CN218808912U

CN218808912U - End effector rotating mechanism

Info

Publication number: CN218808912U
Application number: CN202222853312.XU
Authority: CN
Inventors: 王祥雨; 杜晓; 王俊龙; 张龙; 王玉金
Original assignee: Jinan Two Machine Tool Xinguang Electromechanical Co ltd
Current assignee: Jinan Two Machine Tool Xinguang Electromechanical Co ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-04-07
Anticipated expiration: 2032-10-27

Abstract

The utility model relates to the technical field of an end effector for workpiece transmission, in particular to an end effector rotating mechanism, which comprises a swing arm, a cross rod, an end effector and a linear translation assembly, wherein the swing arm is arranged in a hollow way; a first motor is fixedly arranged in the swing arm; the first motor is connected with the first transmission shaft through the gear transmission assembly and drives the first transmission shaft to rotate; the first transmission shaft is rotatably arranged at the end part of the swing arm; one end of the cross rod is fixedly connected with one end part of the transmission shaft; the cross bar is connected with the end effector through a linear translation assembly. Compared with the prior art, through the setting of gear drive subassembly, accomplished the rigid connection setting, the moment of torsion that comes from the horizontal pole can not cause deformation, can move more stably under high acceleration, high load condition.

Description

End effector rotating mechanism

Technical Field

The utility model relates to an end effector technical field is used in the work piece transmission, specifically discloses an end effector rotary mechanism.

Background

Traditional work piece automatic conveying device, because in work piece transportation process, the lower terminal surface of end effector keeps parallel with ground all the time basically, so the end effector need follow the swing arm and make rotary motion in real time, like the patent application of publication No. CN203764827U discloses a work piece automatic conveying device, the end effector passes through the drive of terminal horizontal pole and rotates, the rotation of horizontal pole adopts belt transmission, and the setting of drive belt pivoted motor is in the swing arm outside.

In the above scheme, there are the following problems:

1. the belt has some elasticity while the ends of the cross-bar have high loads and high accelerations, which can cause unstable drive at the ends of the cross-bar. In order to further improve the stability of the terminal rotation transmission, it is necessary to improve the transmission rigidity and eliminate the transmission link with elasticity.

2. The transmission device can reduce the volume entering the press as much as possible for improving the production speed, and the motor for driving the belt to rotate in the scheme is arranged outside the swing arm, so that the space is occupied.

SUMMERY OF THE UTILITY MODEL

The above-mentioned not enough to prior art, the utility model provides an end effector rotary mechanism to solve the unstable and occupation space's that belt drive brought problem.

In order to achieve the above purpose, the technical scheme of the utility model is that:

an end effector rotating mechanism comprises a swing arm, a cross rod, an end effector and a linear translation assembly, wherein the swing arm is arranged in a hollow mode; a first motor is fixedly arranged in the swing arm; the first motor is connected with the first transmission shaft through the gear transmission assembly and drives the first transmission shaft to rotate; the first transmission shaft is rotatably arranged at the end part of the swing arm; one end of the cross rod is fixedly connected with one end part of the transmission shaft; the cross bar is connected with the end effector through a linear translation assembly. Through gear drive assembly's setting, accomplished the rigid connection setting, the moment of torsion that comes from the horizontal pole can not cause deformation, can move more stably under high acceleration, high load condition. The first motor is arranged in the swing arm, so that the occupied space is reduced.

Preferably, the gear transmission assembly comprises a transmission shaft II, a bevel gear I and a bevel gear II; one end of the transmission shaft II is connected with an output shaft of the motor I; the other end of the transmission shaft II is fixedly provided with a bevel gear I; the second bevel gear is fixedly arranged on the first transmission shaft; the first bevel gear is meshed with the second bevel gear. The torque of the transmission shaft II, which is perpendicular to the cross rod, changes the direction through the bevel gear I and the bevel gear II, and then the transmission shaft drives the cross rod to rotate.

Preferably, the swing arm comprises a first shell, a sleeve and a second shell which are sequentially connected; the first motor is arranged in the first shell; the second transmission shaft is arranged in the sleeve; the first transmission shaft, the first bevel gear and the second bevel gear are arranged in the second shell. The first casing, the second casing and the second casing are convenient to disassemble and assemble during maintenance, the first motor, the first gear transmission assembly and the first transmission shaft are arranged in the swing arm, the existing space of the swing arm is fully utilized, extra space occupation is reduced, and the moving space of the end picking device is increased.

Preferably, two ends of the transmission shaft are respectively arranged on the left side wall and the right side wall in the second shell through bearings, so that the stability of rotation is guaranteed.

Preferably, the outer sides of the left side wall and the right side wall of the shell are matched with bearings to be respectively provided with an end cover, so that the axial movement of the bearings is avoided, and the stable rotation is further ensured.

Preferably, the linear translation assembly comprises a second motor, a guide rail and a lead screw; the second motor is fixedly arranged at the end part of the cross rod; the screw rod is connected with an output shaft of the motor II; the screw rod is rotatably arranged at the bottom of the cross rod; the guide rail is matched with the lead screw and arranged at the bottom of the cross rod; and the end effector is fixedly connected with a nut of the lead screw and a sliding block of the guide rail respectively. The stability of the linear translation of the end effector is ensured.

The utility model has the advantages that: through the setting of gear drive subassembly, accomplished the rigid connection setting, the moment of torsion that comes from the horizontal pole can not cause deformation, can move more stably under high acceleration, high load condition. The arrangement of the motor I, the gear transmission assembly and the transmission shaft I in the swing arm makes full use of the existing space of the swing arm, reduces the extra space occupation, and increases the moving space of the end effector.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of a cross bar, a first transmission shaft and a gear transmission assembly according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the end cap of the embodiment of the present invention disposed on the second housing;

fig. 4 is a schematic structural view of a linear translation assembly and an end effector according to an embodiment of the present invention;

description of reference numerals:

1-swing arm, 2-cross bar, 3-end pickup, 4-motor I, 5-transmission shaft I, 6-transmission shaft II, 7-bevel gear I, 8-bevel gear II, 9-bearing, 10-end cover, 11-motor II, 12-guide rail, 13-lead screw and 14-swing arm motor;

101-shell I, 102-sleeve cover, 103-shell II.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below 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, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

As shown in fig. 1 and 2, an end effector rotating mechanism comprises a swing arm 1, a cross rod 2, an end effector 3 and a linear translation assembly, wherein the swing arm 1 is arranged in a hollow manner; a motor I4 is fixedly arranged in the swing arm 1; the motor I4 is connected with the transmission shaft I5 through a gear transmission assembly and drives the transmission shaft I5 to rotate; the first transmission shaft 5 is rotatably arranged at the end part of the swing arm 1; one end of the cross rod 2 is fixedly connected with the end part of the first transmission shaft 5 through a bolt; the crossbar 2 is connected to the end effector 3 by a linear translation assembly. Through gear drive assembly's setting, accomplished the rigid connection setting, the moment of torsion that comes from horizontal pole 2 can not cause deformation, can move more stably under high acceleration, high load condition. The first motor 4 is arranged in the swing arm 1, and the occupied space is reduced. The end part of the swing arm 1 is provided with a swing arm motor 14 for driving the swing of the swing arm 1. The gear transmission assembly comprises a transmission shaft II 6, a bevel gear I7 and a bevel gear II 8; one end of the transmission shaft II 6 is connected with an output shaft of the motor I4; the other end of the transmission shaft II 6 is fixedly provided with a bevel gear I7; the bevel gear II 8 is fixedly arranged on the transmission shaft I5; the first bevel gear 7 engages the second bevel gear 8. The torque of the second transmission shaft 6, which is perpendicular to the cross rod 2, changes direction through the first bevel gear 7 and the second bevel gear 8, and then drives the cross rod 2 to rotate through the first transmission shaft 5.

In the above arrangement, the swing arm 1 comprises a first shell 101, a sleeve 102 and a second shell 103 which are connected in sequence; the first motor 4 is arranged in the first shell 101; the second transmission shaft 6 is arranged in the sleeve 102; the first transmission shaft 5, the first bevel gear 7 and the second bevel gear 8 are arranged in the second housing 103. The first shell 101, the sleeve 102 and the second shell 103 are arranged, so that the first shell, the second shell and the third shell are convenient to disassemble and assemble during maintenance, the first motor 4, the gear transmission assembly and the first transmission shaft 5 are arranged in the swing arm 1, the existing space of the swing arm 1 is fully utilized, extra space occupation is reduced, and the moving space of the end effector 3 is increased. Two ends of the first transmission shaft 5 are respectively arranged on the left side wall and the right side wall inside the second shell 103 through bearings 9, and the stability of rotation is guaranteed.

As shown in fig. 2 and 3, the outer sides of the left and right side walls of the second housing 103 are respectively provided with an end cover 10 in cooperation with the bearing 9, so that axial movement of the bearing 9 is avoided, and stable rotation is further ensured.

As shown in fig. 4, the linear translation assembly includes a second motor 11, a guide rail 12 and a lead screw 13; the second motor 11 is fixedly arranged at the end part of the cross rod 2; the screw rod 13 is connected with an output shaft of the second motor 11; the screw rod 13 is rotatably arranged at the bottom of the cross rod 2; the guide rail 12 is arranged at the bottom of the cross rod 2 in a way of matching with the screw rod 13; the end effector 3 is respectively and fixedly connected with the nut of the lead screw 13 and the slide block of the guide rail 12, so that the stability of linear translation of the end effector 3 is ensured.

Although the present invention has been described in detail by referring to the drawings in conjunction with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and substance of the present invention, and these modifications or substitutions are intended to be within the scope of the present invention/any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An end effector rotating mechanism comprises a swing arm (1), a cross rod (2), an end effector (3) and a linear translation assembly, and is characterized in that the swing arm (1) is arranged in a hollow manner; a first motor (4) is fixedly arranged in the swing arm (1); the first motor (4) is connected with the first transmission shaft (5) through a gear transmission assembly and drives the first transmission shaft (5) to rotate; the transmission shaft I (5) is rotatably arranged at the end part of the swing arm (1); one end of the cross rod (2) is fixedly connected with the end part of the first transmission shaft (5); the cross rod (2) is connected with the end effector (3) through a linear translation assembly.

2. An end effector rotation mechanism according to claim 1, wherein the gear drive assembly comprises a second drive shaft (6), a first bevel gear (7), and a second bevel gear (8); one end of the second transmission shaft (6) is connected with an output shaft of the first motor (4); the other end of the second transmission shaft (6) is fixedly provided with a first bevel gear (7); the second bevel gear (8) is fixedly arranged on the first transmission shaft (5); the first bevel gear (7) is meshed with the second bevel gear (8).

3. The end effector rotation mechanism according to claim 2, characterized in that the swing arm (1) comprises a first housing (101), a sleeve (102) and a second housing (103) connected in sequence; the first motor (4) is arranged in the first shell (101); the second transmission shaft (6) is arranged in the sleeve (102); the transmission shaft I (5), the bevel gear I (7) and the bevel gear II (8) are arranged in the shell II (103).

4. The end effector rotation mechanism according to claim 3, wherein both ends of the first transmission shaft (5) are respectively disposed on the left and right side walls inside the second housing (103) through bearings (9).

5. The end effector rotating mechanism according to claim 4, wherein the outer sides of the left and right side walls of the second housing (103) are respectively provided with an end cap (10) in cooperation with the bearing (9).

6. An end effector rotation mechanism according to claim 1 or 5, characterized in that the linear translation assembly comprises a second motor (11), a guide rail (12) and a lead screw (13); the second motor (11) is fixedly arranged at the end part of the cross rod (2); the screw rod (13) is connected with an output shaft of the second motor (11); the screw rod (13) is rotatably arranged at the bottom of the cross rod (2); the guide rail (12) is arranged at the bottom of the cross rod (2) in a way of being matched with the screw rod (13); the end effector (3) is fixedly connected with a nut of the lead screw (13) and a sliding block of the guide rail (12) respectively.