direct current motor 10 drives the gear III 16 to rotate through the reduction box 9, the gear III 16 drives the gear I14 and the gear II 15 to rotate in the same direction, and the gear I14 and the gear II 15 respectively drive the screw rod I4 and the screw rod II 11 to rotate in the same direction.

A thrust ball bearing I17, a deep groove ball bearing I18, a deep groove ball bearing II 19 and a thrust ball bearing II 20 are embedded in an inner hole in which the head of the lead screw is placed on the input end plate 8, a head end shaft of the lead screw I4 sequentially penetrates through inner holes of the thrust ball bearing I17 and the deep groove ball bearing I18, and a head end shaft of the lead screw II 11 sequentially penetrates through inner holes of the thrust ball bearing II 20 and the deep groove ball bearing II 19. Deep groove ball bearings III 21 and IV 22 are respectively embedded in inner holes of two tail end shafts of the screw rods in the output end plate 2, the inner holes of the deep groove ball bearings III 21 and IV 22 are respectively matched with the tail end shafts of the screw rods I4 and II 11, a thrust ball bearing bears axial tension of the screw rods, and the deep groove ball bearing bears radial pressure.

The middle of the sliding block 6 is provided with a through hole, the initial end of the rope 1 penetrates through the through hole and is fixed on the sliding block 6 through the extrusion of the fixing bolt 24, the middle of the output end plate 2 is provided with a through hole, the axis of the through hole in the middle of the output end plate is collinear with the axis of the through hole in the middle of the sliding block, the initial end of the rope 1 is fixed on the sliding block 6, the other end of the rope extends out through the through hole in the middle of the output end plate 2, when the lead screw pushes the sliding block to move, the initial end of the rope moves along with the sliding block, and the moving distance of the rope is the moving distance of the sliding block.

The above disclosed embodiments are merely for purposes of illustrating the invention and are not intended to be exhaustive or to limit the scope of the invention. The scope of the invention is defined by the appended claims. Equivalents and modifications made without departing from the spirit and principles of the invention, and application of the invention to non-mentioned fields should be considered to be within the scope of the invention.

Claims

1. A double-screw rope drive mechanism, characterized in that it comprises a rope (1), an output end plate (2), a side plate I (3), a lead screw I (4), a pulley I (5), a slider (6), screw nut I (7), input end plate (8), gearbox (9), DC motor (10), screw II (11), side plate II (12), screw nut II ( 13), gear I (14), gear II (15) and gear III (16);

The output end plate (2) and the input end plate (9) are connected by side plate I (3), side plate II (12), lead screw I (4) and lead screw II (11). The side plates II (12) are respectively connected to the left and right sides of the output end plate (2) and the input end plate (9) by bolts, and the screw nut I (7) and the screw nut II (13) are fixed on the slider (6). , the screw I (4) and the screw II (11) are matched with the screw nut I (7) and the screw nut II (13) respectively, the DC motor (10) transmits the rotation to the screw through the reducer (9), The two screw rods push the screw nut and the slider (6) to move in a straight line, the slider (6) drags the rope (1) to follow the slider, and the slider (6) passes through the pulley I (5) and the pulley II (23). ) with the long groove to prevent itself from rolling over; insert the thrust ball bearing I (17), deep groove ball bearing I (18), deep groove ball bearing II (19) into the inner hole of the end plate (8) to place the screw head ) and thrust ball bearing II (20); the DC motor (10) drives the gear III (16) to rotate through the reduction box (9), and the gear III (16) drives the gear I (14) and the gear II (15) to rotate in the same direction , Gear I (14) and gear II (15) drive the screw rod I (4) and the screw rod II (11) to rotate in the same direction respectively.

2 . The double-screw rope driving mechanism according to claim 1 , wherein the mechanism is symmetrical left and right, and a long groove is machined in the middle of the side plate I (3) and the side plate II (12) as a guide rail. 3 .

3. A double-screw rope drive structure according to claim 1, characterized in that: the input end plate (2) has a depth for placing the gear I (14), the gear II (15) and the gear III (16). Slot, gear I (14) and gear II (15) are fixedly matched with the head of screw I (4) and the head of screw II (11) respectively, and gear III (16) is fixed with the output shaft of the reduction box (9). .

4. A double screw rope drive mechanism according to claim 1, characterized in that: the head end shaft of the lead screw I (4) passes through the thrust ball bearing I (17) and the deep groove ball bearing I ( 18), the shaft of the head end of the screw II (11) passes through the inner holes of the deep groove thrust ball bearing II (20) and the deep groove ball bearing II (19) in turn.

5. A double-screw rope drive mechanism according to claim 1, characterized in that: the left and right symmetrical stepped holes are machined in the output end plate (2), and the left and right stepped holes are respectively embedded with deep groove ball bearings III (21) and The inner hole of deep groove ball bearing IV (22), deep groove ball bearing III (21), and the inner hole of deep groove ball bearing IV (22) are respectively matched with the tail end shaft of lead screw I (4) and lead screw II (11).

6. A double-screw rope driving mechanism according to claim 1 or 2, characterized in that: there is a through hole in the middle of the slider (6), and the initial end of the rope (1) passes through the through hole, and is fixed by the fixing bolt ( 24) Press and fix it on the slider (6).

7. A double-screw rope drive mechanism according to claim 1 or 6, characterized in that: there is a through hole in the middle of the output end plate (2), and the axis of this through hole is the same as the axis of the middle through hole of the slider (6). The initial end of the rope (1) is fixed on the slider (6), and the other end protrudes through the middle through hole of the output end plate (2).