Rotary adjusting mechanism of manipulator

Abstract

The invention belongs to the technical field of manipulators, and discloses a manipulator rotation adjusting mechanism which comprises a rack, a first motor is fixedly mounted at the lower end of the rack, an outer power disc is fixedly mounted at the end of an output shaft of the first motor, and a plurality of first N poles and first S poles are fixedly mounted in the outer power disc; the first N poles and the first S poles are connected in pairs and are encircled to form a circular structure; according to the rotation adjusting mechanism of the mechanical arm, when high-precision rotation needs to be conducted on the mechanical arm, the transmission disc and the outer power disc coincide, the first motor is powered on to drive the outer power disc to rotate, in the rotation process of the outer power disc, the first S pole generates magnetic attraction to the second N pole, and the second S pole generates magnetic attraction to the second N pole; and compared with traditional gear transmission, the transmission assemblies in the transmission device do not make contact with one another, so that abrasion does not exist between the different assemblies, and the service life is greatly prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a rotation adjustment mechanism of a manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] For example, the announcement number CN216658013U is a kind of robot arm rotation mechanism and surgical robot. This robot arm rotation mechanism is composed of a motor, multiple gears and a reducer. The transmission method is through gear meshing. This transmission method is easy to wear the gears after long-term use, which leads to reduced rotation accuracy of the robot arm. At the same time, if the load of the robot arm is greater than the output power of the motor, it will cause damage to the motor. The reducer is composed of multiple sets of speed gears. There is a problem of large energy loss in the transmission process. In order to solve the above problems, a rotation adjustment mechanism of the robot arm is proposed. Summary of the invention

[0004] The purpose of the present invention is to increase the service life of a manipulator rotating mechanism and reduce its kinetic energy loss.

[0005] The technical solution adopted by the present invention is as follows: a rotation adjustment mechanism of a manipulator, comprising: A frame, wherein a first motor is fixedly mounted at the lower end of the frame, an external power disk is fixedly mounted at the end of the output shaft of the first motor, a plurality of first N poles and first S poles are fixedly mounted inside the external power disk, and the first N poles and first S poles are connected and surrounded in pairs to form a circular structure; A transmission mechanism, wherein the transmission mechanism is slidably connected to the upper end of the frame, a transmission disk is rotatably connected inside the transmission mechanism, a plurality of second N poles and second S poles are fixedly installed inside the transmission disk, the center of the transmission disk and the outer power disk are located on the same Y axis, and the transmission disk is located directly above the outer power disk; The rotating mechanism is fixedly mounted on the output shaft end of the transmission mechanism.

[0006] In a preferred embodiment, the number of the first N pole and the number of the first S pole are both one.

[0007] In a preferred embodiment, the number of the second N pole and the second S pole is both , and there is a gap between the second N pole and the second S pole.

[0008] In a preferred embodiment, a slide rail is fixedly installed in the middle of the frame, an electric slider is slidably connected to the outer wall of the slide rail, a clamp is fixedly installed on one side of the electric slider, and the clamp is fixedly connected to the outer wall of the transmission mechanism away from the electric slider.

[0009] In a preferred embodiment, the rotating mechanism also includes a fixed plate, which is fixedly installed on the upper end of the frame, a rotating disk is rotatably connected to the middle of the fixed plate, the manipulator is fixedly installed on the upper surface of the rotating disk, and the lower end of the rotating disk is fixedly connected to the end of the rotating shaft.

[0010] In a preferred embodiment, a locking rod is rotatably connected to the lower surface of the fixing plate, a protrusion is integrally provided on one side of the locking rod, a second motor is fixedly installed on the upper surface of the fixing plate, and an output shaft of the second motor is fixedly connected to one side of the locking rod.

[0011] In a preferred embodiment, a friction pad is provided on the outer wall of the projection.

[0012] In a preferred embodiment, a return spring is fixedly installed between the locking rod and the lower wall of the fixing plate, a limiting sliding groove is provided at the lower end of the fixing plate, and one side of the locking rod is slidably connected to the inside of the limiting sliding groove.

[0013] In a preferred embodiment, an internal fixing block is fixedly installed inside the transmission mechanism, a connecting groove is opened at the center of the internal fixing block, the rotating shaft is arranged inside the connecting groove, and a plurality of air outlet holes are opened inside the connecting groove.

[0014] In a preferred embodiment, a limit block is fixedly installed at one end of the rotating shaft outside the transmission mechanism, a plurality of balls are rotatably connected to the outer wall of the limit block, and a groove matching the limit block is formed at the upper end of the transmission mechanism.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the present invention proposes a rotation adjustment mechanism of a manipulator, in order to increase the service life of the manipulator rotation mechanism and reduce its kinetic energy loss.

[0016] 1. When the manipulator needs to be rotated with high precision, the transmission disk overlaps with the external power disk, and the first motor is energized to drive the external power disk to rotate. During the rotation of the external power disk, the first N pole generates magnetic attraction to the second N pole, and the first S pole generates magnetic attraction to the second N pole, so that the external power disk drives the transmission disk to rotate. Compared with the traditional gear transmission, there is no contact between the transmission components in the present invention, so there is no wear between different components, which greatly improves the service life.

[0017] 2. When low-energy rotation is required, the transmission disk is located cm above the external power disk. At this time, one end of the second N pole is pushed by the first N pole, and the other end is attracted by the first S pole, so that it is driven to rotate by the first N pole and the first S pole at the same time. When the external power disk rotates one circle, the transmission disk rotates four circles, thereby realizing speed regulation and reducing power consumption.

[0018] 3. When the manipulator needs to be rotated, the locking rod is driven to rotate by the second motor, so that the protrusion on one side of the locking rod leaves the outer wall of the rotating disk, so that the rotating disk can rotate. When the first motor stops working, the locking rod is reset to make the protrusion contact with the outer wall of the rotating disk, so that the rotating disk can stop moving quickly, preventing inertia from driving the rotating disk to continue rotating, thereby improving the control accuracy of the rotating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a side view of the frame and the transmission mechanism of the present invention; Figure 3 This is a diagram showing the connection state of the outer power disc and the transmission disc in the present invention; Figure 4 is a bottom view of the fixing plate in the present invention; Figure 5 It is a schematic diagram of the internal structure of the transmission mechanism in the present invention.

[0020] Markings in the figure: 1-frame; 11-first motor; 12-external power disk; 13-first N pole; 14-first S pole; Transmission mechanism; 21-rotating shaft; 22-transmission plate; 23-second N pole; 24-second S pole; 25-slide rail; 26-electric slider; 27-hoop; 211-internal fixing block; 212-connecting groove; 213-air outlet; 214-limiting block; Rotating mechanism; 31-fixed plate; 32-rotating disk; 33-second motor; 34-locking rod; 35-limiting slide groove; 36-bump; 37-reset spring. Implementation

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are 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.

[0022] The following will be combined Figure 1-Figure 5A robotic arm clamp according to an embodiment of the present invention is described in detail. Example

[0023] A rotation adjustment mechanism of a manipulator, comprising: A frame 1, a first motor 11 is fixedly mounted at the lower end of the frame 1, an external power disk 12 is fixedly mounted at the end of the output shaft of the first motor 11, a plurality of first N poles 13 and first S poles 14 are fixedly mounted inside the external power disk 12, and the first N poles 13 and the first S poles 14 are connected and surrounded in pairs to form a circular structure; The transmission mechanism 2 is slidably connected to the upper end of the frame 1, and a transmission disc 22 is rotatably connected inside the transmission mechanism 2. A plurality of second N poles 23 and second S poles 24 are fixedly installed inside the transmission disc 22. The centers of the transmission disc 22 and the outer power disc 12 are located on the same Y axis, and the transmission disc 22 is located directly above the outer power disc 12; The rotating mechanism 3 is fixedly mounted on the end of the output shaft of the transmission mechanism 2 .

[0024] In this embodiment, when the manipulator needs to be rotated at high speed, the transmission disk 22 overlaps with the external power disk 12, and the first motor 11 is energized to drive the external power disk 12 to rotate. During the rotation of the external power disk 12, the first N pole 13 generates magnetic attraction to the second N pole 23, and the first S pole 14 generates magnetic attraction to the second N pole 23, so that the external power disk 12 drives the transmission disk 22 to rotate. Compared with the traditional gear transmission, there is no contact between the transmission components in the present invention, so there is no wear between different components, which greatly improves the service life. When high-precision transmission is required, the transmission disk 22 is located 3 cm above the external power disk 12. At this time, one end of the second N pole 23 is pushed by the first N pole 13, and the other end is attracted by the first S pole 14, so that it is driven to rotate by the first N pole 13 and the first S pole 14 at the same time. When the external power disk 12 rotates one circle, the transmission disk 22 rotates four circles, thereby realizing speed regulation and reducing power consumption.

[0025] In a preferred embodiment, the number of the first N poles 13 and the number of the first S poles 14 are both 8.

[0026] In a preferred embodiment, the number of the second N-pole 23 and the number of the second S-pole 24 are both 2, and there is a gap between the second N-pole 23 and the second S-pole 24.

[0027] In this embodiment, when the transmission disk 22 overlaps with the external power disk 12, the second N pole 23 is located between the two first N poles 13, so that equal transmission is achieved between the transmission disk 22 and the external power disk 12. When the transmission disk 22 is separated from the external power disk 12, the second N pole 23 is located between the first N pole 13 and the first S pole 14, realizing accelerated transmission.

[0028] In a preferred embodiment, a slide rail 25 is fixedly installed in the middle of the frame 1, and an electric slider 26 is slidably connected to the outer wall of the slide rail 25. A clamp 27 is fixedly installed on one side of the electric slider 26, and the clamp 27 is fixedly connected to the outer wall of the transmission mechanism 2 away from the electric slider 26.

[0029] In this embodiment, the electric slider 26 drives the clamp 27 to move up and down along the slide rail 25, and drives the transmission plate 22 to move up and down during the up and down movement, thereby achieving speed regulation.

[0030] In a preferred embodiment, the rotating mechanism 3 also includes a fixed plate 31, which is fixedly mounted on the upper end of the frame 1, and a rotating disk 32 is rotatably connected to the middle of the fixed plate 31. The manipulator is fixedly mounted on the upper surface of the rotating disk 32, and the lower end of the rotating disk 32 is fixedly connected to the end of the rotating shaft 21.

[0031] In this embodiment, the rotating disk 32 is driven to rotate by the rotating shaft 21 .

[0032] In a preferred embodiment, a locking rod 34 is rotatably connected to the lower surface of the fixing plate 31, a protrusion 36 is integrally provided on one side of the locking rod 34, and a second motor 33 is fixedly installed on the upper surface of the fixing plate 31, and the output shaft of the second motor 33 is fixedly connected to one side of the locking rod 34.

[0033] In this embodiment, when the manipulator needs to be rotated, the second motor 33 drives the locking rod 34 to rotate, so that the protrusion 36 on one side of the locking rod 34 leaves the outer wall of the rotating disk 22, so that the rotating disk 22 can rotate. When the first motor 11 stops working, the locking rod 34 is reset to make the protrusion 36 contact the outer wall of the rotating disk 22, so that the rotating disk 22 can stop moving quickly to prevent the influence of inertia.

[0034] In a preferred embodiment, a friction pad is disposed on the outer wall of the projection 36 .

[0035] In this embodiment, the friction force of the protrusion 36 is increased by providing a friction pad.

[0036] In a preferred embodiment, a return spring 37 is fixedly installed between the locking rod 34 and the lower wall of the fixing plate 31 , a limiting slot 35 is provided at the lower end of the fixing plate 31 , and one side of the locking rod 34 is slidably connected to the inside of the limiting slot 35 .

[0037] In this embodiment, a reset spring 37 is provided to drive the locking rod 34 to automatically reset, and a limiting sliding groove 35 is provided to limit the movement trajectory of the locking rod 34.

[0038] In a preferred embodiment, an inner fixing block 211 is fixedly installed inside the transmission mechanism 2 , a connecting groove 212 is opened at the center of the inner fixing block 211 , the rotating shaft 21 is arranged inside the connecting groove 212 , and a plurality of air outlet holes 213 are opened inside the connecting groove 212 .

[0039] In this embodiment, the transmission mechanism 2 is connected to an air pump, and the air pump rushes high-pressure gas into the interior of the internal fixing block 221. The high-pressure gas in the internal fixing block 211 enters the interior of the connecting groove 212 through the air outlet 213, so that the rotating shaft 21 in the connecting groove 212 is suspended in the interior of the connecting groove 212. When the rotating shaft 21 rotates, the rotating shaft 21 has no contact with the inner wall of the transmission mechanism 2, which reduces energy consumption and increases the service life of the rotating shaft 21.

[0040] In a preferred embodiment, a limit block 214 is fixedly installed at one end of the rotating shaft 21 outside the transmission mechanism 2, a plurality of balls are rotatably connected to the outer wall of the limit block 214, and a groove matching the limit block 214 is opened at the upper end of the transmission mechanism 2.

[0041] In this embodiment, when the transmission mechanism 2 is driven to move upward by the clamp 27, the limit block 214 is provided on the outer wall of the rotating shaft 21, so that the limit block 214 drives the rotating shaft 21 to move along with the transmission mechanism 2. By providing multiple balls on the outer wall of the limit block 214, the friction between the limit block 214 and the upper end of the transmission mechanism 2 is reduced.

[0042] Working principle: When the manipulator needs to rotate at high speed, the transmission disk 22 overlaps with the external power disk 12, and the first motor 11 is energized to drive the external power disk 12 to rotate. During the rotation of the external power disk 12, the first N pole 13 generates magnetic attraction to the second N pole 23, and the first S pole 14 generates magnetic attraction to the second N pole 23, so that the external power disk 12 drives the transmission disk 22 to rotate. Compared with the traditional gear transmission, there is no contact between the transmission components in the present invention, so there is no wear between different components, which greatly improves the service life. When high-precision transmission is required, the electric slider 26 drives the hoop 27 to move up and down along the slide rail 25, and drives the transmission disk 22 to move upward during its movement. At this time, one end of the second N pole 23 is pushed by the first N pole 13, and the other end is attracted by the first S pole 14, so that it is driven to rotate by the first N pole 13 and the first S pole 14 at the same time. When the external power disk 12 rotates one circle, the transmission disk 22 rotates four circles, thereby realizing speed regulation and reducing power consumption. When the manipulator needs to be rotated, the locking rod 34 is driven to rotate by the second motor 33, so that the protrusion 36 on one side of the locking rod 34 leaves the outer wall of the rotating disk 22, so that the rotating disk 22 can rotate; when the first motor 11 stops working, the locking rod 34 is reset to make the protrusion 36 contact the outer wall of the rotating disk 22, so that the rotating disk 22 can stop moving quickly, preventing inertia from driving the rotating disk 22 to continue rotating, thereby improving the control accuracy of the rotating mechanism.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotation adjustment mechanism for a manipulator, characterized in that: include: A frame (1), wherein a first motor (11) is fixedly mounted at the lower end of the frame (1), an external power disk (12) is fixedly mounted at the end of the output shaft of the first motor (11), a plurality of first N poles (13) and first S poles (14) are fixedly mounted inside the external power disk (12), and the first N poles (13) and first S poles (14) are connected in pairs and surround each other to form a circular structure; A transmission mechanism (2), wherein the transmission mechanism (2) is slidably connected to the upper end of the frame (1), a transmission disc (22) is rotatably connected inside the transmission mechanism (2), a plurality of second N poles (23) and second S poles (24) are fixedly installed inside the transmission disc (22), the center of the transmission disc (22) and the external power disc (12) are located on the same Y axis, and the transmission disc (22) is located directly above the external power disc (12); A rotating mechanism (3), wherein the rotating mechanism (3) is fixedly mounted on an output shaft end of the transmission mechanism (2).

2. A convenient, fast and high-precision solid mold as claimed in claim 1, characterized in that: The number of the first N poles (13) and the number of the first S poles (14) are both 8.

3. A rotation adjustment mechanism for a manipulator as claimed in claim 1, characterized in that: The number of the second N pole (23) and the second S pole (24) are both two, and there is a gap between the second N pole (23) and the second S pole (24).

4. A rotation adjustment mechanism for a manipulator as claimed in claim 1, characterized in that: A slide rail (25) is fixedly mounted in the middle of the frame (1); an electric slider (26) is slidably connected to the outer wall of the slide rail (25); a clamp (27) is fixedly mounted on one side of the electric slider (26); and the clamp (27) is fixedly connected to the outer wall of the transmission mechanism (2) on a side away from the electric slider (26).

5. A rotation adjustment mechanism for a manipulator as claimed in claim 1, characterized in that: The rotating mechanism (3) further comprises a fixed plate (31), the fixed plate (31) being fixedly mounted on the upper end of the frame (1), a rotating disk (32) being rotatably connected to the middle of the fixed plate (31), the manipulator being fixedly mounted on the upper surface of the rotating disk (32), and the lower end of the rotating disk (32) being fixedly connected to the end of the rotating shaft (21).

6. A rotation adjustment mechanism for a manipulator as claimed in claim 5, characterized in that: A locking rod (34) is rotatably connected to the lower surface of the fixing plate (31), a protrusion (36) is integrally provided on one side of the locking rod (34), a second motor (33) is fixedly mounted on the upper surface of the fixing plate (31), and an output shaft of the second motor (33) is fixedly connected to one side of the locking rod (34).

7. A rotation adjustment mechanism for a manipulator as claimed in claim 6, characterized in that: The outer wall of the protrusion (36) is provided with a friction pad.

8. A rotation adjustment mechanism for a manipulator as claimed in claim 7, characterized in that: A return spring (37) is fixedly mounted between the locking rod (34) and the lower wall of the fixing plate (31); a limiting sliding groove (35) is provided at the lower end of the fixing plate (31); and one side of the locking rod (34) is slidably connected to the inside of the limiting sliding groove (35).

9. A rotation adjustment mechanism for a manipulator as claimed in claim 1, characterized in that: An internal fixing block (211) is fixedly installed inside the transmission mechanism (2), a connecting groove (212) is provided at the center of the internal fixing block (211), the rotating shaft (21) is arranged inside the connecting groove (212), and a plurality of air outlet holes (213) are provided inside the connecting groove (212).

10. A rotation adjustment mechanism for a manipulator as claimed in claim 1, characterized in that: A limit block (214) is fixedly mounted on one end of the rotating shaft (21) located outside the transmission mechanism (2); a plurality of balls are rotatably connected to the outer wall of the limit block (214); and a groove matching the limit block (214) is provided at the upper end of the transmission mechanism (2).

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