Driving mechanism for safety experiment mechanical arm

Abstract

The utility model relates to the technical field of mechanical arm driving, in particular to a driving mechanism for a safety experiment mechanical arm, which comprises a fixing frame, a packaging plate is mounted on the top of the fixing frame through screws, a servo motor is mounted on the front surface of the fixing frame through bolts, and a fixing plate is fixedly connected to the bottom of an inner cavity of the fixing frame. A guiding groove is formed in the top of the fixing plate, a flexible driving mechanism is installed in the inner cavity of the fixing frame and located on the top of the fixing plate, and a displacement driving mechanism is installed on the rear side of the inner cavity of the fixing frame and located on the top of the fixing plate. By arranging the servo motor, the universal driving shaft, the flexible driving mechanism, the fixed plate, the displacement driving mechanism and the guide groove, the variable-speed adjusting mechanism has the advantage of variable-speed adjustment, can drive the universal driving shaft to rotate at a reduced speed through meshing transmission of the displacement gear and the fixed gear, and can control the electric push rod to stretch out and draw back to work when meeting different precision or unit angle variable requirements. And different displacement gears are meshed with the fixed gear.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm driving, in particular to a driving mechanism for a safety experiment mechanical arm. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. It is widely used in industrial assembly, safety and explosion protection, and other fields. The drive mechanism is one of the indispensable components of the robotic arm. In safety experiments, there are often requirements for the accuracy of the robotic arm's movements.

[0003] The simple driving mechanism will only simply adjust the operating angle of the robot arm, but cannot flexibly control the driving speed and unit angle change of the robot arm. It cannot meet the various operation requirements during the safety experiment and has certain limitations. In order to solve the above technical problems, we have designed a driving mechanism for the safety experiment robot arm. Utility Model Content

[0004] The purpose of the utility model is to provide a driving mechanism for a safety experiment robot arm, which has the advantage of variable speed regulation and solves the problem that a simple driving mechanism can only simply adjust the operating angle of the robot arm but cannot flexibly control the driving speed and unit angle change of the robot arm. It cannot meet various operational requirements during the safety experiment and has certain limitations.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a driving mechanism for a safety experiment robot arm, comprising a fixed frame, a packaging plate is screwed onto the top of the fixed frame, a servo motor is bolted onto the front surface of the fixed frame, a fixed plate is fixedly connected to the bottom of the inner cavity of the fixed frame, a guide groove is provided on the top of the fixed plate, a flexible driving mechanism is installed on the top of the inner cavity of the fixed frame located at the top of the fixed plate, a displacement driving mechanism is installed on the rear side of the inner cavity of the fixed frame and located on the top of the fixed plate, and a linkage shaft is movably installed through the left side of the surface of the fixed frame.

[0006] Preferably, the flexible driving mechanism comprises a bearing frame, the bearing frame is located on the top of the fixed plate, a guide block is fixedly connected to the center of the bottom of the bearing frame, and the guide block is adapted to the guide groove.

[0007] Preferably, a hollow storage sleeve is movably installed on the top of the carrier surface, a rectangular rod is slidably installed on the front side of the inner cavity of the hollow storage sleeve, and the output end of the servo motor is fixedly connected to the connection point of the rectangular rod.

[0008] Preferably, a displacement gear is disposed on the surface fixing sleeve of the hollow storage sleeve, and a fixed gear is disposed on the surface of the linkage shaft and located in the inner cavity fixing sleeve of the fixing frame, and the fixed gear is meshed with the displacement gear.

[0009] Preferably, a first angle sensor is sleeved and installed on the rear side of the surface of the hollow storage sleeve, and a second angle sensor is sleeved and installed on the surface of the linkage shaft and located on the front side of the fixed gear.

[0010] Preferably, the displacement driving mechanism comprises an electric push rod and a T-slot, the surface of the electric push rod is bolted to the rear side of the inner cavity of the fixed frame, and the output end of the electric push rod is fixedly connected to a T-block.

[0011] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0012] The utility model has the advantage of variable speed regulation by arranging a servo motor, a linkage shaft, a flexible driving mechanism, a fixed plate, a displacement driving mechanism and a guide groove. Under the drive of the servo motor, the displacement gear and the fixed gear are meshed and transmitted to drive the linkage shaft to decelerate and rotate. When facing different precision or unit angle variable requirements, the electric push rod can be controlled to work telescopically, so that different displacement gears are meshed with the fixed gear, which better meets the actual needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the structure of the utility model;

[0014] Figure 2 It is a left-side stereoscopic diagram of the structure of the utility model;

[0015] Figure 3 It is a sectional stereoscopic diagram of the structure of the utility model;

[0016] Figure 4 It is a three-dimensional schematic diagram of the utility model when the local structure is separated;

[0017] Figure 5 It is a rear and upward stereoscopic view of the displacement drive mechanism of the utility model.

[0018] In the figure: 1. fixed frame; 2. packaging plate; 3. servo motor; 4. linkage shaft; 5. flexible driving mechanism; 501. carrier frame; 502. guide block; 503. first angle sensor; 504. hollow storage sleeve; 505. second angle sensor; 506. fixed gear; 507. displacement gear; 508. rectangular rod; 6. fixed plate; 7. displacement driving mechanism; 701. electric push rod; 702. T-slot; 703. T-block; 8. guide slot. DETAILED DESCRIPTION

[0019] See also Figure 1-Figure 5A driving mechanism for a safety experiment robot arm includes a fixed frame 1, a packaging plate 2 is screwed on the top of the fixed frame 1, a servo motor 3 is bolted on the front surface of the fixed frame 1, a fixed plate 6 is fixedly connected to the bottom of the inner cavity of the fixed frame 1, a guide groove 8 is opened on the top of the fixed plate 6, a flexible driving mechanism 5 is installed on the top of the fixed plate 6 in the inner cavity of the fixed frame 1, a displacement driving mechanism 7 is installed on the rear side of the inner cavity of the fixed frame 1 and on the top of the fixed plate 6, and a linkage shaft 4 is movably installed on the left side of the surface of the fixed frame 1;

[0020] See also Figure 3 and Figure 4 The flexible driving mechanism 5 includes a carrier frame 501, the carrier frame 501 is located on the top of the fixed plate 6, and a guide block 502 is fixedly connected to the center of the bottom of the carrier frame 501, and the guide block 502 is adapted to the guide groove 8;

[0021] See also Figure 3 and Figure 4 A hollow storage sleeve 504 is movably installed on the top of the surface of the carrier 501, a rectangular rod 508 is slidably installed on the front side of the inner cavity of the hollow storage sleeve 504, and the output end of the servo motor 3 is fixedly connected to the connection of the rectangular rod 508;

[0022] See also Figure 3 and Figure 4 The surface of the hollow storage sleeve 504 is fixed with a displacement gear 507, and the surface of the linkage shaft 4 and the inner cavity of the fixed frame 1 is fixed with a fixed gear 506, and the fixed gear 506 is meshed with the displacement gear 507;

[0023] See also Figure 3 and Figure 4 A first angle sensor 503 is installed on the rear side of the hollow storage sleeve 504, and a second angle sensor 505 is installed on the surface of the linkage shaft 4 and located in front of the fixed gear 506;

[0024] See also Figure 4 and Figure 5 The displacement driving mechanism 7 includes an electric push rod 701 and a T-shaped slot 702. The surface of the electric push rod 701 is bolted to the rear side of the inner cavity of the fixed frame 1. The output end of the electric push rod 701 is fixedly connected to a T-shaped block 703.

[0025] The inner cavity of the hollow storage sleeve 504 is in the shape of a rectangular groove used in conjunction with the rectangular rod 508. The rectangular groove cooperates with the rectangular rod 508 to synchronously rotate the hollow storage sleeve 504 when the servo motor 3 drives the rectangular rod 508 to rotate.

[0026] The guide block 502 is composed of a vertical rod and a sphere. The top of the vertical rod is fixedly connected to the bottom of the carrier 501, and the bottom of the vertical rod is fixedly connected to the top of the sphere. The diameter of the sphere is larger than the diameter of the vertical rod. This design can ensure the sliding stability of the guide block 502 in the guide groove 8 and prevent the guide block 502 from moving up at will and leaving the guide groove 8.

[0027] The T-slot 702 is horizontally opened at the bottom of the back surface of the carrier 501. The T-slot 702 is adapted to the T-block 703. The T-slot 702 cooperates with the T-block 703 to drive the carrier 501 to move forward and backward when the electric push rod 701 is extended and retracted, and meet the requirement of left and right displacement of the carrier 501.

[0028] By providing the packaging plate 2, the top of the fixed frame 1 can be packaged in the installed state to prevent dust and impurities from entering the fixed frame 1. By providing the linkage shaft 4, the fixed gear 506 and the second angle sensor 505 can be supported and installed.

[0029] By providing the carrier 501, the movable installation requirements of the hollow storage sleeve 504 can be met, and the space requirements for the T-slot 702 can be met. By providing the first angle sensor 503 and the second angle sensor 505, the rotation angles of the hollow storage sleeve 504 and the linkage shaft 4 can be detected respectively.

[0030] By setting the fixed gear 506 and the displacement gear 507, a meshing transmission can be achieved. When the displacement gears 507 of different specifications are meshed with the fixed gear 506, different transmission ratios can be formed.

[0031] By providing the rectangular rod 508, it can be in sliding contact with the hollow storage sleeve 504. Under the drive of the servo motor 3, the rectangular rod 508 and the hollow storage sleeve 504 can be rotated synchronously. By providing the fixing plate 6, the space requirement for the guide groove 8 can be met. By providing the T-slot 702 and the T-block 703, when the electric push rod 701 is telescopically displaced, the T-block 703 can drive the carrier 501 to move forward and backward, and the T-block 703 can also move laterally in the T-slot 702.

[0032] In actual application, the first angle sensor 503 and the second angle sensor 505 always monitor the rotation angle of the hollow storage sleeve 504 and the linkage shaft 4 and transmit the signal to the external digital display controller, so as to facilitate the staff to conduct digital viewing and observation.

[0033] When in use, all components are in the initial installation state, and the linkage shaft 4 is fixedly connected to the end of the mechanical arm to be rotated. When the mechanical arm needs to be driven to rotate, it is only necessary to control the servo motor 3 to work, drive the rectangular rod 508 to rotate, and make the hollow storage sleeve 504 rotate. Under the meshing transmission of the displacement gear 507 and the fixed gear 506, the linkage shaft 4 is decelerated to drive the mechanical arm to rotate. When it is necessary to change the transmission ratio to adjust the driving speed of the mechanical arm or the unit angle change, the electric push rod 701 is controlled to extend or retract. Under the cooperation of the T-block 703 and the T-slot 702, the carrier frame 501 is driven to produce forward and backward displacement. Since the specifications of the multiple displacement gears 507 are different, when they are meshed with the fixed gear 506, the positions of their centers are also different. Under the guidance of the guide block 502 and the guide slot 8, the carrier frame 501 is displaced forward and backward while producing lateral left and right displacements. The T-block 703 slides in the T-slot 702 to ensure that the fixed gear 506 and the displacement gear 507 can be well meshed.

[0034] To sum up: the driving mechanism for the safety experiment robot arm, by setting a servo motor 3, a linkage shaft 4, a flexible driving mechanism 5, a fixed plate 6, a displacement driving mechanism 7 and a guide groove 8, solves the problem that a simple driving mechanism can only simply adjust the operating angle of the robot arm, but cannot flexibly control the driving speed of the robot arm and the unit angle change. It cannot meet the various operation requirements during the safety experiment and has certain limitations.

Claims

1. A driving mechanism for a safety experiment robot arm, comprising a fixing frame (1), characterized in that: The top of the fixed frame (1) is screwed with a packaging plate (2), the front surface of the fixed frame (1) is bolted with a servo motor (3), the bottom of the inner cavity of the fixed frame (1) is fixedly connected with a fixing plate (6), the top of the fixing plate (6) is provided with a guide groove (8), the inner cavity of the fixed frame (1) is located at the top of the fixing plate (6) and a flexible driving mechanism (5) is installed, the rear side of the inner cavity of the fixed frame (1) and located at the top of the fixing plate (6) is installed with a displacement driving mechanism (7), and the left side of the surface of the fixed frame (1) is movably installed with a linkage shaft (4).

2. The driving mechanism for a safety experiment robot arm according to claim 1, characterized in that: The flexible driving mechanism (5) comprises a carrier frame (501), the carrier frame (501) is located on the top of the fixed plate (6), a guide block (502) is fixedly connected to the center of the bottom of the carrier frame (501), and the guide block (502) is adapted to the guide groove (8).

3. The driving mechanism for a safety experiment robot arm according to claim 2, characterized in that: A hollow storage sleeve (504) is movably mounted on the top of the surface of the carrier (501), a rectangular rod (508) is slidably mounted on the front side of the inner cavity of the hollow storage sleeve (504), and the output end of the servo motor (3) is fixedly connected to the connection point of the rectangular rod (508).

4. The driving mechanism for a safety experiment robot arm according to claim 3, characterized in that: A displacement gear (507) is provided on the surface fixing sleeve of the hollow storage sleeve (504), and a fixed gear (506) is provided on the surface of the linkage shaft (4) and located in the inner cavity fixing sleeve of the fixing frame (1), and the fixed gear (506) is meshed with the displacement gear (507).

5. The driving mechanism for a safety experiment robot arm according to claim 4, characterized in that: A first angle sensor (503) is sleeved and installed on the rear side of the surface of the hollow storage sleeve (504), and a second angle sensor (505) is sleeved and installed on the surface of the linkage shaft (4) and located on the front side of the fixed gear (506).

6. The driving mechanism for a safety experiment robot arm according to claim 1, characterized in that: The displacement drive mechanism (7) comprises an electric push rod (701) and a T-shaped slot (702); the surface of the electric push rod (701) is bolt-connected to the rear side of the inner cavity of the fixed frame (1); and the output end of the electric push rod (701) is fixedly connected to a T-shaped block (703).

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