Sponge carrying mechanical arm driving device

Abstract

The utility model discloses a sponge carrying mechanical arm driving device which comprises a base, the upper surface of the base is fixedly connected with a mounting X-axis plate, the front side surface of the mounting X-axis plate is fixedly connected with a main body, the center of the side surface of the main body is rotationally connected with a rotating shaft, and the annular surface of the rotating shaft is rotationally connected with a carrying motor. The left side surface and the right side surface of the carrying motor are fixedly connected with moving plates, the other end of a rotating shaft is fixedly connected with a connecting rotating head, the other end of the connecting rotating head is connected with a transmission device, and the side surface, close to the center, of the upper end of the transmission device is fixedly connected with a rotating machine. By means of the structure, the carrying motor, the transmission device and the rotating machine are arranged, the position of the clamping mechanism can be controlled in a high-precision mode through the carrying motor, then the transmission device and the rotating machine are arranged so that the machine can adjust the moving speed of the clamping mechanism at will, and the sponge machining efficiency can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator drive, in particular to a sponge handling manipulator drive device. Background Art

[0002] Manipulators can be roughly divided into two categories: rigid manipulators and flexible manipulators according to the stiffness characteristics of their constituent components. Rigid manipulators have high stiffness and load capacity, but relatively poor flexibility; while flexible manipulators have high flexibility and compliance, but may have deficiencies in load capacity and stiffness. The deformable characteristics of sponges require the manipulator to maintain a high degree of compliance during contact and handling to avoid damaging the sponge. Although the sponge itself is light in weight, it may need to withstand certain external pressures or maintain a certain shape stability during handling. Therefore, the manipulator needs to have a certain load capacity. In order to accurately transport the sponge to a specified position, the manipulator needs to have precise control capabilities, including position control, speed control, and force control, etc. Based on the continuum variable stiffness manipulator of the sponge, by changing the stiffness of the sponge, the rigid-flexible conversion of the manipulator is realized, so as to simultaneously have high compliance and appropriate load capacity. This kind of manipulator has broad application prospects in the fields of minimally invasive medical surgery, post-earthquake rescue, complex equipment maintenance, etc.

[0003] The existing sponge handling manipulator drive device is likely to damage the sponge due to poor position control during sponge handling, and the speed of the manipulator movement cannot be adjusted. It can only perform low-speed and low-precision processing, and cannot perform high-precision control and processing on the sponge, which greatly affects the efficiency of sponge processing. Summary of the Utility Model

[0004] The utility model provides a sponge handling manipulator drive device, which can perform high-precision control on the position of the clamping mechanism by setting a handling motor, and then can arbitrarily adjust the moving speed of the clamping mechanism by setting a transmission device and a rotating machine, which can effectively improve the precision of clamping the sponge, and further is beneficial to improving the efficiency of sponge processing.

[0005] To achieve the above object, a driving device for a sponge handling robotic arm is provided, including a base. The upper surface of the base is fixedly connected with an X-axis mounting plate. The front side surface of the X-axis mounting plate is fixedly connected with a main body. The center of the side surface of the main body is rotatably connected with a rotating shaft. A handling motor is rotatably connected to the annular surface of the rotating shaft. The left and right side surfaces of the handling motor are fixedly connected with moving plates. The other end of the rotating shaft is fixedly connected with a connecting head. The other end of the connecting head is connected with a transmission device. The center side surface near the upper end of the transmission device is fixedly connected with a transfer machine. By providing the X-axis mounting plate, it is convenient to mount the main body. By providing the main body, it is convenient to arrange the handling motor. By providing the handling motor, it is convenient to adjust the position of the clamping mechanism. By providing the moving plates, it is convenient to fix the angle of the handling motor. By providing the connecting head, it is convenient to connect the output end of the transmission device. By providing the transfer machine, it is convenient to drive the output end of the transfer machine to rotate.

[0006] According to the driving device for a sponge handling robotic arm, the transmission device includes a protective shell, a connecting pipe, a rotating wheel, a limiting ring, a crawler, and an output port. The protective shell is fixedly connected to the right side surface of the main body. By providing the protective shell, it is convenient to protect the internal structure of the transmission device.

[0007] According to the driving device for a sponge handling robotic arm, the connecting pipe is fixedly connected to the output end of the transfer machine. The rotating wheel is fixedly connected to the other end of the connecting pipe. The limiting ring is fixedly connected to the annular surface of the rotating wheel. There are two rotating wheels and limiting rings. The crawler is rotatably connected to the annular surface of the rotating wheel. The output port is arranged on the protective shell on the left side surface of the other rotating wheel. By providing the connecting pipe, it is convenient to connect the transfer machine. By providing the rotating wheel, it is convenient to drive the crawler to move. By providing the limiting ring, it is convenient to prevent the crawler from detaching from the rotating wheel. By providing the crawler, it is convenient for the upper rotating wheel to drive the lower rotating wheel to rotate. By providing the output port, it is convenient to connect the connecting head.

[0008] According to the driving device for a sponge handling robotic arm, the rear side surface of the X-axis mounting plate is fixedly connected with two reinforcing ribs. The upper surface of the reinforcing ribs is fixedly connected with a mounting plate. By providing the reinforcing ribs, it is convenient to fix the X-axis mounting plate. By providing the mounting plate, it is convenient to mount the drag chain.

[0009] According to the driving device for a sponge handling robotic arm, the front side surface of the handling motor is fixedly connected with a connecting component. The left side surface of the connecting component is fixedly connected with a clamping mechanism. By providing the connecting component, it is convenient to connect the clamping mechanism. By providing the clamping mechanism, it is convenient to clamp the sponge.

[0010] According to the described driving device for a sponge handling robotic arm, it is characterized in that a mounting rod is fixedly connected to the lower surface of the main body, a second electrical socket is fixedly connected to the left side of the lower surface of the mounting rod, and a first electrical socket is fixedly connected to the right side of the lower surface of the mounting rod. The mounting rod is provided to facilitate the installation of the electrical sockets, and the electrical sockets are provided to facilitate the energization of the structure.

[0011] According to the described driving device for a sponge handling robotic arm, a drag chain is fixedly connected to the upper surface of the mounting plate. The drag chain is provided to facilitate the reduction of friction and wear.

[0012] The beneficial effects of the present utility model: By providing a handling motor, a transmission device, and a turning machine, the position of the clamping mechanism can be precisely controlled by setting the handling motor, and then the speed of the movement of the clamping mechanism can be arbitrarily adjusted by setting the transmission device and the turning machine, which can effectively improve the precision of clamping the sponge, and thus is beneficial to improving the efficiency of sponge processing.

[0013] The additional aspects and advantages of the present utility model will be partially given in the following description, partially will become apparent from the following description, or will be understood through the practice of the present utility model. Description of the Drawings

[0014] The following further illustrates the present utility model in conjunction with the drawings and embodiments;

[0015] Figure 1 It is a schematic diagram of the overall structure of a driving device for a sponge handling robotic arm of the present utility model;

[0016] Figure 2 It is a front view of the handling structure of a driving device for a sponge handling robotic arm of the present utility model;

[0017] Figure 3 It is a sectional view of the handling assembly of a driving device for a sponge handling robotic arm of the present utility model;

[0018] Figure 4 It is a schematic diagram of the transmission device of a driving device for a sponge handling robotic arm of the present utility model.

[0019] Legend Explanation:

[0020] 1. Base; 2. Reinforcing rib; 3. Mounting X-axis plate; 4. Main body; 5. Mounting plate; 6. Handling motor; 7. Transmission device; 701. Protective shell; 702. Connecting pipe; 703. Rotating wheel; 704. Limiting ring; 705. Crawler belt; 706. Output port; 8. Turning machine; 9. Connecting component; 10. Second electrical interface; 11. Drag chain; 12. Clamping mechanism; 13. Mounting rod; 14. First electrical socket; 15. Moving plate; 16. Rotating shaft; 17. Connecting rotating head; 18. Outer shell. Detailed Implementation Modes

[0021] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The role of the accompanying drawings is to supplement the description in the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but it should not be construed as a limitation on the protection scope of the present utility model.

[0022] Referring to Figures 1 to 4 , in an embodiment of the driving device of a sponge handling robotic arm of the present utility model, it includes a base 1. The upper surface of the base 1 is fixedly connected with an X-axis mounting plate 3. The front side surface of the X-axis mounting plate 3 is fixedly connected with a main body 4. The center of the side surface of the main body 4 is rotatably connected with a rotating shaft 16. A handling motor 6 is rotatably connected to the annular surface of the rotating shaft 16. The left and right side surfaces of the handling motor are fixedly connected with moving plates 15. The other end of the rotating shaft 16 is fixedly connected with a connecting head 17. The other end of the connecting head 17 is connected with a transmission device 7. The center side surface near the upper end of the transmission device 7 is fixedly connected with a rotating machine 8. The upper surface of the moving plate 15 is provided with protrusions that are slidably connected in the groove rails on the inner upper surface of the main body 4, which can fix the angle of the handling motor 6 so that it will not be affected by the rotation of the rotating shaft 16 and deviate in angle.

[0023] The transmission device 7 includes a protective shell 701, a connecting pipe 702, a rotating wheel 703, a limiting ring 704, a crawler 705, and an output port 706. The protective shell 701 is fixedly connected to the right side surface of the main body 4. The connecting pipe 702 is fixedly connected to the output end of the rotating machine 8. The rotating wheel 703 is fixedly connected to the other end of the connecting pipe 702. The limiting ring 704 is fixedly connected to the annular surface of the rotating wheel 703. There are two rotating wheels 703 and limiting rings 704. The crawler 705 is rotatably connected to the annular surface of the rotating wheel 703. The output port 706 is arranged on the protective shell 701 on the left side surface of the other rotating wheel. The protective shell 701 is made of noise-reducing material, which can effectively reduce the noise generated by the internal machinery. The rotating wheel 703 is made of composite metal material and has strong compressive capacity.

[0024] Two reinforcing ribs 2 are fixedly connected to the rear side surface of the X-axis mounting plate 3. The upper surface of the reinforcing ribs 2 is fixedly connected with a mounting plate 5, and the mounting plate 5 is a drag chain mounting plate.

[0025] A connecting component 9 is fixedly connected to the front side surface of the handling motor 6, and a clamping mechanism 12 is fixedly connected to the left side surface of the connecting component 9.

[0026] A mounting rod 13 is fixedly connected to the lower surface of the main body 4. A second electrical socket 10 is fixedly connected to the left side of the lower surface of the mounting rod 13, and a first electrical socket 14 is fixedly connected to the right side of the lower surface of the mounting rod 13.

[0027] The upper surface of the mounting plate 5 is fixedly connected with a drag chain 11, and the drag chain 11 can reduce the friction generated during the use of the machine.

[0028] Working principle: When in use, first power on the device through the first electrical socket 14 and the second electrical socket 10, then turn on the rotating machine 8. The rotating machine 8 drives the connecting rotating head 17 to rotate through the transmission device 7. The rotation of the connecting rotating head 17 drives the rotating shaft 16 to rotate. The rotation of the rotating shaft 16 causes the handling motor 6 to move. The moving plates 15 on both the left and right sides of the handling motor 6 are connected to the top slide rails to fix the overall angle of the handling motor 6. The handling motor 6 drives the clamping mechanism 12 to adjust the position through the connecting component 9. After adjusting to the appropriate position, start the clamping device 12 to clamp the sponge. Adjusting the rotation speed of the rotating machine 8 can adjust the moving speed of the handling motor 6.

[0029] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the said technical field, various changes can be made without departing from the gist of the present invention.

Claims

1. A sponge handling robot arm driving device, comprising a base (1), characterized in that: The upper surface of the base (1) is fixedly connected to an X-axis mounting plate (3), the front side surface of the X-axis mounting plate (3) is fixedly connected to a main body (4), the side surface of the main body (4) is rotatably connected to a rotating shaft (16), the annular surface of the rotating shaft (16) is rotatably connected to a transport motor (6), the left and right side surfaces of the transport motor are fixedly connected to a moving plate (15), the other end of the rotating shaft (16) is fixedly connected to a connecting rotating head (17), the other end of the connecting rotating head (17) is connected to a transmission device (7), and the upper end of the transmission device (7) is fixedly connected to a rotating machine (8) on a side surface close to the center.

2. A sponge handling robot arm driving device according to claim 1, characterized in that: The transmission device (7) comprises a protective shell (701), a connecting pipe (702), a rotating wheel (703), a limiting ring (704), a crawler (705), and an output port (706); the protective shell (701) is fixedly connected to the right side surface of the main body (4).

3. A sponge handling robot arm driving device according to claim 2, characterized in that: The connecting pipe (702) is fixedly connected to the output end of the rotating machine (8), the rotating wheel (703) is fixedly connected to the other end of the connecting pipe (702), the limiting ring (704) is fixedly connected to the annular surface of the rotating wheel (703), there are two rotating wheels (703) and two limiting rings (704), the crawler (705) is rotatably connected to the annular surface of the rotating wheel (703), and the output port (706) is arranged on the protective shell (701) on the left side surface of the other rotating wheel.

4. A sponge handling robot arm driving device according to claim 1, characterized in that: The rear side surface of the X-axis mounting plate (3) is fixedly connected with a reinforcing rib (2), wherein there are two reinforcing ribs (2), and the upper surface of the reinforcing rib (2) is fixedly connected with a mounting plate (5).

5. The sponge handling robot arm driving device according to claim 1, characterized in that: A connecting assembly (9) is fixedly connected to the front surface of the transport motor (6), and a clamping mechanism (12) is fixedly connected to the left surface of the connecting assembly (9).

6. A sponge handling robot arm driving device according to claim 1, characterized in that: The lower surface of the main body (4) is fixedly connected to a mounting rod (13), the left side of the lower surface of the mounting rod (13) is fixedly connected to a second electrical socket (10), and the right side of the lower surface of the mounting rod (13) is fixedly connected to a first electrical socket (14).

7. A sponge handling robot arm driving device according to claim 4, characterized in that: A drag chain (11) is fixedly connected to the upper surface of the mounting plate (5).

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