CN212558377U

CN212558377U - Clamping and holding rotary mechanical arm

Info

Publication number: CN212558377U
Application number: CN202021038186.7U
Authority: CN
Inventors: 彭志文; 曾威
Original assignee: Suzhou Yee Fung Automation Equipment Co ltd
Current assignee: Suzhou Yee Fung Automation Equipment Co ltd
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2021-02-19
Anticipated expiration: 2030-06-08

Abstract

The utility model discloses a clamping rotary mechanical arm, which comprises a rotary table, wherein a bidirectional cylinder is fixedly arranged at the central position of the lower end surface of the rotary table, guide rails which are symmetrically distributed at the left and the right are arranged on the lower end surface of the rotary table, a clamping seat is arranged on the guide rails, the output end of the bidirectional cylinder is fixedly connected with the clamping seat, a clamping mechanism is arranged at the bottom of the clamping seat, an installation table is arranged above the rotary table, and the installation table is rotatably connected with the rotary table through the rotary seat, the clamping rotary mechanical arm achieves good clamping effect on a workpiece through arranging a driving fluted disc, a winding disc, a pneumatic cylinder and the like, has high clamping stability and turnover and rotary and mobile carrying efficiencies, solves the problems that the prior workpiece is usually matched with a plurality of mechanical arms and transmission mechanisms in the processes of clamping, turnover, rotary and mobile carrying, high cost, low transmission efficiency and low precision.

Description

Clamping and holding rotary mechanical arm

Technical Field

The utility model relates to an arm technical field specifically is a press from both sides and embrace rotatory arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system, and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like, so that the modeling model of the mechanical arm has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

The current work piece is in centre gripping, upset, rotation and removal handling, adopts a plurality of arms and drive mechanism to cooperate usually, and is with high costs, and transmission efficiency is low, and the precision is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a press from both sides and embrace rotatory arm to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a clamping rotary mechanical arm comprises a rotary table, a bidirectional cylinder is fixedly arranged at the central position of the lower end surface of the rotary table, the lower end surface of the rotating table is provided with guide rails which are symmetrically distributed left and right, the guide rails are provided with clamping seats, the output end of the bidirectional cylinder is fixedly connected with the clamping seat, the bottom of the clamping seat is provided with a clamping mechanism, an installation platform is arranged above the rotating platform, the installation platform is rotationally connected with the rotating platform through a rotating seat, the mounting table is provided with a rotating part, a mounting frame is arranged above the mounting table, a lifting motor is fixedly arranged on the upper end surface of the mounting frame, the output end of the lifting motor is fixedly provided with a winding disc, a chain is arranged in the winding disc, the other end of the chain is fixedly connected with the upper end face of the mounting table, and a guide component is arranged on the mounting frame.

Preferably, press from both sides embracing mechanism and include the centre gripping arm, centre gripping arm and grip slipper fixed connection, rotate on the opposite face of centre gripping arm and install the rotating turret, be provided with the strengthening rib on the rotating turret, be provided with a plurality of symmetric distribution's friction pad on the opposite face of rotating turret.

Preferably, the rotating frame is rotated on the face that deviates from and is installed the driving arm, the other end of driving arm is connected with the face that deviates from of centre gripping arm rotation, the pneumatic cylinder is installed in the face that deviates from of centre gripping arm rotation, the other end and the driving arm rotation of pneumatic cylinder are connected.

Preferably, the rotating part includes driving motor, driving motor fixed mounting is on the up end of mount table, driving motor's output fixed mounting has the drive fluted disc, the fixed cover is equipped with the transmission fluted disc on the lateral wall of rotation seat, the transmission is connected with the drive belt between drive fluted disc and the transmission fluted disc.

Preferably, the guide part includes the guide bar, fixed mounting has the guide bar of symmetric distribution on the up end of mount table, correspond guide bar position department fixed mounting on the mounting bracket and have a guide sleeve, the guide bar corresponds pegs graft in guide sleeve's inside, the upper end fixed mounting of guide bar has the limiting plate.

Preferably, both ends fixed mounting has the removal seat about the mounting bracket, the inside of removing the seat is provided with the drive wheel, the below of removing the seat is provided with the removal track, the drive wheel sets up on the removal track.

Compared with the prior art, the beneficial effects of the utility model are that: a clamping and holding rotary mechanical arm drives a clamping seat to move along a guide rail through a bidirectional air cylinder, so that a driving clamping and holding mechanism is used for fixedly clamping a workpiece, the workpiece is turned through a clamping plate mechanism, after the clamping and turning are finished, a rotating platform is driven to integrally rotate through a rotating part, a winding disc is driven to rotate by a lifting motor, an installation platform is lifted through a matching chain, the strength of a rotating frame is improved through reinforcing ribs, the friction force between a clamping arm and the workpiece is improved through a friction pad, the workpiece is turned over after being clamped through the matching of a pneumatic cylinder and a transmission arm, a transmission gear disc is driven to rotate through a driving motor, so that the rotation of the rotating platform is realized, a guide rod is matched with a guide sleeve, the guide effect of limiting the lifting of the installation platform is achieved, a limiting plate plays a limiting role on the guide rod and is driven by a driving, and the movable rail is matched with the movable rail, so that the workpieces are conveniently conveyed and carried. The utility model relates to a press from both sides and embrace rotatory arm through setting up drive fluted disc, rolling dish and pneumatic cylinder etc. has reached that the centre gripping to the work piece is effectual, and the centre gripping stability is high, and the upset rotates and removes the handling efficiency height, has solved present work piece and is carrying out centre gripping, upset, rotation and removal handling in-process, adopts a plurality of arms and drive mechanism to cooperate usually, and is with high costs, and transmission efficiency is low, problem that the precision is low.

Drawings

FIG. 1 is a schematic diagram of a clamp-and-hold rotary robot;

fig. 2 is a schematic structural diagram of a clamping mechanism in a clamping rotary mechanical arm.

In the figure: 1-rotating table, 2-guide rail, 3-clamping seat, 4-bidirectional air cylinder, 5-clamping mechanism, 6-mounting table, 7-rotating seat, 8-driving fluted disc, 9-driving motor, 10-driving fluted disc, 11-driving belt, 12-mounting frame, 13-guiding sleeve, 14-guiding rod, 15-limiting plate, 16-lifting motor, 17-winding disc, 18-through groove, 19-chain, 20-moving seat, 21-driving wheel, 22-moving track, 23-clamping arm, 24-rotating frame, 25-reinforcing rib, 26-friction pad, 27-driving arm and 28-pneumatic cylinder.

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. 1-2, the present invention provides a technical solution: a clamping and holding rotary mechanical arm comprises a rotary table 1, wherein a bidirectional cylinder 4 is fixedly mounted at the central position of the lower end face of the rotary table 1, guide rails 2 which are symmetrically distributed leftwards and rightwards are arranged on the lower end face of the rotary table 1, clamping seats 3 are arranged on the guide rails 2, the output end of the bidirectional cylinder 4 is fixedly connected with the clamping seats 3, a clamping and holding mechanism 5 is arranged at the bottom of each clamping seat 3, an installation table 6 is arranged above the rotary table 1, the installation table 6 is rotatably connected with the rotary table 1 through a rotary seat 7, a rotary part is arranged on the installation table 6, an installation frame 12 is arranged above the installation table 6, a lifting motor 16 is fixedly mounted on the upper end face of the installation frame 12, a winding disc 17 is fixedly mounted at the output end of the lifting motor 16, a chain 19 is arranged inside the winding disc 17, and the other end of the chain 19 is fixedly connected with the upper end face of the installation table, the mounting frame 12 is provided with a guide member.

Move along guide rail 2 through two-way cylinder 4 drive grip slipper 3 to the drive presss from both sides embraces mechanism 5 and fixes the centre gripping to the work piece, and overturns the work piece through splint mechanism 5, and after the centre gripping upset was accomplished, through the whole rotation of rotating member drive revolving stage 1, lifting motor 16 drive rolling dish 17 rotates, and cooperation chain 19 makes mount table 6 go up and down.

Press from both sides embracing mechanism 5 and include centre gripping arm 23, centre gripping arm 23 and grip slipper 3 fixed connection, rotate on the opposite face of centre gripping arm 23 and install rotating turret 24, be provided with strengthening rib 25 on the rotating turret 24, be provided with the friction pad 26 of a plurality of symmetric distribution on the opposite face of rotating turret 24.

The face that deviates from of rotating turret 24 is gone up to rotate and is installed driving arm 27, driving arm 27's the other end and the face that deviates from of centre gripping arm 23 rotate to be connected, the face that deviates from of centre gripping arm 23 is gone up to rotate and is installed pneumatic cylinder 28, the other end and the driving arm 27 of pneumatic cylinder 28 rotate to be connected.

The strength of the rotating frame 24 is improved through the reinforcing ribs 25, the friction force between the clamping arm 23 and the workpiece is improved through the friction pad 26, and the workpiece is clamped and turned over through the cooperation of the pneumatic cylinder 28 and the transmission arm 27.

The rotatable parts include driving motor 9, driving motor 9 fixed mounting is on the up end of mount table 6, driving motor 9's output fixed mounting has drive fluted disc 10, the fixed cover is equipped with transmission fluted disc 8 on the lateral wall of rotation seat 7, the transmission is connected with drive belt 11 between drive fluted disc 10 and the transmission fluted disc 8.

Through the operation of the driving motor 9, the driving fluted disc 10 drives the driving fluted disc 8 to rotate through the driving belt 11, so as to realize the rotation of the rotating platform 1.

The guide part includes guide bar 14, fixed mounting has the guide bar 14 of symmetric distribution on the up end of mount table 6, correspond guide bar 14 position department fixed mounting has guide sleeve 13 on the mounting bracket 12, guide bar 14 corresponds the inside of pegging graft at guide sleeve 13, the upper end fixed mounting of guide bar 14 has limiting plate 15.

The guide rod 14 is matched with the guide sleeve 13, the guide effect on the lifting of the mounting table 6 is achieved, and the limiting plate 15 has a limiting effect on the guide rod 14.

Both ends fixed mounting has the removal seat 20 about mounting bracket 12, the inside of removing seat 20 is provided with drive wheel 21, the below of removing seat 20 is provided with removal track 22, drive wheel 21 sets up on removal track 22.

The workpiece is driven by the driving wheel 21 and matched with the moving track 22, so that the workpiece is convenient to convey and carry.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a press from both sides and embrace rotatory arm, includes and rotates platform (1), its characterized in that: the automatic winding machine is characterized in that a bidirectional cylinder (4) is fixedly mounted at the central position of the lower end face of the rotating platform (1), guide rails (2) which are symmetrically distributed in the left and right directions are arranged on the lower end face of the rotating platform (1), clamping seats (3) are arranged on the guide rails (2), the output end of the bidirectional cylinder (4) is fixedly connected with the clamping seats (3), clamping and holding mechanisms (5) are arranged at the bottom of the clamping seats (3), an installation platform (6) is arranged above the rotating platform (1), the installation platform (6) is rotatably connected with the rotating platform (1) through rotating seats (7), rotating parts are arranged on the installation platform (6), an installation rack (12) is arranged above the installation platform (6), a lifting motor (16) is fixedly mounted on the upper end face of the installation rack (12), and a winding disc (17) is fixedly mounted at the output end of the lifting motor (16), the winding device is characterized in that a chain (19) is arranged inside the winding disc (17), the other end of the chain (19) is fixedly connected with the upper end face of the mounting table (6), and a guide part is arranged on the mounting frame (12).

2. A clamp-and-hold rotary robotic arm as claimed in claim 1, wherein: press from both sides embracing mechanism (5) including centre gripping arm (23), centre gripping arm (23) and grip slipper (3) fixed connection, rotate on the opposite face of centre gripping arm (23) and install rotating turret (24), be provided with strengthening rib (25) on rotating turret (24), be provided with friction pad (26) of a plurality of symmetric distribution on the opposite face of rotating turret (24).

3. A clamp-and-hold rotary robotic arm as claimed in claim 2, wherein: the utility model discloses a pneumatic device, including pivot frame (24), the face that deviates from of pivot frame (24) is gone up to rotate and is installed driving arm (27), the other end of driving arm (27) is rotated with the face that deviates from of centre gripping arm (23) and is connected, pneumatic cylinder (28) are installed in rotating on the face that deviates from of centre gripping arm (23), the other end and the driving arm (27) of pneumatic cylinder (28) rotate and are connected.

4. A clamp and hold rotary manipulator as claimed in claim 3, wherein: the rotatable parts include driving motor (9), driving motor (9) fixed mounting is on the up end of mount table (6), the output fixed mounting of driving motor (9) has drive fluted disc (10), fixed cover is equipped with transmission fluted disc (8) on the lateral wall of rotation seat (7), the transmission is connected with drive belt (11) between drive fluted disc (10) and transmission fluted disc (8).

5. A clamp and hold rotary robotic arm as claimed in claim 4, wherein: the guide part includes guide bar (14), fixed mounting has symmetrically distributed's guide bar (14) on the up end of mount table (6), it has guide sleeve (13) to correspond guide bar (14) position department fixed mounting on mounting bracket (12), guide bar (14) correspond the inside of pegging graft at guide sleeve (13), the upper end fixed mounting of guide bar (14) has limiting plate (15).

6. A clamp and hold rotary robotic arm as claimed in claim 5, wherein: both ends fixed mounting has removal seat (20) about mounting bracket (12), the inside of removing seat (20) is provided with drive wheel (21), the below of removing seat (20) is provided with removal track (22), drive wheel (21) set up on removal track (22).