CN111300397A - A reverse lazytongs of rotation angle for rotatory manipulator of getting - Google Patents
A reverse lazytongs of rotation angle for rotatory manipulator of getting Download PDFInfo
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- CN111300397A CN111300397A CN202010105182.4A CN202010105182A CN111300397A CN 111300397 A CN111300397 A CN 111300397A CN 202010105182 A CN202010105182 A CN 202010105182A CN 111300397 A CN111300397 A CN 111300397A
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a rotation angle reverse synchronization mechanism for a rotary piece taking manipulator, which comprises a driving device, a rotating arm, a fixed wheel shaft, a movable wheel shaft, a synchronous belt fixed wheel, a synchronous belt driving wheel, a synchronous belt and a drawing seat plate, wherein the rotating arm is arranged on the fixed wheel shaft; the rotating arm comprises a fixed end and a transmission end, the fixed wheel shaft is connected with the driving device at the fixed end, and the movable wheel shaft is connected with the drawing seat plate at the transmission end; the synchronous belt fixed wheel is sleeved outside the fixed wheel shaft, and the synchronous belt driving wheel is sleeved outside the movable wheel shaft; the synchronous belt is arranged on the outer sides of the synchronous belt fixed wheel and the synchronous belt driving wheel. The rotation angle reverse synchronous mechanism has the characteristics of accurate transmission ratio, no slip, constant speed ratio, stable transmission, shock absorption, low noise, large transmission speed ratio range and the like, and achieves the purpose of precise transmission. Through synchronous belt drive, make the swinging boom the same with the seat board rotation speed of drawing and pull, the rotation direction is opposite, realizes swinging boom and draws and pulls the synchronous operation of seat board.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a rotation angle reverse synchronization mechanism for a rotary workpiece taking manipulator.
Background
In the technology of the mechanical hand for taking the parts by rotating the parts, in order to keep the direction of the taken plastic parts in a mold consistent so as to place the plastic parts on a conveying belt, when the rotating arm needs to rotate, the rotating arm ensures that the drawing seat plate is driven to rotate in the opposite direction and at the same rotating speed; the angle of rotation of the rotating arm is output to the drawing and drawing seat plate through the reverse synchronizing mechanism, the rotating arm and the drawing and drawing seat plate have the same rotating speed, the rotating directions are opposite, the rotation angle synchronization is realized, the rotating arm and the drawing and drawing seat plate are synchronously operated, and the slipping risk is reduced.
In the prior art, a reverse synchronization mechanism driven by a gear is generally used, and synchronous operation of a rotating arm and a drawing seat plate is realized through transmission angle change. However, due to the existence of the gear gap in the gear transmission, if the rotation speed of the drawing seat plate is required to be the same as that of the rotating arm, and the rotation directions are opposite, the requirements on the machining precision and the assembling precision are high, and the cost is high. In particular, in injection molding, the rotating arms are typically over 1 meter, making the reverse synchronization mechanism more complex.
Disclosure of Invention
The invention aims to provide a reverse rotation angle synchronizing mechanism for a rotary workpiece taking manipulator, which aims to solve the problems.
The invention provides a rotation angle reverse synchronization mechanism for a rotary piece taking manipulator, which comprises a driving device, a rotating arm, a fixed wheel shaft, a movable wheel shaft, a synchronous belt fixed wheel, a synchronous belt driving wheel, a synchronous belt and a drawing seat plate, wherein the rotating arm is arranged on the fixed wheel shaft; the rotating arm comprises a fixed end and a transmission end, the fixed wheel shaft is connected with the driving device at the fixed end, and the movable wheel shaft is connected with the drawing seat plate at the transmission end; the synchronous belt fixed wheel is sleeved outside the fixed wheel shaft, and the synchronous belt driving wheel is sleeved outside the movable wheel shaft; the hold-in range sets up the outside of hold-in range fixed pulley and hold-in range driving wheel.
In the rotating angle reverse synchronous mechanism for the rotary workpiece taking manipulator, the synchronous belt fixed wheel comprises a fixed wheel sleeve rod and a fixed wheel; the fixed wheel loop bar is sleeved outside the fixed wheel shaft, and the fixed wheel is sleeved outside the fixed wheel loop bar and fixed in the middle of the fixed wheel loop bar;
the fixed wheel is provided with a clamp spring groove, a clamp spring is arranged on the clamp spring groove, and the clamp spring is used for limiting the fixed wheel to move;
the synchronous driving wheel comprises a driving wheel sleeve rod and a driving wheel; the driving wheel sleeve rod is sleeved on the outer side of the driving wheel shaft, and the driving wheel is sleeved on the outer side of the driving wheel sleeve rod and fixed in the middle of the driving wheel sleeve rod.
The rotating angle reverse synchronizing mechanism for the rotating part taking manipulator further comprises a manual calibration fixing plate, wherein the manual calibration fixing plate is in a wrench shape and fixed on the synchronous belt fixed wheel and used for adjusting the initial angle of the drawing seat plate.
In the rotating angle reverse synchronous mechanism for the rotary piece taking manipulator, the width of the fixed wheel is larger than that of the synchronous belt, and the fixed position of the manual calibration fixed plate is provided.
In the rotating angle reverse synchronization mechanism for rotating the workpiece taking manipulator, the rotating arm is arc-shaped and comprises two side plates, a panel and a guide tension wheel; the two side plates are identical in shape, parallel to each other and symmetrically arranged on two sides of the panel;
two ends of the guide tensioning wheel are respectively connected with the two side plates and used for tensioning the synchronous belt;
the two sides of the panel are respectively connected with the middle parts of the two side plates in shape, so that the cross section of the rotating arm is in an I shape; the panel is provided with holes, the size of each hole is matched with the corresponding guide tensioning wheel, and the holes provide required space for the guide tensioning wheels.
In the rotating angle reverse synchronous mechanism for the rotary workpiece taking manipulator, a fixed end of the rotating arm is provided with a fixed wheel groove, and the fixed wheel groove is matched with the shape of the synchronous belt fixed wheel and is used for installing the synchronous belt fixed wheel;
the transmission end of swinging boom is equipped with the running wheel groove, just the running wheel groove with the shape looks adaptation of synchronous driving wheel, be used for the installation synchronous driving wheel.
In the rotating angle reverse synchronizing mechanism for rotating the workpiece taking manipulator, the fixed wheel groove is in a U shape, and the outer side surface of the fixed wheel groove is respectively positioned on the same plane with the two side plates; fixed wheel holes are correspondingly formed in two side faces of the fixed wheel groove and used for fixing the fixed wheels of the synchronous belt;
the bottom surface in fixed race with the panel is connected, just the both ends of the bottom surface in fixed race are equipped with first recess, the size of first recess with hold-in range looks adaptation does the hold-in range provides the rotation space.
In the rotating angle reverse synchronizing mechanism for rotating the workpiece taking manipulator, the movable wheel groove is U-shaped, and the outer side surface of the movable wheel groove is respectively positioned on the same plane with the two side plates; two side surfaces of the movable wheel groove are respectively provided with a movable wheel hole, and the movable wheel holes are used for fixing the synchronous driving wheels;
the bottom surface of moving the race with the panel is connected, just the both ends of the bottom surface of moving the race are equipped with the second recess, the size of second recess with hold-in range looks adaptation does the hold-in range provides the rotation space.
In the reverse rotating angle synchronizing mechanism for the rotary workpiece taking manipulator, tensioning wheel fixing holes are respectively formed in the two side plates at equal intervals, and the tensioning wheel fixing holes in the two side plates correspond to one another one to fix the guiding tensioning wheels.
In the rotating angle reverse synchronization mechanism for the rotary workpiece taking manipulator, the tensioning wheel fixing hole comprises a round hole and a long round hole, the long axis of the long round hole is perpendicular to the synchronous belt, and the guide tensioning wheel is connected with the rotary arm through a bolt and fixed on the rotary arm.
In order to achieve the purpose, the invention adopts the following technical scheme:
has the advantages that: the reverse synchronous mechanism of the rotation angle drives through the synchronous belt, so that the rotation speed of the rotating arm is the same as that of the drawing seat plate, but the rotation direction is opposite, and the synchronous operation of the rotating arm and the drawing seat plate is realized. The synchronous belt transmission has the characteristics of accurate transmission ratio, no slip, constant speed ratio, stable transmission, shock absorption, low noise, large transmission speed ratio range and the like, and the aim of precise transmission is fulfilled.
Drawings
The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.
FIG. 1 is a schematic structural diagram of one embodiment of the present invention.
Fig. 2 is a schematic diagram of an explosive structure in accordance with one embodiment of the present invention.
Figure 3 is a cross-sectional view of one embodiment of the present invention.
Fig. 4 is a state diagram before the rotation of the rotating arm according to one embodiment of the present invention.
Fig. 5 is a state diagram after the rotating arm of one embodiment of the present invention is rotated clockwise by 90 °.
In the drawings: the device comprises a driving device 1, a rotating arm 2, a side plate 21, a panel 22, a hole 221, a guiding tension wheel 23, a fixed wheel groove 24, a fixed wheel hole 241, a first groove 242, a driving wheel groove 25, a driving wheel hole 251, a second groove 252, a tension wheel fixing hole 26, a round hole 261, a long round hole 262, a synchronous belt fixed wheel 3, a fixed wheel shaft 31, a fixed wheel sleeve rod 32, a fixed wheel 33, a synchronous belt driving wheel 4, a movable wheel shaft 41, a driving wheel sleeve rod 42, a driving wheel 43, a synchronous belt 5, a drawing seat plate 6, a manual calibration fixing plate 7, a horizontal shaft X, a vertical shaft Y, a line L1 connecting the axis of the synchronous belt fixed wheel and the axis of the synchronous belt driving wheel, and a line L1' connecting the axis of the synchronous belt.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The invention provides a reverse synchronous mechanism of a rotation angle for a rotary piece taking manipulator, which comprises a driving device 1, a rotation arm 2, a synchronous belt fixed wheel 3, a fixed wheel shaft 31, a synchronous belt driving wheel 4, a movable wheel shaft 41, a synchronous belt 5 and a drawing seat plate 6, wherein the rotation arm is connected with the fixed wheel shaft through a transmission mechanism; the rotating arm 2 comprises a fixed end and a transmission end, the fixed wheel shaft 31 is connected with the driving device 1 at the fixed end, and the movable wheel shaft 41 is connected with the drawing seat plate 6 at the transmission end; the synchronous belt fixed wheel 3 is sleeved on the outer side of the fixed wheel shaft 31, and the synchronous belt driving wheel 4 is sleeved on the outer side of the movable wheel shaft 41; the synchronous belt 5 is arranged on the outer sides of the synchronous fixed pulley 3 and the synchronous driving pulley 4.
Referring to fig. 1, in an embodiment, a servo motor is used as a driving device for driving the rotation angle reverse synchronization mechanism. The reverse synchronous mechanism of rotation angle passes through the transmission of hold-in range 5 for the swinging boom 2 is the same with draw and pull out the bedplate 6 rotational speed, but the rotation direction is opposite, realizes swinging boom 2 and draws and pull out bedplate 6 synchronous operation. The synchronous belt 5 transmission has the characteristics of accurate transmission ratio, no slip, constant speed ratio, stable transmission, shock absorption, low noise, large transmission speed ratio range and the like, and the aim of precise transmission is fulfilled.
The reverse rotation angle synchronization mechanism is driven by a driving device 1, and the driving device 1 drives a fixed wheel shaft 31 to enable the rotating arm 2 to rotate clockwise; the synchronous belt fixed wheel 3 is positioned at the fixed end of the rotating arm 2, the position of the synchronous belt fixed wheel 3 is fixed, and the synchronous belt driving wheel 4 is positioned at the transmission end of the rotating arm 2; in the process that the rotating arm 2 rotates clockwise, the axis of the synchronous pulley 4 changes in angle relative to the axis of the synchronous fixed pulley 3, and the synchronous fixed pulley 3 is fixed, so that the synchronous pulley 4 rotates at the same speed as the rotating arm 2 in the opposite direction; under the drive of the synchronous pulley 4, the drawing seat plate 6 rotates at the same speed as the rotating arm 2 but in the opposite rotating direction, so that the rotating arm 2 and the drawing seat plate 6 rotate at the same rotating speed and in the opposite rotating direction, and the effect of synchronous operation of the rotating arm 2 and the drawing seat plate 6 is achieved; and the angle of the drawing seat plate 6 towards one surface of the injection mold is always kept unchanged, so that the slipping risk of the injection molding part during taking is reduced.
In a specific working process, when the rotating arm 2 rotates clockwise, the axis of the synchronous belt driving wheel 4 changes angularly relative to the axis of the synchronous belt fixed wheel 3, and the position of the synchronous belt fixed wheel 3 is fixed, so that the synchronous belt driving wheel 4 rotates anticlockwise; the synchronous belt 5 rotates around the synchronous belt fixed wheel 3 and the synchronous belt driving wheel 4, and the synchronous belt 5 drives the synchronous belt fixed wheel 3 to rotate anticlockwise under the traction of the synchronous belt;
meanwhile, as the synchronous pulley 4 is connected with the extraction seat plate 6, the extraction seat plate 6 rotates anticlockwise at the same speed as the rotating arm 2 but in the opposite rotating direction under the driving of the synchronous pulley 4.
Similarly, when the driving device 1 drives the rotating arm 2 to rotate counterclockwise, the synchronous pulley 4 drives the pull seat plate 6 to rotate clockwise. The change of the angle of the axis of the synchronous pulley 4 relative to the axis of the synchronous fixed pulley 3 is influenced by the rotation of the rotating arm 2, so that the rotating speed of the rotating arm 2 is the same as the rotating speed of the synchronous pulley 4, the aim that the rotating arm 2 and the drawing seat plate 6 rotate at the same rotating speed and in the opposite rotating direction is fulfilled, and the effect of synchronous operation of the rotating arm 2 and the drawing seat plate 6 is achieved; and the angle of the drawing seat plate 6 towards one surface of the injection molding piece is always kept unchanged, so that the slipping risk of the injection molding piece during taking is reduced.
Referring to fig. 4 and 5, X is a horizontal axis, the horizontal axis is parallel to the horizontal plane, Y is a vertical axis, the vertical axis is perpendicular to the horizontal plane, in fig. 4, the rotating arm is at the initial position, a line L1 connecting the axis of the fixed pulley of the synchronous belt and the axis of the driven pulley of the synchronous belt forms an included angle α with the horizontal X axis, and the drawing seat plate is perpendicular to the X axis.
In fig. 5, after the rotating arm rotates 90 ° clockwise, the line L1 connecting the axis of the timing belt fixed wheel and the axis of the timing belt wheel becomes L1 'after the rotating arm rotates 90 ° clockwise, the included angle between L1' and the X axis is α +90 °, that is, 90 ° of the pulling seat plate rotating counterclockwise relative to the rotating arm is drawn, and the function of reverse synchronization is realized.
Referring to fig. 2 and 3, specifically, the synchronous fixed pulley 3 includes a fixed pulley loop bar 32 and a fixed pulley 33; the fixed wheel loop bar 32 is sleeved outside the fixed wheel shaft 31, and the fixed wheel 33 is sleeved outside the fixed wheel loop bar 32 and fixed in the middle of the fixed wheel loop bar 32;
a clamp spring groove 331 is formed in the fixed wheel 33, and a clamp spring (not shown) is arranged on the clamp spring groove 331 and used for limiting the fixed wheel 33 to move;
the synchronous driving pulley 4 comprises a driving pulley sleeve rod 42 and a driving pulley 43; the driving wheel sleeve rod 42 is sleeved on the outer side of the driving wheel shaft 41, and the driving wheel 43 is sleeved on the outer side of the driving wheel sleeve rod 42 and fixed in the middle of the driving wheel sleeve rod 42.
The fixed wheel shaft 31 is connected with the driving device 1, and the fixed wheel loop bar 32 is fixedly connected with the fixed end of the rotating arm 2; the driving device 1 drives the fixed wheel shaft 31 to rotate, the fixed wheel shaft 31 is transmitted to the fixed wheel loop bar 32, and then the fixed wheel loop bar 32 drives the rotating arm 2 to swing, so that the purpose that the driving device 1 drives the rotating arm 2 to rotate is achieved. A clamp spring groove 331 is formed in the fixed wheel 33, and the clamp spring groove 331 provides an installation space for a clamp spring; and the clamp spring is used for preventing the fixed wheel 33 from axially moving, so that the fixed wheel 33 is prevented from rotating along with the fixed wheel shaft 31 and the fixed wheel sleeve rod 32. When the synchronous pulley 4 drives the synchronous belt 5 to rotate, the fixed pulley 33 is fixed, and the synchronous belt 5 slides on the surface of the fixed pulley 33.
Referring to fig. 2, in a preferred embodiment, the rotation angle reverse synchronization mechanism further includes a manual calibration fixing plate 7, and the manual calibration fixing plate 7 is in a wrench shape and detachably connected to the synchronous fixed pulley 3 for adjusting an initial angle of the pull-out seat plate 6.
Before the rotation angle reverse synchronous mechanism works, the synchronous belt fixed wheel 3 can be rotated through the manual calibration fixing plate 7, so that the synchronous belt fixed wheel 3 drives the synchronous belt 5; the synchronous belt 5 rotates around the synchronous belt fixed wheel 3 and the synchronous belt movable wheel 4, so as to drive the synchronous belt movable wheel 4 to rotate; the both ends of synchronous pulley 4 are connected with draw and extract the bedplate 6, consequently, synchronous pulley 4 drives draw and extract bedplate 6 and rotates, changes draw and extract bedplate 6 towards injection mold's initial angle, reaches the effect of the angle of control draw and extract bedplate 6 towards the injection molding one side for the injection molding. In addition, the fixed plate 7 for manual calibration can also fix the fixed synchronous belt wheel 3, so that the fixed synchronous belt wheel 3 is prevented from generating displacement in the rotating process of the rotating arm 2, and the slipping condition is caused when a workpiece is taken.
Specifically, the width of the fixed wheel 33 is greater than that of the synchronous belt 3, and the fixed wheel 33 is used for providing a position for fixing the manual calibration fixing plate 7, and the manual calibration fixing plate 7 is fixed on the fixed wheel 33. The width of the fixed wheel 33 is larger than that of the synchronous belt 3, and a sufficient position is provided for the manual calibration fixing plate 7, so that the manual calibration fixing plate 7 can be fixed on the fixed wheel 33, and the fixed wheel 33 can be rotated.
Referring to fig. 2 and fig. 3, in an embodiment, the rotating arm 2 is arc-shaped, and the rotating arm 2 includes two side plates, a panel 22 and a guiding tension wheel 23; the two side plates 21 are identical in shape and parallel to each other, and are symmetrically arranged on two sides of the panel 22;
two ends of the guiding tension wheel 23 are respectively connected with the two side plates 21 and used for tensioning the synchronous belt 5;
the two sides of the panel 22 are respectively connected with the middle parts of the two side plates 21, so that the cross section of the rotating arm 2 is in an I shape; the panel 22 is provided with a hole 221, the size of the hole 221 is matched with that of the guiding tension wheel 23, and the hole 221 provides a required space for the guiding tension wheel 23.
In the embodiment, the rotating arm 2 is an arc-shaped rotating arm 2, so that the problem of overlarge ductility of the synchronous belt 5 can be reduced. Simultaneously, arc swinging boom 2 bearing capacity is bigger, more is fit for carrying large-scale injection mold. The section of the rotating arm 2 is of an I-shaped structure, the bending rigidity of the section of the I-shaped structure is high, and the rotating arm 2 can be prevented from generating excessive bending deformation in the moving process. As an alternative, a linear robot arm may be used.
The last direction take-up pulley 23 that is provided with of swinging boom 2 for tensioning hold-in range 5 to solve the great problem of extensibility of hold-in range 5, avoid drawing bedplate 6 and at rotatory in-process, the relative injection molding produces rotatoryly, leads to taking place the condition of skidding when getting.
Be equipped with on the panel 22 with direction take-up pulley 23 looks adaptation hole 221, not only for direction take-up pulley 23 provides accommodation space, but the width of swinging boom 2 is shortened in the rational utilization space, makes the structure of swinging boom 2 compacter, can also alleviate the weight of swinging boom 2.
Specifically, a fixed end of the rotating arm 2 is provided with a fixed wheel groove 24, and the fixed wheel groove 24 is matched with the shape of the synchronous belt fixed wheel 3 and used for mounting the synchronous belt fixed wheel 3;
the transmission end of swinging boom 2 is equipped with movable race 25, just movable race 25 with the shape looks adaptation of synchronous pulley 4, be used for the installation synchronous pulley 4. The fixed end and the transmission end of the rotating arm 2 are respectively provided with a fixed wheel groove 24 and a driving wheel groove 25, the synchronous belt fixed wheel 3 is fixed in the fixed wheel groove 24, and the synchronous belt driving wheel 4 is rotatably connected in the driving wheel groove 25.
Specifically, the fixed wheel groove 24 is in a U shape, and the outer side surface of the fixed wheel groove 24 is in the same plane with the two side plates 21; two side surfaces of the fixed wheel groove 24 are correspondingly provided with fixed wheel holes 241, and the fixed wheel holes 241 are used for fixing the synchronous belt fixed wheel 3;
the bottom surface of fixed wheel groove 24 with panel 22 is connected, just the both ends of the bottom surface of fixed wheel groove 24 are equipped with first recess 242, the size of first recess 242 with hold-in range 5 looks adaptation, do hold-in range 5 provides the rotation space. Two outer side surfaces of the fixed wheel groove 24 are respectively positioned on the same plane with the two side plates 21, so that the structure of the rotating arm 2 is more compact. The fixed wheel hole 241 is matched with the fixed wheel sleeve rod 32 in size, and the fixed wheel shaft 31 penetrates through the fixed wheel hole 241 close to one side of the driving device 1 and is connected with the driving device 1.
The two ends of the bottom surface of the fixed wheel groove 24 are provided with first grooves 242, so that the bottom surface of the fixed wheel groove 24 is in an I shape. The first groove 242 provides a space for accommodating the timing belt 5, making the structure of the rotating arm 2 more compact.
Similarly, the movable wheel groove 25 is in a shape of a letter U, and the outer side surface of the movable wheel groove 25 is in the same plane with the two side plates 21; two side surfaces of the movable wheel groove 25 are respectively provided with a movable wheel hole 251, and the movable wheel holes 251 are used for fixing the synchronous driving wheel 4;
the bottom surface of the movable wheel groove 25 is connected with the panel 22, the two ends of the bottom surface of the movable wheel groove 25 are provided with second grooves 252, and the size of the second grooves 252 is matched with the synchronous belt 5, so that the synchronous belt 5 provides a rotating space. Two outer side surfaces of the movable wheel groove 25 are respectively positioned on the same plane with the two side plates 21, so that the structure of the rotating arm 2 is more compact. The size of the movable wheel hole 251 is matched with that of the movable wheel sleeve rod 42, and two ends of the movable wheel shaft 41 penetrate through the movable wheel hole 251 to be connected with the drawing seat plate 6.
Two ends of the bottom surface of the movable wheel groove 25 are provided with second grooves 252, so that the bottom surface of the movable wheel groove 25 is in an I shape. The second groove 252 provides a space for accommodating the timing belt 5, making the structure of the rotating arm 2 more compact.
Further, tensioning wheel fixing holes 26 are respectively formed in the two side plates 21 at equal intervals, and the tensioning wheel fixing holes 26 on the two side plates 21 correspond to each other one by one and are used for fixing the guiding tensioning wheels 23. The sizes of the tensioning wheel fixing holes 26 on the two side plates 21 are the same, and the positions of the tensioning wheel fixing holes 26 correspond to each other one by one, so that the guiding tensioning wheel 23 is rotatably connected to the rotating arm 2. The number of tensioner fixing holes 26 is selected according to the number of actual guiding tensioners 23.
Furthermore, the tension pulley fixing hole 26 includes a circular hole 261 and an elongated hole 262, a long axis of the elongated hole 262 is perpendicular to the timing belt 5, and the guiding tension pulley 23 is fixed to the rotating arm 2 by a bolt. The direction take-up pulley 23 passes through bolted connection to be fixed on swinging boom 2, and the major axis of slotted hole 262 is perpendicular with hold-in range 5, and the accessible adjusts the position of direction take-up pulley 23 on the slotted hole 262, makes the direction take-up pulley compress tightly or loosen hold-in range 5 to the elasticity of adjustment hold-in range 5 makes hold-in range 5 adapt to the arc of swinging boom 2, solves the too big problem of hold-in range 5 ductility.
In an embodiment, the rotating arm 2 is an arc-shaped rotating arm 2, and 5 guiding tension wheels 23 are provided on the rotating arm 2, 5 tension wheel fixing holes 26 are correspondingly provided on the side plates 21 on both sides, 3 of which are round holes 261, and 2 of which are oblong holes 262, and the oblong holes 262 are provided on the side of the rotating arm 2 that is bent inward, and the round holes 261 are provided on the other side of the rotating arm 2.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Other embodiments of the invention will occur to those skilled in the art without the exercise of inventive faculty based on the explanations herein, and such equivalent modifications or substitutions are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (10)
1. A reverse rotation angle synchronization mechanism for a rotary workpiece taking manipulator is characterized by comprising a driving device, a rotary arm, a fixed wheel shaft, a movable wheel shaft, a synchronous belt fixed wheel, a synchronous belt driving wheel, a synchronous belt and a drawing seat plate; the rotating arm comprises a fixed end and a transmission end, the fixed wheel shaft is connected with the driving device at the fixed end, and the movable wheel shaft is connected with the drawing seat plate at the transmission end; the synchronous belt fixed wheel is sleeved outside the fixed wheel shaft, and the synchronous belt driving wheel is sleeved outside the movable wheel shaft; the hold-in range sets up the outside of hold-in range fixed pulley and hold-in range driving wheel.
2. The rotation angle reverse synchronizing mechanism for the rotary picking manipulator according to claim 1, wherein the synchronous belt fixed wheel comprises a fixed wheel sleeve rod and a fixed wheel; the fixed wheel loop bar is sleeved outside the fixed wheel shaft, and the fixed wheel is sleeved outside the fixed wheel loop bar and fixed in the middle of the fixed wheel loop bar;
the fixed wheel is provided with a clamp spring groove, a clamp spring is arranged on the clamp spring groove, and the clamp spring is used for limiting the fixed wheel to move;
the synchronous driving wheel comprises a driving wheel sleeve rod and a driving wheel; the driving wheel sleeve rod is sleeved on the outer side of the driving wheel shaft, and the driving wheel is sleeved on the outer side of the driving wheel sleeve rod and fixed in the middle of the driving wheel sleeve rod.
3. The rotation angle reverse synchronizing mechanism for a rotary picking manipulator according to claim 2, further comprising a manual calibration fixing plate, wherein the manual calibration fixing plate is shaped like a wrench and fixed on the synchronous belt fixed wheel for adjusting the initial angle of the pulling seat plate.
4. The rotation angle reverse synchronizing mechanism for the rotary picking manipulator according to claim 3, wherein the width of the fixed wheel is larger than that of the synchronous belt for providing a position for manually calibrating the fixing of the fixed plate.
5. The rotation angle reverse synchronizing mechanism for the rotary picking manipulator according to claim 1, wherein the rotating arm is arc-shaped and comprises two side plates, a panel and a guiding tension wheel; the two side plates are identical in shape, parallel to each other and symmetrically arranged on two sides of the panel;
two ends of the guide tensioning wheel are respectively connected with the two side plates and used for tensioning the synchronous belt;
the two sides of the panel are respectively connected with the middle parts of the two side plates in shape, so that the cross section of the rotating arm is in an I shape; the panel is provided with holes, the size of each hole is matched with the corresponding guide tensioning wheel, and the holes provide required space for the guide tensioning wheels.
6. The rotation angle reverse synchronizing mechanism for the rotary picking manipulator according to claim 5, wherein the fixed end of the rotating arm is provided with a fixed wheel groove, and the fixed wheel groove is matched with the shape of the fixed wheel of the synchronous belt and is used for installing the fixed wheel of the synchronous belt;
the transmission end of swinging boom is equipped with the running wheel groove, just the running wheel groove with the shape looks adaptation of synchronous driving wheel, be used for the installation synchronous driving wheel.
7. The rotation angle reverse synchronization mechanism for the rotary workpiece taking manipulator as claimed in claim 6, wherein the fixed wheel groove is U-shaped, and the outer side surface of the fixed wheel groove is respectively positioned on the same plane with the two side plates; fixed wheel holes are correspondingly formed in two side faces of the fixed wheel groove and used for fixing the fixed wheels of the synchronous belt;
the bottom surface in fixed race with the panel is connected, just the both ends of the bottom surface in fixed race are equipped with first recess, the size of first recess with hold-in range looks adaptation does the hold-in range provides the rotation space.
8. The rotation angle reverse synchronizing mechanism for the rotary workpiece taking manipulator as claimed in claim 6, wherein the movable wheel groove is U-shaped, and the outer side surface of the movable wheel groove is respectively positioned on the same plane with the two side plates; two side surfaces of the movable wheel groove are respectively provided with a movable wheel hole, and the movable wheel holes are used for fixing the synchronous driving wheels;
the bottom surface of moving the race with the panel is connected, just the both ends of the bottom surface of moving the race are equipped with the second recess, the size of second recess with hold-in range looks adaptation does the hold-in range provides the rotation space.
9. The rotation angle reverse synchronizing mechanism for a rotary picking manipulator according to claim 5, wherein tensioning wheel fixing holes are respectively formed in two side plates at equal intervals, and the tensioning wheel fixing holes on the two side plates correspond one-to-one to fix the guiding tensioning wheels.
10. The rotation angle reverse synchronizing mechanism for the rotary picking manipulator according to claim 9, wherein the tensioning wheel fixing hole comprises a round hole and an elongated hole, the long axis of the elongated hole is perpendicular to the synchronizing belt, and the guiding tensioning wheel is fixed on the rotating arm by a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010105182.4A CN111300397A (en) | 2020-02-20 | 2020-02-20 | A reverse lazytongs of rotation angle for rotatory manipulator of getting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010105182.4A CN111300397A (en) | 2020-02-20 | 2020-02-20 | A reverse lazytongs of rotation angle for rotatory manipulator of getting |
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| CN104669270A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | High speed rotary servo robot |
| CN204588080U (en) * | 2015-02-12 | 2015-08-26 | 东莞建冠塑胶电子有限公司 | The simple transfer mechanism of a kind of structure |
| KR20190141421A (en) * | 2018-06-14 | 2019-12-24 | 주식회사 사이보그-랩 | Structure of robot with dual arms |
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2020
- 2020-02-20 CN CN202010105182.4A patent/CN111300397A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669270A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | High speed rotary servo robot |
| CN204588080U (en) * | 2015-02-12 | 2015-08-26 | 东莞建冠塑胶电子有限公司 | The simple transfer mechanism of a kind of structure |
| KR20190141421A (en) * | 2018-06-14 | 2019-12-24 | 주식회사 사이보그-랩 | Structure of robot with dual arms |
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