CN216543372U

CN216543372U - Rotary manipulator buffering energy-absorbing device

Info

Publication number: CN216543372U
Application number: CN202123167257.0U
Authority: CN
Inventors: 张建群; 戴强; 程伟; 吴正菲
Original assignee: Shandong Tongjia Intelligent Equipment Co ltd
Current assignee: Shandong Tongjia Intelligent Equipment Co ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-05-17
Anticipated expiration: 2031-12-16

Abstract

The utility model relates to the field of manipulators, in particular to a buffer energy-absorbing device of a rotary manipulator. The energy-absorbing device comprises a fixed sleeve fixedly connected to the upper end of the rotating disc, a pressure rod is screwed in the upper end of the fixed sleeve, an energy-absorbing column is inserted into the lower end of the fixed sleeve in a sliding structure mode, the lower end of the energy-absorbing column is inserted into the rotating disc in a sliding structure mode, and a spring is arranged between the pressure rod and the energy-absorbing column; the energy absorption device further comprises an energy absorption plate arranged below the rotating disc, the energy absorption plate is provided with an arc-shaped groove which is matched with the rotating track of the energy absorption column and is shallow at two ends and deep in the middle, and the bottom end of the energy absorption column is abutted to the groove. The utility model aims to solve the technical problem that a rotary manipulator buffers and absorbs energy when a mechanical arm in the prior art vibrates back and forth and cannot stop effectively when running to the tail end.

Description

Rotary manipulator buffering energy-absorbing device

Technical Field

The utility model relates to the field of manipulators, in particular to a buffer energy-absorbing device of a rotary manipulator.

Background

With the evolution of the form of blow molding machines, the form of hollow products is diversified, and the removal mode of the products is also changing continuously. The application of the pneumatic swing table on the rotary manipulator is not universal, mainly because the motion inertia of the mechanical arm is large and the kinetic energy is high in the motion process, the traditional hydraulic buffer cannot effectively recover the kinetic energy when the motion stroke of the mechanical arm is at the tail end, so that the mechanical arm can shake back and forth when running to the tail end and cannot effectively stop.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a rotary manipulator buffers and absorbs energy when a mechanical arm in the prior art vibrates back and forth and cannot stop effectively when running to the tail end.

The technical scheme for solving the technical problems is as follows:

a buffering and energy-absorbing device for a rotary manipulator comprises a rotary disc and a mechanical arm arranged on the rotary disc, wherein a pneumatic swing table for driving the rotary disc to rotate is arranged on the rotary disc; the energy absorption device further comprises an energy absorption plate arranged below the rotating disc, the energy absorption plate is provided with an arc-shaped groove which is matched with the rotating track of the energy absorption column and is shallow at two ends and deep in the middle, and the bottom end of the energy absorption column is abutted to the groove.

Furthermore, the energy absorption plate comprises a fixed seat with a supporting surface, the energy absorption plate is fixedly arranged on the supporting surface, and the pneumatic swing table is arranged below the supporting surface.

Furthermore, the pneumatic swing table is connected with the rotating disc through a slewing bearing, and the fixed end of the slewing bearing is fixedly connected to the supporting surface.

Furthermore, a shoulder I is arranged on the pressure rod, a shoulder II is arranged in the fixed sleeve, and the shoulder I and the shoulder II are matched with each other to limit the maximum stroke of the upward movement of the pressure rod.

Further, the spring is a rectangular spring.

Further, fixed cover includes the sleeve, and telescopic upper end is used for the nut with the looks spiro union of depression bar with the fixedly connected with of axle center, and telescopic lower extreme is equipped with the flange, and the sleeve passes through flange fixed connection on the rolling disc.

Furthermore, an upper air cylinder, a lower air cylinder and a clamping air cylinder are arranged at one end, far away from the rotating disc, of the mechanical arm.

The utility model has the beneficial effects that:

1. according to the utility model, through arranging the energy-absorbing columns and the energy-absorbing plates, when the mechanical arm is driven by the pneumatic swing table to rotate, namely the mechanical arm reaches the end point, the final energy recovery is carried out by utilizing the friction force between the energy-absorbing columns and the energy-absorbing plates, so that the mechanical arm stably stops at the end point, the mechanical arm is effectively prevented from vibrating back and forth when running to the end point, the structure is simple and effective, the installation is convenient, and the manufacturing cost is low.

2. According to the utility model, the compression rod is arranged in the fixed sleeve in a screwed mode, and the compression amount of the rectangular spring can be adjusted by adjusting the height of the compression rod according to the estimated kinetic energy required by the rotation of the manipulator to the end point, so that the friction force is further adjusted.

3. According to the utility model, the arc-shaped groove with shallow two ends and deep middle is arranged on the energy absorption plate, so that the rapid rotation of the mechanical arm in the work process is not hindered, and the speed can be slowly, stably and effectively reduced when the mechanical arm rotates to approach the terminal point.

Drawings

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

FIG. 2 is a rear view of the present invention;

FIG. 3 is a right side view of the present invention;

FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is a schematic structural view of an energy absorbing pillar and an energy absorbing panel;

in the figure: 1. the energy-absorbing device comprises a fixed seat, 2 parts of a pneumatic swing table, 3 parts of a rotating disc, 4 parts of a rotary support, 5 parts of a mechanical arm, 6 parts of an upper air cylinder and a lower air cylinder, 7 parts of a clamping air cylinder, 8 parts of an energy-absorbing device, 81 parts of an energy-absorbing plate, 82 parts of an energy-absorbing column, 83 parts of a fixed sleeve, 84 parts of a spring, 85 parts of a nut and 86 parts of a pressure lever.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the utility model.

As shown in fig. 1 and fig. 2, the buffering and energy absorbing device 8 for the rotary manipulator of the present embodiment includes a rotating disc 3 and a manipulator arm 5 disposed on the rotating disc 3, where the rotating disc 3 is provided with a pneumatic swing table 2 for driving the rotating disc 3 to rotate, and further, an upper and lower air cylinder 6 and a clamping air cylinder 7 are disposed at one end of the manipulator arm 5 away from the rotating disc 3. Further, the present invention includes a fixing base 1 having a supporting surface, and optionally, as shown in fig. 1, the fixing base 1 has a rectangular frame structure. Further, the pneumatic swing table 2 is arranged below the supporting surface. Furthermore, the pneumatic swing table 2 is connected with the rotating disc 3 through a rotary bearing 4, and the fixed end of the rotary bearing 4 is fixedly connected to the supporting surface.

The energy absorption device 8 further comprises a fixing sleeve 83 fixedly connected to the upper end of the rotating disc 3, and a pressure lever 86 is screwed in the upper end of the fixing sleeve 83, preferably, a shoulder I is arranged on the pressure lever 86, a shoulder II is arranged in the fixing sleeve 83, and the shoulder I and the shoulder II are matched with each other to limit the maximum upward movement stroke of the pressure lever 86, as shown in FIG. 4.

The lower end of the fixed sleeve 83 is inserted with an energy-absorbing column 82 in a sliding structure mode, the lower end of the energy-absorbing column 82 is inserted in the rotating disc 3 in a sliding structure mode, a spring 84 is arranged between the pressure lever 86 and the energy-absorbing column 82, and preferably, the spring 84 is a rectangular spring; the energy absorbing device 8 further comprises an energy absorbing plate 81 arranged below the rotating disc 3, as shown in fig. 5, the energy absorbing plate 81 is provided with an arc-shaped groove which is matched with the rotating track of the energy absorbing column 82 and has two shallow ends and a deep middle, and the bottom end of the energy absorbing column 82 is abutted to the groove. Further, the energy absorption plate 81 is fixedly arranged on the supporting surface of the fixed seat 1.

As an alternative embodiment, the fixing sleeve 83 includes a sleeve, a nut 85 for screwing with the pressure rod 86 is fixedly connected to the upper end of the sleeve coaxially, a flange is provided at the lower end of the sleeve, and the sleeve is fixedly connected to the rotating disk 3 through the flange.

According to the utility model, through arranging the energy-absorbing columns 82 and the energy-absorbing plates 81, when the pneumatic swing table 2 drives the mechanical arm 5 to rotate, namely the mechanical arm 5 reaches the end point, the last energy recovery is carried out by utilizing the friction force between the energy-absorbing columns 82 and the energy-absorbing plates 81, and further, through arranging the arc-shaped grooves with two shallow ends and a deep middle on the energy-absorbing plates 81, the quick rotation of the mechanical arm 5 in the work process is not hindered, the speed can be slowly, stably and effectively reduced when the mechanical arm 5 rotates to be close to the end point, the mechanical arm 5 is stably stopped at the end point, the back-and-forth vibration of the mechanical arm 5 when the mechanical arm 5 runs to the end point is effectively avoided, the structure is simple and effective, the installation is convenient, and the manufacturing cost is low. When the rectangular spring compression device is used, the compression amount of the rectangular spring can be adjusted by adjusting the height of the compression rod 86 according to the estimated kinetic energy required by the rotation of the manipulator to the terminal, and the friction force is further adjusted.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. A buffering energy-absorbing device for a rotary manipulator comprises a rotary disc (3) and a mechanical arm (5) arranged on the rotary disc (3), wherein a pneumatic swing table (2) used for driving the rotary disc (3) to rotate is arranged on the rotary disc (3), the buffering energy-absorbing device is characterized by further comprising an energy-absorbing device (8), the energy-absorbing device (8) comprises a fixing sleeve (83) fixedly connected to the upper end of the rotary disc (3), a pressure rod (86) is screwed in the upper end of the fixing sleeve (83), an energy-absorbing column (82) is inserted in the lower end of the fixing sleeve (83) in a sliding structure mode, the lower end of the energy-absorbing column (82) is inserted in the rotary disc (3) in a sliding structure mode, and a spring (84) is arranged between the pressure rod (86) and the energy-absorbing column (82); the energy absorption device (8) further comprises an energy absorption plate (81) arranged below the rotating disc (3), an arc-shaped groove which is matched with the rotating track of the energy absorption column (82) and is shallow at two ends and deep in the middle is formed in the energy absorption plate (81), and the bottom end of the energy absorption column (82) is abutted to the groove.

2. A rotary manipulator buffering energy-absorbing device according to claim 1, characterized by further comprising a fixed seat (1) with a supporting surface, the energy-absorbing plate (81) is fixedly arranged on the supporting surface, and the pneumatic swing table (2) is arranged below the supporting surface.

3. A rotary manipulator buffering and energy absorbing device according to claim 2, wherein the pneumatic swing table (2) and the rotating disc (3) are connected through a rotary bearing (4), and the fixed end of the rotary bearing (4) is fixedly connected to a supporting surface.

4. A rotary manipulator energy-absorbing buffer device according to claim 1, wherein the strut (86) is provided with a shoulder i, the fixing sleeve (83) is provided with a shoulder ii, and the shoulder i and the shoulder ii cooperate to limit the maximum upward travel of the strut (86).

5. A rotary manipulator buffer energy absorption device according to claim 1, wherein the spring (84) is a rectangular spring.

6. A rotary manipulator buffering and energy absorbing device according to claim 1, wherein the fixing sleeve (83) comprises a sleeve, the upper end of the sleeve is fixedly connected with a nut (85) coaxially and used for being in threaded connection with the pressure rod (86), the lower end of the sleeve is provided with a flange, and the sleeve is fixedly connected to the rotating disc (3) through the flange.

7. A rotary manipulator buffering and energy absorbing device according to claim 1, wherein an upper cylinder (6), a lower cylinder (6) and a clamping cylinder (7) are arranged at one end of the mechanical arm (5) far away from the rotating disc (3).