Flexible swing arm suction mechanism

Abstract

The present application relates to the technical field of automation equipment, and particularly relates to a flexible swing arm suction mechanism. The flexible swing arm suction mechanism comprises a fixed base composed of a main shaft box and a fixed flange, the main shaft box is provided with a driving shaft rotatably connected to the main shaft box and extending from one end of the main shaft box; a power assembly, a mechanical arm, a suction assembly, the mechanical arm is provided with a linkage shaft rotatably connected to the mechanical arm, the two ends of the linkage shaft are respectively fixedly provided with a first bevel gear and a second bevel gear, the outer portion of the main shaft box is fixedly provided with a fixed gear, the first bevel gear is engaged with the fixed gear, the suction assembly comprises a driven shaft rotatably connected to the mechanical arm and a vacuum chuck mounted on the driven shaft, the driven shaft is fixedly provided with a driven gear engaged with the second bevel gear. The flexible swing arm suction mechanism can realize material reversing, facilitate material taking and placing, overcome the problem of station change caused by mechanical arm rotation, and can be applied to various feeding and discharging mechanisms and has high universality; the load on the driving assembly is low, and the energy efficiency ratio is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a flexible swing arm suction mechanism. BACKGROUND

[0002] In the industrial production process, it is often necessary to transport products to different workstations for processing. In the traditional industrial process, the products to be processed are transferred between different workstations by manual transportation. This method not only cannot improve production efficiency, but also can easily cause harm to the human body. In addition, manual transportation of products has certain limitations and cannot be quickly and in large quantities, thereby reducing industrial production efficiency.

[0003] In view of the above problems, with the development of science and technology, people have developed a mechanical hand mechanism to realize automatic transportation. In the prior art, the structure of the mechanical hand is usually a driving part, the two ends of the driving part are connected to telescopic rods, the telescopic rods are provided with gripping blocks, and the telescopic rods are driven to contract to a certain extent by the power provided by the driving part to grip the material by the gripping blocks. For example, the utility model "mechanical hand with precise suction function" (publication number CN207534833U, publication date 2017.12.11) can extract multiple goods at a time, and the goods that are too small can also be adsorbed by the suction cup device, thereby improving the carrying efficiency and saving time. A plurality of motors are provided to realize multi-angle rotation of the suction cup, but the provision of multiple motors on the mechanical arm increases the load of the main shaft of the main motor, which is not conducive to improving energy efficiency. SUMMARY

[0004] The present application is aimed at providing a technical solution to overcome the above-mentioned problems.

[0005] A flexible swing arm suction mechanism, comprising: a fixed base composed of a main shaft box and a fixed flange, the main shaft box being provided with a driving shaft rotatably connected thereto and extending from one end thereof; a power assembly installed on one side of the main shaft box and driving the driving shaft to rotate; a mechanical arm having one end fixedly connected to the outer end of the driving shaft; and a suction assembly rotatably installed on the other end of the mechanical arm; a linkage shaft rotatably connected in the mechanical arm, the linkage shaft having first and second bevel gears fixedly sleeved on both ends thereof, and a fixed gear fixedly installed on the outside of the main shaft box, the driving shaft passing through the shaft center of the fixed gear and being in clearance fit therebetween, and the first bevel gear being in meshing engagement with the fixed gear; wherein the suction assembly comprises: a driven shaft rotatably connected with the mechanical arm, wherein a driven gear in meshing engagement with the second bevel gear is fixedly installed on the driven shaft; and a vacuum suction cup installed on the driven shaft.

[0006] Further, the mechanical arm comprises: a main swing arm, one end of which is fixedly connected with the driving shaft; and a telescopic arm, which is arranged at the other end of the main swing arm, and the suction assembly is mounted on the telescopic arm; the linkage shaft comprises: a sleeve, which is fixedly connected with the first bevel gear; and a connecting rod, which is fixedly connected with the second bevel gear, and the connecting rod is slidingly connected and synchronously rotated in the sleeve; wherein the first guide block is fixedly installed in the main swing arm, the sleeve is rotationally connected with the first guide block and is fixed in the axial position; the second guide block is fixedly installed in the telescopic arm, the connecting rod is rotationally connected with the second guide block and is fixed in the axial position; the guide rod, which is slidingly connected with the first guide block, is fixedly connected to the second guide block.

[0007] Further, the back of the main swing arm is provided with a screw hole corresponding to the position of the guide rod, and the screw hole is provided with a locking screw which is threadedly connected with the first guide block, and the bottom end of the locking screw abuts against the guide rod to lock the position of the telescopic arm.

[0008] Further, the sleeve is provided with a sliding hole arranged along the axial direction of the sleeve, and the pin is arranged through the connecting rod in the radial direction to enable the connecting rod to synchronously rotate with the sleeve.

[0009] Further, the main swing arm comprises: a front cover, one end of which is fixedly connected with the driving shaft; and a rear cover, which is fixedly combined with the front cover to form the main swing arm, and one end of the rear cover is provided with a circular hole which is gapingly matched with the fixed gear.

[0010] Further, the front end of the driving shaft is formed with a flange plate, and the flange plate is fixedly connected with one end of the mechanical arm.

[0011] Further, the power assembly comprises: a cylinder, which is fixedly installed on one side of the main shaft box; a driving block, which is fixedly connected with the telescopic rod of the cylinder, and the driving block is fixedly installed with a rack; wherein the driving shaft is fixedly sleeved with a spur gear which is coaxial with the driving shaft, and the spur gear is meshed with the rack.

[0012] Further, the wedge-shaped sliding block is fixedly installed on the bottom of the driving block and is slidingly matched with the wedge-shaped sliding rail.

[0013] Further, the inner wall of the main shaft box is provided with the bump-stopping cushion blocks which are respectively installed on both sides of the driving block.

[0014] Further, the driven shaft is of a hollow structure and is communicated with the air path of the vacuum chuck, the tail end of the driven shaft extends from the back of the mechanical arm and is connected with an air nozzle.

[0015] Compared with the prior art, the present application has the beneficial effects that: the linkage shaft structure is adopted in the present application, automatic steering is carried out while the adsorption assembly rotates around the driving shaft, material reversing is realized, material taking and placing are facilitated, the problem of work station change caused by mechanical arm rotation is overcome, and the present application can be applied to various feeding and discharging mechanisms and has strong versatility; compared with setting multiple driving assemblies on the mechanical arm, the present application adopts a bevel gear to realize transmission and reversing functions, the load on the driving assembly is low, and the energy efficiency ratio is high.

[0016] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Fig. 1 It is a structural schematic diagram of the present application.

[0019] Fig. 2 It is an exploded structural schematic diagram of the present application.

[0020] Fig. 3 It is a structural schematic diagram of the mechanical arm in the present application.

[0021] Fig. 4 It is a structural schematic diagram of the linkage shaft in the present application.

[0022] Fig. 5 It is a structural schematic diagram of the power assembly in the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0024] Please refer to Figs. 1-2The utility model provides a flexible swing arm adsorption mechanism, including: fixed base 1: by main shaft box 11 and fixed flange 12 are formed, be provided with with rotation connection and from its one end protruding driving shaft 13 in main shaft box 11, power assembly 2: install in one side of main shaft box 11 and drive driving shaft 13 rotation, mechanical arm 3: its one end is fixedly connected with the outer end of driving shaft 13, adsorption assembly 4: rotatable installation in the other end of mechanical arm 3, be rotatably connected in mechanical arm 3 and install linkage shaft 5, the both ends of linkage shaft 5 are fixedly provided with first bevel gear 51, second bevel gear 52 respectively, the outside fixed mounting of main shaft box 11 has fixed gear 111, driving shaft 13 passes through the axle of fixed gear 111 and is between clearance cooperation, first bevel gear 51 is engaged with fixed gear 111, and adsorption assembly 4 includes the rotation connection of mechanical arm 3 driven shaft 41 and installs vacuum chuck 42 on driven shaft 41, and driven shaft 41 is fixedly installed with the driven gear 411 engaged with second bevel gear 52.

[0025] Specifically, the mechanical arm 3 of the utility model is driven to rotate by the driving shaft 13, in the process, the linkage shaft 5 in the mechanical arm 3 is driven to rotate under the meshing structure of the first bevel gear 51 and the fixed gear 111, and then the driven shaft 41 is driven to rotate through the meshing structure of the second bevel gear 52 and the driven gear 411, so that the adsorption assembly 4 rotates to adjust the angle while rotating with the mechanical arm 3.

[0026] The utility model adopts linkage shaft 5 structure, automatically turns to the right while adsorption assembly 4 rotates around driving shaft 13, realizes material reversing, facilitates material taking and placing, overcomes the problem of station change brought by the rotation of mechanical arm 3, and can be applicable to various feeding and discharging mechanisms, and the universality is strong, compared with setting up multiple driving assemblies on the mechanical arm 3, the utility model adopts bevel gear to realize transmission and reversing function, and the load of driving assembly is low, and the energy efficiency ratio is high.

[0027] Further, as shown in Figs. 3-4 The mechanical arm 3 includes a main swing arm 31 fixedly connected with the driving shaft 13 and a telescopic arm 32 arranged at the other end of the main swing arm 31, the adsorption assembly 4 is installed on the telescopic arm 32, the linkage shaft 5 includes a sleeve 501 fixedly connected with the first bevel gear 51 and a connecting rod 502 fixedly connected with the second bevel gear 52, the connecting rod 502 is slidingly connected and synchronously rotated in the sleeve 501, the main swing arm 31 is fixedly installed with a first guide block 311, the sleeve 501 is rotatably connected with the first guide block 311 and fixed in axial position, the telescopic arm 32 is fixedly installed with a second guide block 321, the connecting rod 502 is rotatably connected with the second guide block 321 and fixed in axial position, and the second guide block 321 is fixedly connected with a guide rod 53 slidingly connected with the first guide block 311.

[0028] Specifically, the mechanical arm 3 of the present application can be adjusted in length to adapt to different length requirements, since the first guide block 311 is fixed with the main swing arm 31, and the second guide block 321 is fixed with the telescopic arm 32, in the process of telescopic adjustment of the mechanical arm 3, the telescopic arm 32 drives the second guide block 321 and the connecting rod 502 fixed axially with the second guide block 321 to move linearly, so as to adjust the length of the linkage shaft 5, and synchronously adapt the length of the mechanical arm 3, and since the connecting rod 502 rotates synchronously with the sleeve 501, it does not affect the transmission between the first bevel gear 51 and the second bevel gear 52.

[0029] The mechanical arm 3 of the present application adopts a telescopic structure, the linkage shaft 5 can be synchronously telescoped with the mechanical arm 3 to adapt the length thereof, realizing flexible adjustment of the length of the mechanical arm 3, and adapting the length requirements of different specifications of production lines to the mechanical arm 3, and realizing quick flexible conversion of multiple specifications of production lines.

[0030] Further, the back of the main swing arm 31 is provided with a screw hole corresponding to the position of the guide rod 53, the screw hole is provided with a locking screw 54 threadedly connected with the first guide block 311, and the bottom end of the locking screw 54 abuts against the guide rod 53 to lock the position of the telescopic arm 32. The present application adopts the locking screw 54 to lock the position of the telescopic arm 32, and further realizes length setting of the mechanical arm 3, and the adjustment mode is convenient and quick.

[0031] Further, the telescopic arm 32 is provided with a scale 322 showing the extension length thereof. The scale 322 provided on the telescopic arm 32 facilitates the staff to intuitively connect the telescopic length of the telescopic arm 32, and is beneficial to improve the adjustment accuracy.

[0032] Further, the main swing arm 31 comprises: a front cover 31a, one end of which is fixedly linked with the driving shaft; and a rear cover 31b, which is fixedly combined with the front cover to form the main swing arm 31, and one end of which is provided with a circular hole 31b1 gap-fitted with the fixed gear. The main swing arm 31 is divided into two halves of the front cover 31a and the rear cover 31b, and the two halves are fixedly combined to form a hollow internal structure, which is convenient for processing and production, and the assembly process is convenient and simple, and it is convenient to install the internal linkage shaft, the first guide block, the second guide block and other components.

[0033] Further, the front end of the driving shaft 13 is formed with a flange plate 13a, and the flange plate 13a is fixedly connected with one end of the mechanical arm 3. The driving shaft 13 is fixedly connected with the mechanical arm 3 through the flange plate 13a, the structure is simple and stable, compared with the plug-in shaft connection structure, this structure is beneficial to eliminate the gap between the mechanical arm 3 and the driving shaft 13, avoid shaking, and the disassembly and assembly process is simple and convenient.

[0034] Further, the sleeve 501 is provided with a sliding hole 5011 arranged along the axial direction of the sleeve 501, and the sliding hole 5011 is provided with a pin 5021 radially penetrating the connecting rod 502, so that the connecting rod 502 is synchronously rotated with the sleeve 501. The pin 5021 and the sliding hole 5011 are matched in radial limiting and axial sliding, which is simple and stable in structure.

[0035] Further, as shown in Fig. 5 The power assembly 2 includes a cylinder 21 fixedly installed on one side of the main shaft box 11, a driving block 22 fixedly linked with the telescopic rod of the cylinder 21, and a rack 221 fixedly installed on the driving block 22. A spur gear 131 coaxial with the driving shaft 13 is fixedly sleeved on the driving shaft 13, and the spur gear 131 is engaged with the rack 221. Specifically, the cylinder 21 drives the driving block 22 to slide, drives the driving shaft 13 to rotate through the engagement structure of the rack 221 and the spur gear, drives the driving block 22 to slide back and forth through the telescopic movement of the cylinder 21, thereby driving the driving shaft 13 to rotate forward and reversely, and further realizing the reciprocating swing of the mechanical arm 3. The driving mode of the cylinder 21 cooperating with the rack 221 and the spur gear 131 is adopted, which is more convenient for driving the mechanical arm 3 to reverse compared with the traditional motor direct drive mode, and the structure is compact.

[0036] Further, the wedge-shaped slide rail 112 is fixedly installed in the main shaft box 11, and the wedge-shaped slide block 222 in sliding cooperation with the wedge-shaped slide rail 112 is fixedly installed on the bottom of the driving block 22. The driving block 22 is guided to slide through the sliding cooperation structure of the wedge-shaped slide block 222 and the wedge-shaped slide rail 112, which improves the structural stability and prevents derailment and misplacement.

[0037] Further, the wedge-shaped slide rail 112 is fixedly installed in the main shaft box 11, and the wedge-shaped slide block 222 in sliding cooperation with the wedge-shaped slide rail 112 is fixedly installed on the bottom of the driving block 22. The driving block 22 is guided to slide through the sliding cooperation structure of the wedge-shaped slide block 222 and the wedge-shaped slide rail 112, which improves the structural stability and prevents derailment and misplacement.

[0038] Further, the driven shaft 41 is a hollow structure and is in airway communication with the vacuum chuck 42. The tail end of the driven shaft 41 extends from the back of the mechanical arm 3 and is connected with the air nozzle 412. The hollow driven shaft 41 is used as an air transmission structure, so that the driven shaft simultaneously plays the roles of driving and air supply, the functionality is improved, a plurality of vacuum chucks 42 can be arranged on the driven shaft 41, only one air pipe needs to be connected to the air nozzle 412 of the driven shaft, the use of air pipes can be reduced, and the structure is simple and convenient.

[0039] Further, the outer wall of the spindle box 11 is provided with a power-controlled retractable positioning bead 114, and the back of the mechanical arm 3 is provided with a circle of positioning grooves 33 corresponding to the positioning bead 114 around the driving shaft 13. Specifically, the positioning bead 114 can adopt an electromagnetic control mode, and the outer wall of the spindle box 11 can be internally provided with a spring. When powered, the positioning bead 114 is retracted under the adsorption force of the electromagnet and compresses the spring, at which time the mechanical arm 3 can rotate. When powered off, the positioning bead 114 loses the adsorption force of the electromagnet and is pushed out by the spring, cooperates with the positioning groove 33 to be clamped tightly, and prevents the mechanical arm 3 from continuing to rotate due to the weight, with high safety.

[0040] It will be obvious to a person skilled in the art that the application is not limited to the details of the above-described exemplary embodiments but can be implemented in other embodiments without departing from the scope of the application. The application is therefore not restricted to the above-described examples, but can vary within the scope of the claims and their equivalents.

Claims

1. A flexible swing arm suction mechanism, comprising: a fixed base (1) composed of a main shaft box (11) and a fixed flange (12), the main shaft box (11) being provided with a driving shaft (13) rotatably connected thereto and extending from one end thereof; a power assembly (2) installed on one side of the main shaft box (11) and driving the driving shaft (13) to rotate; a mechanical arm (3) having one end fixedly connected to the outer end of the driving shaft (13), wherein the mechanical arm (3) is adjustable in length; a suction assembly (4) rotatably installed on the other end of the mechanical arm (3); characterized in that: the mechanical arm (3) is provided with a linkage shaft (5) rotatably connected thereto, both ends of the linkage shaft (5) being fixedly provided with a first bevel gear (51) and a second bevel gear (52), respectively, and the main shaft box (11) is externally provided with a fixed gear (111), the driving shaft (13) passing through the shaft center of the fixed gear (111) and being in clearance fit therebetween, and the first bevel gear (51) being in mesh with the fixed gear (111); wherein the suction assembly (4) comprises: a driven shaft (41) rotatably connected with the mechanical arm (3), wherein the driven shaft (41) is fixedly provided with a driven gear (411) in mesh with the second bevel gear (52); and a vacuum chuck (42) installed on the driven shaft (41); the power assembly (2) comprises: a pneumatic cylinder (21) fixedly installed on one side of the main shaft box (11); a driving block (22) fixedly linked with the telescopic rod of the pneumatic cylinder (21), the driving block (22) being fixedly provided with a rack (221) thereon; wherein the driving shaft (13) is fixedly provided with a spur gear (131) coaxial therewith, the spur gear (131) being in mesh with the rack (221); the outer wall of the main shaft box (11) is provided with a positioning bead (114), and the back of the mechanical arm (3) is provided with a ring of positioning grooves (33) around the driving shaft (13), the positioning bead (114) being capable of being engaged with or separated from the corresponding positioning groove (33) through electromagnetic control, so as to realize the rotational braking of the mechanical arm (3).

2. The flexible swing arm suction mechanism according to claim 1, wherein the mechanical arm (3) comprises: a main swing arm (31) having one end fixedly connected to the driving shaft (13); and a telescopic arm (32) provided at the other end of the main swing arm (31), the suction assembly (4) being installed on the telescopic arm (32); the linkage shaft (5) comprises: a sleeve (501) fixedly connected with the first bevel gear (51); and a connecting rod (502) fixedly connected with the second bevel gear (52), the connecting rod (502) being slidably connected and synchronously rotatable in the sleeve (501); wherein the main swing arm (31) is fixedly provided with a first guide block (311) therein, the sleeve (501) being rotatably connected with the first guide block (311) and fixed in axial position; the telescopic arm (32) is fixedly provided with a second guide block (321) therein, the connecting rod (502) being rotatably connected with the second guide block (321) and fixed in axial position; the second guide block (321) is fixedly connected with a guide rod (53) slidably connected with the first guide block (311).

3. The flexible swing arm suction mechanism of claim 2, wherein, The back of the main swing arm (31) is provided with a screw hole corresponding to the position of the guide rod (53), and a locking screw (54) is arranged in the screw hole and is in threaded connection with the first guide block (311). The bottom end of the locking screw (54) is in abutment with the guide rod (53) to lock the position of the telescopic arm (32).

4. The flexible swing arm suction mechanism of claim 2, wherein, The sleeve (501) is provided with a sliding hole (5011) arranged in the axial direction of the sleeve (501), and the sliding hole (5011) is provided with a pin (5021) radially penetrating the connecting rod (502) to enable the connecting rod (502) to rotate synchronously with the sleeve (501).

5. The flexible swing arm suction mechanism of claim 2, wherein, The main swing arm (31) comprises: The front cover (31a) is fixedly connected to the driving shaft (13) at one end; The rear cover (31b) is fixedly combined with the front cover to form the main swing arm (31), and one end of the rear cover (31b) is provided with a circular hole (31b1) in clearance fit with the fixed gear (111).

6. The flexible swing arm suction mechanism according to any one of claims 1-5, wherein, The front end of the driving shaft (13) is formed with a flange (13a), and the flange (13a) is fixedly connected to one end of the mechanical arm (3).

7. The flexible swing arm suction mechanism of claim 6, wherein, The wedge-shaped sliding rail (112) is fixedly installed in the main shaft box (11), and the wedge-shaped sliding block (222) in sliding fit with the wedge-shaped sliding rail (112) is fixedly installed at the bottom of the driving block (22).

8. The flexible swing arm suction mechanism of claim 6, wherein, The anti-collision pad block (113) is installed on the inner wall of the main shaft box (11) and located on both sides of the driving block (22).

9. The flexible swing arm suction mechanism according to any one of claims 1-5, wherein, The driven shaft (41) is a hollow structure and is in air path communication with the vacuum chuck (42). The tail end of the driven shaft (41) extends from the back of the mechanical arm (3) and is connected with the air nozzle (412).

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