CN220007841U - Robot swing arm joint movement mechanism - Google Patents

Abstract

The utility model discloses a robot swing arm joint movement mechanism, which comprises a mounting seat, wherein one side of the mounting seat is rotationally connected with a swing arm spindle, one side of the mounting seat is fixedly connected with a brake hydraulic cylinder, the other side surface of the mounting seat is provided with a brake groove, the interior of the brake groove is slidingly connected with a brake slide plate, and one side of the brake slide plate and one side of the upper end of the swing arm spindle are both provided with brake blocks; through the brake pneumatic cylinder and the brake slide of design, the brake pneumatic cylinder drives the brake slide and slides when using to make the brake shoe on the brake slide sticis with the brake shoe on the swing arm main shaft, thereby make the frictional force between two brake shoes brake, thereby make the swing arm main shaft keep stopping, the brake pneumatic cylinder drives the brake slide when not using and keeps away from, even if one of them brake pneumatic cylinder trouble during the use, other brake pneumatic cylinders still can drive the brake slide and keep away from, thereby in time maintain.

Description

Robot swing arm joint movement mechanism

Technical Field

The utility model belongs to the technical field of robot arms, and particularly relates to a robot swing arm joint movement mechanism.

Background

The robot system consists of a visual sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a smart hand;

in the prior art, a swing arm joint movement mechanism of a robot drives a swing arm to rotate, braking is usually carried out in an electromagnetic mode during rotation, braking sheets are separated through elastic force of springs, and the problem that the braking sheets cannot be separated quickly due to fatigue of the springs after long-term use occurs is solved.

Disclosure of Invention

The utility model aims to provide a robot swing arm articulation mechanism to solve the problems set forth in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot swing arm joint motion, includes the mount pad, one side of mount pad rotates and is connected with the swing arm main shaft, one side fixedly connected with brake hydraulic cylinder of mount pad, the braking groove has been seted up to the opposite side surface of mount pad, the inside sliding connection in braking groove has the braking slide, one side and swing arm main shaft upper end one side of braking slide all are provided with the brake shoe, the piston rod and the braking slide fixed connection of brake hydraulic cylinder.

Preferably, a driving motor is fixedly connected to the outer side of the upper end of the swing arm main shaft, and an output shaft of the driving motor penetrates through the swing arm main shaft to be fixedly connected with the mounting seat.

Preferably, the brake slide plate and the brake pad are both annular in shape, and the brake slide plate slides outside an output shaft of the driving motor through the center hole.

Preferably, the brake hydraulic cylinder is arranged on one side of the mounting seat in a central symmetry manner, and piston rods of the brake hydraulic cylinder are equidistantly connected to the brake slide plate.

Preferably, the lower extreme of swing arm main shaft is provided with the connecting seat, the one end of connecting seat is provided with the buffering slide, buffering slide slidable mounting is in the swing arm main shaft.

Preferably, the swing arm main shaft is internally provided with a main supporting spring and an auxiliary buffer spring, the main supporting spring and the auxiliary buffer spring are respectively arranged at two sides of the buffer sliding plate, and the auxiliary buffer spring is positioned at the outer side of one end of the connecting seat.

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

1. through the brake pneumatic cylinder and the brake slide of design, the brake pneumatic cylinder drives the brake slide and slides when using to make the brake shoe on the brake slide sticis with the brake shoe on the swing arm main shaft, thereby make the frictional force between two brake shoes brake, thereby make the swing arm main shaft keep stopping, the brake pneumatic cylinder drives the brake slide when not using and keeps away from, even if one of them brake pneumatic cylinder trouble during the use, other brake pneumatic cylinders still can drive the brake slide and keep away from, thereby in time maintain.

2. Through main support spring and supplementary buffer spring of design, the connecting seat is connected on the swing arm main shaft when using, when connecting other equipment devices use on the connecting seat, can drive the buffering slide plate through the connecting seat and press and cushion on main support spring and supplementary buffer spring to reduce the phenomenon that fatigue damage appears in connecting seat and swing arm main shaft junction.

Drawings

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

FIG. 2 is a schematic illustration of a brake configuration of the present utility model;

FIG. 3 is a schematic diagram of a buffer structure according to the present utility model;

in the figure: 1. a mounting base; 2. a driving motor; 3. a swing arm spindle; 4. a connecting seat; 5. a brake hydraulic cylinder; 6. a brake slide plate; 7. a brake pad; 8. a brake groove; 9. a main support spring; 10. a buffer slide plate; 11. and an auxiliary buffer spring.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Embodiment one:

referring to fig. 1 to 3, the present utility model provides a technical solution: a robot swing arm joint movement mechanism comprises a mounting seat 1, wherein one side of the mounting seat 1 is rotationally connected with a swing arm main shaft 3, one side of the mounting seat 1 is fixedly connected with a brake hydraulic cylinder 5, the surface of the other side of the mounting seat 1 is provided with a brake groove 8, the interior of the brake groove 8 is slidably connected with a brake slide plate 6, one side of the brake slide plate 6 and one side of the upper end of the swing arm main shaft 3 are both provided with brake blocks 7, a piston rod of the brake hydraulic cylinder 5 is fixedly connected with the brake slide plate 6, the brake hydraulic cylinder 5 drives the brake slide plate 6 to slide, the brake blocks 7 on the brake slide plate 6 are contacted with the brake blocks 7 on the swing arm main shaft 3, and braking is performed through friction force of the brake blocks 7; the outer side of the upper end of the swing arm main shaft 3 is fixedly connected with a driving motor 2, an output shaft of the driving motor 2 penetrates through the swing arm main shaft 3 to be fixedly connected with the mounting seat 1, and the driving motor 2 drives the swing arm main shaft 3 to rotate on the driving motor 2; the brake slide plate 6 and the brake block 7 are both annular in shape, and the brake slide plate 6 slides outside the output shaft of the driving motor 2 through the center hole; the brake hydraulic cylinders 5 are arranged on one side of the mounting seat 1 in a central symmetry mode, piston rods of the brake hydraulic cylinders 5 are equidistantly connected to the brake slide plate 6, and when one brake hydraulic cylinder 5 fails, the other brake hydraulic cylinders 5 are not affected to drive the brake slide plate 6 to move.

From the above description, the present utility model has the following advantageous effects: when the hydraulic braking device is used, the hydraulic braking cylinder 5 drives the braking slide plate 6 to slide, so that the braking pieces 7 on the braking slide plate 6 are tightly pressed with the braking pieces 7 on the swing arm main shaft 3, friction between the two braking pieces 7 is braked, the swing arm main shaft 3 is stopped, when the hydraulic braking device is not used, the hydraulic braking cylinder 5 drives the braking slide plate 6 to be far away, when one of the hydraulic braking cylinders 5 is out of order, other hydraulic braking cylinders 5 can still drive the braking slide plate 6 to be far away, and therefore maintenance is timely carried out.

Embodiment two:

referring to fig. 1 to 3, on the basis of the first embodiment, the present utility model provides a technical solution: the lower extreme of swing arm main shaft 3 is provided with connecting seat 4, and the one end of connecting seat 4 is provided with buffering slide 10, and buffering slide 10 slidable mounting is in swing arm main shaft 3, and the inside of swing arm main shaft 3 is provided with main support spring 9 and supplementary buffer spring 11, and main support spring 9 and supplementary buffer spring 11 are installed respectively in the both sides of buffering slide 10, and supplementary buffer spring 11 is located the outside of connecting seat 4 one end, and connecting seat 4 drives buffering slide 10 damping slip and presses and cushion on main support spring 9 or supplementary buffer spring 11 when rotating the atress.

By adopting the technical scheme, when the connecting seat 4 is connected to the swing arm spindle 3 during use, and when other equipment devices are connected to the connecting seat 4 for use, the connecting seat 4 can drive the buffer slide plate 10 to press on the main support spring 9 and the auxiliary buffer spring 11 for buffering, so that the fatigue damage phenomenon at the connecting position of the connecting seat 4 and the swing arm spindle 3 is reduced.

The working principle and the using flow of the utility model are as follows: when the device is used, the mounting seat 1 is arranged at a using position, the swing arm spindle 3 is driven to rotate on the driving motor 2 through the driving motor 2, the brake hydraulic cylinder 5 drives the brake slide plate 6 to slide when the device is required to stop, the brake plate 7 on the brake slide plate 6 is contacted with the brake plate 7 on the swing arm spindle 3, the device is braked through the friction force of the brake plate 7, other brake hydraulic cylinders 5 are not influenced when one brake hydraulic cylinder 5 fails to drive the brake slide plate 6 to move, the brake hydraulic cylinder 5 drives the brake slide plate 6 to slide in the brake groove 8 when the swing arm spindle 3 rotates so as to separate the brake plates 7, and the connecting seat 4 drives the buffer slide plate 10 to slide in a damping manner and press on the main support spring 9 or the auxiliary buffer spring 11 to buffer when the swing arm spindle 3 rotates under the stress.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely illustrative of the present utility model and not restrictive, and other modifications and equivalents thereof may occur to those skilled in the art without departing from the spirit and scope of the present utility model.

Claims (6)

1. The utility model provides a robot swing arm joint motion, includes mount pad (1), its characterized in that: one side of mount pad (1) rotates and is connected with swing arm main shaft (3), one side fixedly connected with brake pneumatic cylinder (5) of mount pad (1), braking groove (8) have been seted up on the opposite side surface of mount pad (1), the inside sliding connection of braking groove (8) has braking slide (6), one side of braking slide (6) and swing arm main shaft (3) upper end one side all are provided with braking piece (7), the piston rod and the braking slide (6) fixed connection of brake pneumatic cylinder (5).

2. The robotic swing arm articulating mechanism of claim 1, wherein: the outer side of the upper end of the swing arm main shaft (3) is fixedly connected with a driving motor (2), and an output shaft of the driving motor (2) penetrates through the swing arm main shaft (3) to be fixedly connected with the mounting seat (1).

3. A robotic swing arm articulating mechanism according to claim 2, wherein: the brake slide plate (6) and the brake block (7) are both annular in shape, and the brake slide plate (6) slides outside an output shaft of the driving motor (2) through a central hole.

4. The robotic swing arm articulating mechanism of claim 1, wherein: the brake hydraulic cylinders (5) are arranged on one side of the mounting seat (1) in a central symmetry mode, and piston rods of the brake hydraulic cylinders (5) are connected to the brake slide plate (6) at equal intervals.

5. The robotic swing arm articulating mechanism of claim 1, wherein: the lower extreme of swing arm main shaft (3) is provided with connecting seat (4), the one end of connecting seat (4) is provided with buffering slide (10), buffering slide (10) slidable mounting is in swing arm main shaft (3).

6. The robotic swing arm articulating mechanism of claim 5, wherein: the swing arm spindle (3) is internally provided with a main supporting spring (9) and an auxiliary buffer spring (11), the main supporting spring (9) and the auxiliary buffer spring (11) are respectively arranged on two sides of the buffer slide plate (10), and the auxiliary buffer spring (11) is positioned on the outer side of one end of the connecting seat (4).