Transmission mechanism and cammed robot hand

Abstract

The utility model relates to the field of PPU manipulator, especially a transmission mechanism, containing the link piece and fastener, link piece sets up on eccentric shaft and has the extension part that extends along the surface of carousel assembly, eccentric shaft passes through the inner end of base and is cooperated with fastener and produces eccentric shaft axial relative movement on base, makes carousel assembly maintain and base contact position state, the cooperation of link piece and fastener has changed the original positioning mode of carousel assembly, and the extension part on link piece provides a support fulcrum to carousel assembly, while maintaining carousel assembly one direction support, through the cooperation of fastener and inner end, makes the extension part also exerted the pressure that carousel assembly was restricted on base, the common effect of both maintains the position state of carousel assembly on base, can avoid using shell, even to the bearing that saved with shell cooperation uses, the utility model discloses the problem of high cost through optimization shell solves.

Description

Technical Field

[0001] This utility model relates to the field of PPU robotic arms, and more particularly to a transmission mechanism and a cam robotic arm. Background Technology

[0002] Cam-based robotic arms, also known as PPU modules or PPU robotic arms, are concentrated in the field of industrial automated material handling and are widely used in the production and manufacturing of electronics, automobiles, packaging, medical devices, and other industries.

[0003] Unreasonable structural design leads to a decline in market share: For example, patent number 202321565216.3 is a PPU module with a built-in reduction ratio. Although the solution benefits from the elimination of the reducer, the overall volume is significantly improved. However, the evolution from large volume to small volume is an optimization of layout, rather than an optimization from the perspective of cost. For example, the outer shell, which accounts for a large proportion of the overall volume, is made of metal and weighs up to ±3kg. Because it also takes into account the position limitation of the triangular turntable, the design requirements lead to the overall cost remaining high. Utility Model Content

[0004] To address the aforementioned issues, this invention provides a transmission mechanism and a cam-driven robotic arm, which further reduces production costs by optimizing the housing.

[0005] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows: a transmission mechanism for realizing the spatial movement of a robotic arm. The transmission mechanism includes a base, an eccentric shaft, and a turntable assembly. The turntable assembly rotates back and forth within the base by being sleeved on the eccentric shaft. The mechanism is characterized by further including a connector and a fastener. The connector is disposed on the eccentric shaft and has an extension portion extending along the surface of the turntable assembly. The eccentric shaft passes through the inner end of the base and cooperates with the fastener to generate axial relative movement of the eccentric shaft on the base, thereby maintaining the turntable assembly in contact with the base.

[0006] The beneficial effects of this utility model are:

[0007] The connection and fasteners alter the original positioning method of the turntable assembly. The extension on the connection provides a support fulcrum for the turntable assembly. While maintaining support in one direction, the extension also applies pressure to constrain the turntable assembly to the base through the cooperation of the fasteners and the inner end. The combined effect of these two factors maintains the position of the turntable assembly on the base, avoids the use of a housing, and even saves the bearings used with the housing. In summary, this invention solves the problem of high cost by optimizing the housing.

[0008] Based on the above design, the turntable assembly has a superior design, comprising: a washer, a rotating plate, an eccentric shaft bearing, and rolling bearings. The washer is set on the base and surrounds a moving area for the rotating plate to move. Within the moving area, the eccentric shaft bearing is embedded in the surface of the base and fitted onto the outer end of the eccentric shaft. The rotating plate is fitted onto the eccentric shaft bearing, and the rolling bearings are distributed along the edge of the rotating plate. The outer ring surface of the rolling bearing is the rolling surface that contacts the inner surface of the washer. Compared with the prior art, this technical solution is a transformation from integrated design to split design. By optimizing the outer shell, the assembly difficulty can be greatly reduced, and the more spacious assembly space can meet the space requirements of the split design, further demonstrating the economic benefits of the split design. For example, the prior art requires the outer shell to position the turntable assembly, and the turntable assembly can only ensure its structural stability through integration. The simpler working environment of this utility model is more suitable for the split design with its advantage in the number of parts. Therefore, the turntable assembly of this utility model can also further reduce the use of triangular cover plates.

[0009] In this specific implementation, the connecting part is a locking screw, the nut of the locking screw is an extension part, and the outer end of the eccentric shaft has a screw hole, which is matched with the locking screw.

[0010] The base is also provided with screw holes. The locking screws are used to constrain the eccentric shaft bearing and prevent the eccentric shaft bearing from falling off the base. Similarly, the locking screws on the eccentric shaft cooperate with the eccentric shaft bearing to limit the position of the eccentric shaft bearing.

[0011] In this specific embodiment, the rotating bearing embedded in the bottom surface of the base is sleeved on the inner end of the eccentric shaft, and the fastener rests on the surface of the rotating bearing, thus maintaining the position of the turntable assembly on the base and also maintaining the position of the rotating bearing on the base.

[0012] The fasteners mentioned above are nuts, and the inner end of the eccentric shaft is threaded. Under the action of the connecting parts, the threaded connection between the nut and the eccentric shaft forces the axial relative movement of the eccentric shaft to be from the inner end to the outside of the base. The threaded connection has strong stability, and the more stable structure solves the shaking problem caused by the robot arm when moving in space.

[0013] Given the unusual operating environment, the motor needs to be replaced to meet production requirements. The inner end of the eccentric shaft is a clamp, which can be used for motor shafts of different sizes. The clamp wraps around the motor shaft, and the clamp is fitted onto the clamp. The motor shaft is held in place by tightening the screws.

[0014] A linear movement mechanism is also provided on the base. The linear movement mechanism includes a first slide rail, a first linear slider, a second linear slider, and a second slide rail. The second slide rail is set on the base. The second linear slider is slidably connected to the second slide rail. The first linear slider is set on the second linear slider and is slidably connected to the first slide rail. One end of the first slide rail is connected to the connecting shaft on the rotating plate through a follower connecting block, and the other end is provided on a mounting plate connected to the robot arm.

[0015] It also includes an outer cover, which is set on the base and encloses the entire turntable assembly to reduce the risk of external interference with the movement of the turntable assembly.

[0016] A cam-driven robotic arm includes the aforementioned transmission mechanism. Attached Figure Description

[0017] Figure 1 It is a 3D diagram of the transmission mechanism.

[0018] Figure 2 yes Figure 1 A 3D view after the outer cover has been removed.

[0019] Figure 3 This is a schematic diagram of the assembly between the turntable assembly and the base.

[0020] Figure 4 yes Figure 3 Enlarged diagram of point A.

[0021] Figure 5 It is a three-dimensional diagram of an eccentric shaft, eccentric bearing, and rotary bearing.

[0022] Figure 6 yes Figure 5 A 3D view from another direction.

[0023] Figure 7 yes Figure 5 Another 3D view from another direction.

[0024] Figure 8 yes Figure 3 A sectional view.

[0025] Figure 9 It is a 3D diagram of an eccentric shaft.

[0026] Figure 10 This is a schematic diagram of the base and the eccentric shaft bearing.

[0027] Figure 11 It is a three-dimensional view of the eccentric axis from another direction. Detailed Implementation

[0028] like Figure 1-11As shown, a transmission mechanism is used to realize the spatial movement of a robot. The transmission mechanism includes a base 1, an eccentric shaft 2, and a turntable assembly 3. The turntable assembly 3 rotates back and forth within the base 1 by being sleeved on the eccentric shaft 2. The mechanism is characterized by further including a connector 4 and a fastener 5. The connector 4 is disposed on the eccentric shaft 2 and has an extension extending along the surface of the turntable assembly 3. The eccentric shaft 2 passes through the inner end of the base 1 and cooperates with the fastener 5 to generate axial relative movement of the eccentric shaft 2 on the base 1, so that the turntable assembly 3 maintains a position in contact with the base 1.

[0029] The beneficial effects of this utility model are:

[0030] The cooperation between the connector 4 and the fastener 5 changes the original positioning method of the turntable assembly 3. The extension on the connector 4 provides a support fulcrum for the turntable assembly 3. While maintaining the support of the turntable assembly 3 in one direction, the cooperation between the fastener 5 and the inner end causes the extension to apply pressure to constrain the turntable assembly 3 on the base 1. The combined effect of the two is to maintain the position of the turntable assembly 3 on the base 1, and to avoid the use of a shell, and even save the bearings used with the shell. In summary, this utility model solves the problem of high cost by optimizing the shell.

[0031] Based on the above design, the turntable assembly 3 has a superior design, comprising: a washer 31, a rotating plate 32, an eccentric shaft bearing 33, and rolling bearings 34. The washer 31 is mounted on the base 1 and surrounds a moving area for the rotating plate 32 to move. Within the moving area, the eccentric shaft bearing 33 is embedded in the surface of the base 1 and fitted onto the outer end of the eccentric shaft 2. The rotating plate 32 is fitted onto the eccentric shaft bearing 33. The rolling bearings 34 are distributed along the edge of the rotating plate 32, and the outer ring surface of the rolling bearings 34 is a rolling surface that contacts the inner surface of the washer 31. Compared to the prior art, this technical solution is superior in that it integrates... The transformation from a modular design to a split design significantly reduces assembly difficulty through optimization of the outer shell. The more spacious assembly space can meet the space requirements of the split design and better reflect the economic benefits of the split design. For example, existing technologies require the outer shell to position the turntable assembly 3, and the turntable assembly 3 can only ensure its structural stability through integration. The simpler working environment of this utility model is more in line with the split design with the advantage of fewer parts. Therefore, the turntable assembly 3 of this utility model can also further reduce the use of triangular cover plates.

[0032] In this specific implementation, the connecting part 4 is a locking screw, the nut of the locking screw is an extension part, and the outer end of the eccentric shaft 2 is provided with a screw hole 1a, and the locking screw is engaged with the screw hole 1a.

[0033] The base 1 is also provided with screw holes 1a, which are used to lock the eccentric shaft bearing 33 by means of locking screws to prevent the eccentric shaft bearing 33 from falling off the base 1. Similarly, the locking screws on the eccentric shaft 2 cooperate with the eccentric shaft bearing 33 to limit the position of the eccentric shaft bearing 33.

[0034] In this specific embodiment, the rotating bearing 6 embedded in the bottom surface of the base 1 is sleeved on the inner end of the eccentric shaft 2, and the fastener 5 rests on the surface of the rotating bearing 6, that is, maintaining the position of the turntable assembly 3 on the base 1, and also maintaining the position of the rotating bearing 6 on the base 1.

[0035] The fastener 5 mentioned above is a nut. The inner end of the eccentric shaft 2 is threaded. Under the action of the connecting piece 4, the threaded connection between the nut and the eccentric shaft 2 forces the axial relative movement direction of the eccentric shaft 2 to be from the inner end to the outside of the base 1. The threaded connection has strong stability, and the more stable structure solves the shaking problem caused by the robot arm when moving in space.

[0036] Given the unusual operating environment, it is necessary to replace motor 13 to meet production requirements. The inner end of eccentric shaft 2 is a clamp 12, which can be used for motor 13 shafts of different sizes. The clamp 12 wraps around the motor 13 shaft, and clamp 11 is fitted on the clamp 12. The motor 13 shaft is held tightly by tightening screws.

[0037] A linear movement mechanism is also provided on the base 1. The linear movement mechanism includes a first slide rail 71, a first linear slider 72, a second linear slider 73, and a second slide rail 74. The second slide rail 74 is disposed on the base 1. The second linear slider 73 is slidably connected to the second slide rail 74. The first linear slider 72 is disposed on the second linear slider 73 and is slidably connected to the first slide rail 71. One end of the first slide rail 71 is connected to the connecting shaft 9 on the rotating plate 32 through the follower connecting block 8, and the other end is disposed on the mounting plate 12 connected to the robot arm.

[0038] It also includes an outer cover 10, which is set on the base 1 and covers the entire turntable assembly 3 to reduce the risk of external influence on the movement of the turntable assembly 3.

[0039] A cam-driven robotic arm includes the aforementioned transmission mechanism.

[0040] The above embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A transmission mechanism for realizing spatial movement of a robotic arm, the transmission mechanism comprising a base, an eccentric shaft, and a turntable assembly, the turntable assembly reciprocating in the base by being sleeved on the eccentric shaft, characterized in that, It also includes connectors and fasteners. The connectors are mounted on the eccentric shaft and have extensions that extend along the surface of the turntable assembly. The eccentric shaft passes through the inner end of the base and engages with the fasteners to generate axial relative movement of the eccentric shaft on the base, thereby maintaining the turntable assembly in contact with the base.

2. The transmission mechanism according to claim 1, characterized in that, The turntable assembly includes: washers, a rotating plate, an eccentric shaft bearing, and rolling bearings. The washers are set on the base and surround a moving area for the rotating plate to move. Within the moving area, the eccentric shaft bearings are embedded in the surface of the base and fitted onto the outer end of the eccentric shaft. The rotating plate is fitted onto the eccentric shaft bearings. The rolling bearings are distributed along the edge of the rotating plate, and the outer ring surface of the rolling bearings is a rolling surface that contacts the inner surface of the washers.

3. The transmission mechanism according to claim 1, characterized in that, The connecting part is a locking screw, the nut of the locking screw is an extension part, and the outer end of the eccentric shaft has a screw hole, which is matched with the locking screw.

4. A transmission mechanism according to claim 2, characterized in that, The connecting part is a locking screw, and the base and eccentric shaft are also provided with screw holes. The locking screw is used to constrain the eccentric shaft bearing and limit the eccentric shaft bearing.

5. A transmission mechanism according to claim 2, characterized in that, It also includes a rotary bearing, which is embedded in the bottom surface of the base and fitted inside the eccentric shaft, with fasteners resting on the surface of the rotary bearing.

6. A transmission mechanism according to any one of claims 1-5, characterized in that, The fasteners mentioned above are nuts. The inner end of the eccentric shaft is threaded. Under the action of the connecting parts, the threaded connection between the nut and the eccentric shaft forces the axial relative movement of the eccentric shaft to be from the inner end to the outside of the base.

7. A transmission mechanism according to claim 6, characterized in that, It also includes a clamp, the inner end of the eccentric shaft is a claw, the claw wraps around the motor shaft, the clamp is fitted on the claw, and the motor shaft is tightened by screws.

8. A transmission mechanism according to claim 1, characterized in that, A linear movement mechanism is also provided on the base. The linear movement mechanism includes a first slide rail, a first linear slider, a second linear slider, and a second slide rail. The second slide rail is set on the base. The second linear slider is slidably connected to the second slide rail. The first linear slider is set on the second linear slider and is slidably connected to the first slide rail. One end of the first slide rail is connected to the connecting shaft on the rotating plate through a follower connecting block, and the other end is provided on a mounting plate connected to the robot arm.

9. A transmission mechanism according to claim 1, characterized in that, It also includes an outer cover, which is set on the base and encloses the entire turntable assembly.

10. A cam-driven robotic arm, characterized in that, It includes the transmission mechanism described in any one of claims 1-9.

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