CN113146593B - Swing arm type mechanical arm - Google Patents
Swing arm type mechanical arm Download PDFInfo
- Publication number
- CN113146593B CN113146593B CN202110435351.5A CN202110435351A CN113146593B CN 113146593 B CN113146593 B CN 113146593B CN 202110435351 A CN202110435351 A CN 202110435351A CN 113146593 B CN113146593 B CN 113146593B
- Authority
- CN
- China
- Prior art keywords
- driving unit
- swing arm
- rotating shaft
- clamping
- linear driving
- 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.)
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- 239000000463 material Substances 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000007599 discharging Methods 0.000 claims abstract description 8
- 239000000203 mixture Substances 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000011796 hollow space material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a swing arm type mechanical arm which comprises a base, a sliding seat, a linear driving unit and a rotary driving unit, wherein a guide rail and a rack are arranged at the top of the base, the sliding seat is slidably arranged on the guide rail, a rotating shaft is arranged at the middle part of the sliding seat in a matched mode, a swing arm is arranged at the right end of the rotating shaft, a clamping unit is vertically arranged at the left end and the right end of the swing arm, the linear driving unit and the rotary driving unit are both arranged on the sliding seat, the tail end of the rotary driving unit is connected with the left end of the rotating shaft through meshed double bevel gears, 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, and 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 unit finishes taking or discharging materials after the swing arm rotates for a certain angle. The invention has the advantages of integrating the functions of taking and discharging, improving the production and processing efficiency, having high working stability and the like.
Description
[ field of technology ]
The invention belongs to the technical field of manipulators, and particularly relates to a swing arm type manipulator.
[ background Art ]
The materials such as solid shafts or hollow discs are often placed on a machine tool for processing, and the traditional machine tool is generally manually operated for placing and taking the materials, so that time and labor are wasted. Along with the promotion of science and technology level, people add the manipulator in order to realize taking and placing of material in the lathe, current manipulator mostly only can carry out solitary getting or blowing function, can't go on simultaneously for the production machining efficiency of lathe is lower, and the noise is great when the manipulator operates.
[ invention ]
The invention aims to solve the problems in the background technology, and provides a swing arm type mechanical arm which can integrate the functions of taking and discharging, improve the production and processing efficiency, and has high working stability and low noise.
In order to achieve the above 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 arranged at the top of the base, the sliding seat is slidably arranged on the guide rail, a rotating shaft is arranged 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 arranged at the right end of the rotating shaft, a clamping unit is vertically arranged at the left end and the right end of the swing arm, the linear driving unit and the rotary driving unit are both arranged on the sliding seat, the linear driving unit and the rotary driving unit respectively comprise a driving motor and a speed reducer connected with the driving motor, a gear meshed with the rack is arranged 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 arranged at the tail end of the output shaft of the speed reducer on the rotary driving unit, the linear driving unit drives the sliding seat 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 synchronously rotate, and the swing arm rotates synchronously, and the clamping unit completes material taking or discharging after the swing arm rotates a certain angle.
Preferably, the number of the guide rails is 2, the two guide rails are positioned on the left side and the right side of the rotating shaft, at least one sliding block is arranged at the bottom of one end of the sliding seat far away from the linear driving unit, the sliding blocks are slidably arranged on the corresponding guide rails, the guide rail sliding block structure ensures the stability of the linear movement of the sliding seat, and the noise is low in the movement process.
Preferably, 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 way and is connected with the bearing seat through a bearing, the rotating shaft is firmly installed, and the rotating shaft rotates smoothly and has small friction force when rotating, so that noise and heat are reduced.
Preferably, the sliding seat comprises a lower supporting plate and an upper supporting plate, the upper supporting plate and the lower supporting plate are vertically arranged, the linear driving unit is arranged on the lower supporting plate, the rotary driving unit is arranged on the upper supporting plate, and the linear driving unit and the rotary driving unit are independently arranged to ensure the stability of the two operations, so that the rotary shaft can be independently and efficiently controlled to linearly move and rotate.
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 stop that become 120 contained angles each other, the screw rod of bolt link 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 are supported 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 in the cassette middle part, and the installation of the material is convenient for to the elastic telescopic mechanism, and the elasticity effect of spring can make the popping out of material.
Preferably, the clamping jaw 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 jaw form an included angle of 60 degrees with each other, so that the elastic telescopic mechanism is convenient and firm to mount, and the clamping jaw and the elastic telescopic mechanism can be mounted at a special angle to ensure the firmness and stress uniformity of clamping materials.
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 gear-rack transmission function, the rotary driving unit can control the synchronous rotation of the rotating shaft and the mechanical arm through the double-bevel gear transmission function, and the mechanical arm can finish material taking or discharging by rotating the clamping units at two ends of the mechanical arm at a certain angle after moving to a designated position, so that the mechanical arm integrates the material taking and discharging functions, the production and processing efficiency is improved, the whole work of the mechanical arm is stable, the noise is low, and the control is convenient and the precision is high.
The features and advantages of the present invention will be described in detail by way of example with reference to the accompanying drawings.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the main structure of an embodiment of the present invention;
FIG. 2 is a schematic view 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 an embodiment of the present invention;
FIG. 5 is a front view of an embodiment of the present invention;
FIG. 6 is a schematic view of an elastic telescoping mechanism according to an embodiment of the present invention.
In the figure: 1-base, 2-slide, 3-pivot, 4-swing arm, 5-clamping unit, 6-elastic telescopic mechanism, 11-guide rail, 12-rack, 21-upper backup pad, 22-lower backup pad, 23-rotary drive unit, 24-linear drive unit, 25-sliding block, 26-bearing frame, 27-gear, 61-baffle, 62-bolt, 63-cassette, 64-spring.
[ detailed description ] of the invention
Referring to fig. 1 to 6, the present embodiment provides a swing arm type manipulator, including 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 at 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 matched manner, a first bevel gear is provided 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, the linear driving unit 24 and the rotary driving unit 23 are installed on the sliding seat 2, the linear driving unit 24 and the rotary driving unit 23 all comprise driving motors, a speed reducer connected with the driving motors, a gear 27 meshed with the rack 12 is installed at the output shaft end of the speed reducer on the linear driving unit 24, a second bevel gear meshed with the first bevel gear is installed at the output shaft end of the speed reducer on the rotary driving unit 23, the linear driving unit 24 drives the sliding seat 2 to linearly move along the guide rail 11 so that the rotating shaft 3 and the swing arm 4 synchronously move, the swing arm 4 rotates, and the swing arm 4 synchronously rotates, and the swing arm 4 rotates after the clamping unit 4 rotates by a certain angle, or the feeding unit is completed.
Further, the number of the guide rails 11 is 2, the two guide rails 11 are located at the left side and the right side of the rotating shaft 3, two sliding blocks 25 are installed at the bottom of one end, far away from the linear driving unit 24, of the sliding seat 2, 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 way, and the rotating shaft 3 is connected with the bearing seat 26 through a bearing.
Further, the slider 2 includes a lower support plate 22 and an upper support plate 21, a linear driving unit 24 is installed on the lower support plate 22, a rotation driving unit 23 is installed on the upper support plate 21, and the linear driving unit 24 and the rotation 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 clamping jaws 51 on the clamping jaw cylinder is 3.
Further, the elastic telescopic mechanism 6 is installed in the cooperation of the one end of keeping away from swing arm 4 on the clamping jaw cylinder, elastic telescopic mechanism 6 includes baffle 61, three bolt 62 and cassette 63, bolt 62, cassette 63 and baffle 61 one-to-one installation, baffle 61 includes three blend stop that mutually become 120 contained angles, the screw rod of bolt 62 passes behind cassette 63 perpendicularly and links to each other with blend stop top right side, the outside cover of screw rod of bolt 62 is equipped with spring 64, spring 64 both ends are supported cassette 63 left side and blend stop top right side respectively, the nut part of bolt 62 supports cassette 63 right side, the screw rod of bolt 62 can pass in the middle part of cassette 63, blend stop top right side is being close to cassette 63 one side.
Further, a mounting groove 52 is formed in the outer edge of one end, far away from the swing arm 4, of the clamping jaw cylinder, a 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 comprises the following steps:
in the working process of the swing arm type mechanical arm, a base can be fixedly arranged on a machine tool in use, a swing arm 4 is positioned right above a chuck of the machine tool, a clamping jaw cylinder just aims at the chuck of the machine tool after the swing arm 4 rotates 90 degrees clockwise or anticlockwise along the horizontal position, a clamping unit 5 at the left end and the right end of the swing arm 4 respectively aims at 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 propped against a baffle 61, at the moment, a spring 64 is in a compressed state, a clamping jaw 51 on the clamping jaw cylinder at the right end of the swing arm 4 clamps the materials, when the materials are required to be discharged, 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 effect of a gear 27 and a rack 12, a rotating shaft 3 and the swing arm 4 are synchronously moved when the sliding 2 moves to the designated position, a driving motor on the linear driving unit 24 stops working, then the driving motor on the rotary driving unit 23 works and enables the rotating shaft 3 to start rotating clockwise through the transmission action of the first bevel gear and the second bevel gear, the rotating shaft 3 rotates to drive the swinging arm 4 to rotate synchronously, the clamping jaw cylinder at the right end of the swinging arm 4 just aims at the machine tool chuck after the swinging arm 4 rotates clockwise by 90 degrees, the clamping jaw 51 on the clamping jaw cylinder is loosened, the spring 64 pushes the material to the machine tool chuck after rebounding, the clamping jaw on the machine tool chuck clamps the material, then the rotary driving unit 23 drives the rotating shaft 3 to rotate reversely to enable the swinging arm 4 to reset, the machine tool can process the material clamped by the clamping jaw on the machine tool chuck, when the material is required to be taken after the processing is completed, the rotary driving unit 23 drives the rotating shaft 3 to rotate anticlockwise to enable the swinging arm 4 to rotate anticlockwise by 90 degrees, the clamping jaw cylinder at the left end of the swinging arm 4 also aims at the machine tool chuck, the machine chuck moves rightwards to enable the material to prop against the baffle 61 again, the clamping jaws 51 on the clamping jaw air cylinder clamp the material again, the clamping jaws on the machine chuck are loosened until the clamping jaw air cylinder finishes taking the material, the rotary driving unit 23 drives the rotary shaft 3 to rotate to enable the swinging arm 4 to reset again, finally, the linear driving unit 24 controls the swinging arm 4 to move leftwards to a material bin on the machine tool, the clamping jaws 51 on the clamping jaw air cylinder are loosened, the spring 64 rebounds to reset to enable the processed material to enter the material bin, wherein the material can be solid material or hollow material, such as a solid shaft, hollow material such as a bearing ring or a hollow disc, the clamping unit 5 at the left end on the swinging arm 4 is used for discharging, the clamping unit 5 at the right end on the swinging arm 4 is used for taking the material, and the swinging arm 4 can simultaneously take the material and discharge when in the horizontal position.
The above embodiments are illustrative of the present invention, and not limiting, and any simple modifications of the present invention fall within the scope of the present invention.
Claims (7)
1. A swing arm formula manipulator, its characterized in that: comprises a base, a slide seat, a linear driving unit and a rotary driving unit, wherein a guide rail and a rack are arranged at the top of the base, the slide seat is slidably arranged on the guide rail, a rotating shaft is arranged in the middle of the slide seat in a matched manner, a first bevel gear is arranged at the left end of the rotating shaft, a swinging arm is arranged at the right end of the rotating shaft, a clamping unit is vertically arranged at the left end and the right end of the swinging arm, the linear driving unit and the rotary driving unit are both arranged on the slide seat, the linear driving unit and the rotary driving unit both comprise a driving motor and a speed reducer connected with the driving motor, the tail end of an output shaft of the speed reducer on the linear driving unit is provided with a gear meshed with the rack, the tail end of an output shaft of the speed reducer on the rotary driving unit is provided with a second bevel gear meshed with the first bevel gear, the linear driving unit drives the slide seat to linearly move along the guide rail so that the rotating shaft and the swinging arm synchronously move, the rotary driving unit drives the rotating shaft to rotate so that the swinging arms synchronously rotate, the clamping units finish taking or discharging after the swinging arms rotate a certain angle, the base is mounted on the machine tool, the swinging arms are positioned right above the chuck on the machine tool, the clamping units at the left end and the right end of the swinging arms are positioned at the horizontal position in an initial state and are respectively aligned with a material bin and a material disc on the machine tool, when materials need to be processed, the swinging arms rotate anticlockwise along the horizontal position by 90 degrees so that the clamping units at the left end of the swinging arms are aligned with the chuck of the machine tool and clamp the materials clamped from the material bin into the chuck, after the materials are processed, the swinging arms rotate clockwise along the horizontal position by 90 degrees so that the clamping units at the right end of the swinging arms are aligned with the chuck on the machine tool and clamp the processed materials, the clamping units at the left end and the right end of the swinging arms respectively clamp the materials from the material bin after the swinging arms reset, and placing the processed material on the chuck into a material tray.
2. The swing arm manipulator of claim 1, wherein: the number of the guide rails is 2, the two guide rails are positioned on the left side and the right side of the rotating shaft, at least one sliding block is arranged at the bottom of one end of the sliding seat far away from the linear driving unit, and the sliding blocks are slidably arranged on the corresponding guide rails.
3. The swing arm manipulator 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 way, and the rotating shaft is connected with the bearing seat through a bearing.
4. The swing arm manipulator of claim 1, wherein: the sliding seat comprises a lower supporting plate and an upper supporting plate, wherein the upper supporting plate and the lower supporting plate are vertically arranged, the linear driving unit is arranged on the lower supporting plate, and the rotary driving unit is arranged on the upper supporting plate.
5. The swing arm manipulator 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 manipulator of claim 5, wherein: the clamping jaw cylinder is far away from the one end cooperation of swing arm and installs elastic telescoping mechanism, and elastic telescoping mechanism includes baffle, a plurality of bolt and cassette, and the baffle includes three blend stop that become 120 contained angles each other, the screw rod of bolt link 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 are supported 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 in the cassette middle part.
7. The swing arm manipulator of claim 6, wherein: the clamping jaw 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 jaw 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 CN113146593A (en) | 2021-07-23 |
| CN113146593B true CN113146593B (en) | 2023-10-27 |
Family
ID=76869402
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 |
|---|---|
| CN113146593A (en) | 2021-07-23 |
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