CN212919395U - Six-degree-of-freedom automatic adjusting device rotation adjusting structure - Google Patents
Six-degree-of-freedom automatic adjusting device rotation adjusting structure Download PDFInfo
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- CN212919395U CN212919395U CN202021119531.XU CN202021119531U CN212919395U CN 212919395 U CN212919395 U CN 212919395U CN 202021119531 U CN202021119531 U CN 202021119531U CN 212919395 U CN212919395 U CN 212919395U
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- 238000010030 laminating Methods 0.000 claims description 2
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Abstract
The utility model discloses a six degree of freedom automatic regulating apparatus equipment rotation regulation structures, including base and end cover, the top of base is equipped with a plurality of end covers, the internally mounted of base has rotating assembly, rotating assembly includes layer board, first pivot, servo motor, shaft coupling and first bearing, the servo motor rigid coupling is in the inside of base. This six degree of freedom automatic regulating apparatus equipment rotation regulation structure, structure scientific and reasonable, convenience safe in utilization, be provided with the pneumatic cylinder, the hydraulic stem, the friction disc, the fluted disc, the gear, the second pivot, cooperation between servo motor and the swivel mount, when stopping at specific angle, external control module can control the hydraulic stem immediately and stretch out, can pass through the second pivot afterwards, fluted disc and gear carry out the restriction of rotation direction to first pivot, avoid leading to receiving the relatively poor problem of accuracy that the impact leads to the location easily because of rotating the restriction ability when manipulator uses at the particular position.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a six degree of freedom automatic regulating apparatus equipment rotation regulation structure.
Background
The manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, the advantages of the human and the manipulator machines are combined in structure and performance, six-degree-of-freedom movement possibilities of vertical lifting, horizontal adjustment and horizontal rotation are usually provided in the use process of the manipulator, although the rotation possibility of the horizontal rotation degree-of-freedom can be realized in the prior art, the prior art has the problem that the positioning accuracy is poor due to the fact that the manipulator is easy to be impacted due to insufficient rotation limiting capacity when the manipulator is used at a specific position.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six degree of freedom automatic regulating apparatus equipment rotation regulation structure to solve the above-mentioned among the background art proposed and lead to receiving the relatively poor problem of accuracy that strikes and lead to the location easily because of rotating the restriction ability not enough when the manipulator uses in the particular position easily.
In order to achieve the above object, the utility model provides a following technical scheme: a rotation adjusting structure of six-degree-of-freedom automatic adjusting device equipment comprises a base and end covers, wherein a plurality of end covers are arranged above the base, and a rotating assembly is arranged in the base;
the rotating assembly comprises a supporting plate, a first rotating shaft, a servo motor, a coupler and a first bearing;
the servo motor is fixedly connected inside the base, an output shaft of the servo motor is rotationally connected with the first rotating shaft through a coupler, the upper portion of the outer wall of the first rotating shaft is rotationally connected with the upper end cover through a first bearing, and the upper end of the first rotating shaft is fixedly connected with the rotating base through a plurality of supporting plates. The rotation of the device can be realized by the rotating component.
Preferably, the vertical center of the servo motor is consistent with the vertical center of the base. The position of the servo motor is limited.
Preferably, the left side and the right side of the inner end of the end cover are provided with connecting components;
the connecting assembly comprises a fluted disc, a second bearing, a first vertical plate, a gear and a second rotating shaft;
the gear rigid coupling is in the outer wall top of first pivot, the meshing of the left and right sides of gear links to each other there is the fluted disc, the equal rigid coupling in the outside of fluted disc has the second pivot, the outer wall of second pivot all rotates with the first riser through the second bearing and links to each other, the upper and lower both sides of first riser all link to each other with the end cover is fixed. The connecting component can realize the continuation of transmission.
Preferably, the left first vertical plate, the right first vertical plate and the fluted disc are axially symmetrically distributed by taking the vertical center of the base as a reference. The relative positions of the first vertical plate and the fluted disc with the base are limited.
Preferably, the horizontal center of the fluted disc is consistent with the inner center positions of the upper end cover and the lower end cover. The position of the fluted disc at the inner side of the upper end cover and the lower end cover is limited.
Preferably, the left end and the right end of the inner side of the end cover are provided with positioning components;
the positioning assembly comprises a friction plate, a second vertical plate, a hydraulic cylinder and a hydraulic rod;
the outer wall of pneumatic cylinder all links to each other with the end cover is fixed through the second riser, the inside laminating of pneumatic cylinder links to each other there is the hydraulic stem, the inboard of hydraulic stem and the equal rigid coupling in the outside of second pivot have the friction disc. The positioning assembly can realize position positioning.
Preferably, the opposing edges of the friction plate are of uniform size. So that the friction plates can be randomly installed.
Preferably, the axial coaxiality precision between the inner friction plate and the outer friction plate is high. And the joint between the friction plates is ensured.
Compared with the prior art, the beneficial effects of the utility model are that: this six degree of freedom automatic regulating apparatus equipment rotation regulation structure, structure scientific and reasonable, convenience safe in utilization:
be provided with the pneumatic cylinder, the hydraulic stem, the friction disc, the fluted disc, the gear, the second pivot, cooperation between servo motor and the swivel mount, when stopping at specific angle, external control module can control the hydraulic stem immediately and stretch out, make and to carry out relative restriction rotation between the friction disc, can pass through the second pivot afterwards, fluted disc and gear carry out the restriction of direction of rotation to first pivot, avoid easily leading to receiving the relatively poor problem of accuracy that the impact leads to the location easily because of rotating the restriction ability not enough when the manipulator uses at specific position.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the base, the end cap and the servo motor in FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 1 at the swivel mount, the first bearing and the gear;
fig. 4 is a schematic structural view of the hydraulic cylinder, the hydraulic rod and the toothed disc in fig. 1.
In the figure: 1. the base, 2, the rotating assembly, 201, the layer board, 202, first pivot, 203, servo motor, 204, shaft coupling, 205, first bearing, 3, coupling assembling, 301, fluted disc, 302, second bearing, 303, first riser, 304, the gear, 305, the second pivot, 4, locating component, 401, friction disc, 402, the second riser, 403, pneumatic cylinder, 404, hydraulic stem, 5, the end cover, 6, the swivel mount.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a rotation adjusting structure of six-freedom-degree automatic adjusting device equipment comprises a base 1 and end covers 5, wherein a plurality of end covers 5 are arranged above the base 1, a rotating component 2 is arranged in the base 1, the rotating component 2 comprises a supporting plate 201 and a first rotating shaft 202, servo motor 203, shaft coupling 204 and first bearing 205, servo motor 203's model is ECMA-E11320RS, servo motor 203 rigid coupling is in the inside of base 1, servo motor 203's output shaft passes through shaft coupling 204 and rotates with first pivot 202 and link to each other, servo motor 203's output shaft accessible first pivot 202 drives swivel mount 6 and rotates, the outer wall top of first pivot 202 rotates with top end cover 5 through first bearing 205 and links to each other, the upper end of first pivot 202 is fixed with swivel mount 6 through a plurality of layer boards 201 and links to each other, servo motor 203's vertical center is unanimous with the vertical central point of base 1 position, the relative position of restriction servo motor 203 and base 1.
The connecting components 3 are mounted on the left side and the right side of the inner end of the end cover 5, each connecting component 3 comprises a fluted disc 301, a second bearing 302, a first vertical plate 303, a gear 304 and a second rotating shaft 305, the gear 304 is fixedly connected above the outer wall of the first rotating shaft 202, the rotating shaft 202 can drive the fluted disc 301 to rotate through the gear 304, the left side and the right side of the gear 304 are meshed and connected with the fluted disc 301, the second rotating shaft 305 is fixedly connected to the outer side of the fluted disc 301, the fluted disc 301 can drive the second rotating shaft 305 to rotate, the outer wall of the second rotating shaft 305 is rotatably connected with the first vertical plate 303 through the second bearing 302, the upper side and the lower side of the first vertical plate 303 are fixedly connected with the end cover 5, the end cover 5 can support the first vertical plate 303, the left first vertical plate 303 and the fluted disc 301 are axially symmetrically distributed by taking the vertical center of the base.
Locating components 4 are installed at the left end and the right end of the inner side of an end cover 5, each locating component 4 comprises a friction plate 401, a second vertical plate 402, a hydraulic cylinder 403 and a hydraulic rod 404, the hydraulic cylinder 403 is a HOB light hydraulic cylinder, the outer wall of the hydraulic cylinder 403 is fixedly connected with the end cover 5 through the second vertical plate 402, the end cover 5 can support the hydraulic cylinder 403 through the second vertical plate 402, the hydraulic rod 404 is connected to the inside of the hydraulic cylinder 403 in an attaching mode, the hydraulic rod 404 can move inside the hydraulic cylinder 403 and guarantee relative sealing in the moving process, the friction plates 401 are fixedly connected to the inner side of the hydraulic rod 404 and the outer side of a second rotating shaft 305, the opposite edge sizes of the friction plates 401 are consistent, the axial coaxiality precision between the inner friction plate 401 and the outer friction plate 401.
When the rotation adjusting structure of the six-degree-of-freedom automatic adjusting device equipment is required to be used, firstly, a user can install the swivel mount 6 of the manipulator at the upper end of the supporting plate 201, the start and stop of the servo motor 203 are controlled by the external control module, the servo motor 203 can drive the manipulator to rotate in the horizontal rotation freedom direction through the first rotating shaft 202 and the supporting plate 201, the manipulator can be stopped at a specific rotation angle station by stopping the servo motor 203, when the manipulator stops at a specific angle, the external control module can immediately control the hydraulic rod 404 to extend out, so that the hydraulic rod 404 can drive the outer friction plate 401 to move inwards, the tight fit between the inner friction plate 401 and the outer friction plate 401 is realized, the relative limited rotation between the friction plates 401 can be realized, and then the rotation direction of the first rotating shaft 202 can be limited through the second rotating shaft 305, the fluted disc 301 and the gear, the problem that when the manipulator is used at a specific position, the positioning accuracy is poor due to the fact that the rotation limiting capacity is insufficient, the manipulator is easy to impact and cause is solved, when the servo motor 203 is started, the hydraulic rod 404 is controlled to move outwards, the limitation of the friction plate 401 is removed, the possibility of rotation in the horizontal rotation freedom degree direction is recovered, and the normal use of the rotary structure is recovered.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a six degree of freedom automatic regulating apparatus equipment rotation regulation structure, includes base (1) and end cover (5), the top of base (1) is equipped with a plurality of end covers (5), its characterized in that: a rotating component (2) is arranged in the base (1);
the rotating assembly (2) comprises a supporting plate (201), a first rotating shaft (202), a servo motor (203), a coupler (204) and a first bearing (205);
servo motor (203) rigid coupling is in the inside of base (1), the output shaft of servo motor (203) passes through shaft coupling (204) and rotates with first pivot (202) and link to each other, the outer wall top of first pivot (202) is rotated with top end cover (5) through first bearing (205) and is linked to each other, the upper end of first pivot (202) is fixed continuous with swivel mount (6) through a plurality of layer boards (201).
2. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 1, characterized in that: the vertical center of the servo motor (203) is consistent with the vertical center of the base (1).
3. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 1, characterized in that: the left side and the right side of the inner end of the end cover (5) are provided with connecting components (3);
the connecting assembly (3) comprises a fluted disc (301), a second bearing (302), a first vertical plate (303), a gear (304) and a second rotating shaft (305);
gear (304) rigid coupling is in the outer wall top of first pivot (202), the meshing of the left and right sides of gear (304) links to each other fluted disc (301), the equal rigid coupling in outside of fluted disc (301) has second pivot (305), the outer wall of second pivot (305) all rotates with first riser (303) through second bearing (302) and links to each other, the upper and lower both sides of first riser (303) all link to each other with end cover (5) are fixed.
4. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 3, characterized in that: the left and right first vertical plates (303) and the fluted disc (301) are axially symmetrically distributed by taking the vertical center of the base (1) as a reference.
5. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 3, characterized in that: the horizontal center of the fluted disc (301) is consistent with the inner side center position of the upper end cover and the lower end cover (5).
6. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 1, characterized in that: the left end and the right end of the inner side of the end cover (5) are provided with positioning components (4);
the positioning component (4) comprises a friction plate (401), a second vertical plate (402), a hydraulic cylinder (403) and a hydraulic rod (404);
the outer wall of pneumatic cylinder (403) all links to each other with end cover (5) is fixed through second riser (402), the inside laminating of pneumatic cylinder (403) has linked to each other hydraulic stem (404), the inboard of hydraulic stem (404) and the equal rigid coupling in outside of second pivot (305) have friction disc (401).
7. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 6, characterized in that: the opposing edges of the friction plates (401) are of uniform size.
8. The rotation adjusting structure of a six-degree-of-freedom automatic adjusting device apparatus according to claim 6, characterized in that: the axial coaxiality precision between the inner friction plate and the outer friction plate (401) is high.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021119531.XU CN212919395U (en) | 2020-06-17 | 2020-06-17 | Six-degree-of-freedom automatic adjusting device rotation adjusting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021119531.XU CN212919395U (en) | 2020-06-17 | 2020-06-17 | Six-degree-of-freedom automatic adjusting device rotation adjusting structure |
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| Publication Number | Publication Date |
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| CN212919395U true CN212919395U (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021119531.XU Expired - Fee Related CN212919395U (en) | 2020-06-17 | 2020-06-17 | Six-degree-of-freedom automatic adjusting device rotation adjusting structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405821A (en) * | 2021-06-18 | 2021-09-17 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
| CN113983147A (en) * | 2021-11-03 | 2022-01-28 | 连城凯克斯科技有限公司 | Adjusting device for non-concentricity of shaft and nut of self-adaptive speed reducer |
-
2020
- 2020-06-17 CN CN202021119531.XU patent/CN212919395U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405821A (en) * | 2021-06-18 | 2021-09-17 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
| CN113405821B (en) * | 2021-06-18 | 2022-07-26 | 上海理工大学 | Six-freedom-degree motion platform device for pose measurement and calibration |
| CN113983147A (en) * | 2021-11-03 | 2022-01-28 | 连城凯克斯科技有限公司 | Adjusting device for non-concentricity of shaft and nut of self-adaptive speed reducer |
| CN113983147B (en) * | 2021-11-03 | 2024-02-20 | 连城凯克斯科技有限公司 | Self-adaptive speed reducer shaft and nut non-concentric adjusting device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210409 |