CN219522123U

CN219522123U - Swing arm manipulator

Info

Publication number: CN219522123U
Application number: CN202320688581.7U
Authority: CN
Inventors: 杨萍
Original assignee: Sencan Automatic Machinery Co ltd
Current assignee: Sencan Automatic Machinery Co ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-08-15
Anticipated expiration: 2033-03-30

Abstract

The utility model discloses a swing arm manipulator, comprising: a base; the translation seat is slidably arranged on the base and can translate relative to the base; the lifting seat is slidably arranged on the translation seat and can vertically lift relative to the translation seat; the driving mechanism comprises a motor and a speed change gear set, the motor can rotate in the forward and reverse directions, and the motor drives the speed change gear set to rotate; the linkage assembly comprises a first rotating shaft, a second rotating shaft, a connecting rod and a guide seat, a first guide through groove in an inverted U shape is formed in the guide seat, the first rotating shaft is driven to rotate by the speed change gear set, and the second rotating shaft is arranged in the first guide through groove and the second guide through groove in a sliding mode; the clamping arm group is arranged on the lifting seat; the clamping arm group is driven to stably and rapidly move through the driving mechanism, the linkage mechanism, the translation seat and the lifting seat, and the translation seat and the lifting seat are synchronously linked, so that the clamping arm group moves along an arc line, the transfer stroke and time are greatly shortened, only one motor is required to drive structurally, and the structure is optimized and the structure cost is low.

Description

Swing arm manipulator

Technical Field

The utility model relates to a manipulator, in particular to a swing arm manipulator.

Background

In the existing two-axis mechanical arm structures, lifting and translation actions are driven by different cylinders or drivers such as motors (410) and the like respectively, so that the whole structure has high cost. Since the motion is performed in a split manner, the two drives must have a strict servo logic control sequence, which is otherwise prone to collision with the workpiece. And the lifting and the translation are realized in steps, so that the movement efficiency is affected.

Disclosure of Invention

The present utility model aims to solve at least one of the above-mentioned technical problems in the related art to some extent. Therefore, the utility model provides a swing arm manipulator.

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

a swing arm manipulator according to an embodiment of the first aspect of the present utility model includes:

a base;

the translation seat is slidably arranged on the base and can translate relative to the base;

the lifting seat is slidably arranged on the translation seat and can vertically lift relative to the translation seat;

the driving mechanism comprises a motor and a speed change gear set, the motor can rotate positively and negatively, and the motor drives the speed change gear set to rotate;

the linkage assembly comprises a first rotating shaft, a second rotating shaft, a connecting rod and a guide seat, wherein a first guide through groove in an inverted U shape is formed in the guide seat, the first guide through groove is parallel to the translation direction of the translation seat, the speed change gear set drives the first rotating shaft to rotate, the connecting rod is fixedly connected with the first rotating shaft in the axial direction perpendicular to the first rotating shaft, a second guide through groove in linear extension is formed in the connecting rod, one end of the second rotating shaft is fixedly connected with the lifting seat, and the second rotating shaft is slidably arranged in the first guide through groove and the second guide through groove in a penetrating mode;

the clamping arm group is arranged on the lifting seat.

The swing arm manipulator provided by the embodiment of the utility model has at least the following beneficial effects: the clamping arm group is driven to stably and rapidly move through the driving mechanism, the linkage mechanism, the translation seat and the lifting seat, and the translation seat and the lifting seat are synchronously linked, so that the clamping arm group moves along an arc line, the transfer stroke and time are greatly shortened, only one motor is required to drive structurally, and the structure is optimized and the structure cost is low.

According to some embodiments of the utility model, the speed change gear set comprises a pinion and a large gear meshed with each other, the pinion is coaxially arranged on a driving shaft of the motor, and the first rotating shaft is coaxially and fixedly connected with the large gear.

According to some embodiments of the utility model, the guide seat is provided with a first shaft, the first shaft is provided with a first bearing, and the first shaft is provided with a second bearing.

According to some embodiments of the utility model, the motor is fixed to the connection base.

According to some embodiments of the utility model, a third bearing is sleeved on the shaft section of the second rotating shaft, which is in sliding connection with the first guiding through groove, and a fourth bearing is sleeved on the shaft section of the second rotating shaft, which is in sliding connection with the second guiding through groove.

According to some embodiments of the utility model, the base is provided with a transverse guide rail, and the translation seat is connected to the transverse guide rail in a sliding manner; the translation seat is provided with a longitudinal guide rail, and the lifting seat is connected to the longitudinal guide rail in a sliding manner.

According to some embodiments of the utility model, the clamping arm group comprises a frame and a plurality of pneumatic clamping fingers which are horizontally arranged and distributed on the frame, and the frame is connected to the lifting seat.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a schematic view of a portion of the structure of FIG. 1;

FIG. 3 is another schematic view of FIG. 2;

fig. 4 is a partially exploded view of fig. 2.

Reference numerals: a base 100; a transverse rail 110; a longitudinal rail 120; a translation seat 200; a lifting base 300; a drive mechanism 400; a motor 410; a speed change gear set 420; pinion 421; a large gear 422; a first rotation shaft 510; a first bearing 511; a second bearing 512; a second rotating shaft 520; a third bearing 521; a fourth bearing 522; a link 530; a second guide through groove 531; a guide holder 540; a first guide through groove 541; a clamp arm group 600; a frame 610; pneumatic grip fingers 620; and a connection base 700.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

The utility model relates to a swing arm mechanical arm, which comprises a base 100, a translation seat 200, a lifting seat 300, a driving mechanism 400, a linkage assembly and a clamping arm set 600.

As shown in fig. 1 and 2, the base 100 may be in the form of a stand-up bracket. The translation seat 200 is slidably connected to the base 100 through the transverse guide rail 110, and in the illustrated direction, the transverse guide rail 110 is horizontally oriented back and forth, and the translation seat 200 horizontally moves relative to the base 100 along the back and forth direction. The elevating seat 300 is slidably coupled to the translation seat 200 through the longitudinal rail 120. The elevating base 300 is elevated in a vertical direction with respect to the translation base 200. When the translation seat 200 translates, the lifting seat 300 can be driven to translate synchronously. In this embodiment, the lifting base 300 has a vertical rod-shaped structure. The drive mechanism 400 includes a motor 410 and a change gear set 420. The motor 410 is of a type capable of forward and reverse rotation. The motor 410 is used to drive the rotation of the speed gear set 420. As shown in fig. 2, 3 and 4, the linkage assembly includes a first rotation shaft 510, a second rotation shaft 520, a link 530 and a guide holder 540. The guide base 540 may be fixedly mounted on the base 100, and the guide base 540 may be a flat plate structure. The guide seat 540 is provided with a first guide through groove 541, the two sides of the guide seat 540 are communicated by the first guide through groove 541, and the first guide through groove 541 is in an inverted U shape. With the moving direction of the translation seat 200, the guide seat 540 is installed in the front-rear direction, the first guide groove communicates with the left and right sides of the guide seat 540, and the first guide through groove 541 extends in the front-rear direction. The first shaft 510 is connected to the speed gear set 420, and the first shaft 510 is driven to rotate by the speed gear set 420. In this embodiment, the driving mechanism 400 is located on the right side of the guide base 540, and the translation base 200 and the lifting base 300 are located on the left side of the guide base 540. One end of the link 530 is fixedly coupled to an end of the first shaft 510, and the link 530 is perpendicular to an axial direction of the first shaft 510 in space. The axial direction of the first rotation shaft 510 is oriented in the left-right direction. The link 530 is provided with a second guide channel 531 extending linearly. One end of the second rotating shaft 520 is fixedly connected to the lifting seat 300, and the other end of the second rotating shaft is simultaneously inserted into the first guiding through groove 541 and the second guiding through groove 531. The second rotation shaft 520 is parallel to the first rotation shaft 510. The clamp arm group 600 is mounted on the elevating seat 300.

In operation, in the initial state, the second rotating shaft 520 is located at the rear end of the first guiding through groove 541. The motor 410 is started to rotate forward, and drives the speed change gear set 420 and the first rotating shaft 510 to rotate synchronously and forward. When the first rotating shaft 510 rotates forward, the first link 530 is driven to swing from back to front. When the first link 530 starts to swing, the lower end of the second guide through groove 531 firstly lifts the second rotating shaft 520 upwards, and the second rotating shaft 520 slides upwards along the rear lower side of the first guide through groove 541; the first link 530 continues to swing towards the second guide channel 531 continuously pushes the second link 530, the second link 530 and the second guide channel 531 slide relatively, and when the second link 530 passes over the highest point of the first guide channel 541 and slides along the front lower side of the second guide channel 531, the upper end of the second guide channel 531 pulls the second link 530 downward. In the forward rotation process, the translation seat 200 is driven to translate from back to front, and the lifting seat 300 is raised and then lowered relative to the translation seat 200, so as to drive the arm clamping set 600 to move along the arch-bridge-shaped path from back to front. The clamping arm set 600 is used for grabbing a workpiece and driving the workpiece to move. When the motor 410 rotates reversely, the connecting rod 530 swings back and forth, and the second guiding through groove 531 drives the second rotating shaft 520 to move back and forth along the first guiding through groove 541.

In some embodiments of the present utility model, as shown in FIG. 4, the speed gear set 420 includes a pinion 421 and a bull 422 that intermesh. Pinion 421 is coaxially mounted on the drive shaft of motor 410, and rotation of motor 410 rotates large gear 422 via pinion 421. The large gear 422 is fixedly connected with the first rotating shaft 510 coaxially, and the large gear 422 and the first rotating shaft 510 synchronously rotate. As shown in fig. 3 and 4, a connection base 700 is mounted on the base 100. The motor 410 is fixed to the connection base 700. Both ends of the first rotating shaft 510 are respectively disposed through the connecting seat 700 and the guiding seat 540. And a first bearing 511 is provided between the first rotating shaft 510 and the connection base 700, and a second bearing 512 is provided between the first rotating shaft 510 and the guide base 540. The second rotating shaft 520 is simultaneously supported by the connecting seat 700 and the guide seat 540, and when the first rotating shaft 510 rotates along with the large gear 422, friction is reduced by the first bearing 511 and the second bearing 512, so that the first rotating shaft 510 rotates more smoothly.

In some embodiments, the second shaft 520 is sleeved with a third bearing 521 and a fourth bearing 522. The third bearing 521 is located at a sliding connection position of the second rotating shaft 520 and the first guide through groove 541, and the fourth bearing 522 is located at a sliding connection position of the second rotating shaft 520 and the second guide through groove 531. When the second rotating shaft 520 slides relative to the first guide through groove 541 and the second guide through groove 531, the third bearing 521 and the fourth bearing 522 roll in the first guide through groove 541 and the second guide through groove 531, thereby reducing friction and improving smoothness during relative sliding.

In some embodiments, as shown in FIG. 1, the clamp arm assembly 600 includes a frame 610 and a plurality of pneumatic clamp fingers 620 mounted on the frame 610 in a horizontal arrangement. The frame 610 is mounted on the lifting base 300, and the entire arm rest 600 can be attached to and detached from the lifting base 300 by the frame 610. Each pneumatic gripping finger 620 is controlled by a pneumatic cylinder. Under the combined action of the lifting seat 300 and the translation seat 200, each pneumatic clamping finger 620 moves back and forth rapidly along the random frame 610 to clamp the workpiece.

In the description of the present specification, reference to the term "some particular embodiments" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. A swing arm manipulator, comprising:

a base (100);

a translation seat (200), the translation seat (200) being slidably mounted on the base (100) and being capable of translating with respect to the base (100);

the lifting seat (300) is slidably arranged on the translation seat (200) and can vertically lift and lower relative to the translation seat (200);

the driving mechanism (400) comprises a motor (410) and a speed change gear set (420), the motor (410) can rotate positively and negatively, and the motor (410) drives the speed change gear set (420) to rotate;

the linkage assembly comprises a first rotating shaft (510), a second rotating shaft (520), a connecting rod (530) and a guide seat (540), wherein a first guide through groove (541) which is in an inverted U shape is formed in the guide seat (540), the first guide through groove (541) is parallel to the translation direction of the translation seat (200), the speed change gear set (420) drives the first rotating shaft (510) to rotate, the connecting rod (530) is fixedly connected with the first rotating shaft (510) in the axial direction perpendicular to the first rotating shaft (510), a second guide through groove (531) which linearly extends is formed in the connecting rod (530), one end of the second rotating shaft (520) is fixedly connected with the lifting seat (300), and the second rotating shaft (520) is slidably arranged in the first guide through groove (541) and the second guide through groove (531) in a penetrating mode;

and the clamping arm group (600), wherein the clamping arm group (600) is arranged on the lifting seat (300).

2. The swing arm manipulator of claim 1, wherein: the speed change gear set (420) comprises a pinion (421) and a large gear (422) which are meshed with each other, the pinion (421) is coaxially arranged on a driving shaft of the motor (410), and the first rotating shaft (510) is coaxially and fixedly connected with the large gear (422).

3. The swing arm manipulator of claim 2, wherein: still include connecting seat (700), connecting seat (700) fixed mounting is in on base (100), first pivot (510) wear to locate guide holder (540) with connecting seat (700), first pivot (510) with be equipped with first bearing (511) between connecting seat (700), first pivot (510) with be equipped with second bearing (512) between guide holder (540).

4. The swing arm manipulator of claim 3, wherein: the motor (410) is fixed on the connecting seat (700).

5. The swing arm manipulator of claim 1, wherein: the second rotating shaft (520) is sleeved with a third bearing (521) on the shaft section which is in sliding connection with the first guide through groove (541), and the second rotating shaft (520) is sleeved with a fourth bearing (522) on the shaft section which is in sliding connection with the second guide through groove (531).

6. The swing arm manipulator of claim 1, wherein: the base (100) is provided with a transverse guide rail (110), and the translation seat (200) is connected to the transverse guide rail (110) in a sliding manner; the translation seat (200) is provided with a longitudinal guide rail (120), and the lifting seat (300) is connected to the longitudinal guide rail (120) in a sliding manner.

7. The swing arm manipulator of claim 1, wherein: the clamping arm group (600) comprises a frame (610) and a plurality of pneumatic clamping fingers (620) which are horizontally arranged and distributed on the frame (610), and the frame (610) is connected to the lifting seat (300).