CN205466193U - A rotary machine hand for vacuum infiltration oozes - Google Patents

Abstract

The utility model discloses a rotary robot arm for vacuum impregnation, which comprises a base, a rotary clamping mechanism arranged on the base, a lifting frame connected to the rotary clamping mechanism, and a centrifuge frame connected to the lifting frame. The rotating mechanism and the grasping mechanism connected to the centrifugal rotating mechanism; the rotating clamping mechanism is driven by a servo motor to rotate and then drives the lifting frame to rotate, and a main lifting oil cylinder for driving the lifting frame is arranged below the lifting frame. The unique centrifugal rotating mechanism drives the grabbing mechanism to do 360° horizontal rotation. The equipment is equipped with a rotating clamping device, which drives the rocker arm and then drives the grabbing mechanism to rotate 360°; at the same time, this equipment is equipped with a lifting frame, which can drive the rocker arm to move up and down, which increases the working space and is conducive to working in a small space. work within the range.

Description

Rotary robot for vacuum impregnation

technical field

The utility model relates to a rotary robot arm used for vacuum impregnation.

Background technique

The main purpose of the high-speed vacuum impregnation equipment is to infiltrate and solidify the sealant for the subtle defects on the surface of various castings or other workpieces (such as: micropores, shrinkage, cracks), so as to repair the workpiece defects and improve the performance and air tightness of the parts. purpose of its useful life.

The overall structure of the existing vacuum impregnation equipment is arranged in a line and consists of the following parts: lifting truss, electric hoist, vacuum impregnation tank, centrifugal dehydration tank, cleaning tank, flushing tank, curing tank, Hot air blower, workpiece basket, vacuum system, hydraulic system, refrigeration system, etc.

The traditional process flow is as follows, combined with Figure 1 and Figure 2, the loaded workpiece basket 3 is manually clamped and fixed on the lifting truss 1 at the loading position, and then the workpiece basket is lifted and transferred to the vacuum impregnation through the electric hoist 2 Tank 5, and then inject the sealant in the sealant storage tank 16 into the vacuum impregnation tank 5 through vacuum negative pressure to carry out vacuum impregnation treatment on the workpiece; after the impregnation process is completed, the workpiece is lifted and transferred to the centrifuge The dehydration tank 8 is subjected to centrifugal drying treatment, and the sealant after centrifugation is naturally returned to the storage tank 16. After the centrifugal drying treatment is completed, the basket is lifted by manual positioning and transferred to the cleaning tank 9. The cleaning tank is aerated and the tank is agitated by air flow The liquid in the tank rolls to clean the workpiece. During the cleaning process, the electric hoist 2 is manually controlled to drive the workpiece basket to reciprocate up and down. After the specified cleaning time is completed, the workpiece basket is transferred to the washing tank through the lifting truss 1 10 Perform the flushing process (the action principle of the flushing tank and the cleaning tank is the same, but the cleaning liquid added to the tank is different). After the workpiece is rinsed, manually position the workpiece basket 3 to lift and transport it to the rotary cleaning tank. The workpiece rotates forward and reverse in the rotary cleaning tank, and the workpiece is aerated inside the tank to further clean the liquid residue on the surface of the workpiece. The residual liquid naturally returns to the water storage tank. After the rotary cleaning process is completed, the workpiece basket is manually positioned and lifted and transferred to the curing tank for heating and curing of the workpiece. After the corresponding curing time is reached, the workpiece basket is manually positioned and lifted and transferred to the drying tank for hot air drying of the workpiece. After the workpiece is dried, the basket of the workpiece is manually positioned, lifted and transferred to the unloading position for workpiece unloading, and the entire process is over.

The existing vacuum impregnation equipment has the following defects: the overall layout of the traditional equipment is arranged in a straight line, the equipment occupies a large area, the structure is not compact, and the space utilization rate is low. Moreover, due to the limitation of the equipment structure, and the distance between the loading position and the unloading position of the workpiece is too far away, the transfer of the workpiece is cumbersome, and the labor intensity of the transfer of the operator is correspondingly increased. When the workpiece is cleaned, the up and down cleaning movement of the cleaning tank and the flushing tank relies on manual use of the electric hoist to drive the work basket to move up and down reciprocatingly to complete the timing cleaning process. This method has a large number of human error factors, unstable product quality, and low efficiency. And poor security.

Utility model content

The purpose of the utility model is to provide a rotary robot arm for vacuum impregnation. The equipment is used in vacuum impregnation, has high degree of automation, low labor intensity, and good impregnation quality of products.

The utility model takes the following technical solutions:

A rotary manipulator for vacuum impregnation, comprising a base, a rotary clamping mechanism arranged on the base, a lifting frame connected to the rotary clamping mechanism, a centrifugal rotating mechanism connected to the lifting frame and connected to the The grasping mechanism on the centrifugal rotating mechanism; the rotating and clamping mechanism is driven by a servo motor to rotate and then drives the lifting frame to rotate, and the main lifting oil cylinder for driving the lifting frame is arranged below the lifting frame, and the described centrifugal rotating mechanism drives The grabbing mechanism can rotate 360° horizontally.

A further technical solution is: the lifting frame includes a frame main body, a linear guide rail and a rocker arm are arranged on the vertical side plate of the frame main body, and a lifting oil cylinder is arranged below the frame main body, so that The rocker arm is driven by the lifting cylinder to move up and down along the linear guide rail, and the rocker arm is provided with a sensor mounting plate for installing the sensor.

A further technical solution is: the rotary clamping mechanism includes a clamping mechanism chassis, a main rotating shaft arranged on the clamping mechanism chassis, a driven gear connected with the main rotating shaft, and a driving mechanism for driving the driven gear to move. Gear, a reduction motor for driving the movement of the driving gear; the driven gear is arranged on the chassis of the clamping mechanism, and a three-way rotary joint is connected above the main rotating shaft, and the three-way rotary joint The screw is fixed to the chassis of the clamping mechanism, and is connected to the main rotating shaft through a bearing. A clamping device is also arranged above the chassis of the clamping mechanism.

A further technical solution is: the centrifugal rotating mechanism includes a fixed shaft inside the centrifuge, a joint bearing covering the fixed shaft in the centrifuge, and an outer positioning sleeve sleeved on the joint bearing; the joint bearing is arranged on the centrifugal The cross connection between the rotary mechanism and the rocker arm.

A further technical solution is: the grasping mechanism includes at least 3 claw cylinders and an oil distribution block.

A further technical solution is: the clamping device includes a clamping support rod fixed on the chassis of the clamping mechanism, a clamping connecting rod connected to the clamping supporting rod and a clamping oil cylinder connected with the clamping connecting rod.

A further technical solution is: the centrifugal rotating mechanism is connected to the grasping mechanism through a flange.

A further technical solution is: the rotary clamping mechanism is fixedly connected with the lifting frame.

A further technical solution is: the clamping connecting rod is an arc-shaped limit rod, and there are at least two clamping connecting rods; the inner side of the clamping connecting rod is provided with brake pads; the clamping oil cylinder It is a double-acting rod chamber with return spring structure.

A further technical solution is: the rocker arm is connected to the lifting cylinder through the pin shaft of the lifting cylinder; the lifting cylinder is fixedly connected to the lifting main body through the bearing seat of the lifting cylinder; the horizontal base of the frame main body is connected to the vertical side Support beams are arranged between the plates.

Compared with the prior art, the utility model has the following beneficial effects:

This equipment is equipped with a rotating clamping device, which drives the rocker arm and then drives the grabbing mechanism to rotate 360°; at the same time, this equipment is equipped with a lifting frame, which can drive the rocker arm to move up and down, which increases the working space and is conducive to working in a small space. work within the range.

The centrifugal rotation mechanism in this equipment can automatically find the center of the workpiece after being carried by setting the joint bearing, so as to avoid the mechanical resonance phenomenon caused by the rotation process.

Description of drawings

Fig. 1 is the schematic diagram of traditional equipment technological process;

Figure 2 is the general assembly drawing of traditional equipment;

Fig. 3 is the structural schematic diagram of the rotary robot arm that is used for vacuum impregnation;

Fig. 4 is the top view of the rotary manipulator used for vacuum impregnation;

Fig. 5 is the structural representation of lift frame;

Fig. 6 is a structural schematic diagram of a rotary clamping mechanism;

Figure 7 is a schematic front view of the rotary clamping mechanism;

Figure 8 is a top view of the rotary clamping mechanism;

Fig. 9 is a sectional view of A-A in Fig. 8;

Figure 10 is a partial sectional view of the centrifugal rotating mechanism;

Fig. 11 is a schematic diagram of the connection between the centrifugal rotating mechanism and the grasping mechanism.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in detail.

Referring to Figure 3-11, the rotary robot for vacuum impregnation includes a base 1, a rotary clamping mechanism 2 set on the base 1, a lifting frame 4 connected to the rotary clamping mechanism 2, and a lifting frame 4 connected to the lift The centrifugal rotating mechanism 6 on the frame 4 and the grasping mechanism 7 connected on the centrifugal rotating mechanism 6; the described rotary clamping mechanism 2 is driven to rotate by the servo motor 9 and then drives the lifting frame 4 to rotate, and the bottom of the lifting frame 4 is provided with a useful The centrifugal rotating mechanism 6 drives the grasping mechanism 7 to perform a 360° horizontal rotation because of the main lifting cylinder 8 that drives the lifting frame 4 up and down.

According to one embodiment of the present utility model, the lifting frame 4 includes a frame body 11, a linear guide rail 3 and a rocker arm 5 are arranged on the vertical side plate of the frame body 11, and the frame body The bottom of 11 is provided with a lifting cylinder 8, and the rocker arm 5 is driven to move up and down along the linear guide rail 3 by the lifting cylinder 8, and a sensor mounting plate 15 is arranged on the rocking arm 5 for installing a sensor 16.

According to an embodiment of the present invention, a stop plate 12 is provided below the horizontal base of the frame main body 11 . According to an embodiment of the present invention, the rocker arm 5 is connected with the lifting cylinder 8 through the lifting cylinder pin 17 . According to an embodiment of the present utility model, the lifting cylinder 8 is fixedly connected with the lifting body 11 through the lifting cylinder bearing seat 13 . According to an embodiment of the present invention, a support beam 14 is provided between the horizontal base and the vertical side plate of the frame main body 11, which can enhance the stability of the entire frame during the rotation process of the rotating manipulator. According to an embodiment of the present utility model, the length of the rocker arm 5 is 1-4m.

According to an embodiment of the present invention, the rotary clamping mechanism 2 includes a clamping mechanism chassis 31, a main rotating shaft 32 arranged on the clamping mechanism chassis 31, a driven gear 34 connected with the main rotating shaft 32, The driving gear 33 for driving the driven gear 34 to move, the reduction motor 313 for driving the driving gear 33 to move; the driven gear 34 is arranged on the chassis 31 of the clamping mechanism, and the main rotating shaft The top of 32 is connected with three-way rotary joint 35, and described three-way rotary joint 35 is fixed with clamping mechanism chassis 31 by screw, and is connected with main rotating shaft 32 by bearing 311, and the top of described clamping mechanism chassis 31 also A clamping device 36 is provided.

According to one embodiment of the present utility model, the clamping device 36 includes a clamping support rod 310 fixed on the chassis 31 of the clamping mechanism, a clamping connecting rod 37 connected to the clamping support rod 310 and a clamping The clamping oil cylinder 38 that connecting rod 37 is connected. According to an embodiment of the present invention, the clamping connecting rod 37 is an arc-shaped limiting rod, and there are at least two clamping connecting rods 37 . According to an embodiment of the present invention, brake pads 39 are arranged on the inner side of the clamping connecting rod 37 . According to an embodiment of the present utility model, the clamping oil cylinder 38 is a double-acting rod chamber with return spring structure. According to an embodiment of the present utility model, the bearing 311 is a deep groove ball bearing. According to an embodiment of the present invention, the clamping cylinder 38 is connected to the clamping connecting rod 37 through the pin shaft 312 of the clamping cylinder. According to an embodiment of the present invention, the clamping support rod 310 is fixedly connected to the chassis 31 of the clamping mechanism.

According to an embodiment of the present invention, the centrifugal rotating mechanism 6 includes a fixed shaft 23 inside the centrifuge, a joint bearing 21 covering the fixed shaft 23 in the centrifuge, and an outer positioning sleeve 22 sleeved on the joint bearing 21; The joint bearing 21 is arranged at the intersection of the centrifugal rotating mechanism 6 and the rocker arm 5 .

According to an embodiment of the present utility model, the grasping mechanism 7 includes at least three claw cylinders 24 and an oil distribution block 25 .

According to an embodiment of the present invention, the centrifugal rotating mechanism 6 is connected to the grasping mechanism 7 through a flange; the rotating clamping mechanism 2 is fixedly connected to the lifting frame 4 .

The rotary manipulator is driven by a servo motor 9 to rotate the clamping mechanism 2 to drive the rocker arm 5 to perform a 360° rotary motion. When the rotary clamping mechanism 2 is working, the clamping oil cylinder 38 is released, and the reduction motor 313 is started, and the reduction motor 313 drives the driving gear 33 to move and then drives the driven gear 34 to move, and the driven gear 34 is fixedly connected to the main rotation 32, and then drives the main rotation gear 32 to move. The rotation of the rotating shaft 32 drives the rotation of the lifting frame 4 . After the lifting frame 4 rotates to the corresponding position, the clamping oil cylinder 38 clamps to ensure that the rocker arm position of the workpiece remains unchanged during the centrifugation process. At the same time, in order to improve the safety of clamping, the clamping oil cylinder 38 is a double-acting rod chamber with a return spring structure, which can ensure that the lifting frame 4 is in the clamping state when the oil is cut off, ensuring safety.

The elevating frame 4 of this rotary manipulator is provided with linear guide rail 3, is used for rocking arm 5 to move up and down along linear guide rail 3, and elevating frame 4 is driven by main lifting oil cylinder 8 and moves up and down. The linear guide rail 3 is installed on the lifting frame, and the guide rail slide block is connected with the rocking arm 5 .

The centrifugal rotating mechanism 6 of this rotary robot hand is installed on the rocker arm 5, utilizes the hydraulic motor that carries oneself to drive the centrifugal rotating mechanism 6 to do forward and reverse rotation. Centrifugal rotating mechanism 6 comprises fixed shaft 23 in the centrifuge, the joint bearing 21 that is covered in the fixed shaft 23 in the centrifuge and the outer positioning sleeve 22 that is sleeved on the joint bearing 21; 6 and the cross connection of rocker arm 5. The centrifugal rotating mechanism 6 automatically aligns the center after carrying the workpiece by setting the joint bearing 21, so as to avoid the mechanical resonance phenomenon caused during the rotating process.

"One embodiment", "another embodiment", "embodiment" and the like mentioned in this specification refer to specific features, structures or characteristics described in conjunction with the embodiment included in the general description of this application. In at least one embodiment. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure or characteristic is described in combination with any embodiment, it should be claimed that realizing such feature, structure or characteristic in combination with other embodiments also falls within the scope of the present invention.

Although the invention has been described herein with reference to a number of illustrative embodiments of the invention, it should be understood that many other modifications and implementations can be devised by those skilled in the art which will fall within the scope of this application. within the scope and spirit of the principles disclosed. More specifically, within the scope of the disclosure, drawings and claims of the present application, various modifications and improvements can be made to the components and/or layout of the subject combination layout. In addition to modifications and improvements in component parts and/or layout, other uses will be apparent to those skilled in the art.

Claims (10)

1. A rotary robot hand for vacuum impregnation, characterized in that it comprises a base (1), a rotary clamping mechanism (2) arranged on the base (1), connected to the rotary clamping mechanism (2) The lifting frame (4) on the lifting frame (4), the centrifugal rotating mechanism (6) connected to the lifting frame (4) and the grabbing mechanism (7) connected to the centrifugal rotating mechanism (6); the rotating clamping mechanism (2 ) is driven by the servo motor (9) to rotate and then drives the lifting frame (4) to rotate, and the main lifting oil cylinder (8) for driving the lifting frame (4) is arranged below the lifting frame (4), and the centrifugal rotation mechanism ( 6) Drive the grasping mechanism (7) to do 360° horizontal rotation. 2. The rotary manipulator for vacuum impregnation according to claim 1, characterized in that said lifting frame (4) comprises a frame main body (11), and the vertical of said frame main body (11) A linear guide rail (3) and a rocker arm (5) are arranged on the side plate, and a lifting cylinder (8) is arranged below the frame main body (11), and the rocker arm (5) passes through the lifting cylinder (8). It is driven to move up and down along the linear guide rail (3), and the rocker arm (5) is provided with a sensor mounting plate (15) for installing the sensor (16). 3. The rotary robot arm for vacuum impregnation according to claim 1, characterized in that said rotary clamping mechanism (2) comprises a clamping mechanism chassis (31), which is arranged on the clamping mechanism chassis (31) The main rotating shaft (32) on the top, the driven gear (34) connected with the main rotating shaft (32), the driving gear (33) used to drive the driven gear (34) to move, used to drive the driving gear (33) A moving deceleration motor (313); the driven gear (34) is arranged on the chassis (31) of the clamping mechanism, and a three-way rotary joint (35) is connected above the main rotating shaft (32) , the three-way rotary joint (35) is fixed with the clamping mechanism chassis (31) by screws, and is connected with the main rotating shaft (32) through the bearing (311), and the top of the clamping mechanism chassis (31) A clamping device (36) is also provided. 4. The rotary robot for vacuum impregnation according to claim 1, characterized in that the centrifugal rotating mechanism (6) comprises a fixed shaft (23) in the centrifuge, a fixed shaft (23) in the centrifuge ) joint bearing (21) and the outer positioning sleeve (22) sleeved on the joint bearing (21); the joint bearing (21) is arranged at the intersection of the centrifugal rotating mechanism (6) and the rocker arm (5) Junction. 5. The rotary robot arm for vacuum impregnation according to claim 1, characterized in that the grabbing mechanism (7) includes at least three claw cylinders (24) and an oil distribution block (25). 6. The rotary manipulator for vacuum impregnation according to claim 3, characterized in that said clamping device (36) comprises a clamping support rod (310) fixed on the chassis (31) of the clamping mechanism , the clamping connecting rod (37) connected to the clamping support rod (310) and the clamping oil cylinder (38) connected with the clamping connecting rod (37). 7. The rotary robotic arm for vacuum impregnation according to claim 1, characterized in that the centrifugal rotating mechanism (6) is connected to the gripping mechanism (7) through a flange. 8. The rotary robot arm for vacuum impregnation according to claim 1, characterized in that the rotary clamping mechanism (2) is fixedly connected with the lifting frame (4). 9. The rotary robot for vacuum impregnation according to claim 6, characterized in that the clamping connecting rod (37) is an arc-shaped limit rod, and the clamping connecting rod (37) is at least 2 root; the inner side of the clamping connecting rod (37) is provided with a brake pad (39); the clamping oil cylinder (38) is a double-acting rod chamber with a return spring structure. 10. The rotary robot for vacuum impregnation according to claim 2, characterized in that the rocker arm (5) is connected to the lifting cylinder (8) through the lifting cylinder pin (17); The oil cylinder (8) is fixedly connected to the lifting main body (11) through the lifting oil cylinder bearing seat (13); a support beam (14) is arranged between the horizontal base and the vertical side plate of the frame main body (11).