Joint multi-axis synchronous driving module

Abstract

The utility model relates to multi -shaft synchronous drive technical field, concretely relates to a joint multi -shaft synchronous drive module, including the base plate, the base plate front side rotation is connected with the driving shaft and a plurality of driven shafts, and the base plate is slidably connected with the lifting block between two adjacent driven shafts, and the lifting block middle part is slidably connected with the movable block, still include: the coarse adjustment mechanism, the coarse adjustment mechanism includes two mounting plates fixed in the base plate back side, and the mounting plate rotation is connected with the screw rod between, and the lifting block back side is fixed with the control block of screw thread connection with the screw rod, the fine adjustment mechanism, the fine adjustment mechanism includes the screw rod rotation connected in the lifting block, and the screw rod is with movable block screw connection, the utility model discloses, can fast adjustment lifting block's vertical position, realizes the wide range coarse adjustment of the tensioning wheel, and the adjustment efficiency is greatly improved, utilizes the cooperation of screw rod and control motor, further controls movable block position, and the tensioning degree of synchronous belt can be accurately controlled, and the synchronous precision and stability of multi -shaft drive are significantly improved.

Description

Technical Field

[0001] This utility model relates to the field of multi-axis synchronous drive technology, and more specifically, to a joint multi-axis synchronous drive module. Background Technology

[0002] In the field of multi-axis synchronous drive technology, such as robot joints and automated robotic arms, the transmission accuracy and stability of multi-axis synchronous drive modules are crucial. In existing technologies, traditional multi-axis synchronous drive devices usually use a single tension adjustment mechanism, which makes it difficult to balance adjustment efficiency and adjustment accuracy.

[0003] Utility model patent CN222526814U discloses a multi-axis synchronous belt drive structure, comprising: two mounting plates, with multiple main rotating shafts rotatably connected between the two mounting plates, and fifth belt gears fixedly connected to both sides of the multiple main rotating shafts; a motor and two auxiliary boxes are provided on the side of each of the two mounting plates that are far apart from each other, and second belt gears are rotatably connected to the two auxiliary boxes, with the two second belt gears located on both sides of the multiple main rotating shafts; the power output shaft of each motor is connected to a first belt gear, and the first belt gear, the two second belt gears, and the multiple main rotating shafts on the same side are all wrapped with a toothed belt.

[0004] Although this utility model only requires two motors on both sides to make multiple main rotating shafts rotate stably, saving manufacturing costs, there are still problems such as the tension adjustment mechanism not being precise enough, making it difficult to accurately control the tension of the synchronous belt, which may affect the accuracy and stability of multi-axis synchronous transmission. Utility Model Content

[0005] The purpose of this invention is to provide a multi-axis synchronous drive module for joints to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A multi-axis synchronous drive module for a joint includes a base plate. A drive shaft and several driven shafts are rotatably connected to the front side of the base plate. Synchronous pulleys are fixed to the outer walls of both the drive shaft and the driven shafts. A lifting block is slidably connected between adjacent driven shafts on the base plate. A movable block is slidably connected to the center of the lifting block. A rotating shaft is rotatably connected to the center of the front side of the movable block. A tensioning pulley is fixed to the outer wall of the rotating shaft. The synchronous pulleys and the tensioning pulley are connected by a synchronous belt drive. The module also includes...

[0008] A coarse adjustment mechanism for changing the position of the lifting block includes two mounting plates fixed to the rear side of the base plate, a lead screw rotatably connected between the mounting plates, and a control block threadedly connected to the lead screw fixed to the rear side of the lifting block.

[0009] A fine-tuning mechanism for changing the position of the movable block, the fine-tuning mechanism including a threaded rod rotatably connected to the lifting block, the threaded rod being threadedly connected to the movable block.

[0010] Preferably, the substrate has a through slot for accommodating the movement of the lifting block, and the distance between the two mounting plates is greater than the height of the through slot;

[0011] Preferably, the substrate has sliding grooves on both the left and right sides of the through groove, and the lifting block has sliders on both the left and right sides that correspond to the position of the sliding groove on the same side and are adapted in size.

[0012] Preferably, the top end of the lead screw extends to an adjacent mounting plate, and a handwheel is fixed to the top end of the lead screw;

[0013] Of these three settings, the through slot provides the necessary movement space for the lifting block, the mounting plate spacing is greater than the through slot height to ensure that the lead screw has sufficient stroke, the slide and slider work together to provide precise guidance and stability, prevent the lifting block from tilting and share the load, and the handwheel at the top of the lead screw facilitates manual coarse adjustment and positioning with a wide range of precision and self-locking.

[0014] Preferably, the lifting block has a mounting groove in the middle for accommodating the movement of the movable block, and the threaded rod is rotatably connected to the mounting groove;

[0015] Preferably, the lifting block has two limiting posts fixed in the mounting groove, and both limiting posts are slidably connected to the movable block;

[0016] Preferably, the fine-tuning mechanism further includes a control motor fixed to the top surface of the lifting block, and the output shaft of the control motor is coaxially connected to the threaded rod;

[0017] Of these three features, the mounting slot within the lifting block integrates the movable block and the threaded rod, resulting in a compact structure. Two limiting columns ensure that the movable block can only move in a high-precision linear motion in the required direction, enhancing rigidity and anti-overturning capability. The control motor drives the threaded rod to achieve rapid and precise automated fine-tuning of the movable block's position.

[0018] Preferably, a drive motor is fixed on the front side of the substrate near the drive shaft, and the output shaft of the drive motor is coaxially connected to the drive shaft.

[0019] In this configuration, the drive motor is directly connected coaxially to the drive shaft, resulting in the most compact structure, the highest transmission efficiency, the fastest dynamic response, and no backlash, providing a highly efficient and reliable core driving force.

[0020] Compared with the prior art, the beneficial effects of this utility model are:

[0021] This utility model, through the combination of a lead screw and a handwheel, allows for rapid adjustment of the vertical position of the lifting block, enabling a wide range of coarse adjustments to the tensioning wheel. It is suitable for initial equipment installation or tension adjustment scenarios requiring rapid response, significantly improving adjustment efficiency. By utilizing the cooperation of the threaded rod and the control motor, the position of the moving block is further controlled, and the tension of the synchronous belt can be precisely controlled, significantly improving the synchronization accuracy and stability of multi-axis transmission. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 This is a partial structural schematic diagram of the utility model;

[0024] Figure 3 This is a cross-sectional view of the substrate in the utility model.

[0025] Figure 4 This is a schematic diagram of the coarse adjustment mechanism and the fine adjustment mechanism in the utility model.

[0026] Figure 5 This is a schematic diagram of the coarse adjustment mechanism in the utility model.

[0027] Figure 6 This is a cross-sectional view of the lifting block in the utility model.

[0028] In the picture:

[0029] 100. Base plate; 101. Drive shaft; 102. Driven shaft; 103. Synchronous pulley; 104. Synchronous belt; 105. Drive motor; 106. Through groove; 107. Slide groove;

[0030] 200. Lifting block; 201. Sliding block; 202. Mounting slot;

[0031] 300. Coarse adjustment mechanism; 301. Mounting plate; 302. Control block; 303. Lead screw; 304. Handwheel;

[0032] 400, Active Block;

[0033] 500. Fine-tuning mechanism; 501. Limiting post; 502. Threaded rod; 503. Control motor;

[0034] 600, Shaft;

[0035] 700. Tensioner. Detailed Implementation

[0036] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0037] Please see Figures 1-6 The present invention provides the following technical solution:

[0038] A multi-axis synchronous drive module for joints includes a base plate 100. A drive shaft 101 and several driven shafts 102 are rotatably connected to the front side of the base plate 100. Synchronous pulleys 103 are fixed to the outer walls of both the drive shaft 101 and the driven shafts 102. A lifting block 200 is slidably connected between adjacent driven shafts 102 on the base plate 100. A movable block 400 is slidably connected to the center of the lifting block 200. A rotating shaft 600 is rotatably connected to the center of the front side of the movable block 400. A tensioning pulley 700 is fixed to the outer wall of the rotating shaft 600. The synchronous pulleys 103 and the tensioning pulley 700 are connected by a synchronous belt 104. The module also includes...

[0039] The coarse adjustment mechanism 300 for changing the position of the lifting block 200 includes two mounting plates 301 fixed to the rear side of the base plate 100. A lead screw 303 is rotatably connected between the mounting plates 301. A control block 302 is fixed to the rear side of the lifting block 200 and threadedly connected to the lead screw 303. By rotating the lead screw 303 in the threaded engagement with the control block 302, the vertical position of the lifting block 200 can be quickly adjusted, driving the tensioning wheel 700 to achieve a wide range of coarse adjustments. This is suitable for the initial installation of equipment or for rapid tensioning needs, significantly improving adjustment efficiency.

[0040] The fine adjustment mechanism 500 is used to change the position of the movable block 400. The fine adjustment mechanism 500 includes a threaded rod 502 rotatably connected to the lifting block 200. The threaded rod 502 is threadedly connected to the movable block 400. The threaded connection between the threaded rod 502 and the movable block 400 can realize micro-displacement control. Together with the tensioning wheel 700, it can precisely adjust the tension of the synchronous belt 104, thereby improving the synchronization accuracy and stability of the multi-axis transmission.

[0041] In this embodiment, please refer to Figures 1-6 The substrate 100 has a through groove 106 for accommodating the movement of the lifting block 200. The distance between the two mounting plates 301 is greater than the height of the through groove 106. The through groove 106 provides vertical movement space for the lifting block 200, avoids interference with the substrate 100, and allows the two mounting plates 301 to cover the through groove 106.

[0042] Specifically, the substrate 100 has sliding grooves 107 on both the left and right sides of the through groove 106, and the lifting block 200 has sliders 201 fixed on both the left and right sides, which are corresponding to the sliding grooves 107 on the same side and are adapted in size. The sliding cooperation between the sliding grooves 107 and the sliders 201 forms a guide structure, which restricts the lateral displacement of the lifting block 200, ensures its stable movement in the vertical direction, and improves the reliability of the coarse adjustment process.

[0043] Furthermore, the top of the lead screw 303 extends to the adjacent mounting plate 301, and a handwheel 304 is fixed to the top of the lead screw 303. The handwheel 304 provides a manual operation interface. By rotating the handwheel 304, the lead screw 303 can be quickly driven to rotate, so as to achieve manual coarse adjustment of the position of the lifting block 200. The operation is convenient and suitable for scenarios that require rapid response.

[0044] In this embodiment, please refer to Figures 1-6 The lifting block 200 has a mounting groove 202 in the middle for accommodating the movement of the movable block 400. The threaded rod 502 is rotatably connected in the mounting groove 202. The mounting groove 202 provides mounting space for the movable block 400 and the threaded rod 502, limits the movement trajectory of the movable block 400, and converts the rotational motion of the threaded rod 502 into the linear motion of the movable block 400, thus providing a structural basis for the fine adjustment mechanism 500.

[0045] Specifically, the lifting block 200 has two limiting posts 501 fixed in the mounting groove 202. Both limiting posts 501 are slidably connected to the movable block 400. The sliding cooperation between the limiting posts 501 and the movable block 400 further restricts the rotation of the movable block 400, ensuring that it only moves along the axial direction of the threaded rod 502, avoiding offset caused by threaded transmission, and improving the accuracy and stability of fine adjustment.

[0046] Furthermore, the fine-tuning mechanism 500 also includes a control motor 503 fixed to the top surface of the lifting block 200. The output shaft of the control motor 503 is coaxially connected to the threaded rod 502. The control motor 503 drives the threaded rod 502 to rotate, thereby realizing the automatic fine-tuning of the position of the movable block 400. Combined with the high-precision threaded transmission of the threaded rod 502, the tension of the synchronous belt 104 can be precisely controlled, meeting the high requirements of stability and precision for multi-axis synchronous transmission.

[0047] In this embodiment, please refer to Figure 1 A drive motor 105 is fixed on the front side of the substrate 100 near the drive shaft 101. The output shaft of the drive motor 105 is coaxially connected to the drive shaft 101. The drive motor 105 provides a power source for the drive shaft 101 and drives the driven shaft 102 to rotate synchronously through the synchronous pulley 103 and the synchronous belt 104, ensuring the stability and reliability of the power transmission of the multi-axis drive.

[0048] Finally, it should be noted that the drive motor 105 and control motor 503 involved in this utility model are all general standard parts or parts known to those skilled in the art. Their structure and principle can be known to those skilled in the art through technical manuals or conventional experimental methods. In the idle space of this device, all the above-mentioned electrical components, which refer to power elements, electrical components and the matching controller and power supply, are connected by wires. The specific connection method should refer to the working principle in this utility model. The electrical connection between each electrical component is completed in the order of operation. The detailed connection method is a technology known in the art.

[0049] When in use, the multi-axis synchronous drive module of this utility model rotates the handwheel 304 to drive the lead screw 303 to rotate. The lead screw 303 is threadedly connected to the lifting block 200 through the control block 302, driving the lifting block 200 to move vertically along the through groove 106 of the base plate 100. The sliders 201 on both sides of the lifting block 200 slide in the sliding groove 107 of the base plate 100 to ensure that the lifting block 200 rises and falls smoothly and avoids lateral deviation. The lifting block 200 drives the movable block 400 and the tensioning wheel 700 to move up and down, realizing a wide range of adjustment of the tension of the synchronous belt 104. It is suitable for equipment installation or rapid response scenarios.

[0050] After the control motor 503 starts, the output shaft drives the threaded rod 502 to rotate. The threaded connection between the threaded rod 502 and the movable block 400 converts the rotational motion into linear motion. The limiting post 501 in the mounting groove 202 restricts the rotation of the movable block 400, so that it can only make slight adjustments to its position along the axial direction of the threaded rod 502. The movable block 400 drives the tension wheel 700 to move slightly. Through the high-precision threaded transmission of the threaded rod 502, the precise control of the tension of the synchronous belt 104 is achieved.

[0051] The output shaft of the drive motor 105 drives the drive shaft 101 to rotate, and the drive shaft 101 drives the driven shaft 102 to rotate synchronously through the synchronous pulley 103 and the synchronous belt 104.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-axis synchronous drive module for a joint, comprising a base plate (100), wherein a drive shaft (101) and a plurality of driven shafts (102) are rotatably connected to the front side of the base plate (100), characterized in that, Synchronous pulleys (103) are fixed to the outer walls of the drive shaft (101) and several driven shafts (102). A lifting block (200) is slidably connected between two adjacent driven shafts (102) on the base plate (100). A movable block (400) is slidably connected to the middle of the lifting block (200). A rotating shaft (600) is rotatably connected to the middle of the front side of the movable block (400). A tensioning pulley (700) is fixed to the outer wall of the rotating shaft (600). The synchronous pulleys (103) and the tensioning pulley (700) are connected by a synchronous belt (104). The system also includes... A coarse adjustment mechanism (300) for changing the position of the lifting block (200) includes two mounting plates (301) fixed to the rear side of the base plate (100), a lead screw (303) rotatably connected between the mounting plates (301), and a control block (302) threadedly connected to the lead screw (303) fixed to the rear side of the lifting block (200). A fine-tuning mechanism (500) for changing the position of the movable block (400) includes a threaded rod (502) rotatably connected to the lifting block (200) and threadedly connected to the movable block (400).

2. The joint multi-axis synchronous drive module according to claim 1, characterized in that: The substrate (100) has a through groove (106) for accommodating the movement of the lifting block (200), and the distance between the two mounting plates (301) is greater than the height of the through groove (106).

3. The joint multi-axis synchronous drive module according to claim 2, characterized in that: The substrate (100) has sliding grooves (107) on both the left and right sides of the through groove (106), and the lifting block (200) has sliders (201) on both the left and right sides that correspond to the position of the sliding groove (107) on the same side and are adapted in size.

4. The joint multi-axis synchronous drive module according to claim 1, characterized in that: The top end of the lead screw (303) extends to the adjacent mounting plate (301), and a handwheel (304) is fixed to the top end of the lead screw (303).

5. The joint multi-axis synchronous drive module according to claim 1, characterized in that: The lifting block (200) has a mounting groove (202) in the middle for accommodating the movement of the movable block (400), and the threaded rod (502) is rotatably connected in the mounting groove (202).

6. The joint multi-axis synchronous drive module according to claim 5, characterized in that: The lifting block (200) has two limiting posts (501) fixed in the mounting groove (202), and both limiting posts (501) are slidably connected to the movable block (400).

7. The joint multi-axis synchronous drive module according to claim 1, characterized in that: The fine adjustment mechanism (500) also includes a control motor (503) fixed to the top surface of the lifting block (200), and the output shaft of the control motor (503) is coaxially connected to the threaded rod (502).

8. The joint multi-axis synchronous drive module according to claim 1, characterized in that: A drive motor (105) is fixed on the front side of the substrate (100) near the drive shaft (101), and the output shaft of the drive motor (105) is coaxially connected to the drive shaft (101).

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