CN214772054U

CN214772054U - Mechanical arm for automatic production line of planetary gear

Info

Publication number: CN214772054U
Application number: CN202023322419.9U
Authority: CN
Inventors: 张霞; 白利云; 罗鹏; 高蕾; 崔志亮; 岑海波
Original assignee: Sichuan Zhongyou Machinery Co ltd
Current assignee: Sichuan Zhongyou Machinery Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-11-19
Anticipated expiration: 2030-12-31

Abstract

The utility model relates to a material processing technology field, concretely relates to manipulator for planetary gear automatic production line. The specific technical scheme is as follows: the pneumatic support comprises a right-angle support, wherein two planes which are perpendicular to each other of the right-angle support are respectively provided with a pneumatic base; the two pneumatic bases are respectively provided with a gear inner claw and a gear outer claw which are driven by the pneumatic bases, the gear inner claws grab the gears through inner holes in the gears, and the gear outer claws grab the gears through tooth surfaces or outer contours of the gears; the right-angle bracket is connected with the manipulator frame through the rotating mechanism. Compared with the prior art, the utility model relates to a snatch stably, use in a flexible way, and accomplish the manipulator of unloading and material loading in step.

Description

Mechanical arm for automatic production line of planetary gear

Technical Field

The utility model relates to a material processing technology field, concretely relates to manipulator for planetary gear automatic production line.

Background

At present, more and more enterprises begin to use robots, and automatic machines are adopted to replace manual operation in the fields of assembly, transportation and the like. And in large batch processing work, compared with manual work, the efficiency and the safety of production work can be better ensured by adopting mechanical equipment to carry out automatic production. The existing robot equipment is known to solve the problems, but has many aspects which are worthy of improvement and need to be improved, especially for workpieces with uneven surfaces such as gears, and the traditional manipulator cannot perform quick and stable grabbing.

Disclosure of Invention

The utility model aims at providing a manipulator for planetary gear automatic production line to solve above-mentioned problem.

In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows: the pneumatic support comprises a right-angle support, wherein two planes which are perpendicular to each other of the right-angle support are respectively provided with a pneumatic base; the two pneumatic bases are respectively provided with a gear inner claw and a gear outer claw which are driven by the pneumatic bases, the gear inner claws grab the gears through inner holes in the gears, and the gear outer claws grab the gears through tooth surfaces or outer contours of the gears; the right-angle bracket is connected with the manipulator frame through the rotating mechanism.

Preferably, the pneumatic base is a pneumatic three-jaw, and the pneumatic base is detachably connected with the gear inner jaw and the gear outer jaw.

Preferably, the gear outer claw comprises three profile claw fingers, the profile claw fingers are fastened with the pneumatic base through bolts, and annular grooves are formed in the profile claw fingers and used for clamping the gear back taper profile.

Preferably, the pneumatic base is provided with a central shaft, the circular limiting seat is provided with an inner hole close to the pneumatic base, and the circular limiting seat is sleeved with the central shaft through the inner hole; the round limiting seat is connected with the pneumatic base through a spring, and the spring surrounds the middle shaft.

Preferably, the gear outer claw comprises three tooth surface claw fingers, the tooth surface claw fingers are fastened with the pneumatic base through bolts, and V-shaped clamping grooves are formed in the tooth surface claw fingers and used for clamping the tooth surface of the gear.

Preferably, a triangular limiting seat is arranged on the pneumatic base.

Preferably, the gear inner claw comprises three inner claw fingers, the inner claw fingers are fastened with the pneumatic base through bolts, and the three inner claw fingers can be spliced into a cylinder.

Preferably, still include the equipment frame, be provided with the crossbeam on the equipment frame, be provided with perpendicular roof beam on the crossbeam, the manipulator frame sets up on perpendicular roof beam.

Preferably, the cross beam is provided with a first linear guide rail and a first rack, the vertical beam is provided with a second linear guide rail, a second rack and a first gear, and the manipulator frame is provided with a second gear; the first gear and the first rack as well as the second gear and the second rack form a gear and rack transmission structure respectively; the first gear and the second gear are respectively connected with a first servo motor and a second servo motor; the first servo motor and the second servo motor drive the first gear and the second gear to rotate, so that the vertical beam and the mechanical arm frame move on the first linear guide rail and the second linear guide rail.

The utility model has the beneficial technical effects that: the utility model arranges two mechanical claws on a manipulator through the right-angle bracket, and can synchronously complete the unloading and loading of the processing equipment by rotating the right-angle bracket through the rotating mechanism; because processing equipment also need treat the processing gear and fix, generally fixed through centre gripping gear back of the body awl department, and the utility model discloses two gripper do not are claw and gear outer claw in the gear, and the centre gripping part of processing equipment can be avoided to the claw in the gear, and more swiftly convenient unloading.

Therefore, compared with the prior art, the utility model relates to a snatch stably, use in a flexible way, and accomplish the manipulator of unloading and material loading in step.

Drawings

Fig. 1 is a front view of an embodiment of the present invention;

FIG. 2 is a perspective view of the outer pawl of the gear according to the embodiment of the present invention;

FIG. 3 is a perspective view of the outer pawl of the gear according to the embodiment of the present invention;

fig. 4 is a perspective view of the inner pawl of the gear according to the embodiment of the present invention.

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. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so 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.

Referring to fig. 1-4, the pneumatic device comprises a right-angle bracket 7, wherein two planes perpendicular to each other of the right-angle bracket 7 are respectively provided with a pneumatic base 1; the two pneumatic bases 1 are respectively provided with a gear inner claw 13 and a gear outer claw 14 which are driven by the pneumatic bases 1, the gear inner claw 13 grabs the gear through an inner hole on the gear, and the gear outer claw 14 grabs the gear through the gear tooth surface or the outer contour; the right-angle bracket 7 is connected with a manipulator frame 9 through a rotating mechanism 8. Two pneumatic bases 1 are arranged on two planes which are perpendicular to each other and are arranged on the right-angle support 7, a rotating cylinder is arranged on the rotating mechanism 8, and the rotating cylinder drives the right-angle support 7 to rotate so as to enable the positions of the two pneumatic bases 1 to be interchanged. The gear inner claw 13 and the gear outer claw 14 are driven by a clamping cylinder of the pneumatic base 1, and the gear outer claw 14 and the gear inner claw 13 adopt different gear grabbing modes, so that a clamping part of a machining device can be avoided, and the material can be discharged more quickly and conveniently.

The pneumatic base 1 is a pneumatic three-jaw, and the pneumatic base 1 is detachably connected with the gear inner jaw 13 and the gear outer jaw 14. The mechanical claw with the three-claw structure can simply and effectively fix the gear, and the inner claw 13 and the outer claw 14 of the detachably connected gear can select the adaptive mechanical claw according to different machining models. The gear outer claw 14 comprises three profile claw fingers 2, the profile claw fingers 2 are fastened with the pneumatic base 1 through bolts, and annular grooves are formed in the profile claw fingers 2 and used for clamping gear back taper profiles. The annular groove on the profile claw finger 2 is matched with the profile of the gear to be processed, so that the gear can be rapidly and efficiently grabbed without positioning the circumferential angle of the gear. A middle shaft is arranged on the pneumatic base 1, an inner hole is formed in the circular limiting seat 5 close to the pneumatic base 1, and the circular limiting seat 5 is sleeved with the middle shaft through the inner hole; the round limiting seat 5 is connected with the pneumatic base 1 through a spring, and the spring surrounds the middle shaft. Further, the pneumatic base 1 is connected with a connecting plate through a bolt, the middle shaft is installed in the center of the connecting plate, one end of the spring is connected with the round limiting seat 5, and the other end of the spring is connected with the connecting plate. When the gear is clamped by the outline claw fingers 2, the circular limiting seat 5 is limited under the action of the spring through the inner hole of the circular limiting seat and the middle shaft, and pushes the gear to be pressed tightly in the outline claw fingers 2; when the outline claw fingers 2 are opened, the circular limiting seat 5 is limited under the action of a spring through the inner hole of the circular limiting seat and the middle shaft, and pushes the gear to be installed on the processing equipment; meanwhile, the circular limiting seat 5 limits the minimum distance between the three profile claw fingers 2, and gear damage caused by excessive closing when the profile claw fingers 2 grab the gear can be effectively avoided.

The gear outer claw 14 comprises three tooth surface claw fingers 3, the tooth surface claw fingers 3 are fastened with the pneumatic base 1 through bolts, and V-shaped clamping grooves are formed in the tooth surface claw fingers 3 and used for clamping the tooth surface of a gear. The V-shaped clamping groove is matched with the tooth surface of the gear to be processed and has the same inclination angle with the tooth surface. The pneumatic base 1 is provided with a triangular limiting seat 6. The triangular limiting seat 6 is fixedly connected to the pneumatic base 1 and is used for connecting the claw fingers 3 with the firm tooth surface with the pneumatic base 1; meanwhile, the triangular limiting seat 6 limits the minimum distance between the three tooth surface claw fingers 3, and the gear damage caused by excessive closing when the tooth surface claw fingers 3 grab the gear can be effectively avoided.

The gear inner claw 13 comprises three inner claw fingers 4, the inner claw fingers 4 are fastened with the pneumatic base 1 through bolts, and the three inner claw fingers 4 can be spliced into a cylinder. The three inner claw fingers 4 are spliced into a cylinder and then enter an inner hole of the gear, and then are driven by the clamping cylinder to open to grab the gear.

The manipulator is characterized by further comprising an equipment frame 12, wherein a cross beam 11 is arranged on the equipment frame 12, a vertical beam 10 is arranged on the cross beam 11, and the manipulator frame 9 is arranged on the vertical beam 10. A first linear guide rail and a first rack are arranged on the cross beam 11, a second linear guide rail, a second rack and a first gear are arranged on the vertical beam 10, and a second gear is arranged on the manipulator frame 9; the first gear and the first rack as well as the second gear and the second rack form a gear and rack transmission structure respectively; the first gear and the second gear are respectively connected with the first servo motor and the second servo motor; the first servo motor and the second servo motor drive the first gear and the second gear to rotate, so that the vertical beam 10 and the manipulator frame 9 move on the first linear guide rail and the second linear guide rail. The first servo motor and the second servo motor drive the first gear and the second gear to rotate through the speed reducer, so that the vertical beam 10 moves horizontally on the first linear guide rail and the manipulator frame 9 moves vertically on the second linear guide rail, and the manipulator frame 9 moves horizontally and vertically.

When the pneumatic manipulator is used, an operator selects the gear outer claw 14 and the gear inner claw 13 which are matched with a gear to be machined to be installed on the pneumatic base 1, controls the first servo motor and the second servo motor to drive the first gear and the second gear to rotate, enables the manipulator frame 9 to move to a storage position of the gear to be machined through the gear-rack transmission structure, and moves the manipulator to a gear machining device after the gear outer claw 14 grabs the gear to be machined; if the gear processing equipment has a processed gear, the gear inner claw 13 firstly grabs and takes out the processed gear, the rotating mechanism 8 rotates the right-angle bracket 7, and the gear outer claw 14 sends the gear to be processed into the gear processing equipment; and finally, the manipulator frame 9 is moved to a finished product storage position, the machined gear is put down by the gear inner claw 13, and the manipulator frame 9 is moved to the gear storage position to be machined to grab the gear to be machined for further machining.

Claims

1. The utility model provides a manipulator for planetary gear automatic production line which characterized in that: the pneumatic support comprises a right-angle support (7), wherein two planes which are perpendicular to each other of the right-angle support (7) are respectively provided with a pneumatic base (1); the two pneumatic bases (1) are respectively provided with a gear inner claw (13) and a gear outer claw (14) which are driven by the pneumatic bases (1), the gear inner claw (13) grabs the gear through an inner hole in the gear, and the gear outer claw (14) grabs the gear through the tooth surface or the outer contour of the gear; the right-angle bracket (7) is connected with a manipulator frame (9) through a rotating mechanism (8).

2. The robot hand for an automatic planetary gear production line according to claim 1, wherein: the pneumatic base (1) is a pneumatic three-jaw, and the pneumatic base (1) is detachably connected with the gear inner jaw (13) and the gear outer jaw (14).

3. The robot hand for an automatic planetary gear production line according to claim 2, wherein: the gear outer claw (14) comprises three profile claw fingers (2), the profile claw fingers (2) are fastened with the pneumatic base (1) through bolts, and annular grooves are formed in the profile claw fingers (2) and used for clamping gear back taper profiles.

4. The robot hand for an automatic planetary gear production line according to claim 3, wherein: the pneumatic base is characterized by further comprising a circular limiting seat (5), a middle shaft is arranged on the pneumatic base (1), an inner hole is formed in the circular limiting seat (5) close to the pneumatic base (1), and the circular limiting seat (5) is sleeved with the middle shaft through the inner hole; the round limiting seat (5) is connected with the pneumatic base (1) through a spring, and the spring surrounds the middle shaft.

5. The robot hand for an automatic planetary gear production line according to claim 2, wherein: the gear outer claw (14) comprises three tooth surface claw fingers (3), the tooth surface claw fingers (3) are fastened with the pneumatic base (1) through bolts, and V-shaped clamping grooves are formed in the tooth surface claw fingers (3) and used for clamping the tooth surface of the gear.

6. The robot hand for an automatic planetary gear production line according to claim 5, wherein: a triangular limiting seat (6) is arranged on the pneumatic base (1).

7. The robot hand for an automatic planetary gear production line according to claim 2, wherein: the gear inner claw (13) comprises three inner claw fingers (4), the inner claw fingers (4) are fastened with the pneumatic base (1) through bolts, and the three inner claw fingers (4) can be spliced into a cylinder.

8. The robot hand for an automatic planetary gear production line according to claim 1, wherein: still include equipment rack (12), be provided with crossbeam (11) on equipment rack (12), be provided with on crossbeam (11) and erect roof beam (10), manipulator frame (9) set up on erecting roof beam (10).

9. The robot hand for an automatic planetary gear production line according to claim 8, wherein: a first linear guide rail and a first rack are arranged on the cross beam (11), a second linear guide rail, a second rack and a first gear are arranged on the vertical beam (10), and a second gear is arranged on the manipulator frame (9); the first gear and the first rack as well as the second gear and the second rack form a gear and rack transmission structure respectively; the first gear and the second gear are respectively connected with a first servo motor and a second servo motor; the first servo motor and the second servo motor drive the first gear and the second gear to rotate, so that the vertical beam (10) and the manipulator frame (9) move on the first linear guide rail and the second linear guide rail.