Compact type mechanical arm disc-shaped part transmission mechanism

Abstract

The invention relates to the technical field of industrial automation, and discloses a compact mechanical arm disc-shaped part transmission mechanism which comprises a supporting arm and further comprises a mounting arm arranged on the surface of one side of the supporting arm and perpendicular to the supporting arm. The displacement transmission assembly is arranged on the mounting arm, a mounting base is arranged at the moving end of the displacement transmission assembly, and the mounting base can be driven to move transversely and vertically under the driving of the displacement transmission assembly; the edge clamping assembly is arranged on the mounting base and used for clamping the edge of the disc-shaped part; and the stabilizing assembly is arranged on the mounting base and is matched with the edge clamping assembly to fix the disc-shaped part. According to the compact type mechanical arm disc-shaped part transmission mechanism, by optimizing the structural design, the transmission precision and the clamping stability are improved, and the requirements for high precision, high efficiency and space adaptability in industrial automatic production are met.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation, in particular to a compact manipulator disc-shaped component transmission mechanism. Background Art

[0002] In the field of industrial automation, the application of manipulators has greatly improved production efficiency and product quality, especially when processing complex-shaped parts such as disc-shaped parts. Traditional manual operations can no longer meet the high-precision and high-efficiency production requirements. Disc-shaped parts occupy an important position in the manufacturing industry due to their unique shape and wide application scenarios (such as automobile wheels, mechanical gear plates, etc.). Therefore, it is particularly important to develop a manipulator transmission mechanism that can accurately and efficiently handle disc-shaped parts. This mechanism not only needs to have a compact structure to adapt to the narrow production space, but also needs to have flexible displacement capabilities and stable clamping functions to ensure the accuracy and safety of disc-shaped parts during processing, assembly or testing.

[0003] At present, although there are many robot transmission mechanisms for processing disc-shaped parts on the market, there are certain defects in the use process. Specifically, many existing mechanisms adopt complex transmission paths and bulky structural designs, resulting in a large overall size and difficult to flexibly deploy in a limited working space. More importantly, during the clamping and transmission process, the disc-shaped parts are prone to shaking or shifting, which not only affects work efficiency but may also cause damage to the parts. Therefore, there is an urgent need for a compact robot disc-shaped part transmission mechanism with a compact structure, high displacement accuracy and stable clamping to overcome the shortcomings of the existing technology and meet the needs of industrial automation production. Summary of the invention

[0004] The purpose of the present invention is to propose a compact manipulator disc-shaped component transmission mechanism by optimizing the structural design, improving the transmission accuracy and clamping stability, so as to meet the needs of high precision, high efficiency and space adaptability in industrial automation production.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A compact manipulator disc-shaped component transmission mechanism comprises a support arm and further comprises: The mounting arm is arranged on a side surface of the supporting arm and is perpendicular to the supporting arm; A displacement transmission assembly is arranged on the mounting arm, and a mounting base is arranged on the moving end of the displacement transmission assembly, and the mounting base can be driven to move horizontally and vertically under the driving of the displacement transmission assembly; An edge clamping assembly is disposed on the mounting base and is used to clamp the edge of the disc-shaped component; The stabilizing component is arranged on the mounting base and cooperates with the edge clamping component to fix the disc-shaped component, wherein the disc-shaped component is transmitted to a suitable position through the edge clamping component and the stabilizing component under the transmission of the displacement transmission component.

[0006] Based on the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, the displacement transmission assembly includes: A first driving motor is fixedly mounted on one side surface of the mounting arm, wherein an output end of the first driving motor passes through and extends to the other side surface of the mounting arm; A first synchronous pulley is fixedly mounted on the output end of the first driving motor; A second synchronous belt pulley is rotatably disposed on the surface of the mounting arm, wherein the first synchronous belt pulley and the second synchronous belt pulley are in the same plane; A transmission synchronous belt is arranged on the outer sides of the first synchronous belt pulley and the second synchronous belt pulley; A transmission seat, which is disposed on the surface of the mounting arm and is interconnected with the transmission synchronous belt, wherein the transmission synchronous belt can drive the transmission seat to perform lateral displacement under the driving of the first driving motor; and The second driving motor is fixedly mounted on a surface of the transmission seat on a side away from the transmission synchronous belt; A driving screw is fixedly mounted on the output end of the second driving motor and is driven by the second driving motor to rotate axially; The threaded sleeve is threadedly connected to the outer side of the driving screw, wherein the threaded sleeve can be vertically displaced along the length direction of the driving screw under the drive of the second driving motor, and the mounting base is fixedly mounted on the outer side of the threaded sleeve.

[0008] Furthermore, a first slide rail is fixedly installed on the surface of the mounting arm close to the transmission synchronous belt, a first sliding member is fixedly installed on the surface of the transmission seat, the transmission seat is slidably connected to the surface of the mounting arm through the first slide rail and the first sliding member, a second slide rail is fixedly installed on the surface of the transmission seat away from the transmission synchronous belt, and a second sliding member compatible with the second slide rail is fixedly installed on the surface of the threaded sleeve.

[0009] Furthermore, the edge clamping assembly includes: The mounting frame is fixedly mounted on the mounting base and is vertically arranged with the threaded sleeve; The telescopic arm is arranged on a side surface of the mounting frame away from the threaded sleeve; An articulated seat, fixedly mounted on the telescopic arm; An arc-shaped edge member, one end of which is hinged to the inner side of the hinge seat, and the number of the arc-shaped edge members is two, which can be rotated and displaced according to the hinge point; Articulated fixing seats are arranged on the telescopic arm, and the number and distribution positions of the fixing seats are adapted to the arc-shaped edge members; and The first electric push rod has a fixed end connected to the telescopic arm through a hinged fixing seat, wherein the fixed end of the first electric push rod can be hinged and rotated with the hinged fixing seat as the origin, and the output end of the first electric push rod is hinged to the arc edge member, wherein the arc edge member can be driven to rotate by the first electric push rod to complete the clamping of the disc-shaped component.

[0010] Furthermore, the telescopic arm comprises: The telescopic inner rods are fixedly mounted on the surface of the mounting frame, and there are two of them, which are arranged perpendicularly to the mounting frame; The telescopic outer cylinder is arranged on the outer side of the telescopic inner rod, wherein the telescopic outer cylinder can telescope and slide on the outer side of the telescopic inner rod; A second electric push rod, a fixed end of which is fixedly mounted on the surface of the mounting frame, and an output end of which is fixedly mounted on the surface of the telescopic outer cylinder; and The transverse connecting arm is arranged between the two telescopic outer cylinders, wherein the articulated seat and the articulated fixing seat are both arranged on the surface of the transverse connecting arm.

[0011] Furthermore, the stabilizing component includes: A hydraulic push rod is fixedly mounted on the mounting base, with its output end facing one side of the edge clamping assembly; A stabilizing frame is fixedly mounted on the output end of the hydraulic push rod and can be vertically displaced under the driving of the hydraulic push rod; The third electric push rod is fixedly mounted on a surface of a side of the stabilizing frame away from the hydraulic push rod; A movable frame is slidably connected to a surface of a side of the stable frame away from the hydraulic push rod, and the number of movable frames is two and they are arranged parallel to each other, wherein the output end of the third electric push rod is connected to one of the movable frames; A synchronous transmission assembly is arranged on the stable frame, wherein the synchronous transmission assembly is connected to another movable frame, and driven by the third electric push rod and the synchronous transmission assembly, the two movable frames can be driven to move to the opposite side or the opposite side; The supporting rods are divided into two groups and fixedly mounted on two movable frames respectively; and The supporting member is arranged between the four supporting rods and can contact with one side surface of the disc-shaped component.

[0012] Furthermore, the synchronous transmission assembly includes: The racks are fixedly mounted on the mobile frame, and the number and distribution positions of the racks are adapted to the mobile frame; A connecting shaft is rotatably disposed on the stabilizing frame and can axially rotate on the surface of the stabilizing frame; A gear is fixedly mounted on the outer side of the connecting shaft, the gear is located between the two racks and meshes with the gear; Sliding seats are fixedly mounted on the stable frame, and the number and distribution positions of the sliding seats are adapted to the racks; and The sliding track is fixedly mounted on the surface of the rack and is adapted to the sliding seat, wherein the rack is slidably connected to the surface of the stable frame through the sliding seat and the sliding track.

[0013] Furthermore, the supporting member includes: An annular sleeve is arranged on the outside of the supporting rod, which can be vertically displaced on the outside of the supporting rod, and its number and distribution position are mutually adapted to the supporting rod, and a notch is opened on the surface of the annular sleeve; An insert rod is inserted into the notch of the annular sleeve; The driving groove is arranged on the surface of the annular sleeve.

[0014] Furthermore, the inner side of the annular sleeve is provided with an internal thread, and the surface of the supporting rod is processed with an external thread matching the annular sleeve, wherein the annular sleeve can be threadedly connected to the outer side of the supporting rod.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: The present invention sets the mounting arm on one side surface of the support arm and makes it perpendicular to the support arm. This design greatly optimizes the compactness of the overall structure. Compared with the traditional complex and bulky transmission mechanism, the present invention effectively reduces the space occupation through a simple vertical layout, so that the mechanism can be flexibly deployed in a small production environment, meeting the needs of industrial automation for efficient use of space. Secondly, the setting of the displacement transmission component and its combination with the mounting base realizes precise displacement control of the disc-shaped parts. The component can drive the mounting base to move freely in both horizontal and vertical dimensions, thereby ensuring the precise positioning of the disc-shaped parts during processing, assembly or testing. This high-precision displacement capability overcomes the problem of insufficient transmission accuracy in the prior art and improves production efficiency and product quality. Furthermore, the edge clamping component When used in conjunction with the stabilizing component, a stable and reliable clamping effect is provided for the disc-shaped parts. The edge clamping component is designed according to the edge characteristics of the disc-shaped parts, which can effectively prevent the parts from shaking or shifting during the transmission process, and the stabilizing component further enhances the clamping stability. The two work together to ensure the safety and accuracy of the disc-shaped parts during the entire transmission process. This design solves the problem of poor clamping stability in the prior art, reduces the risk of damage to parts, and improves the stability and reliability of the production line. In summary, the compact manipulator disc-shaped part transmission mechanism of the present invention, through its compact structural design, high-precision displacement control and stable and reliable clamping effect, effectively overcomes the technical defects mentioned in the background technology, and provides a more efficient and accurate solution for industrial automation production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall connection structure of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 2 It is a schematic diagram of the connection structure of the mounting arm and the displacement transmission assembly of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 3 It is a schematic diagram of the connection structure of the edge clamping assembly of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 4 It is a schematic diagram of the telescopic arm connection structure of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 5 A compact manipulator disc-shaped component transmission mechanism of the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 It is a schematic diagram of a stable component connection structure of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 7It is a schematic diagram of a partially stable component connection structure of a compact manipulator disc-shaped component transmission mechanism of the present invention; Figure 8 A compact manipulator disc-shaped component transmission mechanism of the present invention Figure 7 Enlarged view of point B in the middle; Fig. 9 The present invention is a schematic diagram of the explosion connection structure of a supporting member of a compact manipulator disc-shaped component transmission mechanism.

[0017] In the figure: 1, support arm; 2, mounting arm; 3, displacement transmission assembly; 31, first drive motor; 32, first synchronous pulley; 33, second synchronous pulley; 34, transmission synchronous belt; 35, transmission seat; 36, second drive motor; 37, drive screw; 38, threaded sleeve; 4, mounting base; 5, edge clamping assembly; 51, mounting frame; 52, telescopic arm; 521, telescopic inner rod; 522, telescopic outer cylinder; 523, second electric push rod; 524, lateral connecting arm; 5 3. Articulated seat; 54. Arc edge member; 55. Articulated fixed seat; 56. First electric push rod; 6. Stabilizing assembly; 61. Hydraulic push rod; 62. Stabilizing frame; 63. Third electric push rod; 64. Moving frame; 65. Synchronous transmission assembly; 651. Rack; 652. Connecting shaft; 653. Gear; 654. Sliding seat; 655. Sliding track; 66. Supporting rod; 67. Supporting member; 671. Annular sleeve; 672. Notch; 673. Insert rod; 674. Driving groove. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Combination Figure 1-Figure 9 As shown, a compact manipulator disc-shaped component transmission mechanism of the present invention includes a support arm 1 and also includes: The mounting arm 2 is disposed on a side surface of the supporting arm 1 and is perpendicular to the supporting arm 1; The displacement transmission component 3 is arranged on the mounting arm 2. The mounting base 4 is arranged on the moving end of the displacement transmission component 3. The displacement transmission component 3 can drive the mounting base 4 to move horizontally and vertically. An edge clamping assembly 5 is disposed on the mounting base 4 and is used to clamp the edge of the disc-shaped component; The stabilizing component 6 is arranged on the mounting base 4, and cooperates with the edge clamping component 5 to fix the disc-shaped component, wherein the disc-shaped component is transmitted to a suitable position through the edge clamping component 5 and the stabilizing component 6 under the transmission of the displacement transmission component 3.

[0020] The transmission mechanism is mainly composed of key components such as a support arm 1, a mounting arm 2, a displacement transmission component 3, a mounting base 4, an edge clamping component 5 and a stabilizing component 6. First of all, the support arm 1 serves as the basic supporting structure of the entire transmission mechanism and is firmly installed in the required working environment. The mounting arm 2 is vertically arranged on one side surface of the support arm 1. This vertical layout not only saves space, but also makes the transmission mechanism have better flexibility and stability during operation. The displacement transmission component 3 is cleverly installed on the mounting arm 2, and it is responsible for driving the mounting base 4 to move horizontally and vertically. Through the precise transmission mechanism, it ensures that the mounting base 4 can achieve accurate and smooth displacement in a two-dimensional space, thereby meeting the needs of disc-shaped components in different processing, assembly or detection positions. The mounting base 4 serves as a carrier of the edge clamping component 5 and the stabilizing component 6. Its design fully considers the load-bearing capacity and stability. The edge clamping assembly 5 is installed on the mounting base 4, and can accurately clamp the edge of the disc-shaped component through its unique clamping mechanism. This clamping method is not only stable and reliable, but also can effectively prevent the component from shaking or shifting during the transmission process. In order to further improve the stability of the disc-shaped component during the transmission process, the stabilizing assembly 6 is arranged on the mounting base 4 and cooperates with the edge clamping assembly 5 to ensure that the disc-shaped component can still maintain a stable posture when subjected to external force. During the entire transmission process, the displacement transmission assembly 3 serves as the core driving force. By accurately controlling the moving trajectory of the mounting base 4, the edge clamping assembly 5 and the stabilizing assembly 6 can work together to transmit the disc-shaped component from the initial position to the appropriate working position. This transmission method not only improves production efficiency, but also ensures the accuracy and safety of the components during processing, assembly or testing.

[0021] In a preferred embodiment, the present invention can be further configured as follows: the displacement transmission assembly 3 includes: A first driving motor 31 is fixedly mounted on one side surface of the mounting arm 2, wherein an output end of the first driving motor 31 passes through and extends to the other side surface of the mounting arm 2; The first synchronous pulley 32 is fixedly mounted on the output end of the first driving motor 31; The second synchronous belt pulley 33 is rotatably arranged on the surface of the mounting arm 2, wherein the first synchronous belt pulley 32 and the second synchronous belt pulley 33 are on the same plane; The transmission synchronous belt 34 is arranged on the outer sides of the first synchronous belt pulley 32 and the second synchronous belt pulley 33; A transmission seat 35 is disposed on the surface of the mounting arm 2 and is interconnected with the transmission timing belt 34, wherein the transmission timing belt 34 can drive the transmission seat 35 to perform lateral displacement under the driving of the first driving motor 31; and The second driving motor 36 is fixedly mounted on a surface of the transmission base 35 on one side away from the transmission synchronous belt 34; The driving screw 37 is fixedly mounted on the output end of the second driving motor 36 and is driven by the second driving motor 36 to rotate axially; The threaded sleeve 38 is threadedly connected to the outer side of the driving screw 37, wherein the threaded sleeve 38 can be vertically displaced along the length direction of the driving screw 37 under the drive of the second driving motor 36. The first driving motor 31 is fixedly mounted on one side surface of the mounting arm 2, and its output end passes through and extends to the other side surface of the mounting arm 2, so that the first driving motor 31 can provide a power source for the entire displacement transmission assembly 3. The first synchronous pulley 32 is fixedly mounted on the output end of the first driving motor 31 and rotates synchronously with the rotation of the motor. The second synchronous pulley 33 is rotatably set on the surface of the mounting arm 2 and is on the same plane as the first synchronous pulley 32. The transmission synchronous belt 34 is cleverly set on the outer sides of the first synchronous pulley 32 and the second synchronous pulley 33. Through the interaction of the two synchronous pulleys, the transmission synchronous belt 34 can circulate under the drive of the first driving motor 31. The transmission seat 35 is arranged on the surface of the mounting arm 2 and is interconnected with the transmission timing belt 34. Therefore, when the transmission timing belt 34 performs a circular motion driven by the first driving motor 31, it can drive the transmission seat 35 to perform a lateral displacement along the length direction of the mounting arm 2. This displacement mode is smooth and precise, and can ensure that the mounting base 4 reaches a predetermined position in the lateral direction. In addition, in order to achieve vertical displacement, the second driving motor 36 is fixedly mounted on the side surface of the transmission seat 35 away from the transmission timing belt 34. A driving screw 37 is fixedly mounted on the output end of the second driving motor 36. The screw can rotate axially under the drive of the motor, and the threaded sleeve 38 is threadedly connected to the outer side of the driving screw 37. Due to the interaction of the threads, when the driving screw 37 rotates, the threaded sleeve 38 can perform a vertical displacement along the length direction of the driving screw 37.

[0022] In a preferred embodiment of the present invention, the configuration may be further as follows: a first slide rail is fixedly mounted on a surface of one side of the mounting arm 2 close to the transmission synchronous belt 34, a first sliding member is fixedly mounted on a surface of the transmission seat 35, the transmission seat 35 is slidably connected to the surface of the mounting arm 2 through the first slide rail and the first sliding member, a second slide rail is fixedly mounted on a surface of the side of the transmission seat 35 away from the transmission synchronous belt 34, a second sliding member matched with the second slide rail is fixedly mounted on the surface of the threaded sleeve 38, in order to achieve stable and precise sliding of the transmission seat 35 on the mounting arm 2, a first slide rail is fixedly mounted on a surface of one side of the mounting arm 2 close to the transmission synchronous belt 34, the first slide rail provides guidance and support for the lateral movement of the transmission seat 35, and at the same time, a second slide rail is fixedly mounted on the surface of the transmission seat 35 A first sliding member adapted to the first sliding rail is fixedly installed. Through the sliding connection between the first sliding rail and the first sliding member, the transmission seat 35 can be driven by the first drive motor 31 to perform smooth lateral displacement along the length direction of the mounting arm 2. In addition, in order to achieve the stability of the transmission seat 35 during vertical displacement, a second sliding rail is fixedly installed on the surface of the transmission seat 35 on the side away from the transmission synchronous belt 34. The second sliding rail provides guidance and support for the vertical movement of the threaded sleeve 38. At the same time, a second sliding member adapted to the second sliding rail is fixedly installed on the surface of the threaded sleeve 38. Through the sliding connection between the second sliding rail and the second sliding member, the threaded sleeve 38 can be driven by the second drive motor 36 to perform smooth vertical displacement along the length direction of the drive screw 37.

[0023] In a preferred embodiment, the present invention can be further configured as follows: the edge clamping assembly 5 includes: The mounting frame 51 is fixedly mounted on the mounting base 4, and is perpendicular to the threaded sleeve 38; The telescopic arm 52 is disposed on a side surface of the mounting frame 51 away from the threaded sleeve 38; The hinged seat 53 is fixedly mounted on the telescopic arm 52; An arc-shaped edge member 54, one end of which is hinged to the inner side of the hinge seat 53. There are two arc-shaped edge members 54, which can be rotated and displaced according to the hinge point; The hinged fixing seat 55 is disposed on the telescopic arm 52, and the number and distribution position of the hinged fixing seat 55 are adapted to the arc-shaped edge member 54; and The first electric push rod 56 has a fixed end connected to the telescopic arm 52 through an articulated fixing seat 55, wherein the fixed end of the first electric push rod 56 can be articulated and rotated with the articulated fixing seat 55 as the origin, and the output end of the first electric push rod 56 is articulated on the arc edge member 54, wherein the arc edge member 54 can be driven to rotate by the first electric push rod 56 to complete the clamping of the disc-shaped parts, the mounting frame 51 is fixedly mounted on the mounting base 4, and is arranged perpendicular to the mounting base 4. This design enables the edge clamping assembly 5 to move synchronously with the vertical displacement of the mounting base 4, thereby achieving the clamping of the disc-shaped parts at different height positions, the telescopic arm 52 is arranged on the side surface of the mounting frame 51 away from the threaded sleeve 38, and it can be telescopically adjusted as needed to adapt to the disc-shaped parts in different positions, and the articulated seat 53 is fixedly mounted on the telescopic arm 52, providing a stable support point for the articulation of the arc edge member 54, and the arc edge member 54 is the main component for clamping the disc-shaped parts. There are two hinged seats 54, which are respectively hinged on the inner side of the hinge seat 53. This design enables the arc edge member 54 to rotate and displace according to the hinge point, so as to achieve close fitting and clamping of the edge of the disc-shaped component. The hinged fixed seat 55 is arranged on the telescopic arm 52. The number and distribution position of the hinged fixed seat 55 are adapted to the arc edge member 54. These fixed seats not only provide hinge points for the fixed end of the first electric push rod 56, but also ensure that the push rod can maintain stable force transmission when pushing the arc edge member 54. The first electric push rod The fixed end of 56 is connected to the telescopic arm 52 through the hinged fixing seat 55, and its fixed end can be hinged and rotated with the hinged fixing seat 55 as the origin. This design enables the push rod to generate a greater clamping force when pushing the arc-shaped edge member 54, and adapt to disc-shaped parts of different shapes and sizes. The output end of the push rod is hinged on the arc-shaped edge member 54. By controlling the telescopic movement of the push rod, the arc-shaped edge member 54 can be driven to rotate and fit closely to the edge of the disc-shaped part, thereby completing the clamping operation.

[0024] In a preferred embodiment, the present invention can be further configured as follows: the telescopic arm 52 includes: The telescopic inner rods 521 are fixedly mounted on the surface of the mounting frame 51, and there are two of them and they are arranged perpendicular to the mounting frame 51; The telescopic outer cylinder 522 is disposed on the outer side of the telescopic inner rod 521, wherein the telescopic outer cylinder 522 can telescope and slide on the outer side of the telescopic inner rod 521; A second electric push rod 523, a fixed end of which is fixedly mounted on the surface of the mounting frame 51, and an output end of which is fixedly mounted on the surface of the telescopic outer cylinder 522; and The transverse connecting arm 524 is arranged between the two telescopic outer cylinders 522, wherein the articulated seat 53 and the articulated fixed seat 55 are both arranged on the surface of the transverse connecting arm 524. The telescopic arm 52 is a key part in the edge clamping assembly 5. Its structural design fully considers the requirements of flexibility and stability. The telescopic arm 52 is mainly composed of a telescopic inner rod 521 and a telescopic outer cylinder 522, wherein the telescopic inner rod 521 is fixedly installed on the surface of the mounting frame 51, and there are two of them, which are arranged perpendicular to each other between the mounting frame 51. This design ensures the stability of the telescopic arm 52 on the mounting frame 51 and provides a basis for subsequent telescopic adjustment. The telescopic outer cylinder 522 is arranged on the outer side of the telescopic inner rod 521 to form a sliding fit with the telescopic inner rod 521. Through the telescopic sliding of the telescopic outer cylinder 522 on the outer side of the telescopic inner rod 521, the telescopic arm 52 can be extended to a suitable length, thereby facilitating the subsequent adjustment of disc-shaped components at different positions. Clamping. In order to realize the telescopic movement of the telescopic outer cylinder 522, the second electric push rod 523 is introduced and fixedly installed on the surface of the mounting frame 51, and the output end of the second electric push rod 523 is fixedly installed on the surface of the telescopic outer cylinder 522. By controlling the telescopic movement of the second electric push rod 523, the telescopic outer cylinder 522 can be accurately driven to slide on the telescopic inner rod 521, thereby realizing radial adjustment of the clamping assembly. In addition, in order to enhance the overall stability and structural strength of the telescopic arm 52, a transverse connecting arm 524 is arranged between the two telescopic outer cylinders 522. The transverse connecting arm 524 not only serves to connect the two telescopic outer cylinders 522, but also provides a stable installation foundation for the articulated seat 53 and the articulated fixed seat 55 thereon. The articulated seat 53 is used to install the arc edge member 54 and realize its rotational displacement, while the articulated fixed seat 55 is used to fix the fixed end of the first electric push rod 56 and allow it to be articulated and rotated.

[0025] In a preferred embodiment, the present invention can be further configured as follows: the stabilizing component 6 includes: The hydraulic push rod 61 is fixedly mounted on the mounting base 4, and its output end faces one side of the edge clamping assembly 5; The stabilizing frame 62 is fixedly mounted on the output end of the hydraulic push rod 61 and can be vertically displaced under the driving of the hydraulic push rod 61; The third electric push rod 63 is fixedly mounted on a surface of a side of the stabilizing frame 62 away from the hydraulic push rod 61; The movable frame 64 is slidably connected to a side surface of the stable frame 62 away from the hydraulic push rod 61, and there are two movable frames 64 arranged parallel to each other, wherein the output end of the third electric push rod 63 is connected to one of the movable frames 64; The synchronous transmission assembly 65 is disposed on the stable frame 62, wherein the synchronous transmission assembly 65 is connected to another movable frame 64, and driven by the third electric push rod 63 and the synchronous transmission assembly 65, the two movable frames 64 can be driven to move to the opposite side or the opposite side; The supporting rods 66 are divided into two groups and fixedly mounted on the two moving frames 64; and The supporting member 67 is arranged between the four supporting rods 66 and can contact with one side surface of the disc-shaped component. The stabilizing component 6 is first fixedly installed on the mounting base 4 through the hydraulic push rod 61. The output end of the hydraulic push rod 61 faces one side of the edge clamping component 5 and can achieve vertical displacement under the drive of the hydraulic system. This design enables the stabilizing component 6 to be flexibly adjusted according to the height position of the disc-shaped component to ensure the accuracy of support and stabilization. The stabilizing frame 62 is fixedly installed on the output end of the hydraulic push rod 61 and moves synchronously with the vertical displacement of the hydraulic push rod 61. The stabilizing frame 62 serves as the supporting frame of the entire stabilizing component 6 and provides a stable foundation for subsequent adjustment and support. The third electric push rod 63 is fixedly installed on the side surface of the stabilizing frame 62 away from the hydraulic push rod 61, and its output end is interconnected with one of the moving frames 64. There are two moving frames 64 and they are arranged in parallel with each other. They are all slidably connected to the same side surface of the stabilizing frame 62. This design The movable frame 64 can slide smoothly along a specific direction on the stable frame 62. The synchronous transmission component 65 is arranged on the stable frame 62 and is interconnected with another movable frame 64. Driven by the third electric push rod 63, the movable frame 64 directly connected to the third electric push rod 63 will be displaced first. At the same time, through the transmission action of the synchronous transmission component 65, the other movable frame 64 will also be displaced at the same speed and direction, thereby realizing the synchronous displacement of the two movable frames 64 to the opposite side or the opposite side. This design ensures the stability and synchronization of the supporting rods 66 and the supporting members 67 during the adjustment process. The supporting rods 66 are divided into two groups and are fixedly installed on the two movable frames 64 respectively. They are adjusted accordingly with the displacement of the movable frames 64. The supporting members 67 are arranged between the four supporting rods 66. The shape and size of the supporting members 67 can be designed according to the specific situation of the disc-shaped parts to ensure close contact with the surface of one side of the disc-shaped parts and provide stable support.

[0026] In a preferred embodiment, the present invention can be further configured as follows: the synchronous transmission assembly 65 includes: The racks 651 are fixedly mounted on the mobile frame 64, and the number and distribution positions thereof are adapted to the mobile frame 64; The connecting shaft 652 is rotatably disposed on the stabilizing frame 62 and can axially rotate on the surface of the stabilizing frame 62; The gear 653 is fixedly mounted on the outer side of the connecting shaft 652 , and the gear 653 is located between the two racks 651 and meshes with the gear 653 ; The sliding seats 654 are fixedly mounted on the stabilizing frame 62, and the number and distribution positions of the sliding seats 654 match the racks 651; and The sliding rail 655 is fixedly mounted on the surface of the rack 651 and is adapted to the sliding seat 654, wherein the rack 651 is slidably connected to the surface of the stable frame 62 through the sliding seat 654 and the sliding rail 655. The synchronous transmission component 65 is a key part of the stable component 6, which is used to ensure that the two moving frames 64 can be synchronously displaced to the opposite side or the opposite side under the drive of the third electric push rod 63. The component mainly consists of the rack 651, the connecting shaft 652, the gear 653, the sliding seat 654 and the sliding rail. The rack 651 is fixedly mounted on the mobile frame 64, and its number and distribution position are mutually adapted to the mobile frame 64, ensuring that the rack 651 can move with the displacement of the mobile frame 64. This design makes the rack 651 a key component for transmitting displacement signals. The connecting shaft 652 is rotatably arranged on the stable frame 62, and can axially rotate on the surface of the stable frame 62. The connecting shaft 652 serves as the installation base of the gear 653, providing a stable support for the rotation of the gear 653. The gear 653 The gear 653 is fixedly installed on the outer side of the connecting shaft 652 and is located between the two racks 651. The gear 653 and the rack 651 are meshed with each other. When one of the racks 651 moves with the mobile frame 64 where it is located, it will drive the other rack 651 and the mobile frame 64 where it is located to move synchronously through the meshing action with the gear 653. This design realizes the synchronous displacement between the two mobile frames 64. The sliding seat 654 is fixedly installed on the stable frame 62. The number and distribution position of the sliding seat 654 are adapted to the rack 651. The seat 654 serves as a connecting component between the rack 651 and the stabilizing frame 62, providing a stable guide and support for the sliding of the rack 651. The sliding track 655 is fixedly installed on the surface of the rack 651 and is adapted to the sliding seat 654. The rack 651 is slidably connected to the surface of the stabilizing frame 62 through the sliding seat 654 and the sliding track 655. This design ensures the stability and accuracy of the rack 651 during movement, and also provides a stable condition for the meshing between the rack 651 and the gear 653.

[0027] In a preferred embodiment, the present invention can be further configured as follows: the supporting member 67 includes: The annular sleeve 671 is disposed on the outer side of the supporting rod 66 and can be vertically displaced on the outer side of the supporting rod 66. The number and distribution position of the annular sleeve 671 are adapted to the supporting rod 66. A notch 672 is provided on the surface of the annular sleeve 671. The insertion rod 673 is inserted into the notch 672 of the annular sleeve 671; The driving groove 674 is provided on the surface of the annular sleeve 671. The support member 67 is an important part of the stabilizing component 6. Its design fully considers the stability requirements of the disc-shaped parts during the clamping process. The support member 67 is mainly composed of the annular sleeve 671, the insertion rod 673 and the driving groove 674. These components work together to achieve effective support for the bottom of the disc-shaped parts. The annular sleeve 671 is arranged on the outside of the supporting rod 66. The number and distribution position of the annular sleeve 671 are mutually adapted with the supporting rod 66 to ensure that the support member 67 can be stably installed on the stabilizing component 6. The annular sleeve 671 can be vertically displaced on the outside of the supporting rod 66. This design enables the annular sleeve 671 to be flexibly adjusted according to the height and shape of the disc-shaped parts. A notch 672 is also provided on the surface of the annular sleeve 671 for inserting the insertion rod 673 to achieve direct support for the disc-shaped parts. The insertion rod 673 is a key component in the support member 67. It is inserted in the annular sleeve 67 1, through the detachable connection with the annular sleeve 671, direct support for the bottom of the disc-shaped component is achieved. The design of the plug rod 673 takes into account the diversity of different disc-shaped components, so it can be easily replaced and disassembled to adapt to different disc-shaped components. The driving groove 674 is opened on the surface of the annular sleeve 671, which provides a convenient driving method for the rotation of the annular sleeve 671. In actual operation, the plug rod 673 is first inserted into the inner side of the missing groove 672, and then the force rod is used to insert one end of it into the inner side of the driving groove 674. The position and angle of the plug rod 673 are adjusted by rotating the force rod. When the surface of one side of the plug rod 673 contacts the surface of the disc-shaped component, the rotation of the annular sleeve 671 can be stopped. Through the same method, the other three annular sleeves 671 can be driven to adjust to ensure that the four plug rods 673 are in close contact with the bottom of the disc-shaped component at the same time, so as to achieve a stable support for the disc-shaped component.

[0028] In a preferred embodiment of the present invention, the present invention can be further configured as follows: an inner side of the annular sleeve 671 is provided with an internal thread, and an external thread matching the annular sleeve 671 is processed on the surface of the supporting rod 66, wherein the annular sleeve 671 can be threadedly connected to the outer side of the supporting rod 66. In the design of the stabilizing component 6, the supporting member 67 realizes stable support and flexible adjustment of the bottom of the disc-shaped component through the threaded connection between the annular sleeve 671 and the supporting rod 66. Specifically, an inner side of the annular sleeve 671 is provided with an internal thread, and an external thread matching the inner thread of the annular sleeve 671 is processed on the surface of the supporting rod 66. This threaded connection design allows the annular sleeve 671 to perform vertical rotational displacement on the outer side of the supporting rod 66, that is, when the height of the annular sleeve 671 needs to be adjusted to adapt to the bottom position of different disc-shaped components, it can be achieved by rotating the annular sleeve 671. As the annular sleeve 671 rotates The inner thread thereof engages with the outer thread of the supporting rod 66 so that the annular sleeve 671 can smoothly rise or fall along the axial direction of the supporting rod 66. When the annular sleeve 671 is adjusted to a suitable height, the insertion rod 673 can be inserted into the notch 672 of the annular sleeve 671, and through the cooperation of the force rod and the driving groove 674, the annular sleeve 671 is rotated to adjust the position and angle of the insertion rod 673 until one side surface of the insertion rod 673 is in close contact with the surface of the disc-shaped component. At this time, the supporting member 67 successfully realizes a stable support for the bottom of the disc-shaped component. Since the annular sleeve 671 and the supporting rod 66 are connected by a threaded connection, the installation and adjustment process of the supporting member 67 becomes simple and reliable. At the same time, this design also allows the user to easily replace the insertion rod 673 of different lengths or diameters according to actual needs to adapt to disc-shaped components of different shapes and sizes.

[0029] The specific working principle of the compact manipulator disc-shaped component transmission mechanism of the present invention is as follows: First, the entire transmission mechanism is firmly installed in the required working environment through the support arm 1. The mounting arm 2 is vertically arranged on one side surface of the support arm 1, providing an installation foundation for the subsequent transmission components. The displacement transmission component 3 is installed on the mounting arm 2 as the core driving force. When the first drive motor 31 is started, its output end drives the first synchronous pulley 32 to rotate, and then transmits power to the second synchronous pulley 33 through the transmission synchronous belt 34. Since the transmission synchronous belt 34 is connected to the transmission seat 35, and the transmission seat 35 is installed in the mounting arm 2 through the first slide rail and the first sliding member. The first drive motor 31 is driven by the second drive motor 36 to move the transmission seat 35 laterally. At the same time, the second drive motor 36 is installed on the transmission seat 35. The drive screw 37 connected to the output end is connected to the threaded sleeve 38 by a threaded connection. When the second drive motor 36 is started, the drive screw 37 rotates axially, thereby driving the threaded sleeve 38 to move vertically along the length direction of the drive screw 37. Since the mounting frame 51 is fixedly installed on the threaded sleeve 38, the mounting frame 51 and the edge clamping assembly 5 thereon also move vertically accordingly. The edge clamping assembly 5 clamps the edge of the disc-shaped component through the hinge seat 53 and the arc-shaped edge member 54 on the telescopic arm 52. When the first electric push rod 56 is started, its output end pushes the arc-shaped edge member 54 to rotate around the hinge point, so that the two arc-shaped edge members 54 approach each other and clamp the edge of the disc-shaped component. In addition, the telescopic arm 52 fine-tunes the position of the arc-shaped edge member 54 through the cooperation of the telescopic inner rod 521, the telescopic outer cylinder 522 and the second electric push rod 523 to adapt to the disc-shaped components in different positions. After the disc-shaped component is clamped by the edge clamping assembly 5, the hydraulic push rod 61 pushes the stabilizing frame 62 to move vertically. Under the coordinated action of the third electric push rod 63 and the synchronous transmission assembly 65, the two moving frames 64 can move to the opposite side or the opposite side. The rack 651 in the synchronous transmission assembly 65 is meshed with the gear 653. The rotation of the gear 653 drives the rack 651 to slide under the guidance of the sliding seat 654 and the sliding track 655, thereby realizing the synchronous displacement of the two moving frames 64. When the supporting rod 66 is completely in contact with the outer side of the disc-shaped component, the operation of the third electric push rod 63 can be stopped. Since the inner side of the annular sleeve 671 is provided with an internal thread, which is compatible with the external thread on the supporting rod 66, the annular sleeve 671 can be vertically displaced on the supporting rod 66. By rotating the annular sleeve 671, the insertion rod 673 is inserted into the notch 672, and the force rod is inserted into the driving groove 674 to rotate the annular sleeve 671 until one side surface of the insertion rod 673 is in close contact with the bottom of the disc-shaped component. The insertion rods 673 on the other three annular sleeves 671 are adjusted in the same way to achieve stable support for the bottom of the disc-shaped component.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A compact manipulator disc-shaped component transmission mechanism, comprising a support arm (1), characterized in that: Also includes: The mounting arm (2) is arranged on a side surface of the support arm (1), and is arranged perpendicular to the support arm (1); A displacement transmission component (3) is arranged on the mounting arm (2); a mounting base (4) is arranged on the movable end of the displacement transmission component (3); and the mounting base (4) can be driven to move horizontally and vertically under the drive of the displacement transmission component (3); An edge clamping assembly (5) is arranged on the mounting base (4) and is used to clamp the edge of the disc-shaped component; The stabilizing component (6) is arranged on the mounting base (4) and cooperates with the edge clamping component (5) to fix the disc-shaped component, wherein the disc-shaped component is driven to a suitable position through the edge clamping component (5) and the stabilizing component (6) under the transmission of the displacement transmission component (3).

2. A compact manipulator disc-shaped component transmission mechanism according to claim 1, characterized in that: The displacement transmission assembly (3) comprises: A first drive motor (31) is fixedly mounted on one side surface of the mounting arm (2), wherein an output end of the first drive motor (31) passes through and extends to the other side surface of the mounting arm (2); A first synchronous pulley (32) is fixedly mounted on an output end of the first drive motor (31); A second synchronous belt pulley (33) is rotatably disposed on the surface of the mounting arm (2), wherein the first synchronous belt pulley (32) and the second synchronous belt pulley (33) are located on the same plane; A transmission synchronous belt (34) is arranged outside the first synchronous belt pulley (32) and the second synchronous belt pulley (33); A transmission seat (35) is disposed on the surface of the mounting arm (2) and is interconnected with the transmission synchronous belt (34), wherein the transmission synchronous belt (34) can drive the transmission seat (35) to perform lateral displacement under the drive of the first driving motor (31); and A second driving motor (36) is fixedly mounted on a surface of a side of the transmission base (35) away from the transmission synchronous belt (34); A driving screw (37) is fixedly mounted on the output end of the second driving motor (36) and is driven by the second driving motor (36) to rotate axially; The threaded sleeve (38) is threadedly connected to the outer side of the driving screw (37), wherein the threaded sleeve (38) can be vertically displaced along the length direction of the driving screw (37) under the drive of the second driving motor (36), and the mounting base (4) is fixedly mounted on the outer side of the threaded sleeve (38).

3. A compact manipulator disc-shaped component transmission mechanism according to claim 2, characterized in that: A first slide rail is fixedly mounted on a surface of a side of the mounting arm (2) close to the transmission synchronous belt (34), a first sliding member is fixedly mounted on a surface of the transmission seat (35), the transmission seat (35) is slidably connected to the surface of the mounting arm (2) via the first slide rail and the first sliding member, a second slide rail is fixedly mounted on a surface of the transmission seat (35) away from the transmission synchronous belt (34), and a second sliding member matched with the second slide rail is fixedly mounted on a surface of the threaded sleeve (38).

4. A compact manipulator disc-shaped component transmission mechanism according to claim 2, characterized in that: The edge clamping assembly (5) comprises: A mounting frame (51) is fixedly mounted on the mounting base (4) and is disposed perpendicularly to the threaded sleeve (38); A telescopic arm (52) is disposed on a side surface of the mounting frame (51) away from the threaded sleeve (38); An articulated seat (53) fixedly mounted on the telescopic arm (52); An arc-shaped edge member (54), one end of which is hinged to the inner side of the hinge seat (53), and the number of the arc-shaped edge members (54) is two, and the arc-shaped edge members (54) can be rotated and displaced according to the hinge point; A hinged fixing seat (55) is arranged on the telescopic arm (52), and the number and distribution position of the hinged fixing seat (55) are adapted to the arc-shaped edge member (54); and A first electric push rod (56) has a fixed end connected to the telescopic arm (52) via a hinged fixing seat (55), wherein the fixed end of the first electric push rod (56) can be hingedly rotated with the hinged fixing seat (55) as an origin, and an output end of the first electric push rod (56) is hingedly connected to the arc-shaped edge member (54), wherein the arc-shaped edge member (54) can be driven to rotate by the first electric push rod (56) to complete the clamping of the disc-shaped component.

5. A compact manipulator disc-shaped component transmission mechanism according to claim 4, characterized in that: The telescopic arm (52) comprises: The telescopic inner rods (521) are fixedly mounted on the surface of the mounting frame (51), and there are two of them, which are arranged perpendicular to the mounting frame (51); The telescopic outer cylinder (522) is arranged on the outer side of the telescopic inner rod (521), wherein the telescopic outer cylinder (522) can be telescopically slid on the outer side of the telescopic inner rod (521); A second electric push rod (523), a fixed end of which is fixedly mounted on the surface of the mounting frame (51), and an output end of which is fixedly mounted on the surface of the telescopic outer cylinder (522); and The transverse connecting arm (524) is arranged between the two telescopic outer cylinders (522), wherein the hinge seat (53) and the hinge fixing seat (55) are both arranged on the surface of the transverse connecting arm (524).

6. A compact manipulator disc-shaped component transmission mechanism according to claim 1, characterized in that: The stabilizing component (6) comprises: A hydraulic push rod (61) is fixedly mounted on the mounting base (4), with its output end facing one side of the edge clamping assembly (5); A stabilizing frame (62) is fixedly mounted on the output end of the hydraulic push rod (61) and can be vertically displaced under the driving of the hydraulic push rod (61); A third electric push rod (63) is fixedly mounted on a side surface of the stabilizing frame (62) away from the hydraulic push rod (61); A movable frame (64) is slidably connected to a side surface of the stable frame (62) away from the hydraulic push rod (61), and there are two movable frames (64) arranged parallel to each other, wherein the output end of the third electric push rod (63) is connected to one of the movable frames (64); A synchronous transmission assembly (65) is arranged on the stable frame (62), wherein the synchronous transmission assembly (65) is connected to another movable frame (64), and can drive the two movable frames (64) to move to the opposite side or the opposite side under the drive of the third electric push rod (63) and the synchronous transmission assembly (65); The supporting rods (66) are divided into two equal groups and are respectively fixedly mounted on the two movable frames (64); and The supporting member (67) is arranged between the four supporting rods (66) and can contact with one side surface of the disc-shaped component.

7. A compact manipulator disc-shaped component transmission mechanism according to claim 6, characterized in that: The synchronous transmission assembly (65) comprises: Racks (651) are fixedly mounted on the mobile frame (64), and the number and distribution positions of the racks (651) are adapted to the mobile frame (64); A connecting shaft (652) is rotatably mounted on the stabilizing frame (62) and can axially rotate on the surface of the stabilizing frame (62); A gear (653) is fixedly mounted on the outer side of the connecting shaft (652), wherein the gear (653) is located between the two racks (651) and meshes with the gear (653); The sliding seats (654) are fixedly mounted on the stabilizing frame (62), and the number and distribution positions of the sliding seats (654) are adapted to the racks (651); and The sliding track (655) is fixedly mounted on the surface of the rack (651) and is adapted to the sliding seat (654), wherein the rack (651) is slidably connected to the surface of the stabilizing frame (62) via the sliding seat (654) and the sliding track (655).

8. A compact manipulator disc-shaped component transmission mechanism according to claim 6, characterized in that: The supporting member (67) comprises: an annular sleeve (671), arranged on the outside of the supporting rod (66), which can be vertically displaced on the outside of the supporting rod (66), and the number and distribution position of the annular sleeve (671) are adapted to the supporting rod (66), and a notch (672) is formed on the surface of the annular sleeve (671); An insertion rod (673) is inserted into the notch (672) of the annular sleeve (671); The driving groove (674) is formed on the surface of the annular sleeve (671).

9. A compact manipulator disc-shaped component transmission mechanism according to claim 8, characterized in that: The inner side of the annular sleeve (671) is provided with an internal thread, and the surface of the supporting rod (66) is processed with an external thread matching the annular sleeve (671), wherein the annular sleeve (671) can be threadedly connected to the outer side of the supporting rod (66).

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