A compact rotary opening and closing platform jointly driven by a dual power source

Abstract

The present invention discloses a compact rotary opening and closing platform jointly driven by a dual power source. The main gear locking shaft passes through the driving gear and the gear frame in sequence and is locked and positioned. The main moving block is arranged on the driving gear. One end of the driving gear meshes with the toothed ring, and the other end meshes with the intermediate transmission gear shaft. One end of the intermediate transmission gear shaft is arranged on the driven bearing cover, and the other end passes through the center of the gear frame to connect the secondary small gear. One end of the driven shaft is connected to the driven transmission plate, and the other end passes through the gear frame and then connects to the secondary large gear. The secondary large gear meshes with the secondary small gear. The driven bearing cover is connected to the gear frame. The secondary moving block is arranged on the driven transmission plate. The present invention realizes independent rotary motion, independent opening and closing motion, and rotary / opening and closing compound motion, enabling the power source and the transmission mechanism to be longitudinally arranged side by side, thereby improving the structural rationality.

Description

Technical Field

[0001] The present invention relates to a combined rotation and opening / closing mechanism in a compact space, and particularly to a compact rotation and opening / closing platform driven by two power sources jointly. Background Art

[0002] Rotary motion and opening / closing motion are very common motion forms in an automated system, which can respectively achieve the functions of attitude adjustment and clamping. The combined motion platform of the two is widely used in structures such as the end of a robot, an assembly workbench, and a material supply system. Currently, for a motion platform with rotary and opening / closing functions, the industry often adopts a separate driving method. The rotary motion is mostly controlled by a motor + reducer or a torque motor, and the opening / closing motion is mostly controlled by a positive and negative lead screw or a double gear rack. Although such a structure is simpler in form, it also causes a great waste of space. Especially in the form of lead screw or rack drive, the proportion of the effective stroke is not high. In the context of the increasing functionality and integration of the automated system, it will cause great inconvenience in the structural layout.

[0003] In view of the above defects, the creator of the present invention finally obtained the present invention through long-term research and practice. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to achieve rotary and / or opening / closing motion in a compact space, and a compact rotation and opening / closing platform driven by two power sources jointly is provided.

[0005] The present invention solves the above technical problem through the following technical solutions. The present invention includes a gear rack, a ring gear, a driving gear, a main moving block, a main gear locking shaft, a sliding plate member, a top plate, a driven transmission plate, a secondary moving block, an intermediate transmission gear shaft, a driven shaft, a driven bearing cover, a secondary small gear, and a secondary large gear. The main gear locking shaft passes through the driving gear and the gear rack in sequence and is locked and positioned. The main moving block is arranged on the driving gear. One end of the driving gear meshes with the ring gear, and the other end meshes with the intermediate transmission gear shaft. One end of the intermediate transmission gear shaft is arranged on the driven bearing cover, and the other end passes through the center of the gear rack and is connected to the secondary small gear. One end of the driven shaft is connected to the driven transmission plate, and the other end passes through the gear rack and is connected to the secondary large gear. The secondary large gear meshes with the secondary small gear. The driven bearing cover is connected to the gear rack. The secondary moving block is arranged on the driven transmission plate. The secondary moving block and the main moving block are located on the same horizontal plane. Corresponding sliding plate members are respectively connected to the secondary moving block and the main moving block. The sliding plate members are arranged on the top plate. The top plate is connected to the ring gear.

[0006] As one of the preferred embodiments of the present invention, an external rotary power source is connected to the gear rack, and through holes for passing through the driven shaft, the intermediate transmission gear shaft, and the main gear locking shaft are respectively provided on the gear rack.

[0007] As one of the preferred embodiments of the present invention, the main gear locking shaft is connected to the driving gear through a main gear bearing and fixed to the gear rack through a locking nut.

[0008] As one of the preferred embodiments of the present invention, driven bearings are respectively provided between the two ends of the intermediate transmission gear shaft and the gear rack and the driven bearing cover.

[0009] As one of the preferred embodiments of the present invention, a positioning boss is provided on the driven shaft, a positioning groove is provided at the bottom of the driven transmission plate, and the positioning groove and the positioning boss are matched.

[0010] As one of the preferred embodiments of the present invention, there are two groups of slide members. Each group of slide members includes a slide plate, a slide bearing, a guide rail, and a slider. The slave moving block and the master moving block are respectively connected to the slide plate through corresponding slide bearings. The guide rail is provided on the top plate, the slider is slidably provided on the guide rail, and the slider is connected to the slide plate.

[0011] As one of the preferred embodiments of the present invention, there are two groups of top plates. Each group of top plates is an arc-shaped hollow structure, and there is an avoidance opening on one side of the top plate close to the gear ring.

[0012] As one of the preferred embodiments of the present invention, when the tooth number ratio of the driving gear to the gear ring is 1:2, the composite motion output from the master moving block and the slave moving block is a linear motion.

[0013] As one of the preferred embodiments of the present invention, when the number of teeth of the driving gear: the number of teeth of the intermediate transmission gear shaft = the number of teeth of the secondary large gear: the number of teeth of the secondary small gear, the linear motion speed output from the master moving block is equal to the linear motion speed output from the slave moving block.

[0014] The power supply part of the present invention adopts a dual power source form, and can output two kinds of rotational motions of the outer ring and the inner ring, providing a motion source and a positioning basis for the rotational and opening / closing motions of the subsequent execution end.

[0015] The dual power source mechanism includes a bottom fixed disk, a torque motor fixed seat, a frameless motor lock block, a frameless motor, a frameless mover adapter disk, an outer ring bearing, a torque motor, an outer ring moving turntable, an inner ring bearing, and an inner ring moving adapter seat; the external stator of the frameless motor is positioned through the inner slot holes of the bottom fixed disk, the frameless motor lock block is arranged between the gaps of the frameless motor and the bottom fixed disk, the mover part of the frameless motor is connected to the outer ring moving turntable through the frameless mover adapter disk, the outer ring moving turntable passes through the outer ring bearing, the outer ring bearing is arranged on the inner wall of the stator of the frameless motor, the stator of the torque motor is connected to the torque motor fixed seat and passes through the hollow part of the frameless motor, the rotor part of the torque motor is connected to the inner ring moving adapter seat, the inner side of the inner ring bearing passes through the inner ring moving adapter seat, and the outer side is axially positioned with the inner slot of the outer ring moving turntable.

[0016] The torque motor fixed seat is a square hollow block with counterbores opened at the top and bottom, and the bottom of the bottom fixed disk and the torque motor are respectively locked by screws.

[0017] The frameless motor lock block consists of six arc-shaped original pieces, which are evenly arranged between the gaps of the frameless motor and the bottom fixed disk and are locked on the side wall of the bottom fixed disk.

[0018] The bottom fixed disk is cylindrical and has a groove inside.

[0019] The lower part of the outer ring moving turntable is a columnar body with a protrusion and a hollow inside, and a threaded hole for fixing a gear ring is opened above the outer ring moving turntable.

[0020] The frameless motor, the frameless motor lock block, the frameless mover adapter disk, the outer ring bearing, and the outer ring moving turntable form an outer ring rotational motion structure; the torque motor fixed seat, the torque motor, the inner ring bearing, and the inner ring moving adapter seat form an inner ring rotational motion structure.

[0021] The present invention has the following advantages compared with the prior art: relying on the speed difference when the planetary gear and the gear ring with specific size ratios and transmission structures are engaged, the present invention generates separate rotational motions, separate opening and closing motions, and rotational / opening and closing compound motions, enabling the power source and the transmission mechanism to be longitudinally arranged side by side, thus improving the structural rationality.

[0022] The transmission components in the present invention are all columnar components such as gears and synchronous belt pulleys, avoiding the problem of limited stroke loss caused by long moving components such as lead screws and racks, greatly improving the structural compactness and expanding the application range.

[0023] The present invention overcomes the defect that the traditional linear motion module exceeds the rotational motion module, avoids the protruding cantilever structure, greatly improves the structural strength, and brings an increase in load. Description of the Drawings

[0024] Figure 1 is the overall three - dimensional structure diagram of the present invention;

[0025] Figure 2 is the structural sectional view of the present invention;

[0026] Figure 3 is the exploded view of the power supply part structure in the present invention;

[0027] Figure 4 is the sectional view of the power supply part in the present invention;

[0028] Figure 5 is the exploded view of the transmission and execution part structure in the present invention;

[0029] Figure 6 is the sectional view of the transmission and execution part in the present invention;

[0030] Figure 7 is the schematic diagram for realizing the opening and closing linear motion of the present invention. Detailed implementation mode

[0031] The following makes a detailed description of the embodiments of the present invention. These embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments.

[0032] As Figure 1 and 2 shown, this embodiment includes a power supply part 1 and a transmission and execution part 2, which respectively realize power supply and motion direction conversion.

[0033] As Figure 3 and 4 shown, the power supply part 1 includes a bottom fixing plate 101, a torque motor fixing seat 102, a frameless motor lock block 103, a frameless motor 104, a frameless mover adapter plate 105, an outer ring bearing 106, a torque motor 107, an outer ring motion turntable 108, an inner ring bearing 109, and an inner ring motion adapter seat 110. The bottom fixing plate 101 is the positioning foundation of the system, with a cylindrical structure, having a groove inside, and an outer ring rotational motion structure composed of a frameless motor 104, a frameless motor lock block 103, a frameless mover adapter plate 105, an outer ring bearing 106, and an outer ring motion turntable 108 and an inner ring rotational motion structure composed of a torque motor fixing seat 102, a torque motor 107, an inner ring bearing 109, and an inner ring motion adapter seat 110 are respectively arranged above.

[0034] The outer ring rotational motion structure is powered by the frameless motor 104. The external stator of the frameless motor 104 is positioned through the inner slot holes of the bottom fixing plate 101 and is pressed by 6 groups of frameless motor locking blocks 103. The frameless motor locking blocks 103 are arc-shaped discs that can be embedded into the gap between the inner slot holes of the bottom fixing plate 101 and the frameless motor 104 and locked on the side wall of the bottom fixing plate 101 to achieve fixation. The rotor part of the frameless motor 104 can rotate along the stator part. The outer ring motion turntable 108 is installed on its upper part through the frameless rotor adapter plate 105, and the three are locked by screws. The outer ring motion turntable 108 is a columnar body with a protrusion at the lower part and a hollow interior. Weight-reducing holes are opened on the outside, and threaded holes are opened above for fixing the gear ring 203. In order to achieve rotational positioning, an outer ring bearing 106 passes through the protrusion at the lower part of the outer ring motion turntable. The outside of the outer ring bearing 106 contacts the inner wall of the stator of the frameless motor 104, and axial positioning is completed by relying on the bosses of the outer ring motion turntable 108 and the frameless rotor adapter plate 105.

[0035] The inner ring rotational motion structure is powered by the torque motor 107. The lower stator of the torque motor 107 is connected to the torque motor fixing seat 102, and the two together pass through the hollow part of the frameless motor 104. The torque motor fixing seat 102 is a square hollow block with counterbored holes opened at the upper and lower parts, and the bottom of the bottom fixing plate 101 and the torque motor 107 are respectively locked by screws. The rotor part of the torque motor 107 is connected to the inner ring motion adapter seat 110, and the inner ring rotational motion can be transmitted to the gear rack 201 fixed above. The inner ring rotational motion is positioned by the inner ring bearing 109. Its inner side passes through the inner ring motion adapter seat 110, and its outer side contacts the inner slot of the outer ring motion turntable 108, and axial positioning is achieved through the bosses of the two. In order to avoid the transmission and execution part 2, the inner ring motion adapter seat 110 is also provided with avoidance holes.

[0036] As Figure 5 and 6 shown, the transmission and execution part 2 includes a gear rack 201, a locking nut 202, a gear ring 203, a driving gear 204, a main motion block 205, a slide bearing 206, a main gear locking shaft 207, a slide plate 208, a top plate 209, a guide rail 210, a slider 211, a main gear bearing 212, a driven transmission plate 213, a driven motion block 214, an intermediate transmission gear shaft 215, a driven bearing 216, a driven shaft 217, a driven bearing cover 218, a secondary pinion 219, a secondary gear 220, and a circlip 221. Among them, the gear ring 203 and the top plate 209 constitute the final rotational output structure, and the remaining components constitute the opening and closing output structure.

[0037] In the rotational output structure, the ring gear 203 and the outer ring motion turntable 108 in the power supply part 1 are locked tightly by screws, and the top disk 209 is installed above it by screws. There are two groups of the top disks 209, and the structure is semi-circular. The inside is milled hollow, and an avoidance opening is milled on the side close to the ring gear 203. In addition to being fixed to the ring gear 203, it is also connected to the outer ring motion turntable 108 by screws, and finally the rotational motion of the whole system is output.

[0038] In the opening and closing output structure, the gear frame 201 is driven to rotate by the inner ring motion adapter 110 in the power supply part 1. Its main body is a disc with both sides cut off, and there are three groups of shaft through holes and four groups of weight reduction holes on the surface. The three groups of shaft through holes respectively pass through the driven shaft 217, the intermediate transmission gear shaft 215, and the main gear locking shaft 207. The main gear locking shaft 207 is mainly used to position the driving gear 204. It passes through the main gear bearing 212 and the gear frame 201 and is fixed by two locking nuts 202 on the back. There is a certain distance between the center of the driving gear 204 and the gear frame 201. It can be driven by the gear frame 201 and drive the main motion block 205 fixed above it to move along the toothed ring 203 meshed with it. There are circular grooves on its upper and lower sides respectively, and two groups of main gear bearings 212 are installed inside, which can realize rotational positioning. In addition to forming a meshing relationship with the toothed ring 203, the other side of the driving gear 204 is also meshed with the intermediate transmission gear shaft 215. The intermediate transmission gear shaft 215 is a multi-diameter shaft with shafts on both sides of the intermediate gear. It is located at the center of the gear frame 201. Driven bearings 216 are sleeved on both ends of the intermediate transmission gear shaft 215, and then are respectively fitted with the corresponding holes of the gear frame 201 and the driven bearing cover 218 to form positioning. The secondary pinion 219 is installed below the intermediate transmission gear shaft 215. The circumferential positioning of the intermediate transmission gear shaft 215 and the secondary pinion 219 is realized by key connection, and the axial positioning is realized by the shaft shoulder of the intermediate transmission gear shaft 215 and the snap ring 221. The secondary pinion 219 meshes with the secondary gear 220 connected to the driven shaft 217, and the rotational motion is transmitted to the driven shaft 217 through the key. A square positioning boss is milled on the upper end of the driven shaft 217, and a positioning groove is opened at the bottom of the driven transmission plate 213. The transmission is realized by clamping the positioning boss and the positioning groove and locking with screws. Two groups of driven bearings 216 are also passed through the driven shaft 217, and respectively form a positioning relationship with the gear frame 201 and the driven bearing cover 218. The inside of the driven bearing cover 218 is hollow, and there are screw counterbores on the upper side and is fixed to the gear frame 201. The main body shape of the driven transmission plate 213 is similar to that of the gear frame 201. A positioning groove is milled on one side of it, and the slave motion block 214 is installed in the positioning groove. The slave motion block 214 is similar in structure to the main motion block 205. There are protruding shafts on their upper surfaces. After installation, the slave motion block 214 and the main motion block 205 are on the same horizontal plane. The center point of the protruding shaft can output linear motion when the driving gear 204 and the toothed ring 203 move relatively. Considering that there will also be an angular deflection of the protruding shaft during linear motion, a slide bearing 206 is also installed on the protruding shaft.The outer side of the skateboard bearing 206 is fitted with the inner hole of the skateboard 208, and axial positioning is achieved by relying on the shoulders of the main moving block 205 (auxiliary moving block 214) and the skateboard 208, thereby driving the skateboard 208 to reciprocate. For motion positioning, the slider 211 and the guide rail 210 are also installed below the skateboard 208, and the guide rail 210 is installed on the top plate 209 to achieve motion positioning during reciprocating opening and closing.

[0039] As Figure 7 shown, in the figure, P 从 and P 主 represent the center points of the raised shafts on the auxiliary moving block 214 and the main moving block 205, and their initial points are located on the center line of the toothed ring 203. When the torque motor 107 and the frameless motor 104 in the power supply part 1 move at a certain speed difference, the gear rack 201 is driven. At the same time, the driving gear 204 and the driven transmission plate 213 start to rotate, enabling P 从 and P 主 to have two motion speeds: the speed difference V0 between the gear rack 201 and the toothed ring 203, and their own speeds V1 (driving wheel) and V2 (driven wheel).

[0040] Set the angular velocity of the movement of the gear rack 201 as ω, the number of teeth of the driving gear 204 as Z1, and the angular velocity of self-rotation as ω1; the number of teeth of the intermediate transmission gear shaft 215 as Z2; the number of teeth of the secondary pinion 219 as Z3; the number of teeth of the secondary large gear 220 as Z4; the angular velocity of self-rotation of the driven transmission plate 213 as ω2, and the deflection angle of the driving wheel from the horizontal direction at a certain moment as α.

[0041] According to the gear meshing principle, the following relationships exist among ω, ω1, and ω2:

[0042] ω = ω1;

[0043] ω1:ω2 = Z1Z3:Z2Z4;

[0044] And V0 = ωR, V1 = ω1R, V2 = ω2R;

[0045] Therefore, for P 主 , the vertical components of V0 and V1 are ωRcosα and ω1Rcosα respectively, which cancel each other out. The direction of V 主 is along the transverse direction of the toothed ring 203 and points to the center of the circle, and its magnitude is 2ωRsinα;

[0046] For P 从 , the vertical components of V0 and V2 are ωRcosα and ω2Rcosα respectively. If they are to cancel each other out, it is necessary to satisfy Z1Z3 = Z2Z4, that is, Z1:Z2 = Z3:Z4. At this time, V 从The direction points horizontally towards the center of the circle, and the magnitude is 2ωRsinα.

[0047] At this time, P 主 and P 从 generate corresponding linear reciprocating (opening and closing) motion.

[0048] The rotation / opening and closing mechanism proposed in this embodiment can output three kinds of motions according to different degrees of power source compounding, including single rotation motion, single opening and closing motion, and rotation and opening and closing compound motion.

[0049] Single rotation motion:

[0050] The frameless motor 104 and the torque motor 107 rotate at the same speed. At this time, the frameless motor 104 outputs the rotational motion to the gear ring 203 through the frameless mover adapter plate 105 and the outer ring motion turntable 108. The torque motor 107 outputs the gear rack 201 through the inner ring motion adapter seat 110, resulting in the same speed for both. Figure 7 The speed difference V0 in is 0, the driving gear 204 does not rotate on its own, V1, V2 = 0, no opening and closing motion will be generated, and the entire transmission and execution part 2 rotates together with the gear rack 201 and the top plate 209.

[0051] Single opening and closing motion:

[0052] When the frameless motor 104 does not move and the torque motor 107 moves alone, Figure 7 the speed difference V0 in has a value, P 主 and P 从 reciprocate linearly, but the gear ring 203 and the top plate 209 do not move, generating a single opening and closing motion.

[0053] Rotation and opening and closing compound motion:

[0054] When the frameless motor 104 does not move and the torque motor 107 moves at different speeds, on the one hand, Figure 7 the speed difference V0 in has a value, P 主 and P 从 reciprocate linearly, and on the other hand, the gear ring 203 and the top plate 209 also output rotational motion, finally generating a rotation and opening and closing compound motion.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A compact rotary opening and closing platform jointly driven by a dual power source, characterized in that, The platform includes a power supply part and a transmission and execution part. The transmission and execution part includes a gear rack, a lock nut, a gear ring, a driving gear, a main moving block, a main gear locking shaft, a slide plate part, a main gear bearing, a top plate, a driven transmission plate, a driven moving block, an intermediate transmission gear shaft, a driven shaft, a driven bearing cover, a secondary pinion, and a secondary gear. The main gear locking shaft passes through the driving gear and the gear rack in sequence and is locked and positioned. The main moving block is arranged on the driving gear. One end of the driving gear meshes with the gear ring, and the other end meshes with the intermediate transmission gear shaft. One end of the intermediate transmission gear shaft is arranged on the driven bearing cover, and the other end passes through the center of the gear rack to connect the secondary pinion. One end of the driven shaft is connected to the driven transmission plate, and the other end passes through the gear rack to connect the secondary gear. The secondary gear meshes with the secondary pinion. The driven bearing cover is connected to the gear rack. The driven moving block is arranged on the driven transmission plate. The driven moving block and the main moving block are located on the same horizontal plane. Corresponding slide plate parts are respectively connected to the driven moving block and the main moving block. The slide plate parts are arranged on the top plate. The top plate is connected to the gear ring.

2. The compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, wherein, An external rotating power source is connected to the gear rack. Through holes for passing through the driven shaft, the intermediate transmission gear shaft, and the main gear locking shaft are respectively formed on the gear rack.

3. A compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, characterized in that, The main gear locking shaft is connected to the driving gear through a main gear bearing and fixed to the gear rack through a lock nut.

4. A compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, characterized in that, Driven bearings are respectively arranged between the two ends of the intermediate transmission gear shaft and the gear rack and the driven bearing cover.

5. A compact rotary opening and closing platform jointly driven by a dual power source, characterized in that, A positioning boss is arranged on the driven shaft, and a positioning groove is arranged at the bottom of the driven transmission plate. The positioning groove and the positioning boss are matched with each other.

6. A compact rotary opening and closing platform jointly driven by a dual power source, characterized in that, There are two groups of slide plate parts. Each group of slide plate parts includes a slide plate, a slide plate bearing, a guide rail, and a slider. The driven moving block and the main moving block are respectively connected to the slide plate through corresponding slide plate bearings. The guide rail is arranged on the top plate. The slider is slidably arranged on the guide rail. The slider is connected to the slide plate.

7. A compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, characterized in that There are two groups of top plates. Each group of top plates is an arc-shaped hollow structure. An avoidance opening is formed on one side of the top plate close to the gear ring.

8. A compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, characterized in that, When the tooth number ratio of the driving gear to the gear ring is 1:2, the composite motion output from the main moving block and the driven moving block is a linear motion.

9. A compact rotary opening and closing platform jointly driven by a dual power source according to claim 1, characterized in that, When the tooth number of the driving gear: the tooth number of the intermediate transmission gear shaft = the tooth number of the secondary gear: the tooth number of the secondary pinion, the linear motion speed output from the main moving block is equal to the linear motion speed output from the driven moving block.

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