CN113146593A - Swing arm type manipulator - Google Patents
Swing arm type manipulator Download PDFInfo
- Publication number
- CN113146593A CN113146593A CN202110435351.5A CN202110435351A CN113146593A CN 113146593 A CN113146593 A CN 113146593A CN 202110435351 A CN202110435351 A CN 202110435351A CN 113146593 A CN113146593 A CN 113146593A
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- CN
- China
- Prior art keywords
- swing arm
- driving unit
- rotating shaft
- sliding seat
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 239000000203 mixture Substances 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 239000000725 suspension Substances 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a swing arm type manipulator which comprises a base, a sliding seat, a linear driving unit and a rotary driving unit, wherein a guide rail and a rack are installed at the top of the base, the sliding seat is installed on the guide rail in a sliding mode, a rotating shaft is installed in the middle of the sliding seat in a matched mode, a swing arm is installed at the right end of the rotating shaft, clamping units are vertically installed at the left end and the right end of the swing arm, the linear driving unit and the rotary driving unit are installed on the sliding seat, the tail end of the rotary driving unit and the left end of the rotating shaft are connected through double bevel gears which are meshed with each other, the linear driving unit drives the sliding seat to linearly move along the guide rail through a gear-rack transmission mechanism so that the rotating shaft and the swing arm synchronously move, the rotary driving unit drives the rotating shaft to rotate through the double bevel gears so that the swing arm synchronously rotates, and the clamping units finish material taking or material discharging after the swing arm rotates for a certain angle. The invention has the advantages of integrating the material taking and discharging functions, improving the production and processing efficiency, high working stability and the like.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of manipulators, and particularly relates to a swing arm type manipulator.
[ background of the invention ]
The material processing such as solid axle or hollow dish is often placed and is gone on the lathe, places and generally adopts manual operation with the material of taking on traditional lathe, comparatively wastes time and energy. Along with the promotion of science and technology level, people add the manipulator in the lathe in order to realize taking and placing of material, the most solitary material or blowing function of getting of only can be carried out to current manipulator, can't go on simultaneously for the production machining efficiency of lathe is lower, and the noise is great when the manipulator moves.
[ summary of the invention ]
The invention aims to solve the problems in the background art, and provides a swing arm type manipulator which can integrate the material taking and discharging functions into a whole, improve the production and processing efficiency, and has high working stability and low noise.
In order to achieve the purpose, the invention provides a swing arm type manipulator, which comprises a base, a sliding seat, a linear driving unit and a rotary driving unit, wherein a guide rail and a rack are installed at the top of the base, the sliding seat is installed on the guide rail in a sliding manner, a rotating shaft is installed in the middle of the sliding seat in a matching manner, a first bevel gear is arranged at the left end of the rotating shaft, a swing arm is installed at the right end of the rotating shaft, clamping units are vertically installed at the left end and the right end of the swing arm, the linear driving unit and the rotary driving unit are both installed on the sliding seat, the linear driving unit and the rotary driving unit both comprise a driving motor and a speed reducer connected with the driving motor, a gear meshed with the rack is installed at the tail end of an output shaft of the speed reducer on the linear driving unit, a second bevel gear meshed with the first bevel gear is installed at the tail end of the output shaft of the speed reducer on the rotary driving unit, the linear driving sliding seat moves linearly along the guide rail to enable the rotating shaft and the swing arm to move synchronously, the rotary driving unit drives the rotating shaft to rotate so that the swinging arm synchronously rotates, and the clamping unit finishes material taking or material placing after the swinging arm rotates for a certain angle.
Preferably, the number of guide rails is 2, and two guide rails are located the left and right sides of pivot, keep away from linear drive unit's one end bottom on the slide and install at least one sliding block, sliding block slidable mounting has guaranteed slide linear movement's stationarity on the guide rail that corresponds, and the noise is little in the removal process.
Preferably, the bottom of slide middle part is equipped with the bearing frame, the pivot is worn to establish on the bearing frame and link to each other with the bearing between pivot and the bearing frame, and the pivot installation is firm, and the pivot rotates comparatively smoothly and less noise reduction of frictional force and heat production when rotating.
Preferably, the slide includes bottom suspension fagging and last backup pad, goes up and installs perpendicularly between backup pad and the bottom suspension fagging, linear drive unit installs in the bottom suspension fagging, the rotary drive unit is installed in last backup pad, and linear drive unit, rotary drive unit independent installation guarantee the stationarity of the two work, and then independent high-efficient control pivot linear motion and rotation.
Preferably, the clamping unit is a clamping jaw cylinder, the number of clamping jaws on the clamping jaw cylinder is 3, and the clamping effect is good.
Preferably, the elastic telescopic mechanism is installed in the cooperation of the one end of keeping away from the swing arm on the clamping jaw cylinder, and the elastic telescopic mechanism includes baffle, a plurality of bolt and cassette, and the baffle includes three blend stops that each other become 120 contained angles, the screw rod of bolt links to each other with blend stop top right side after passing the cassette perpendicularly, and the screw rod outside cover of bolt is equipped with the spring, and the spring both ends support cassette left side and blend stop top right side respectively, the nut part of bolt supports the cassette right side, and the screw rod of bolt can pass at the cassette middle part, and the installation of the material of being convenient for of elastic telescopic mechanism, the elastic action of spring can make popping out of material.
Preferably, the outer edge of the end of the clamping jaw cylinder, which is far away from the swing arm, is provided with a mounting groove, the clamping seat is fixedly mounted on the mounting groove, the mounting groove and the clamping jaws are adjacent to each other to form a 60-degree included angle, so that the elastic telescopic mechanism is convenient and firm to mount, and the firmness and the stress uniformity of the clamping jaws and the elastic telescopic mechanism for clamping materials can be guaranteed due to the special angle mounting.
The invention has the beneficial effects that: according to the invention, the linear driving unit can control the synchronous movement of the sliding seat, the rotating shaft and the mechanical arm through the transmission action of the gear and the rack, the rotary driving unit can control the synchronous rotation of the rotating shaft and the mechanical arm through the transmission action of the double bevel gears, and the mechanical arm can complete material taking or material discharging by rotating the clamping units at two ends of the mechanical arm by a certain angle after moving to a specified position, so that the mechanical arm integrates the material taking and discharging functions, the production and processing efficiency is improved, the whole operation of the mechanical arm is stable, the noise is low, the control is convenient and the precision is high.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the main structure of one embodiment of the present invention;
FIG. 2 is a schematic diagram of a secondary structure of an embodiment of the present invention;
FIG. 3 is a top view of one embodiment of the present invention;
FIG. 4 is a rear view of one embodiment of the present invention;
FIG. 5 is a front view of one embodiment of the present invention;
fig. 6 is a schematic view of an elastic expansion mechanism according to an embodiment of the present invention.
In the figure: 1-base, 2-slide seat, 3-rotating shaft, 4-swinging arm, 5-clamping unit, 6-elastic telescopic mechanism, 11-guide rail, 12-rack, 21-upper support plate, 22-lower support plate, 23-rotary drive unit, 24-linear drive unit, 25-sliding block, 26-bearing seat, 27-gear, 61-baffle, 62-bolt, 63-clamping seat and 64-spring.
[ detailed description ] embodiments
Referring to fig. 1 to 6, the embodiment provides a swing arm type manipulator, which includes a base 1, a sliding seat 2, a linear driving unit 24 and a rotary driving unit 23, a guide rail 11 and a rack 12 are installed on the top of the base 1, the sliding seat 2 is slidably installed on the guide rail 11, a rotating shaft 3 is installed in the middle of the sliding seat 2 in a matching manner, a first bevel gear is installed at the left end of the rotating shaft 3, a swing arm 4 is installed at the right end of the rotating shaft 3, a clamping unit 5 is vertically installed at the left end and the right end of the swing arm 4, both the linear driving unit 24 and the rotary driving unit 23 are installed on the sliding seat 2, both the linear driving unit 24 and the rotary driving unit 23 include a driving motor and a speed reducer connected with the driving motor, a gear 27 engaged with the rack 12 is installed at the tail end of an output shaft of the speed reducer on the linear driving unit 24, a second bevel gear engaged with the first bevel gear is installed at the tail end of the output shaft of the speed reducer on the rotary driving unit 23, the linear driving unit 24 drives the sliding base 2 to linearly move along the guide rail 11 so that the rotating shaft 3 and the swinging arm 4 synchronously move, the rotary driving unit 23 drives the rotating shaft 3 to rotate so that the swinging arm 4 synchronously rotates, and the clamping unit 5 finishes material taking or material discharging after the swinging arm 4 rotates for a certain angle.
Further, the number of the guide rails 11 is 2, two guide rails 11 are located on the left and right sides of the rotating shaft 3, two sliding blocks 25 are installed at the bottom of one end of the sliding base 2 away from the linear driving unit 24, and the two sliding blocks 25 are slidably installed on the corresponding guide rails 11.
Further, a bearing seat 26 is arranged at the bottom end of the middle part of the sliding seat 2, the rotating shaft 3 is arranged on the bearing seat 26 in a penetrating mode, and the rotating shaft 3 is connected with the bearing seat 26 through a bearing.
Further, the carriage 2 includes a lower support plate 22 and an upper support plate 21, the upper support plate 21 and the lower support plate 22 are vertically installed therebetween, a linear driving unit 24 is installed on the lower support plate 22, a rotational driving unit 23 is installed on the upper support plate 21, and the linear driving unit 24 and the rotational driving unit 23 are installed at one ends of the lower support plate 22 and the upper support plate 21, respectively.
Further, the clamping unit 5 is a clamping jaw cylinder, and the number of the clamping jaws 51 on the clamping jaw cylinder is 3.
Further, keep away from the one end cooperation of swing arm 4 on the clamping jaw cylinder and install elastic telescoping mechanism 6, elastic telescoping mechanism 6 includes baffle 61, three bolt 62 and cassette 63, bolt 62, cassette 63 and the installation of baffle 61 one-to-one, baffle 61 includes three each other into the blend stop of 120 contained angles, bolt 62's screw rod passes perpendicularly behind the cassette 63 and links to each other with blend stop top right side, bolt 62's screw rod outside cover is equipped with spring 64, the spring 64 both ends support cassette 63 left side and blend stop top right side respectively, bolt 62's nut part supports the cassette 63 right side, bolt 62's screw rod can pass in the middle part of cassette 63, blend stop top right side is for being close to cassette 63 one side.
Further, the outer edge of one end of the clamping jaw cylinder, which is far away from the swing arm 4, is provided with a mounting groove 52, the clamping seat 63 is fixedly mounted on the mounting groove 52, and an included angle of 60 degrees is formed between the mounting groove 52 and the adjacent clamping jaw 51.
The working process of the embodiment is as follows:
when the swing arm type manipulator is used, a base can be fixedly installed on a machine tool, a swing arm 4 is positioned right above a machine tool chuck, a clamping jaw cylinder rotates 90 degrees clockwise or anticlockwise along a horizontal position to be just aligned with the machine tool chuck, clamping units 5 at the left end and the right end of the swing arm 4 are respectively aligned with a material bin and a material tray on the machine tool when the swing arm 4 is positioned at the horizontal position, materials on the material tray are pressed inwards after being abutted against a baffle 61, at the moment, a spring 64 is in a compression state, a clamping jaw 51 on the clamping jaw cylinder at the right end of the swing arm 4 clamps the materials, when emptying is needed, a driving motor on a linear driving unit 24 works and enables a sliding seat 2 to linearly move along a guide rail 11 through the transmission action of a gear 27 and a rack 12, the rotating shaft 3 and the swing arm 4 are driven to synchronously move while the sliding seat 2 moves, and, then a driving motor on the rotary driving unit 23 works, the rotating shaft 3 starts to rotate clockwise under the transmission action of a first bevel gear and a second bevel gear, the rotating shaft 3 can drive the swing arm 4 to rotate synchronously, the clamping jaw cylinder at the right end of the swing arm 4 just aligns with a machine tool chuck after the swing arm 4 rotates clockwise for 90 degrees, the clamping jaws 51 on the clamping jaw cylinder are loosened, the material is pushed to the machine tool chuck after the spring 64 rebounds, the clamping jaws on the machine tool chuck clamp the material, then the rotary driving unit 23 drives the rotating shaft 3 to rotate reversely to reset the swing arm 4, the machine tool can process the material clamped by the clamping jaws on the machine tool chuck, when the material needs to be taken after the processing is finished, the rotary driving unit 23 drives the rotating shaft 3 to rotate anticlockwise to enable the swing arm 4 to rotate anticlockwise for 90 degrees, the clamping jaw cylinder at the left end of the swing arm 4 also aligns with the machine tool chuck moves rightwards to enable the material to abut against the baffle 61 again, the clamping jaw 51 on the clamping jaw cylinder clamps the material again, the clamping jaw on the machine tool chuck is loosened until the clamping jaw cylinder finishes material taking, the rotary driving unit 23 drives the rotating shaft 3 to rotate so that the swing arm 4 resets again, finally, the linear driving unit 24 controls the swing arm 4 to move leftwards to a material bin on the machine tool, the clamping jaw 51 on the clamping jaw cylinder is loosened, the spring 64 resets in a rebounding mode so that the processed material enters the material bin, wherein the material can be solid or hollow, such as a solid shaft, a hollow material such as a bearing ring or a hollow disc, the clamping unit 5 at the left end of the swing arm 4 is used for material taking, the clamping unit 5 at the right end of the swing arm 4 is used for material taking, and when the swing arm 4 is in a horizontal position, the material taking and the material taking can be carried out simultaneously.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (7)
1. The utility model provides a swing arm formula manipulator which characterized in that: the automatic clamping device comprises a base, a sliding seat, a linear driving unit and a rotary driving unit, wherein a guide rail and a rack are installed at the top of the base, the sliding seat is slidably installed on the guide rail, a rotating shaft is installed in the middle of the sliding seat in a matched mode, a first bevel gear is arranged at the left end of the rotating shaft, a swing arm is installed at the right end of the rotating shaft, clamping units are vertically installed at the left end and the right end of the swing arm, the linear driving unit and the rotary driving unit are both installed on the sliding seat and comprise driving motors and speed reducers connected with the driving motors, gears meshed with the rack are installed at the tail ends of output shafts of the speed reducers on the linear driving unit, a second bevel gear meshed with the first bevel gear is installed at the tail ends of output shafts of the speed reducers on the rotary driving unit, the sliding seat is driven by the linear driving unit to linearly move along the guide rail so that the rotating shaft and the swing arm synchronously move, the rotary driving unit drives the rotating shaft to rotate so that the swinging arm synchronously rotates, and the clamping unit finishes material taking or material placing after the swinging arm rotates for a certain angle.
2. The swing arm robot of claim 1, wherein: the quantity of guide rail is 2, and two guide rails are located the left and right sides of pivot, keep away from linear drive unit's one end bottom on the slide and install at least one sliding block, sliding block slidable mounting is on the guide rail that corresponds.
3. The swing arm robot of claim 1, wherein: the bottom end of the middle part of the sliding seat is provided with a bearing seat, the rotating shaft is arranged on the bearing seat in a penetrating mode, and the rotating shaft is connected with the bearing seat through a bearing.
4. The swing arm robot of claim 1, wherein: the slide includes bottom suspension fagging and last backup pad, goes up and installs perpendicularly between backup pad and the bottom suspension fagging, linear drive unit installs in the bottom suspension fagging, the rotation driving unit is installed in the top suspension fagging.
5. The swing arm robot of claim 1, wherein: the clamping unit is a clamping jaw cylinder, and the number of clamping jaws on the clamping jaw cylinder is 3.
6. The swing arm robot of claim 5, wherein: the elastic telescopic mechanism is installed in the cooperation of the one end of keeping away from the swing arm on the clamping jaw cylinder, and elastic telescopic mechanism includes baffle, a plurality of bolt and cassette, and the baffle includes three blend stops that each other become 120 contained angles, the screw rod of bolt links to each other with blend stop top right side after passing the cassette perpendicularly, and the screw rod outside cover of bolt is equipped with the spring, and the spring both ends support cassette left side and blend stop top right side respectively, the nut part of bolt supports the cassette right side, and the screw rod of bolt can be walked at the cassette middle part.
7. The swing arm robot of claim 6, wherein: the clamping jaw air cylinder is provided with a mounting groove at the outer edge of one end far away from the swing arm, the clamping seat is fixedly mounted on the mounting groove, and the mounting groove and the adjacent clamping jaws form an included angle of 60 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435351.5A CN113146593B (en) | 2021-04-22 | 2021-04-22 | Swing arm type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435351.5A CN113146593B (en) | 2021-04-22 | 2021-04-22 | Swing arm type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113146593A true CN113146593A (en) | 2021-07-23 |
| CN113146593B CN113146593B (en) | 2023-10-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110435351.5A Active CN113146593B (en) | 2021-04-22 | 2021-04-22 | Swing arm type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113146593B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206677960U (en) * | 2017-04-18 | 2017-11-28 | 深圳市诚金晖精密机械有限公司 | One kind clamping rotating mechanism |
| CN206811952U (en) * | 2017-04-10 | 2017-12-29 | 广东富华重工制造有限公司 | The axis robot of half shaft line four |
| CN208289886U (en) * | 2018-06-14 | 2018-12-28 | 烟台职业学院 | A kind of automated machine arm assembly |
| CN209903248U (en) * | 2019-05-13 | 2020-01-07 | 捷米（重庆）机器人有限公司 | Elastic manipulator |
| CN210551222U (en) * | 2019-09-25 | 2020-05-19 | 常州市盈天自动化科技有限公司 | Four-axis cantilever pile up neatly machinery hand |
| CN212372216U (en) * | 2020-08-21 | 2021-01-19 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
-
2021
- 2021-04-22 CN CN202110435351.5A patent/CN113146593B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206811952U (en) * | 2017-04-10 | 2017-12-29 | 广东富华重工制造有限公司 | The axis robot of half shaft line four |
| CN206677960U (en) * | 2017-04-18 | 2017-11-28 | 深圳市诚金晖精密机械有限公司 | One kind clamping rotating mechanism |
| CN208289886U (en) * | 2018-06-14 | 2018-12-28 | 烟台职业学院 | A kind of automated machine arm assembly |
| CN209903248U (en) * | 2019-05-13 | 2020-01-07 | 捷米（重庆）机器人有限公司 | Elastic manipulator |
| CN210551222U (en) * | 2019-09-25 | 2020-05-19 | 常州市盈天自动化科技有限公司 | Four-axis cantilever pile up neatly machinery hand |
| CN212372216U (en) * | 2020-08-21 | 2021-01-19 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113146593B (en) | 2023-10-27 |
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