A positioning control structure for facilitating control of a drive joint

Abstract

The utility model provides a kind of positioning control structure of drive joint convenient to control, the utility model relates to industrial machinery technical field, including joint seat and positioning disc, joint seat and positioning disc are the matching pipe base of symmetrical arrangement, joint shaft is inserted between joint seat and positioning disc as drive joint part;The utility model has the beneficial effect that: through the joint structure of external connection butt joint to adapt joint movable end, its structure utilizes the axial brake structure set to carry out joint movable brake to external motor, and there is the core shaft that tooth disc corner displacement is matched in its brake structure, cooperation angle displacement sensor is used to real-time acquisition angle displacement data, to realize the adjustment to joint movable position according to the feedback of angle displacement data when joint movable, and can be combined with the axial locking structure of pneumatics to complete the locking to joint movable angle, realize the real-time positioning control to joint.

Description

Technical Field

[0001] This utility model relates to the field of industrial machinery technology, and more specifically, to a positioning control structure that facilitates the control of drive joints. Background Technology

[0002] In industrial applications, robotic arms are typically composed of a series of rigid links connected by joints. The end of the robotic arm is equipped with a wrist and replaceable grippers, welding guns, spray guns, suction cups, etc., to directly complete a variety of complex tasks such as grasping, handling, assembly, welding, spraying, and inspection. Its structure is usually made of lightweight and high-strength materials, and the joints are mainly driven by servo motors to meet the multi-directional operation of each platform position.

[0003] Existing robotic arms typically rely on a servo system with a preset height for braking during grasping. This system requires adjusting the joint stroke based on the robotic arm's position during setup, and the joint position needs to be calibrated during subsequent maintenance. There is a lack of a specific positioning structure to assist in positioning control so as to adjust the joint position in real time. Utility Model Content

[0004] The technical problem to be solved by this utility model is that the existing joint driving method still requires auxiliary angle calibration when relying on servo motor braking, and lacks real-time displacement adjustment judgment basis. In order to solve the above problems, a positioning control structure that is easy to control the driving joint is provided.

[0005] The purpose and effect of this utility model are achieved by the following specific technical means: it includes a joint seat and a positioning plate, the joint seat and the positioning plate are symmetrically arranged matching tube seats, a joint shaft as a driving joint is inserted between the joint seat and the positioning plate, and a mandrel tube is connected between the joint seat and the joint shaft. The mandrel tube is fixed to the joint shaft, and a connecting gear plate that is matched with the mandrel tube is provided in the joint seat. A shaft plate and a transmission gear shaft are sequentially extended from one end of the connecting gear plate relative to the mandrel tube, and the transmission gear shaft is connected to the shaft plate through a toothed chain for lateral transmission.

[0006] A push-shaft cylinder is provided at the outer end of the inner side of the shaft disc component. A locking disc is provided at the piston end of the push-shaft cylinder, and an inner toothed disc diameter is formed on the inner side of the mating toothed disc. The locking disc is axially matched with the inner toothed disc diameter of the mating toothed disc. A mandrel is provided through the locking disc to the mating toothed disc and the end of the mandrel tube.

[0007] An angular displacement sensor is rotatably fitted in the positioning disk, and the angular displacement sensor is driven by the spindle.

[0008] Furthermore, the joint seat and the shaft disc are rotatably fitted with a bearing step structure with a concave surface.

[0009] A further preferred embodiment: the angular displacement sensor is a toothed disc type rolling structure, and the rolling end of the angular displacement sensor serves as the docking end with the mandrel.

[0010] A further preferred embodiment: a pressure contact shaft is provided at the docking end of the spindle and the angular displacement sensor, a pressure contact switch is provided at one end of the pressure contact shaft, and a spring is provided on the pressure contact shaft during the pressure contact stroke of the pressure contact switch.

[0011] A further preferred embodiment: the locking disc is a cross-shaped convex disc.

[0012] A further preferred embodiment: the outer end of the push-shaft cylinder passes through the transmission gear shaft, and a column tube is fixedly installed in the positioning plate, and the column tube and the mandrel are axially locked with a plug-in matching structure.

[0013] The beneficial effects of this utility model are:

[0014] This positioning control structure, which facilitates the control of the drive joint, adapts to the moving end of the joint through an externally connected joint structure. The structure utilizes an axial braking structure to connect an external motor for joint movement braking. Within this braking structure is a spindle that matches the angular displacement of the gear disc. This, combined with an angular displacement sensor, collects angular displacement data in real time. Based on the feedback of this data, the joint's position is adjusted during movement. Furthermore, a pneumatic axial locking structure locks the joint's angle of motion, enabling real-time positioning control and improving the structure's practicality. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the internal planar structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the internal planar structure of the positioning disc of this utility model;

[0019] Figure 4 This is a schematic diagram of the internal planar structure of the joint seat of this utility model;

[0020] Figure 5 This is a schematic diagram of the connection structure between the mating toothed disc and the locking disc of this utility model.

[0021] Figures 1-5In the middle: 1. Joint seat, 2. Positioning plate, 3. Shaft plate, 4. Mandrel tube, 5. Joint shaft, 6. Column tube, 7. Shaft plate, 8. Transmission gear shaft, 9. Connecting gear plate, 10. Mandrel, 11. Angular displacement sensor, 12. Pressure contact shaft, 13. Locking plate, 14. Push shaft cylinder. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the following description is provided in conjunction with the accompanying drawings. Figures 1-5 The present invention will be further described in detail below with specific embodiments. The following embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments do not limit the scope of the present invention. On the contrary, any modifications and refinements made without departing from the scope of the present invention are within the patent protection scope of the present invention.

[0023] A positioning control structure for easy control of a drive joint includes a joint seat 1 and a positioning disk 2. The joint seat 1 and the positioning disk 2 are symmetrically arranged matching tube seats. A joint shaft 5, serving as a drive joint, is inserted between the joint seat 1 and the positioning disk 2. A spindle tube 4 is connected between the joint seat 1 and the joint shaft 5. The spindle tube 4 is fixed to the joint shaft 5. A mating gear disk 9, which is matched with the spindle tube 4, is provided in the joint seat 1. A shaft disk 7 and a transmission gear shaft 8 are sequentially extended from one end of the mating gear disk 9 relative to the spindle tube 4. The transmission gear shaft 8 is laterally driven by a toothed chain belt to provide a shaft disk 3.

[0024] A push-shaft cylinder 14 is provided on the inner side of the outer end of the shaft disc 7. A locking disc 13 is provided at the piston end of the push-shaft cylinder 14. An inner toothed disc diameter is formed on the inner side of the mating toothed disc 9. The locking disc 13 is axially matched with the inner toothed disc diameter of the mating toothed disc 9. A mandrel 10 is provided through the locking disc 13 to the mating toothed disc 9 and the end of the mandrel tube 4.

[0025] An angular displacement sensor 11 is rotatably fitted in the positioning disk 2, and the angular displacement sensor 11 is driven by the spindle 10.

[0026] The control structure uses the joint shaft 5 as the joint mounting structure. The movement and braking of the joint shaft 5 are realized according to the actual preset method. On this basis, the joint seat 1 and the positioning plate 2 are installed on the joint shaft 5. The docking end uses the connection between the joint seat 1 and the spindle tube 4 as the matching interface. The servo motor is connected to the shaft plate 3 to brake the inner rotating end of the shaft plate through the motor, and then drives the gear shaft 8 through the belt drive. The rotation of the gear shaft 8 drives the shaft plate 7 and the docking gear plate 9 to drive the spindle tube 4 and the joint shaft 5 to make relative angular displacement.

[0027] When the joint shaft 5 rotates at an angle, the joint shaft 5 and the spindle tube 4 rotate, and the spindle 10 rotates synchronously. The spindle 10 drives the connected angular displacement sensor 11 to perform a relative angular displacement. The angular displacement sensor 11 collects the angular position of the spindle 10 in real time. Based on this, the locking disc 13 can be inserted axially into the axial position of the mating gear disc 9 by the feed of the push cylinder 14 through an externally driven pneumatic feed. The outer end of the push cylinder 14 passes through the transmission gear shaft 8, and a column tube 6 is fixedly installed in the positioning disc 2. The tube 6 and the spindle 10 are axially locked by a plug-in matching structure. After the locking disc 13 is axially engaged with the mating toothed disc 9, the spindle 10 at the other end will be axially fixed with the column tube 6. After the push cylinder 14 is braked, as the servo motor stops, the mating toothed disc 9 will be locked at the corresponding angle position. That is, the spindle tube 4 and the joint shaft 5 are relatively limited at a specified angle. With the real-time monitoring of displacement by the diagonal displacement sensor 11, it is convenient to lock when the specified angle position is reached, and then the servo motor is turned off. During this period, the joint position is locked at the specified angle.

[0028] Specifically, the joint seat 1 and the shaft disk 7 are rotatably fitted with a concave bearing step structure. The bearing structure serves as the axial position limiting end of the shaft disk 7, so that the shaft disk 7 can be maintained in the corresponding axial position when the transmission gear shaft 8 and the mating gear disk 9 rotate relative to each other, thereby improving the displacement stability of the entire axial structure.

[0029] Specifically, the angular displacement sensor 11 is a toothed disc type rolling structure. The rolling end of the angular displacement sensor 11 serves as the docking end with the spindle 10. After the spindle 10 is braked, the rolling end of the angular displacement sensor 11 is driven to make relative rolling displacement on its toothed disc, so as to sense the angular displacement data at the corresponding position through the change of resistance. The angular displacement of the spindle 10 and the angular displacement sensor 11 corresponds to the angular displacement of the spindle 10 and the docking toothed disc 9, so as to determine the rotation position of the joint axis 5 under the corresponding angular displacement data through the real-time adapted angular displacement data.

[0030] Furthermore, a pressure-contact shaft 12 is provided at the mating end of the spindle 10 and the angular displacement sensor 11. A pressure-contact switch is provided at one end of the pressure-contact shaft 12 on the angular displacement sensor 11, and a spring element is provided on the pressure-contact shaft 12 along the pressure stroke of the pressure-contact switch. Figure 3 , 4As shown, during the axial thrust stroke of the mandrel 10 after being fed and braked by the push shaft cylinder 14, the thrust of the mandrel 10 will overcome the elasticity of the spring of the pressure contact rod 12 and press the pressure contact rod 12. After the pressure contact rod 12 is pressed, the pressure contact switch triggers the angular displacement sensor 11, so that the corresponding angle sensing switch of the angular displacement sensor 11 is matched with the pressure contact switch. After the mandrel 10 drives the pressure contact rod 12 to trigger the angular displacement sensor 11, the angular displacement data at this axial position is obtained. So that after the locking disc 13 engages with the mating tooth disc 9, the corresponding data of the angular displacement sensor 11 is collected synchronously through the pressure contact rod 12 switch. The corresponding angular displacement sensor 11 data is captured in a way similar to a timestamp.

[0031] Furthermore, the locking disc 13 is a cross-shaped cam disc, such as... Figure 5 As shown, the locking of the mating toothed disc 9 is achieved by the engagement of the locking disc 13 and the mating toothed disc 9. Compared with the straight cam shaft structure, the cross-shaped cam shaft disc improves the strength of axial position locking and fixing while ensuring the mating accuracy.

[0032] Working principle:

[0033] The structure is fastened to the joint shaft 5 by the docking of the joint seat 1 and the positioning plate 2. One end is connected to the joint shaft 5 by the column tube 6, and the other end is connected to the mandrel tube 4. The servo motor is connected to the shaft disk 3, which brakes the inner rotating end of the shaft disk through the motor. The transmission gear shaft 8 is driven by the belt drive, so that the rotation of the transmission gear shaft 8 drives the shaft disk 7 and the docking gear disk 9 to drive the mandrel tube 4 and the joint shaft 5 to make relative angular displacement.

[0034] When the joint shaft 5 rotates at an angle, the joint shaft 5 and the spindle tube 4 rotate, and the spindle 10 rotates synchronously. The spindle 10 drives the connected angular displacement sensor 11 to perform a relative angular displacement.

[0035] During the process, the angular displacement sensor 11 is used to collect the rotational position of the spindle 10 in real time. Based on this, combined with the industrial servo control method, after the angular displacement data is obtained by the angular displacement sensor 11, the feed of the push cylinder 14 is used by the external drive pneumatic feed method to make the locking plate 13 insert into the axial position of the docking tooth plate 9. After the locking plate 13 is axially engaged with the docking tooth plate 9, the spindle 10 at the other end will be axially fixed with the column tube 6. After the push cylinder 14 is braked, as the servo motor stops, the docking tooth plate 9 will be locked at the corresponding angular position, that is, the spindle tube 4 and the joint shaft 5 are relatively limited at the specified angle.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A positioning control structure for facilitating control of driving a joint, characterized by: The device includes a joint seat (1) and a positioning plate (2). The joint seat (1) and the positioning plate (2) are symmetrically arranged matching tube seats. A joint shaft (5) as a driving joint is inserted between the joint seat (1) and the positioning plate (2). A spindle tube (4) is connected between the joint seat (1) and the joint shaft (5). The spindle tube (4) is fixed to the joint shaft (5). A mating gear plate (9) that is matched with the spindle tube (4) is provided in the joint seat (1). A shaft plate (7) and a transmission gear shaft (8) are sequentially extended from one end of the mating gear plate (9) relative to the spindle tube (4). The transmission gear shaft (8) is connected to the shaft plate (3) through a toothed chain belt for lateral transmission. A push-shaft cylinder (14) is provided on the inner outer end of the shaft disc (7). A locking disc (13) is provided at the piston end of the push-shaft cylinder (14). An inner toothed disc diameter is formed on the inner side of the mating toothed disc (9). The locking disc (13) is axially matched with the inner toothed disc diameter of the mating toothed disc (9). A mandrel (10) is provided through the locking disc (13) to the mating toothed disc (9) and the end of the mandrel tube (4). The positioning disk (2) is rotatably fitted with an angular displacement sensor (11), and the angular displacement sensor (11) is driven by the spindle (10).

2. A positioning control structure for facilitating control of a drive joint according to claim 1, characterized in that: The joint seat (1) and the shaft disc (7) are rotatably fitted with a concave bearing step structure.

3. A positioning control structure for facilitating control of a drive joint according to claim 1, characterized in that: The angular displacement sensor (11) is a toothed disc type rolling structure, and the rolling end of the angular displacement sensor (11) serves as the docking end with the spindle (10).

4. The positioning control structure for facilitating control of the drive joint according to claim 3, characterized in that: A pressure-contact shaft (12) is provided at the docking end of the spindle (10) and the angular displacement sensor (11). A pressure-contact switch is provided at one end of the angular displacement sensor (11), and a spring is provided on the pressure-contact shaft (12) along the pressure-contact stroke of the pressure-contact switch.

5. The positioning control structure for facilitating control of the drive joint according to claim 1, characterized in that: The locking disc (13) is a cross-shaped convex disc.

6. The positioning control structure for facilitating control of the drive joint according to claim 1, characterized in that: The outer end of the push-shaft cylinder (14) passes through the transmission gear shaft (8), and a column tube (6) is fixedly provided in the positioning plate (2), and the column tube (6) and the spindle (10) are axially locked with plug-in matching.

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