Multi-structure transmission teaching manipulator

Abstract

The utility model provides a multi-structure transmission teaching manipulator, which belongs to the technical field of manipulators and comprises a frame body mechanism, the frame body mechanism comprises a swing arm, and the swing arm is provided with a bottom mechanism and a transmission mechanism in a matched manner; and the bottom mechanism comprises a driving motor, the output end of the driving motor is connected with a straight shaft in an inserted mode, the outer surface of the straight shaft is fixedly sleeved with a worm, the side face of the worm is meshed with a worm wheel, the worm wheel is fixedly sleeved with a flange plate through a stand column, and an inner supporting frame is installed at the top of the flange plate in a matched mode. A power motor fixedly penetrates through the side face of the inner supporting frame, the power motor is provided with a swing arm in a matched mode, and a worm is meshed with a worm wheel, so that the rotation direction is changed, demonstration teaching is facilitated, a flange plate and the inner supporting frame are arranged in a matched mode, rotation of the worm wheel is further transmitted, then autorotation is helped, the demonstration effect is comprehensive and continuous, and the demonstration effect is good. The driven wheel is connected with the swing arm in an inserted mode, and the display requirement of the mechanical arm can be met.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a multi-structure transmission teaching manipulator. Background Art

[0002] A teachable robot is a robot that can be programmed through manual instruction. It can mimic human movements to perform specific tasks. The working principle of a teachable robot is usually achieved through the following methods: teaching programming, sensor acquisition, and motion control technology.

[0003] In the prior art, there is a powered dragging teaching manipulator with application number: 201520188730.9, in which a handle is installed on the swing arm of the manipulator, and the driving motors of various joints of the manipulator are provided with encoders for recording their movement or rotation trajectories; through the rotation support of the handle and the signal control of the encoder, the movement is basically achieved, and a certain teaching effect is reflected. However, in this structure, the handle can only be rotated and supported within the same plane, and the relative stability of the manipulator in all directions cannot be guaranteed. The placement range is very limited, and the teaching effect is poor. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-structure transmission teaching manipulator, aiming to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A multi-structure transmission teaching manipulator includes a frame mechanism, the frame mechanism includes a swing arm, and the swing arm is equipped with a bottom mechanism and a transmission mechanism;

[0007] In addition, the bottom mechanism includes a driving motor, the output end of the driving motor is plugged into a straight shaft, the outer surface of the straight shaft is fixedly sleeved with a worm, the side of the worm is engaged with a worm wheel, the worm wheel is fixedly sleeved with a flange through a column, the top of the flange is adapted to be installed with an inner support frame, the side of the inner support frame is fixed with a power motor, the power motor is cooperated with a driving wheel and a driven wheel, and the driven wheel is plugged into the swing arm through a center axis.

[0008] As a preferred solution of the present invention, the end face of the power motor is plug-connected to the driving wheel, the teeth of the driving wheel are engaged with the driven wheel, and the inner surface of the inner support is rotatably connected to the secondary wheel.

[0009] As a preferred solution of the present invention, the outer surface of the inner support frame is fixedly connected to a side-moving motor, the output end of the side-moving motor is fixedly connected to a sleeve shaft, the surface of the sleeve shaft is plugged into an outer abutment block, and the outer abutment block is movably abutted against the teeth of the secondary wheel.

[0010] As a preferred solution of the present invention, the frame mechanism also includes a side bending plate, the bottom of the side bending plate is rotatably connected to the swing arm, and the bottom of the side bending plate is hingedly connected to a positioning shaft, and the positioning shaft is rotatably sleeved with the top of the swing arm.

[0011] As a preferred solution of the present invention, a transmission rod is rotatably sleeved on the outer side of the alignment shaft, one side of the transmission rod is hingedly connected to a display rack, the top of the display rack is fixedly connected to a control member, and the bottom of the control member is adapted to be installed with a wedge-shaped claw.

[0012] As a preferred solution of the present invention, a plug is fixedly connected to the side of the drive motor, a square frame is fixedly sleeved on the side of the straight shaft, a bottom plate is fixedly connected to the lower surface of the square frame, and a bearing is adapted to be clamped on the end face of the straight shaft.

[0013] As a preferred solution of the present invention, the radii of the driving wheel and the driven wheel are set differently, and the placement planes of the driving wheel and the driven wheel remain overlapping.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) through the coordinated arrangement of the bottom mechanism, the transmission mechanism and the frame mechanism, the swing arm can be rotated for teaching at any position; the plug-in connection between the drive motor and the straight shaft can be used to provide a power source for the transmission function; the meshing of the worm and the turbine changes the direction of rotation, which facilitates demonstration and teaching; the coordinated arrangement of the flange and the inner support frame further transmits the rotation of the worm gear, thereby helping the self-rotation, and the demonstration effect is comprehensive and continuous; the coordinated arrangement of the power motor, the driving wheel and the driven wheel makes the gear speed decrease step by step; the plug-in connection between the driven wheel and the swing arm allows the rotation of the swing arm to be continuous and stable, and meets the demonstration requirements of the manipulator.

[0015] (2) Through the rotational connection between the side bending plate and the swing arm, the side bending plate can be further rotated flexibly, and the rotation teaching effect of the manipulator is better. The rotation socket of the alignment shaft and the swing arm helps the manipulator to fully demonstrate the transmission effect through the step-by-step transmission of multiple structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a side view structural diagram of all parts in the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the parts related to achieving the bottom rotation support effect in the present invention;

[0020] Figure 4 For this utility model Figure 1 A partial enlarged schematic diagram of point A in the middle;

[0021] Figure 5 This is a structural diagram of the relevant parts for achieving the continuous swing effect of the robot arm in the utility model.

[0022] In the figure: 100, bottom mechanism; 101, driving motor; 102, plug; 103, straight shaft; 104, square frame; 105, bottom plate; 106, worm; 107, worm gear; 108, bearing; 200, transmission mechanism; 201, flange; 202, inner support frame; 203, power motor; 204, driving wheel; 205, driven wheel; 206, secondary wheel; 207, side motor; 208, sleeve shaft; 209, outer block; 300, frame mechanism; 301, swing arm; 302, side bending plate; 303, alignment shaft; 304, transmission rod; 305, display rack; 306, control member; 307, wedge claw. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0026] Example 1

[0027] Reference Figure 1-2 , which is the first embodiment of the present utility model, provides a multi-structure transmission teaching manipulator, including a frame mechanism 300, the frame mechanism 300 includes a swing arm 301, and the swing arm 301 is equipped with a bottom mechanism 100 and a transmission mechanism 200;

[0028] In addition, the bottom mechanism 100 includes a driving motor 101, the output end of the driving motor 101 is plugged into and connected to a straight shaft 103, the outer surface of the straight shaft 103 is fixedly sleeved with a worm 106, the side of the worm 106 is engaged with a worm wheel 107, the worm wheel 107 is fixedly sleeved with a flange 201 through a column, the top of the flange 201 is adapted to be installed with an inner support frame 202, the side of the inner support frame 202 is fixedly penetrated by a power motor 203, the power motor 203 is cooperated with a driving wheel 204 and a driven wheel 205, and the driven wheel 205 is plugged into and connected to the swing arm 301 through the center axis.

[0029] Specifically, the bottom mechanism 100 is arranged in coordination with the transmission mechanism 200 and the frame mechanism 300, so that the swing arm 301 can be rotated at any position for teaching. The plug-in connection between the drive motor 101 and the straight shaft 103 can be used to provide a power source for the transmission function. The engagement of the worm 106 and the turbine 107 changes the direction of rotation, which facilitates demonstration and teaching. The flange 201 is arranged in coordination with the inner support frame 202, so that the rotation of the worm gear 107 is further transmitted, thereby helping the self-rotation, and the display effect is comprehensive and continuous. The power motor 203 is arranged in coordination with the driving wheel 204 and the driven wheel 205, so that the gear speed decreases step by step. The plug-in connection between the driven wheel 205 and the swing arm 301 can make the rotation of the swing arm 301 continuous and stable, which can meet the display requirements of the robot.

[0030] Furthermore, the end face of the power motor 203 is plug-connected with the driving wheel 204 , the teeth of the driving wheel 204 are meshed with the driven wheel 205 , and the inner surface of the inner support frame 202 is rotatably connected to the secondary wheel 206 .

[0031] Preferably, the connection between the driving wheel 204 and the power motor 203 allows the power at the output end of the power motor 203 to be directly provided to the driving wheel 204, effectively improving the meshing efficiency. The rotational connection between the secondary wheel 206 and the inner support frame 202 can ensure that the side of the inner support frame 202 remains relatively stationary when it rotates, and the inner support frame 202 will not decline or detach.

[0032] It should be noted that the outer surface of the inner support frame 202 is fixedly connected to the side-moving motor 207, the output end of the side-moving motor 207 is fixedly connected to the sleeve shaft 208, the surface of the sleeve shaft 208 is plugged into and connected to the outer block 209, and the outer block 209 is movably in contact with the teeth of the secondary wheel 206.

[0033] Afterwards, the fixed connection between the side motor 207 and the inner support frame 202 reduces the vibration when the side motor 207 is running. The plug-in connection between the sleeve shaft 208 and the outer support block 209 can provide power for the inner support frame 202 to rotate to the lowest point, helping the inner support block 202 to rotate continuously.

[0034] Example 2

[0035] Reference Figure 2-3 , which is the second embodiment of the present utility model. Different from the previous embodiment, this embodiment provides relevant parts for achieving a stable display effect of the manipulator.

[0036] Specifically, the frame mechanism 300 also includes a side bending plate 302, the bottom of the side bending plate 302 is rotatably connected to the swing arm 301, and the bottom of the side bending plate 302 is hingedly connected to a positioning shaft 303, and the positioning shaft 303 is rotatably sleeved with the top of the swing arm 301.

[0037] Furthermore, the rotational connection between the side bending plate 302 and the swing arm 301 allows the side bending plate 302 to rotate further flexibly, and the rotation teaching effect of the manipulator is better. The rotational connection between the alignment shaft 303 and the swing arm 301 helps the manipulator to fully demonstrate the transmission effect through the step-by-step transmission of multiple structures.

[0038] Preferably, a transmission rod 304 is rotatably sleeved on the outer side of the alignment shaft 303, one side of the transmission rod 304 is hingedly connected to a display rack 305, the top of the display rack 305 is fixedly connected to a control member 306, and the bottom of the control member 306 is adapted to be installed with a wedge claw 307.

[0039] The hinged connection between the transmission rod 304 and the display frame 305 allows the control member 306 to rotate accordingly, so that the control member 306 can stably control the wedge claw 307.

[0040] Example 3

[0041] Reference Figure 2-5 , which is the third embodiment of the present utility model. Different from the previous embodiment, this embodiment provides relevant parts for achieving stable operation of the driving component.

[0042] Specifically, a plug 102 is fixedly connected to the side of the driving motor 101, a square frame 104 is fixedly sleeved on the side of the straight shaft 103, a bottom plate 105 is fixedly connected to the lower surface of the square frame 104, and a bearing 108 is adapted and clamped on the end face of the straight shaft 103.

[0043] Furthermore, the fixed connection between the plug 102 and the drive motor 101 allows the drive motor 101 to be continuously powered. The fixed arrangement of the square frame 104, the base plate 105 and the straight shaft 103 further helps to make the side transmission of the straight shaft 103 more uniform. The snap-fit ​​connection between the bearing 108 and the straight shaft 103 keeps the rotation concentricity of the straight shaft 103 unchanged, and the transmission is continuous and consistent.

[0044] Preferably, the radii of the driving wheel 204 and the driven wheel 205 are set differently, and the placement planes of the driving wheel 204 and the driven wheel 205 remain coincident.

[0045] Among them, the different radius settings of the driving wheel 204 and the driven wheel 205 cause the gear speed to change, and the rotation speed of the manipulator is more precise, which is conducive to the stability of the manipulator display.

[0046] Working principle: First, the driven wheel 205 and the secondary wheel 206 are fixedly sleeved on both sides of the swing arm 301, and then the outer block 209 and the sleeve shaft 208 are plugged and installed. The side motor 207 is fixedly connected to the sleeve shaft 208 and can be used in conjunction with the outer block 209 to provide stable rotation support for the secondary wheel 206. At the same time, the drive motor 101 and the power motor 203 are started. The drive motor 101 drives the straight shaft 103 and the worm 106 to rotate synchronously. After the worm wheel 107 engages with the worm 106, it drives the flange 201 to rotate synchronously, further allowing the swing arm 301 to rotate and extend at the same time. After that, during the extension process of the swing arm 301, the side bending plate 302 extends and expands under the rotation support of the positioning shaft 303, and the secondary transmission with the transmission rod 304 helps the wedge claw 307 to rotate at any angle.

[0047] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0048] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0049] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. A multi-structure transmission teaching manipulator, characterized by: The invention comprises a frame mechanism (300), wherein the frame mechanism (300) comprises a swing arm (301), and the swing arm (301) is provided with a bottom mechanism (100) and a transmission mechanism (200); Furthermore, the bottom mechanism (100) comprises a driving motor (101), the output end of the driving motor (101) is plug-connected with a straight shaft (103), the outer surface of the straight shaft (103) is fixedly sleeved with a worm (106), the side of the worm (106) is meshed with a worm wheel (107), the worm wheel (107) is fixedly sleeved with a flange (201) through a column, the top of the flange (201) is adapted to be installed with an inner support frame (202), the side of the inner support frame (202) is fixedly penetrated by a power motor (203), the power motor (203) is cooperatively provided with a driving wheel (204) and a driven wheel (205), and the driven wheel (205) is plug-connected with the swing arm (301) through a central axis.

2. The multi-structure transmission teaching manipulator according to claim 1, characterized in that: The end face of the power motor (203) is plug-connected to the driving wheel (204), the teeth of the driving wheel (204) are meshed with the driven wheel (205), and the inner surface of the inner support frame (202) is rotatably connected to the secondary wheel (206).

3. The multi-structure transmission teaching manipulator according to claim 2, characterized in that: The outer surface of the inner support frame (202) is fixedly connected to a side-moving motor (207), the output end of the side-moving motor (207) is fixedly connected to a sleeve shaft (208), the surface of the sleeve shaft (208) is plug-connected to an outer abutment block (209), and the outer abutment block (209) is in movably abutment with the teeth of the secondary wheel (206).

4. The multi-structure transmission teaching manipulator according to claim 1, characterized in that: The frame mechanism (300) further comprises a side bending plate (302), the bottom of which is rotatably connected to the swing arm (301), and the bottom of which is hingedly connected to an alignment shaft (303), which is rotatably sleeved to the top of the swing arm (301).

5. The multi-structure transmission teaching manipulator according to claim 4, characterized in that: A transmission rod (304) is rotatably sleeved on the outer side of the alignment shaft (303); one side of the transmission rod (304) is hingedly connected to a display rack (305); a control member (306) is fixedly connected to the top of the display rack (305); and a wedge-shaped claw (307) is adapted to be installed on the bottom of the control member (306).

6. The multi-structure transmission teaching manipulator according to claim 1, characterized in that: A plug (102) is fixedly connected to the side of the driving motor (101), a square frame (104) is fixedly sleeved on the side of the straight shaft (103), a bottom plate (105) is fixedly connected to the lower surface of the square frame (104), and a bearing (108) is adapted and clamped on the end surface of the straight shaft (103).

7. The multi-structure transmission teaching manipulator according to claim 2, characterized in that: The radii of the driving wheel (204) and the driven wheel (205) are set differently, and the placement planes of the driving wheel (204) and the driven wheel (205) remain coincident.

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