CN210879661U - Transmission for a lightweight and compact rotary manipulator - Google Patents

Abstract

The utility model relates to a manipulator transmission technical field especially relates to a transmission of light compact rotary manipulator, including arm, base, main shaft, crank drive mechanism and motor drive subassembly, the bottom of main shaft is fixed at the base, and the top that stretches out the base in the upper end of main shaft is connected with the arm, and motor drive subassembly and crank drive mechanism are connected, and crank drive mechanism can drive the main shaft and realize reciprocating rotation. The utility model discloses a crankshaft connecting rod carries out transition transmission's device, can realize better that the spiral arm manipulator steadily starts and stops, has avoided the impact, can replace the soft starting drive of motor, has reached the effect of the soft start-up of machinery.

Description

Transmission for a lightweight and compact rotary manipulator

technical field

The utility model relates to the technical field of manipulator transmission equipment, in particular to a transmission device of a light and compact rotary manipulator.

Background technique

The manipulator is an indispensable tool for automation and intelligence in the manufacturing industry, and is currently widely used in machine tool loading and unloading, workpiece handling, etc. Compared with the common Cartesian coordinate manipulator, the rotary arm manipulator has the characteristics of compact footprint and flexible installation position, especially suitable for production lines with limited space and complex equipment layout. However, when a heavy workpiece needs to be transported within a relatively small working stroke, if the rotary arm manipulator still adopts the traditional "motor + reducer" transmission mode, there will be shocks when starting and stopping, posing safety hazards and reducing Equipment life. The common solution for this is mainly motor soft start control, which needs to increase the soft start controller, which increases the complexity of the manipulator control system.

Utility model content

The technical problem to be solved by the utility model is: in order to increase the complexity of the manipulator control system by adding a soft start controller in the prior art, the present utility model provides a light and compact rotary manipulator transmission device, through the crankshaft The transitional transmission device of the connecting rod can better realize the smooth start and stop of the rotary arm manipulator, avoid the impact, and can replace the motor soft start device to achieve the effect of mechanical soft start.

The technical solution adopted by the utility model to solve the technical problem is: a light and compact rotary manipulator transmission device, comprising a mechanical arm, a base, a main shaft, a crank transmission mechanism and a motor drive assembly, the bottom of the main shaft is fixed on the base, The upper end of the main shaft protrudes from the top of the base and is connected with the mechanical arm, the motor drive assembly is connected with the crank transmission mechanism, and the crank transmission mechanism can drive the main shaft to realize reciprocating rotation.

Further, specifically, in order to facilitate assembly, the crank transmission mechanism includes a connecting rod, a crankshaft block, a crankshaft block output shaft and a crankshaft block input shaft, and two tie rods are fixedly connected to the lower part of the main shaft, and the two tie rods are arranged up and down, A tie rod shaft is fixedly arranged between the two tie rods, one end of the connecting rod is sleeved on the tie rod shaft and the other end of the connecting rod is rotatably sleeved on the output shaft of the crankshaft block, and the crankshaft block and the crankshaft block are provided with left holes and right holes , The bottom of the output shaft of the crankshaft block is an interference fit with the left hole on the crankshaft block, the right hole on the crankshaft block is an interference fit with the upper end of the input shaft of the crankshaft block, and the input shaft of the crankshaft block is connected with the motor drive assembly.

Further, specifically, in order to facilitate assembly, the motor drive assembly includes a motor mounting bracket, a stepping motor and a reducer, the motor mounting bracket and the base are fixedly connected, the reducer is fixedly installed on the motor mounting bracket, and the stepping motor and The reducer is directly connected.

Further, in order to be able to adjust the angle of the reciprocating rotation of the main shaft, the connecting rod includes a left connecting rod, a threaded connecting rod and a right connecting rod, one end of the left connecting rod is rotatably sleeved on the output shaft of the crankshaft block, and the other end of the left connecting rod and One end of the threaded connecting rod is threadedly connected, the other end of the threaded connecting rod is threadedly connected with one end of the right connecting rod, and the other end of the right connecting rod is rotatably sleeved on the pull rod shaft.

Further, specifically, the crankshaft block is in the shape of a long strip with both ends of which are arc surfaces.

Further, in order to facilitate the detection of the rotation angle of the main shaft and to facilitate adjustment and control of the rotation of the main shaft, a sensor fixing plate is also provided near the bottom of the main shaft. The sensor fixing plate is fixedly connected to the base, and a right-angle frame structure is arranged on the sensor fixing plate. The main shaft is located in the photoelectric sensor assembly of the right-angle frame structure, the main shaft is fixedly connected with a rotating induction sheet near the bottom, and the photoelectric sensor assembly is connected with the signal of the controller.

The beneficial effect of the utility model is that the transmission device of the light and compact rotary manipulator of the present utility model, the device for transitional transmission through the crankshaft connecting rod, can better realize the smooth start and stop of the rotary arm manipulator, and avoid impact , which can replace the motor soft start device and achieve the effect of mechanical soft start.

Description of drawings

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

FIG. 1 is a schematic structural diagram of the transmission device of the light and compact rotary manipulator of the present invention.

FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1 .

In the picture: 1. Robot arm, 2. Base, 3. Main shaft, 4. Connecting rod, 41. Left connecting rod, 42. Threaded connecting rod, 43. Right connecting rod, 5. Crankshaft block, 6. Output shaft of crankshaft block , 7, input shaft of crankshaft block, 8, tie rod, 9, tie rod shaft, 10, reducer, 11, motor mounting bracket, 12, sensor fixing plate, 13, photoelectric sensor assembly, 14, rotating induction sheet, 15, stepping motor.

Detailed ways

The present utility model will now be described in further detail in conjunction with the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

As shown in Figures 1-2, it is the preferred embodiment of the present utility model, a light and compact rotary manipulator transmission device, including a mechanical arm 1, a base 2, a main shaft 3, a crank transmission mechanism and a motor drive assembly, the main shaft The bottom of 3 is fixed on the base 2, the upper end of the main shaft 3 protrudes from the top of the base 2 and is connected to the mechanical arm 1, the motor drive assembly is connected with the crank transmission mechanism, and the crank transmission mechanism can drive the main shaft 3 to realize reciprocating rotation.

The crank transmission mechanism includes a connecting rod 4, a crankshaft block 5, a crankshaft block output shaft 6 and a crankshaft block input shaft 7. Two tie rods 8 are fixedly connected to the lower part of the main shaft 3, and the two tie rods 8 are arranged up and down, and between the two tie rods 8 A tie rod shaft 9 is fixedly arranged, one end of the connecting rod 4 is sleeved on the tie rod shaft 9 and the other end of the connecting rod 4 is rotatably sleeved on the output shaft 6 of the crankshaft block, and the crankshaft block 5 is provided with a left hole and a right hole, and the crankshaft The bottom of the block output shaft 6 is an interference fit with the left hole on the crankshaft block 5, and the right hole on the crankshaft block 5 is an interference fit with the upper end of the crankshaft block input shaft 7, and the crankshaft block input shaft 7 is connected with the motor drive assembly. The motor drive assembly includes a motor mounting bracket 11, a stepping motor 15 and a reducer 10, the motor mounting bracket 11 is fixedly connected to the base 2, the reducer 10 is fixedly installed on the motor mounting bracket 11, and the stepping motor 15 and the reducer 10 are directly connected Connection, the crankshaft block input shaft 7 is fixedly mounted on the motor mounting bracket 11 through the bearing, and the reducer 10 and the crankshaft block input shaft 7 are drive-connected. The connecting rod 4 includes a left connecting rod 41, a threaded connecting rod 42 and a right connecting rod 43. One end of the left connecting rod 41 is rotatably sleeved on the output shaft 6 of the crankshaft block, and the other end of the left connecting rod 41 is threaded with one end of the threaded connecting rod 42. For connection, the other end of the threaded connecting rod 42 is threadedly connected with one end of the right connecting rod 43 , and the other end of the right connecting rod 43 is rotatably sleeved on the pull rod shaft 9 . The crankshaft block 5 is an elongated shape with both ends of which are arc surfaces. A sensor fixing plate 12 is also arranged near the bottom of the main shaft 3. The sensor fixing plate 12 is fixedly connected with the base 2. The sensor fixing plate 12 is provided with a photoelectric sensor assembly 13 with a right-angle frame structure. The main shaft 3 is located in the right-angle frame. In the photoelectric sensor assembly 13 of the structure, a rotating induction sheet 14 is fixedly connected to the main shaft 3 near the bottom, and the photoelectric sensor assembly 13 is signally connected to the controller.

The working process of the entire transmission device is described as follows: the stepping motor 15 rotates, and passes through the reducer 10 to drive the input shaft 7 of the crankshaft block to rotate at a relatively low speed. At this time, the crankshaft block 5, the crankshaft block output shaft 6, the left connecting rod 41, the threaded connecting rod 42, the right connecting rod 43, the tie rod shaft 9 and the tie rod shaft 9 constitute a crank rocker mechanism, thereby driving the connecting rod connected to the tie rod 8. The main shaft 20 reciprocates and rotates, and its rotation angle can be adjusted by adjusting the thread matching depth of the threaded connecting rod 42, the left connecting rod 41 and the right connecting rod 43, that is, changing the total length of the connecting rod 4. When the main shaft 20 rotates, the rotating box fixedly connected to the upper end thereof is driven to rotate accordingly, thereby driving the mechanical arm 1 fixedly connected to the rotating box to rotate synchronously. In this way, through the manipulators installed in different positions of the manipulator 1, the grabbing and handling of heavy workpieces can be realized. Since the rotation speed of the main shaft 20 changes relatively slowly, the inertial impact caused by starting and stopping under heavy load conditions can be significantly reduced. Assuming that the crankshaft block input shaft 7 rotates clockwise, it drives the connecting rod 4 to rotate clockwise, the left end of the connecting rod 4 in Fig. 2 rotates 180° clockwise, the main shaft 20 rotates 90° counterclockwise, and the left end of the connecting rod 4 continues to rotate clockwise 180°, then, the main shaft 20 rotates 90° clockwise, that is, the reciprocating rotation is realized.

The main shaft 20 can be in counterclockwise and clockwise directions. When the rotating induction piece 14 on the main shaft 3 passes through the photoelectric sensor assembly 13, the photoelectric sensor assembly 13 sends a pulse signal to the controller, and the position at this time is used as the movement zero. control.

Taking the above ideal embodiment according to the present invention as inspiration, through the above description, relevant staff can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present utility model is not limited to the content in the description, and its technical scope must be determined according to the scope of the claims.

Claims (6)

1. A transmission device for a light and compact rotary manipulator, characterized in that: comprising a mechanical arm (1), a base (2), a main shaft (3), a crank transmission mechanism and a motor drive assembly, the bottom of the main shaft (3) It is fixed on the base (2), the upper end of the main shaft (3) protrudes from the top of the base (2) and is connected with the mechanical arm (1), the motor drive assembly is connected with the crank transmission mechanism, and the crank transmission mechanism can drive the main shaft (3) to realize Rotate back and forth. 2. The light and compact rotary manipulator transmission device according to claim 1, wherein the crank transmission mechanism comprises a connecting rod (4), a crankshaft block (5), a crankshaft block output shaft (6) and a crankshaft block The input shaft (7), the lower part of the main shaft (3) is fixedly connected with two pull rods (8), the two pull rods (8) are arranged up and down, and a pull rod shaft (9) is fixedly arranged between the two pull rods (8). , one end of the connecting rod (4) is rotatably sleeved on the tie rod shaft (9), the other end of the connecting rod (4) is rotatably sleeved on the output shaft of the crankshaft block (6), the crankshaft block (5), the crankshaft block (5) A left hole and a right hole are provided on the upper part, the bottom of the crankshaft block output shaft (6) and the left hole on the crankshaft block (5) are interference fit, and the right hole on the crankshaft block (5) and the crankshaft block input shaft (7) have an interference fit. The upper end is interference fit, and the input shaft (7) of the crankshaft block is connected with the motor drive assembly. 3. The light and compact rotary manipulator transmission device according to claim 2, characterized in that: the motor drive assembly comprises a motor mounting bracket (11), a stepping motor (15) and a reducer (10), the The motor mounting bracket (11) is fixedly connected to the base (2), the reducer (10) is fixedly installed on the motor mounting bracket (11), the stepper motor (15) and the reducer (10) are directly connected, and the reducer (10) ) and the crankshaft block input shaft (7) drive connection. 4. The light and compact rotary manipulator transmission device according to claim 2, wherein the connecting rod (4) comprises a left connecting rod (41), a threaded connecting rod (42) and a right connecting rod (43) , one end of the left connecting rod (41) is rotatably sleeved on the output shaft (6) of the crankshaft block, the other end of the left connecting rod (41) is threadedly connected with one end of the threaded connecting rod (42), and the other end of the threaded connecting rod (42) One end is threadedly connected with one end of the right connecting rod (43), and the other end of the right connecting rod (43) is rotatably sleeved on the pull rod shaft (9). 5 . The light and compact rotary manipulator transmission device according to claim 2 , wherein the crankshaft block ( 5 ) is in the shape of a long bar with arc surfaces at both ends. 6 . 6. The light and compact rotary manipulator transmission device according to claim 2, characterized in that: a sensor fixing plate (12) is also provided at a position close to the bottom of the main shaft (3), the sensor fixing plate (12) and The base (2) is fixedly connected, the sensor fixing plate (12) is provided with a photoelectric sensor assembly (13) of a right-angle frame structure, the main shaft (3) is located in the photoelectric sensor assembly (13) of the right-angle frame structure, and the main shaft (3) A rotation induction sheet (14) is fixedly connected on the upper part near the bottom, and the photoelectric sensor assembly (13) is connected with the signal of the controller.

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