CN210233027U

CN210233027U - Swing arm type robot

Info

Publication number: CN210233027U
Application number: CN201921214539.1U
Authority: CN
Inventors: Jiao Liu; 刘娇; Yan Lin; 林燕
Original assignee: Shanghai Fanai Robot Technology Co Ltd
Current assignee: Shanghai Fanai Robot Technology Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-04-03
Anticipated expiration: 2029-07-30

Abstract

The utility model discloses a swing arm formula robot, including chassis, capstan and anchor clamps, the inside intermediate position on chassis is fixed with first motor, and the top of first motor installs first fixed gear, the last surface mosaic on chassis has the guide rail, and the inside arrangement of guide rail has ball slider, first moving gear is installed to ball slider's top, and the top of first moving gear is fixed with central branch, the capstan is fixed in the top of central branch, and the internally mounted of capstan has second fixed gear, the rear side of second fixed gear is connected with the second motor, and the left side of second fixed gear is connected with second moving gear, the left side of second moving gear is fixed with the one end of side branch pole, and the other end of side branch pole installs drive assembly, anchor clamps are installed in drive assembly's below, and drive assembly includes air pump, cylinder, A piston rod and a strut. The utility model discloses a simple structure satisfies the demand that the work piece rotated the transposition on the assembly line, and the practicality is strong.

Description

Swing arm type robot

Technical Field

The utility model relates to the technical field of robot, specifically be a swing arm formula robot.

Background

Robots are the common name of automatic control machines, which include all machines simulating human behavior or thought and other creatures, and in the modern industrial production process, robots refer to artificial machine devices capable of automatically performing tasks to replace or assist human work. At present, most of robots used in industrial production are linear robots, namely frame-type rectangular coordinate robots, and the robot joints are simple in design and convenient to install, debug and maintain daily.

However, the linear robot in the current market is difficult to meet the requirements of a flow production line, and when the existing linear robot clamps and lifts a processed workpiece and performs transposition operation, the process steps are complex, and the use is inconvenient.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a swing arm formula robot to solve the linear robot on the existing market that proposes in the above-mentioned background art and be difficult to satisfy the needs on the flow production line, current linear robot is having the work piece clamp-up promotion, and when transposition operation, the process step is complicated, uses inconvenient problem.

In order to achieve the above object, the utility model provides a following technical scheme: a swing arm type robot comprises a chassis, a swing disc and a clamp, wherein a first motor is fixed at the middle position inside the chassis, a first fixed gear is installed above the first motor, a guide rail is embedded on the upper surface of the chassis, a ball sliding block is arranged inside the guide rail, a first moving gear is installed above the ball sliding block, a central support rod is fixed above the first moving gear, mounting plates are fixed on the left side and the right side of the chassis respectively, fixing bolts are connected inside the mounting plates, the swing disc is fixed at the top end of the central support rod, a second fixed gear is installed inside the swing disc, a second motor is connected with the rear side of the second fixed gear, a second moving gear is connected with the left side of the second fixed gear, one end of a side support rod is fixed on the left side of the second moving gear, a driving assembly is installed at the other end of the side support rod, the clamp is installed below the driving assembly, and the driving assembly comprises an air pump, an air cylinder, a piston rod and a support rod, the air cylinder is connected below the air pump, the piston rod is arranged inside the air cylinder, and the support rod is rotatably connected below the piston rod.

Preferably, the first fixed gear is matched with the first moving gear in size, and the first fixed gear is connected with the first moving gear in a meshing manner.

Preferably, the shape structure of the guide rail is circular, and the guide rail and the ball sliding block are matched with each other to form a sliding structure.

Preferably, the mounting plates are bilaterally symmetrical about a vertical center line of the chassis, and the number of the fixing bolts is set to 4.

Preferably, the outer edge of the second movable gear is uniformly distributed with latch teeth, and the second movable gear is connected with the second fixed gear in a meshing manner.

Preferably, the number of the support rods is 2, the support rods are hinged to the clamp, and the clamp is in an X-shaped structure.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the upper half part of the whole device of the swing-arm type robot can rotate horizontally, so that the requirement that the robot needs to perform horizontal transposition operation on a clamped workpiece in the working process is met, and meanwhile, the first fixed gear can limit the motion track of the first fixed gear by utilizing the sliding action between the guide rail and the ball sliding block, so that the running stability of the whole robot is ensured, and the clamped workpiece is prevented from slipping when being transposed;

2. the second movable gear and the second fixed gear can realize the height lifting of the clamped workpiece through the rotation effect, and compared with the lifting design of a linear robot, the whole structure is simpler, more exquisite and convenient to operate, and meanwhile, the whole robot is convenient to mount and fix;

3. the cylinder and the piston rod in the driving assembly can stretch out and draw back under the action of the air pump, so that the support rod is pushed to expand and contract the clamp, the clamp is automatically clamped and opened under the action of the driving assembly, and workpieces are clamped more conveniently.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic top view of the second fixed gear and the second movable gear of the present invention;

fig. 3 is a schematic structural view of the driving assembly and the clamp 16 of the present invention.

In the figure: 1. a chassis; 2. a first motor; 3. a first fixed gear; 4. a guide rail; 5. a ball slider; 6. a first moving gear; 7. a central strut; 8. mounting a plate; 9. fixing the bolt; 10. rotating the disc; 11. a second fixed gear; 12. a second motor; 13. a second moving gear; 14. a side strut; 15. a drive assembly; 151. an air pump; 152. a cylinder; 153. a piston rod; 154. a stay bar; 16. and (4) clamping.

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. 1-3, the present invention provides a technical solution: a swing arm type robot comprises a chassis 1, a first motor 2, a first fixed gear 3, a guide rail 4, a ball slider 5, a first moving gear 6, a central support rod 7, a mounting plate 8, a fixing bolt 9, a rotary disc 10, a second fixed gear 11, a second motor 12, a second moving gear 13, a side support rod 14, a driving assembly 15, an air pump 151, an air cylinder 152, a piston rod 153, a support rod 154 and a clamp 16, wherein the first motor 2 is fixed at the middle position inside the chassis 1, the first fixed gear 3 is installed above the first motor 2, the guide rail 4 is embedded on the upper surface of the chassis 1, the ball slider 5 is arranged inside the guide rail 4, the appearance structure of the guide rail 4 is circular, the guide rail 4 and the ball slider 5 are matched with each other to form a sliding structure, the guide rail 4 and the ball slider 5 can slide, and the position of the guide rail 4 is matched with the position of the first fixed gear 3 in circular motion, therefore, the first fixed gear 3 can limit the motion trail of the first fixed gear 3 by utilizing the sliding action between the guide rail 4 and the ball sliding block 5, which is beneficial to further improving the stability of the whole robot in the operation process, the first moving gear 6 is arranged above the ball sliding block 5, the central support rod 7 is fixed above the first moving gear 6, the first fixed gear 3 is matched with the first moving gear 6 in size, the first fixed gear 3 is connected with the first moving gear 6 in a meshing way, the first fixed gear 3 can rotate under the driving of the first motor 2, and the first fixed gear 3 is meshed with the first moving gear 6, so that the first fixed gear 3 can drive the first moving gear 6 to do circular motion by taking the first fixed gear 3 as the center, thereby realizing that the upper half part of the whole device can horizontally rotate, so as to meet the requirement that the robot needs to horizontally shift clamped workpieces in the operation process, the gear transmission structure is stable, so that the running stability of the whole robot is ensured, and the clamped workpiece is prevented from slipping when the position is changed;

the left side and the right side of the chassis 1 are both fixed with mounting plates 8, the mounting plates 8 are internally connected with fixing bolts 9, the mounting plates 8 are bilaterally symmetrical about the vertical central line of the chassis 1, the number of the fixing bolts 9 is 4, the mounting plates 8 are respectively arranged and fixed on the two sides of the chassis 1 and are parallel and level with the bottom of the chassis 1, so that the whole robot is conveniently fixed at a required position, meanwhile, the fixing of the mounting plates 8 is realized by four fixing bolts 9, the structure is simple, the installation is convenient, certain stabilizing effect is ensured, the rotary disc 10 is fixed at the top end of the central supporting rod 7, a second fixed gear 11 is arranged inside the rotary disc 10, the rear side of the second fixed gear 11 is connected with a second motor 12, the left side of the second fixed gear 11 is connected with a second movable gear 13, and the outer edges of the second movable gear 13 are uniformly distributed with clamping teeth, the second moving gear 13 is connected with the second fixed gear 11 in a meshing manner, the second moving gear 13 and the first moving gear 6 are similar but not identical in structure, only half of clamping teeth are mounted on the outer edge of the second moving gear 13, and the clamping teeth are uniformly distributed on the second moving gear 13 within an angle of 180 degrees so as to ensure that the second moving gear 13 and the second fixed gear 11 can realize 180-degree angle change, and meanwhile, the second moving gear 13 and the second fixed gear 11 are mounted in a direction perpendicular to the horizontal plane, so that the second moving gear 13 and the second fixed gear 11 can realize height lifting of a clamped workpiece through a rotating action, and compared with the design of a linear robot, the clamping device is simple in structure and is more exquisite at the same time;

the left side of second moving gear 13 is fixed with the one end of side branch 14, and drive assembly 15 is installed to the other end of side branch 14, anchor clamps 16 are installed in the below of drive assembly 15, and drive assembly 15 includes air pump 151, cylinder 152, piston rod 153 and vaulting pole 154, the below of air pump 151 is connected with cylinder 152, and the internally mounted of cylinder 152 has piston rod 153, the below of piston rod 153 is rotated and is connected with vaulting pole 154, vaulting pole 154 quantity sets up to 2, and the connected mode between vaulting pole 154 and the anchor clamps 16 is articulated, and the appearance structure of anchor clamps 16 is X style of calligraphy structure, cylinder 152 and piston rod 153 in setting up drive assembly 15 can stretch out and draw back under the effect of air pump 151, so that promote vaulting pole 154 to come to strut and contract anchor clamps 16, anchor clamps 16 realize self-holding and open under the effect of drive assembly 15, it is more convenient to centre gripping work piece.

The working principle is as follows: for the swing-arm robot, firstly, the structure installed on the chassis 1 is similar to the structure installed on the swing disc 10, that is, the guide rail 4 and the ball slider 5 are installed between the second moving gear 13 and the swing disc 10, so as to assist the movement of the second moving gear 13, the whole robot is firstly placed on a suitable flat plate, by screwing four fixing bolts 9, the fixing bolts 9 penetrate through the mounting plate 8 and the flat plate, the mounting plate 8 and the chassis 1 are fixed on the flat plate, then the first motor 2 is started, the first motor 2 works to drive the first fixing gear 3 to rotate clockwise, the meshing action is generated between the first fixing gear 3 and the first moving gear 6, the first moving gear 6 rotates along the outer edge of the first fixing gear 3, and simultaneously drives the ball slider 5 to slide along the guide rail 4, the first fixing gear 3 drives the central supporting rod 7 to rotate, so that the side supporting rod 14, the driving component 15 and the clamp 16 rotate from the left side of the chassis 1 to the right side of the chassis 1, the first motor 2 is then switched off;

then the second motor 12 is started, the second motor 12 works to drive the second fixed gear 11 to rotate clockwise, the second fixed gear 11 and the second moving gear 13 are engaged, the second moving gear 13 rotates along the outer edge of the second fixed gear 11 to drive the side supporting rod 14 to rotate, so that the position of the clamp 16, which is far away from the ground, is lower and is close to the clamped workpiece, then the second motor 12 is closed, the air pump 151 is started again, the air in the air cylinder 152 is pumped out by the operation of the air pump 151, the air in the air cylinder 152 is reduced, the pressure intensity is reduced, the piston rod 153 retracts towards the interior of the air cylinder 152 under the action of the atmospheric pressure, the two supporting rods 154 are pulled to move towards the interior of the air cylinder 152, the two supporting rods 154 are folded together, and because the shape and structure of the clamp 16 are similar to scissors, when the tail parts of the two supporting rods 154 pull the clamp 16 to be folded together, the tip ends of, in the same way, the steps can be operated in the reverse direction, namely the clamped workpiece can be lifted, and the clamped workpiece is transferred from the right side of the chassis 1 to the left side of the chassis 1, so that the transposition operation is realized, and the using process of the whole swing-arm type robot is completed.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a swing arm formula robot, includes chassis (1), capstan (10) and anchor clamps (16), its characterized in that: a first motor (2) is fixed at the middle position inside the chassis (1), a first fixed gear (3) is installed above the first motor (2), a guide rail (4) is inlaid on the upper surface of the chassis (1), a ball sliding block (5) is arranged inside the guide rail (4), a first moving gear (6) is installed above the ball sliding block (5), a central support rod (7) is fixed above the first moving gear (6), mounting plates (8) are fixed on the left side and the right side of the chassis (1), a fixing bolt (9) is connected inside the mounting plate (8), a rotating disc (10) is fixed at the top end of the central support rod (7), a second fixed gear (11) is installed inside the rotating disc (10), a second motor (12) is connected to the rear side of the second fixed gear (11), and a second moving gear (13) is connected to the left side of the second fixed gear (11), the left side of second moving gear (13) is fixed with the one end of side branch pole (14), and the other end of side branch pole (14) installs drive assembly (15), install in the below of drive assembly (15) anchor clamps (16), and drive assembly (15) include air pump (151), cylinder (152), piston rod (153) and vaulting pole (154), the below of air pump (151) is connected with cylinder (152), and the internally mounted of cylinder (152) has piston rod (153), the below of piston rod (153) is rotated and is connected with vaulting pole (154).

2. A swing-arm robot as claimed in claim 1, wherein: the first fixed gear (3) is matched with the first movable gear (6) in size, and the first fixed gear (3) is connected with the first movable gear (6) in a meshing manner.

3. A swing-arm robot as claimed in claim 1, wherein: the appearance structure of the guide rail (4) is circular, and the guide rail (4) and the ball sliding block (5) are matched with each other to form a sliding structure.

4. A swing-arm robot as claimed in claim 1, wherein: the mounting plates (8) are bilaterally symmetrical about the vertical center line of the chassis (1), and the number of the fixing bolts (9) is set to be 4.

5. A swing-arm robot as claimed in claim 1, wherein: the outer edge of the second moving gear (13) is uniformly distributed with clamping teeth, and the second moving gear (13) is connected with the second fixed gear (11) in a meshing manner.

6. A swing-arm robot as claimed in claim 1, wherein: the number of the support rods (154) is 2, the support rods (154) are hinged with the clamp (16), and the clamp (16) is in an X-shaped structure.