Multi-shaft synchronous rotating mechanism
By designing a multi-axis synchronous rotation mechanism, the synchronous rotation of multiple mounting seats is achieved by using the connecting rod and the driving member, the problem of high cost of rotation structure in the prior art is solved, and the cost reduction effect is achieved.
Patent Information
- Application Number
- CN202421327976.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-11
- Publication Date
- 2025-05-16
- Estimated Expiration
- 2034-06-11
AI Technical Summary
In the existing automation system, multiple rotary structures are connected by gear transmission, resulting in higher cost of rotary structures.
A multi-axis synchronous rotation mechanism is designed to connect multiple swing rods through a connecting rod, so that all mounting seats are connected to each other, and to drive one of the swing rods to rotate by a driving member, thereby causing the other swing rods to rotate simultaneously.
The overall cost of the rotating mechanism is reduced, and the processing cost is reduced through a simple swing rod and connecting rod structure.
Smart Images
Figure CN222872471U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of automation devices, and in particular to a multi-axis synchronous rotation mechanism. Background Art
[0002] In automated systems, it is sometimes necessary to rotate the workpiece for all-round spraying or inspection.
[0003] In order to improve efficiency, multiple workpieces are usually fixedly mounted on multiple rotating structures, and the multiple rotating structures are connected by a plurality of gear transmissions, so that a single driving member can drive the corresponding multiple rotating structures to rotate synchronously. However, the ordering cost of the gears is high, resulting in a low cost of the entire rotating structure, so there is room for improvement. Utility Model Content
[0004] The present application provides a multi-axis synchronous rotation mechanism to reduce the cost of the rotation mechanism.
[0005] An embodiment of the present application provides a multi-axis synchronous rotation mechanism, including a base, a driving member, a connecting rod, a plurality of mounting seats and a plurality of swing rods; the plurality of mounting seats are distributed at intervals and are all rotatably connected to the base, the mounting seats are configured to mount workpieces, the swing rod has a first end and a second end, the first ends of the plurality of swing rods are connected to the plurality of mounting seats in a one-to-one correspondence, and the second ends of the plurality of swing rods are all rotatably connected to the connecting rod; the driving member is connected to the connecting rod or one of the swing rods, and is configured to drive the swing rod to rotate.
[0006] This multi-axis synchronous rotation mechanism connects all the swinging rods through a connecting rod so that all the mounting seats are linked to each other. When the driving member drives one of the swinging rods to rotate, the corresponding swinging rod causes all the other swinging rods to rotate synchronously through the connecting rod. The swinging rod and the connecting rod have simple structures and low processing costs, which is conducive to reducing the overall cost of the multi-axis synchronous rotation mechanism.
[0007] In one possible implementation, the driving member includes a main body, an output shaft, a first rotating connection member and a second rotating connection member. The main body is configured to drive the output shaft to telescopically move. The main body is rotatably connected to the base through the first rotating connection member, and the output shaft is rotatably connected to the connecting rod or the swing rod through the second rotating connection member.
[0008] In this implementation, the output shaft is driven to telescopically move by the body, so that the output shaft can drive the connecting rod to swing, so that all the swing rods can rotate synchronously, thereby causing all the mounting seats to rotate synchronously.
[0009] In a possible implementation, the multi-axis synchronous rotation mechanism further includes a power assist assembly, which is disposed on the base and configured to enable the swing arm to pass a position where the torque of the output shaft on the swing arm is zero.
[0010] In this implementation, when the swing arm rotates to a position where the torque of the output shaft on the swing arm is zero, the power assist assembly is configured to allow the swing arm to continue rotating, which helps to reduce the probability of the swing arm getting stuck during rotation.
[0011] In a possible implementation, the assisting assembly includes an abutment member, a pushing member and an elastic member, the abutment member is connected to the mounting seat, the abutment member is provided with two abutment portions, and the two abutment portions are relatively arranged on both sides of the rotating shaft of the mounting seat; the pushing member is located on one side of the rotating shaft of the mounting seat and can move relative to the base, and is configured to abut against the abutment portion; the elastic member is configured to apply an elastic force toward the rotating shaft of the mounting seat to the pushing member;
[0012] When the torque of the output shaft on the swing arm is zero, the elastic member is used to provide elastic force to the push member so that the push member abuts against an abutment portion, and the direction of the torque of the push member on the abutment member is set along the positive direction of the swing arm's rotation direction.
[0013] In this implementation, during the process of the swing arm rotating from the initial position, the swing arm rotates to the first position, the second position, the third position, and the fourth position in sequence; the position of the swing arm when the output shaft extends to the limit position is defined as the first position, the two positions of the swing arm when the output shaft is parallel to the swing arm are the second position and the third position respectively, and the position of the swing arm when the output shaft retracts to the limit position is the third position. When the swing arm is in the first position or the fourth position, the tangential force of the output shaft on the swing arm along the rotation direction of the swing arm is zero, so that the torque of the output shaft on the swing arm is zero; when the swing arm is in the second position or the fourth position, the force arm of the output shaft on the swing arm is zero, so that the torque of the output shaft on the swing arm is zero. It can be seen that the positions where the torque of the output shaft on the swing arm is zero include the first position, the second position, the third position, and the fourth position. The two abutting portions are the first abutting portion and the second abutting portion respectively. When the swing arm is in the initial position, when the output shaft extends and drives the swing arm to rotate to the first position, the pushing member abuts against the first abutment, and the direction of the torque of the pushing member on the abutment is set along the positive direction of the rotation direction of the swing arm, so that the abutment continues to rotate, thereby causing the swing arm to rotate from the first position to the second position and pass the second position; when the swing arm passes the second position, the output shaft retracts and drives the swing arm to rotate to the third position, the pushing member abuts against the second abutment, and the direction of the torque of the pushing member on the abutment is set along the positive direction of the rotation direction of the swing arm, so that the abutment continues to rotate, thereby causing the swing arm to rotate from the third position to the fourth position and pass the fourth position; by cycling as above, the swing arm can be made to rotate cyclically.
[0014] In a possible implementation, the power assist assembly includes an abutment member, a push member and an elastic member, the abutment member is connected to the mounting seat, the abutment member is provided with an abutment portion, and the abutment portion is located on one side of the rotation axis of the mounting seat; the number of the push members and the elastic member are both two, the two push members are relatively arranged on both sides of the rotation axis of the mounting seat, and both can move relative to the base, and the two push members are configured to abut against the abutment portion; the elastic members correspond to the push members one by one, and each elastic member is configured to apply an elastic force toward the rotation axis of the mounting seat to the corresponding push member;
[0015] When the torque of the output shaft on the swing arm is zero, the elastic member is used to provide elastic force to the corresponding push member to make the push member abut against the abutment, and the direction of the torque of the corresponding push member on the abutment is set along the positive direction of the swing arm's rotation direction.
[0016] In this implementation, during the process of the swing arm rotating from the initial position, the swing arm rotates to the first position, the second position, the third position, and the fourth position in sequence; the position of the swing arm when the output shaft extends to the limit position is defined as the first position, the two positions of the swing arm when the output shaft is parallel to the swing arm are the second position and the third position respectively, and the position of the swing arm when the output shaft retracts to the limit position is the third position. When the swing arm is in the first position or the fourth position, the tangential force of the output shaft on the swing arm along the rotation direction of the swing arm is zero, so that the torque of the output shaft on the swing arm is zero; when the swing arm is in the second position or the fourth position, the force arm of the output shaft on the swing arm is zero, so that the torque of the output shaft on the swing arm is zero. It can be seen that the positions where the torque of the output shaft on the swing arm is zero include the first position, the second position, the third position, and the fourth position. The two pushers are the first pusher and the second pusher. When the output shaft extends out and drives the swing arm to rotate from the initial position to the first position, the first pushing member abuts against the abutment, and the direction of the torque of the first pushing member on the abutment is set in the positive direction of the rotation direction of the swing arm, so that the abutment continues to rotate, thereby causing the swing arm to rotate from the first position to the second position and pass the second position; after the swing arm passes the second position, the output shaft retracts and drives the swing arm to rotate to the third position, the second pushing member abuts against the abutment, and the direction of the torque of the second pushing member on the abutment is set in the positive direction of the rotation direction of the swing arm, so that the abutment continues to rotate, thereby causing the swing arm to rotate from the third position to the fourth position and pass the fourth position, so that the swing arm rotates to the initial position; by cycling as above, the swing arm can be made to rotate cyclically.
[0017] In a possible implementation, the power assist assembly further includes a fixed seat, the fixed seat is provided with a sliding groove, and the pushing member is slidably disposed in the sliding groove.
[0018] In this implementation, the pushing member and the sliding groove are slidably matched, which is beneficial to improving the sliding stability of the pushing member relative to the base.
[0019] In a possible implementation, a limiting groove is provided on the inner wall of the sliding groove, the pushing member is provided with a limiting member inserted in the limiting groove, and both the sliding groove and the limiting groove pass through the side wall of the fixing seat facing the base.
[0020] In this implementation, both the sliding groove and the limiting groove are open, which is convenient for installing the sliding member; the limiting member cooperates with the limiting groove to limit the sliding range of the pushing member and reduce the probability of the pushing member falling off.
[0021] In a possible implementation, the abutment member is provided with a first fitting surface, and the pushing member is provided with a second fitting surface, and the second fitting surface is configured to fit with the first fitting surface;
[0022] When the second fitting surface fits the first fitting surface, the swing arm is inclined relative to the output shaft.
[0023] In this implementation, the first fitting surface cooperates with the second fitting surface to increase the contact area between the abutment member and the pushing member, which is beneficial to improving the stability of the abutment member relative to the pushing member so as to stably fix the mounting seat. At this time, the swing arm is tilted relative to the output shaft, thereby facilitating the driving member to drive the swing arm to rotate again.
[0024] In a possible implementation manner, the abutting portion is an arc-shaped surface.
[0025] In this implementation, the abutment portion is an arcuate surface, which allows the abutment member and the pushing member to be in linear contact to reduce the contact area between the abutment member and the pushing member, thereby facilitating the reduction of the friction between the pushing member and the abutment member, so that the pushing member can push the abutment member.
[0026] In one possible implementation, the second rotating connecting member includes a second connecting seat and a second connecting shaft; the second connecting seat is connected to the output shaft, the second connecting seat is provided with a sliding hole, the second connecting shaft is connected to the connecting rod or the swing rod and inserted in the sliding hole, and the connecting shaft can slide relative to the inner wall of the sliding hole along the extension direction of the output shaft.
[0027] In this implementation, along the telescopic direction of the output shaft, there is a gap between the second connecting shaft and the inner wall of the sliding hole; in the process of the output shaft driving the swing arm to swing, when the output shaft is stationary relative to the main body, the swing arm can make the second connecting shaft slide relative to the inner wall of the sliding hole along the telescopic direction of the output shaft under the action of its own inertia or the driving action of an external structural member, so that the output shaft can drive the main body to rotate to adjust the inclination angle of the output shaft relative to the swing arm, thereby facilitating the swing arm to pass the position parallel to the output shaft, which is beneficial to reducing the risk of the swing arm getting stuck. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1It is a schematic diagram of the overall structure of a multi-axis synchronous rotation mechanism in one embodiment of the present application.
[0029] Figure 2 yes Figure 1 Enlarged view at A.
[0030] Figure 3 yes Figure 1 Schematic diagram of the overall structure of the multi-axis synchronous rotation mechanism from another perspective.
[0031] Figure 4 It is resection Figure 3 Front view of the swing arm in its initial position after removing the mounting bracket and part of the base.
[0032] Figure 5 yes Figure 4 A front view of the swing lever in FIG. 1 when it rotates to the first position.
[0033] Figure 6 yes Figure 5 A front view of the swing lever in FIG. 1 when it is rotated to the second position.
[0034] Figure 7 yes Figure 6 A front view of the swing lever in FIG. 1 when it passes through the second position.
[0035] Figure 8 yes Figure 7 Front view of the swing lever when it rotates to the third position.
[0036] Fig. 9 yes Figure 8 Front view of the swing lever in FIG. 1 when it is rotated to the fourth position.
[0037] Fig.10 It is an exploded schematic diagram of the installation structure of the pusher in one embodiment of the present application.
[0038] Fig.11 It is a front view of the cooperation relationship between the second power-assisting component and the swing rod in one embodiment of the present application.
[0039] Fig.12 yes Fig.11 A front view of the swing lever in FIG. 1 when it passes through the second position.
[0040] Main component symbols
[0041] Multi-axis synchronous rotation mechanism 1
[0042] Base 2
[0043] Rotation axis 21
[0044] Drive 3
[0045] Ontology 31
[0046] Output shaft 32
[0047] First rotating connection member 33
[0048] First connecting seat 331
[0049] First connecting shaft 332
[0050] Connecting bracket 333
[0051] Connection hole 3331
[0052] Second rotating connection member 34
[0053] The second connecting seat 341
[0054] Slide hole 3411
[0055] Second connecting shaft 342
[0056] Connecting rod 4
[0057] Mounting Seat 5
[0058] Swing rod 6
[0059] First end 61
[0060] Second end 62
[0061] Power booster 7
[0062] Abutment member 71
[0063] Contact portion 711
[0064] First bonding surface 712
[0065] Pushing member 72
[0066] Limiter 721
[0067] Second bonding surface 722
[0068] Elastic member 73
[0069] Fixed seat 74
[0070] Slide groove 741
[0071] Limiting slot 742
[0072] Rotation direction R
[0073] First sliding direction X1
[0074] The second sliding direction X2
[0075] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION
[0076] The following specific embodiments illustrate the implementation of the present application, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with the embodiments, this does not mean that the features of this application are limited to the implementation. On the contrary, the purpose of introducing the application in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide a deep understanding of the present application, the following description will include many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.
[0077] Hereinafter, if used, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.
[0078] In this application, if used, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. When the following embodiments are described in detail in conjunction with schematic diagrams, for the sake of convenience, the figures showing the local structure of the device will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of this application.
[0079] An embodiment of the present application provides a multi-axis synchronous rotation mechanism, which includes a base, a driving member, a connecting rod, a plurality of mounting seats and a plurality of swing rods; the plurality of mounting seats are distributed at intervals and are all rotatably connected to the base, the mounting seats are configured to mount workpieces, the swing rod has a first end and a second end, the first ends of the plurality of swing rods are connected to the plurality of mounting seats in a one-to-one correspondence, and the second ends of the plurality of swing rods are all rotatably connected to the connecting rod; the driving member is connected to the connecting rod or one of the swing rods, and is configured to drive the swing rod to rotate.
[0080] This multi-axis synchronous rotation mechanism connects all the swinging rods through a connecting rod so that all the mounting seats are linked to each other. When the driving member drives one of the swinging rods to rotate, the corresponding swinging rod causes all the other swinging rods to rotate synchronously through the connecting rod. Compared with the technical solution of linking multiple mounting seats to each other through gear transmission, the structure of the swinging rod and the connecting rod is simpler and the processing cost is lower, which is conducive to reducing the overall cost of the multi-axis synchronous rotation mechanism.
[0081] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.
[0082] Reference Figure 1 The multi-axis synchronous rotation mechanism 1 includes a base 2, a driving member 3, a connecting rod 4, a plurality of mounting seats 5 and a plurality of swinging rods 6; the plurality of mounting seats 5 are spaced and rotatably connected to the base 2, the mounting seats 5 are configured to mount workpieces, the swinging rod 6 has a first end 61 and a second end 62, the first ends 61 of the plurality of swinging rods 6 are rotatably connected to the plurality of mounting seats 5 one by one, and the second ends 62 of the plurality of swinging rods 6 are rotatably connected to the connecting rod 4; the driving member 3 is connected to the connecting rod 4 or one of the swinging rods 6, and is configured to drive the mounting seats 5 to rotate. Specifically, the plurality of mounting seats 5 are sequentially spaced and arranged in a straight line; the base 2 is sequentially rotatably provided with a plurality of rotating shafts 21 along the arrangement direction of the mounting seats 5, the rotating shafts 21 are one by one corresponding to the mounting seats 5, and each mounting seat 5 is fixedly connected to the corresponding rotating shaft 21, so that the mounting seat 5 can rotate relative to the base 2 through the rotating shaft 21; the first end 61 of the swinging rod 6 is fixedly connected to the rotating shaft 21, so that the swinging rod 6 is connected to the corresponding mounting seat 5 through the rotating shaft 21, so that the swinging rod 6 can drive the corresponding mounting seat 5 to rotate.
[0083] Further, the driving member 3 includes a body 31, an output shaft 32, a first rotating connection member 33 and a second rotating connection member 34. The body 31 is configured to drive the output shaft 32 to move telescopically. The body 31 is rotatably connected to the base 2 through the first rotating connection member 33, and the output shaft 32 is rotatably connected to the connecting rod 4 or the swing rod 6 through the second rotating connection member 34. Specifically, the body 31 is a cylinder body, and the output shaft 32 is a cylinder piston rod. The body 31 drives the output shaft 32 to slide relative to the body 31 along the axial direction of the output shaft 32 itself through compressed gas to achieve the telescopic movement of the output shaft 32; in some embodiments, the body 31 is a hydraulic cylinder body, and the output shaft 32 is a hydraulic cylinder piston rod; in some embodiments, the body 31 is a cylinder body of an electric push rod, and the output shaft 32 is a rod body of the electric push rod.
[0084] In some embodiments, the first rotating connector 33 includes a first connecting seat 331, a first connecting shaft 332 and a connecting bracket 333. The first connecting seat 331 is fixedly connected to the body 31, the connecting bracket 333 is fixedly connected to the base 2, the first connecting seat 331 is provided with a rotating hole (not shown in the figure), the connecting bracket 333 is provided with a connecting hole 3331, the first connecting shaft 332 is inserted into the connecting hole 3331 and the rotating hole, and the peripheral wall of the first connecting shaft 332 is in contact with the inner peripheral wall of the rotating hole and the inner peripheral wall of the connecting hole 3331, so that the body 31 can rotate relative to the base 2. In some embodiments, the first connecting seat 331 and the connecting bracket 333 are omitted, the rotating hole is provided in the body 31, and the connecting hole 3331 is provided in the base 2.
[0085] Reference Figure 2 In some embodiments, the second rotating connecting member 34 includes a second connecting seat 341 and a second connecting shaft 342; the second connecting seat 341 is connected to the output shaft 32, and the second connecting seat 341 is provided with a sliding hole 3411. The second connecting shaft 342 is connected to the connecting rod 4 or the swing rod 6 and inserted into the sliding hole 3411. The second connecting shaft 342 can slide relative to the inner wall of the sliding hole 3411 along the telescopic direction of the output shaft 32. Specifically, the sliding hole 3411 is a waist-shaped hole, and the length direction of the sliding hole 3411 is arranged along the telescopic direction of the output shaft 32. In some embodiments, the second connecting shaft 342 coincides with the rotating shaft of one of the swing rods 6 connected to the connecting rod 4. In some embodiments, the second connecting shaft 342 is connected to the swing rod 6. In some embodiments, the second connecting shaft 342 is connected to the connecting rod 4. Referring to Figures 3 to 9 , during the process of the swing rod 6 rotating from the initial position, the swing rod 6 rotates to the first position, the second position, the third position, and the fourth position in sequence; the position of the swing rod 6 when the output shaft 32 extends to the limit position is defined as the first position, the two positions of the swing rod 6 when the output shaft 32 is parallel to the swing rod 6 are the second position and the third position respectively, and the position of the swing rod 6 when the output shaft 32 retracts to the limit position is defined as the third position. When the swing rod 6 is in the first position or the fourth position, the tangential force of the output shaft 32 on the swing rod 6 along the rotation direction R of the swing rod 6 is zero, so that the torque of the output shaft 32 on the swing rod 6 is zero; when the swing rod 6 is in the second position or the fourth position, the force arm of the output shaft 32 on the swing rod 6 is zero, so that the torque of the output shaft 32 on the swing rod 6 is zero. It can be seen that the positions where the torque of the output shaft 32 on the swing rod 6 is zero include the first position, the second position, the third position, and the fourth position.
[0086] The multi-axis synchronous rotation mechanism 1 also includes a power assist component 7, which is disposed on the base 2 and is configured to enable the swing rod 6 to pass over a position where the torque of the output shaft 32 on the swing rod 6 is zero. Specifically, when the swing rod 6 is in an initial position, the output shaft 32 is inclined relative to the swing rod 6. At this time, the output shaft 32 extends out, and the inner end wall of the sliding hole 3411 at one end close to the main body 31 abuts against the second output shaft 32, so that the output shaft 32 can push the second connecting shaft 342, thereby allowing the connecting rod 4 to drive the swing rod 6 to rotate along the rotation direction R.
[0087] When the output shaft 32 is extended to the limit position, the swing rod 6 is in the first position, the output shaft 32 is inclined relative to the swing rod 6 and is stationary relative to the body 31. At this time, the tangential force of the output shaft 32 on the swing rod 6 along the rotation direction R is zero, the torque of the output shaft 32 on the swing rod 6 is zero, the power assist assembly 7 drives the swing rod 6 to continue to rotate, and the second connecting shaft 342 moves relative to the inner wall of the sliding hole 3411, so that the second connecting shaft 342 drives the body 31 to rotate through the output shaft 32. When the output shaft 32 is extended to the limit position and the swing rod 6 rotates to a position parallel to the output shaft 32, the swing rod 6 is in the second position. At this time, the force arm of the output shaft 32 on the swing rod 6 is zero, the rotational torque of the output shaft 32 on the swing rod 6 is zero, and the power assist assembly 7 continues to drive the swing rod 6 to rotate so that the swing rod 6 passes the second position.
[0088] When the swing rod 6 passes the second position, the swing rod 6 tilts relative to the output shaft 32. At this time, the output shaft 32 retracts, and the inner end wall of the sliding hole 3411 away from the main body 31 abuts against the second connecting shaft 342 to push the second connecting shaft 342, so that the connecting rod 4 can drive the swing rod 6 to continue rotating.
[0089] When the output shaft 32 is retracted to the limit position, the swing rod 6 is in the third position, the output shaft 32 is tilted relative to the swing rod 6 and is stationary relative to the body 31. At this time, the tangential force of the output shaft 32 on the swing rod 6 along the rotation direction R is zero, the torque of the output shaft 32 on the swing rod 6 is zero, the power assist assembly 7 drives the swing rod 6 to continue to rotate, and the second connecting shaft 342 moves relative to the inner wall of the sliding hole 3411, so that the second connecting shaft 342 drives the body 31 to rotate through the output shaft 32. When the output shaft 32 is retracted to the limit position and the swing rod 6 continues to rotate to a position parallel to the output shaft 32, the swing rod 6 is in the fourth position. At this time, the force arm of the output shaft 32 on the swing rod 6 is zero, the rotational torque of the output shaft 32 on the swing rod 6 is zero, and the power assist assembly 7 continues to drive the swing rod 6 to rotate, so that the swing rod 6 can pass the fourth position and rotate to the initial position.
[0090] During the process of the swing lever 6 rotating from the first position to the second position and during the process of the swing lever 6 rotating from the third position to the fourth position, the rotational torque of the output shaft 32 on the swing lever 6 is zero.
[0091] In some embodiments, the sliding hole 3411 is a circular hole, and the inner wall of the sliding hole 3411 is in contact with the inner wall of the second connecting shaft 342 to allow the output shaft 32 to rotate relative to the corresponding swing rod 6 or connecting rod 4; in these embodiments, during the process of the swing rod 6 rotating from the first position to the second position and from the third position to the fourth position, the output shaft 32 moves telescopically.
[0092] In some embodiments, when the output shaft 32 is extended to the extreme position or retracted to the extreme position, the output shaft 32 is parallel to the swing rod 6 , that is, the first position coincides with the second position, and the third position coincides with the fourth position.
[0093] Reference Figure 4 and Fig.10 The assisting assembly 7 includes an abutting member 71, a pushing member 72, an elastic member 73 and a fixing seat 74. The abutting member 71 is connected to the mounting seat 5, and the abutting member 71 is provided with two abutting portions 711, which are relatively arranged on the rotating shaft 21 ( Figure 4 The rotating shaft 21 in the figure is presented in the form of dotted lines through perspective to show the position of the rotating shaft 21) on both sides of the radial direction; the pushing member 72 is located on one side of the radial direction of the rotating shaft 21 and can move relative to the base 2, and is configured to abut against the abutment portion 711; the elastic member 73 is configured to apply an elastic force toward the rotating shaft 21 to the pushing member 72. Specifically, the abutment member 71 is roughly waist-shaped, and the middle part of the abutment member 71 along its own length direction is fixedly connected to the rotating shaft 21, and the abutment member 71 is fixedly connected to the mounting seat 5 so that the mounting seat 5 is connected to the corresponding rotating shaft 21; the two abutment portions 711 are respectively located at both ends of the abutment member 71, and the abutment portion 711 is an arc surface; further, the pushing member 72, the fixing seat 74 and the elastic member 73 are all provided with two, and the two pushing members 72 are relatively arranged on both sides of the rotating shaft 21, each pushing member 72 is connected to the base 2 through the corresponding fixing seat 74 and the elastic member 73, and the two pushing members 72 abut against the opposite sides of the abutment member 71.
[0094] Further, the fixed seat 74 is provided with a sliding groove 741, and the pusher 72 is slidably provided in the sliding groove 741; further, the inner wall of the sliding groove 741 is provided with a limiting groove 742, and the pusher 72 is provided with a limiting member 721 inserted in the limiting groove 742, and the sliding groove 741 and the limiting groove 742 both pass through the side wall of the fixed seat 74 facing the base 2. The fixed seat 74 is fixedly connected to the base 2 by a screw, so that the pusher 72 can move relative to the base 2. One of the pushers 72 slides relative to the base 2 along the first sliding direction X1, and the other pusher 72 slides relative to the base 2 along the second sliding direction X2; the first sliding direction X1 is parallel to and opposite to the second sliding direction X2.
[0095] The elastic member 73 is a structural member including a spring, and the elastic member 73 is arranged in the sliding groove 741; the elastic member 73 is located on the side of the pushing member 72 away from the corresponding rotating shaft 21, and one end of the elastic member 73 abuts against the pushing member 72, and the other end abuts against the inner wall of the sliding groove 741.
[0096] In some embodiments, the abutment member 71 is provided with a first fitting surface 712, and the pusher member 72 is provided with a second fitting surface 722. The second fitting surfaces 722 of the two pushers 72 are parallel to each other, and the second fitting surface 722 is configured to fit with the first fitting surface 712. Specifically, the abutment member 71 is parallel to the swing rod 6; the first fitting surface 712 is a peripheral wall of the abutment member 71 located between the two abutment portions 711, and the second fitting surface 722 is provided on an end wall of the pusher member 72 close to the corresponding rotating shaft 21, and the second fitting surface 722 is inclined relative to the first sliding direction X1 of the pusher member 72. When the swing lever 6 is in the initial position, the second contact surface 722 is in contact with the first contact surface 712, the abutment member 71 is inclined relative to the output shaft 32, and the elastic member 73 is in a compressed state, so that the elastic member 73 exerts a force on the pushing member 72 toward the corresponding rotating shaft 21, so that the pushing member 72 and the abutment member 71 can maintain an abutting state, which is conducive to improving the stability of the swing lever 6 in the initial position. In some embodiments, when the swing lever 6 is in the initial position, the elastic member 73 is in a stretched state, that is, the deformation of the elastic member 73 is zero.
[0097] Reference Figures 4 to 7 When the torque of the output shaft 32 on the swing rod 6 is zero, the elastic member 73 is used to provide elastic force to the pushing member 72 so that the pushing member 72 abuts against an abutment portion 711, and the direction of the torque of the pushing member 72 on the abutment member 71 is set along the positive direction of the rotation direction R of the swing rod 6. Specifically, during the process of the swing lever 6 rotating from the initial position to the first position, one of the abutting portions 711 of the abutting member 71 abuts against the second fitting surface 722 of one of the pushing members 72, and the other abutting portion 711 abuts against the second fitting surface 722 of the other pushing member 72, so that the pushing member 72 slides in the direction away from the rotating shaft 21, thereby compressing the elastic member 73; when the output shaft 32 extends to the limit position, that is, when the swing lever 6 rotates to the first position, the torque of the two pushing members 72 on the abutting member 71 is greater than zero and the direction of the torque is set along the positive direction of the rotation direction R of the swing lever 6, so that the abutting member 71 drives the rotating shaft 21 to continue to rotate, thereby rotating the swing lever 6 to the second position; since the second fitting surface 722 is inclined relative to the first sliding direction X1 of the pushing member 72, when the swing lever 6 is in the second position, the torque of the pushing member 72 on the abutting member 71 is greater than zero and the direction of the torque is set along the positive direction of the rotation direction R of the swing lever 6, thereby allowing the pushing member 72 to make the swing lever 6 pass the second position.
[0098] Reference Figures 7 to 9 When the swing rod 6 is retracted to allow the swing rod 6 to continue to rotate from the second position to the third position, the two abutting portions 711 respectively abut against the corresponding second fitting surfaces 722, causing the pushing member 72 to slide in the direction away from the rotating shaft 21, thereby compressing the elastic member 73; when the output shaft 32 is retracted to the limit position, that is, the swing rod 6 is rotated to the third position, the torque of the two pushing members 72 on the abutting member 71 is greater than zero and the direction of the torque is set in the positive direction of the rotation direction R of the swing rod 6, so that the abutting member 71 drives the rotating shaft 21 to continue to rotate, thereby allowing the swing rod 6 to continue to rotate to the fourth position; since the second fitting surface 722 is inclined relative to the first sliding direction X1 of the pushing member 72, when the swing rod 6 is in the fourth position, the torque of the pushing member 72 on the abutting member 71 is greater than zero and the direction of the torque is set in the positive direction of the rotation direction R of the swing rod 6, so that the pushing member 72 can allow the swing rod 6 to pass the fourth position and rotate to the initial position.
[0099] In some embodiments, a group of the pushing members 72, the fixing seat 74 and the elastic member 73 are omitted; during the rotation of the swing rod 6, the two abutting portions 711 alternately abut against the second fitting surface 722 of the pushing member 72, so that the swing rod 6 sequentially passes through the first position, the second position, the third position and the fourth position.
[0100] Reference Fig.11 and Fig.12 In some embodiments, the power assist assembly 7 includes an abutment member 71, a pushing member 72 and an elastic member 73. The abutment member 71 is connected to the mounting seat 5. The abutment member 71 is provided with an abutment portion 711. The abutment portion 711 is located on one side of the radial direction of the rotation axis 21 of the mounting seat 5 (the rotation axis 21 in the figure is presented in the form of a dotted line through perspective to show the position of the rotation axis 21); the number of the pushing members 72 and the elastic member 73 are both two, and the two pushing members 72 are relatively arranged on both sides of the radial direction of the rotation axis 21 of the mounting seat 5, and both can move relative to the base 2, and the two pushing members 72 are configured to abut against the abutment portion 711; the elastic member 73 corresponds to the pushing member 72 one by one, and each elastic member 73 is configured to apply an elastic force toward the rotation axis 21 of the mounting seat 5 to the corresponding pushing member 72. Specifically, the abutment 71 is in the shape of a rod, one end of which is connected to the rotating shaft 21, and the other end extends radially along the rotating shaft 21 and the abutment 71 is parallel to the swinging rod 6, the abutment portion 711 is located at the end wall of the abutment 71 away from the rotating shaft 21, and the abutment portion 711 is an arc-shaped surface; the end walls of the two pushing members 72 close to the rotating shaft 21 are both provided with second fitting surfaces 722, the two second fitting surfaces 722 are both inclined relative to the first sliding direction X1 of the pushing member 72, and the two second fitting surfaces 722 are parallel to each other, and the installation structure and installation position of the two pushing members 72 refer to Fig.11 , which will not be elaborated here.
[0101] When the torque of the output shaft 32 on the swing lever 6 is zero, the elastic member 73 is used to provide elastic force to the corresponding pushing member 72 so that the pushing member 72 abuts against the abutment 711, and the direction of the torque of the corresponding pushing member 72 on the abutment 71 is set along the positive direction of the rotation direction R of the swing lever 6. Specifically, when the swing arm 6 is in the initial position, the abutment 711 abuts against one of the pushing members 72; during the process of the swing arm 6 rotating toward the first position, the abutment 711 pushes the pushing member 72, causing the pushing member 72 to move away from the rotating shaft 21, thereby compressing the elastic member 73; when the swing arm 6 is in the first position, the position between the first position and the second position, and the second position, the second fitting surface 722 of one of the pushing members 72 abuts against the abutment 71. Since the second fitting surface 722 is inclined relative to the first sliding direction X1 of the pushing member 72, the torque of the corresponding pushing member 72 on the abutment 71 is greater than zero and the direction of the torque is set along the positive direction of the rotation direction R of the swing arm 6, so that the corresponding pushing member 72 can make the swing arm 6 pass the second position. When the swing lever 6 rotates from the second position to the third position, the abutment portion 711 abuts against the second fitting surface 722 of the other pushing member 72, so that the corresponding elastic member 73 is compressed; when the swing lever 6 rotates to the third position, the position between the third position and the fourth position, and the fourth position, the second fitting surface 722 of the other pushing member 72 abuts against the abutment portion 711. Since the second fitting surface 722 is inclined relative to the first sliding direction X1 of the pushing member 72, the torque of the corresponding pushing member 72 on the abutment member 71 is greater than zero and the direction of the torque is set along the positive direction of the rotation direction R of the swing lever 6, so that the corresponding pushing member 72 can allow the swing lever 6 to pass the fourth position.
[0102] In some embodiments, the second fitting surface 722 is omitted, and by adjusting the inclination angle of the abutment 71 relative to the swing arm 6 or adjusting the first sliding direction X1 of the pushing member 72, when the swing arm 6 is in a position where the torque of the output shaft 32 on the swing arm 6 is zero, the torque of the pushing member 72 on the abutment 71 is greater than zero and the direction is set in the positive direction of the rotation direction R of the swing arm 6, so that the swing arm 6 can pass the corresponding position, so that the output shaft 32 can drive the swing arm 6 to continue to rotate.
[0103] In some embodiments, the power assist assembly 7 is omitted, and the swing arm 6 can pass the position where the torque of the output shaft 32 on the swing arm 6 is zero due to the inertia of the swing arm 6 and the mounting base 5, so that the output shaft 32 can drive the swing arm 6 to continue to rotate.
[0104] In some embodiments, the power assist assembly 7 is omitted, the driving member 3 is a structural member including a motor, the driving member 3 is fixedly connected to the base 2, and the output end of the driving member 3 is connected to the rotating shaft 21 of one of the mounting seats 5 to drive the corresponding mounting seat 5 to rotate, so that all the mounting seats 5 can rotate synchronously.
[0105] The multi-axis synchronous rotation mechanism 1 provided by the present application connects all the swinging rods 6 through the connecting rod 4 so that all the mounting seats 5 can be linked to each other, thereby allowing a single driving member 3 to drive multiple mounting seats 5 to rotate synchronously. Compared with the technical solution of linking multiple mounting seats 5 to each other through gear transmission, the structures of the swinging rods 6 and the connecting rods 4 are simpler and the processing cost is lower, which is conducive to reducing the overall cost of the multi-axis synchronous rotation mechanism 1.
[0106] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the disclosure scope of the present application.
Claims
1. A multi-axis synchronous rotation mechanism, comprising a base, a driving member and a plurality of mounting seats, characterized in that: The multi-axis synchronous rotation mechanism also includes a connecting rod and a plurality of swing rods. The plurality of mounting seats are distributed at intervals and are all rotatably connected to the base. The mounting seats are configured to mount workpieces. The swing rod has a first end and a second end. The first ends of the plurality of swing rods are connected to the plurality of mounting seats in a one-to-one correspondence, and the second ends of the plurality of swing rods are all rotatably connected to the connecting rod. The driving member is connected to the connecting rod or one of the swing rods, and is configured to drive the swing rod to rotate.
2. The multi-axis synchronous rotation mechanism according to claim 1, characterized in that: The driving member includes a main body, an output shaft, a first rotating connection member and a second rotating connection member. The main body is configured to drive the output shaft to telescopically move. The main body is rotatably connected to the base through the first rotating connection member, and the output shaft is rotatably connected to the connecting rod or the swing rod through the second rotating connection member.
3. The multi-axis synchronous rotation mechanism according to claim 2, characterized in that: The multi-axis synchronous rotation mechanism further includes a power assist component, which is disposed on the base and configured to enable the swing lever to pass a position where the torque of the output shaft on the swing lever is zero.
4. The multi-axis synchronous rotation mechanism according to claim 3, characterized in that: The power assist assembly includes an abutment member, a push member and an elastic member, wherein the abutment member is connected to the mounting seat, and the abutment member is provided with two abutment portions, which are relatively arranged on both sides of the rotation axis of the mounting seat; the push member is located on one side of the rotation axis of the mounting seat and can move relative to the base, and is configured to abut against the abutment portion; the elastic member is configured to apply an elastic force toward the rotation axis of the mounting seat to the push member; When the torque of the output shaft on the swing arm is zero, the elastic member is used to provide elastic force to the push member so that the push member abuts against one of the abutting portions, and the direction of the torque of the push member on the abutting member is set along the positive direction of the rotation direction of the swing arm.
5. The multi-axis synchronous rotation mechanism according to claim 3, characterized in that: The power assist assembly comprises an abutment member, a pushing member and an elastic member, the abutment member is connected to the mounting seat, the abutment member is provided with an abutment portion, and the abutment portion is located on one side of the rotation axis of the mounting seat; the number of the pushing member and the elastic member are both two, the two pushing members are relatively arranged on both sides of the rotation axis of the mounting seat, and both can move relative to the base, and the two pushing members are configured to abut against the abutment portion; the elastic member corresponds to the pushing member one by one, and each of the elastic members is configured to apply an elastic force toward the rotation axis of the mounting seat to the corresponding pushing member; When the torque of the output shaft on the swing arm is zero, the elastic member is used to provide elastic force to the corresponding pushing member so that the pushing member abuts against the abutment portion, and the direction of the torque of the corresponding pushing member on the abutment member is set along the positive direction of the rotation direction of the swing arm.
6. The multi-axis synchronous rotation mechanism according to claim 4 or 5, characterized in that: The power-assisting assembly further comprises a fixing seat, the fixing seat is provided with a sliding groove, and the pushing member is slidably arranged in the sliding groove.
7. The multi-axis synchronous rotation mechanism according to claim 6, characterized in that: The inner wall of the sliding groove is provided with a limiting groove, the pushing member is provided with a limiting member inserted in the limiting groove, and the sliding groove and the limiting groove both pass through the side wall of the fixing seat facing the base.
8. The multi-axis synchronous rotation mechanism according to claim 4 or 5, characterized in that: The abutment member is provided with a first fitting surface, and the pushing member is provided with a second fitting surface, wherein the second fitting surface is configured to fit with the first fitting surface; When the second fitting surface is fitted with the first fitting surface, the swing arm is inclined relative to the output shaft.
9. The multi-axis synchronous rotation mechanism according to claim 4 or 5, characterized in that: The abutting portion is an arc-shaped surface.
10. The multi-axis synchronous rotation mechanism according to any one of claims 2 to 5, characterized in that: The second rotating connecting member includes a second connecting seat and a second connecting shaft; the second connecting seat is connected to the output shaft, the second connecting seat is provided with a sliding hole, the second connecting shaft is connected to the connecting rod or the swing rod and inserted into the sliding hole, and the connecting shaft can slide relative to the inner wall of the sliding hole along the extension and contraction direction of the output shaft.