Rotary clamping and supporting mechanism

Abstract

The invention discloses a rotary clamping and supporting mechanism, which relates to the related technical field of mechanical design, and comprises a supporting arm and a driving mechanism arranged on the supporting arm, the power output end of the driving mechanism is provided with a rotating arm, one end of the rotating arm far away from the driving mechanism is provided with a clamping mechanism, and the rotary clamping and supporting mechanism also comprises a plurality of supporting bearings arranged at the end part of the supporting arm, the rotating arm performs linear motion in the direction far away from the supporting arm based on the power of the driving mechanism; the plurality of supporting bearings have two states: in the first state, before the shortest distance between the rotating arm and the supporting arm is equal to the radial size of the supporting bearing, the plurality of supporting bearings are in a static state; in the second state, after the shortest distance between the rotating arm and the supporting arm is equal to the radial size of the supporting bearing, each supporting bearing does linear motion along with the rotating arm based on the power of the driving mechanism; in the circumferential movement stroke of the rotating arm based on the power of the driving mechanism, part of the supporting bearings support the rotating arm.

Description

Technical Field

[0001] The invention relates to the technical field related to mechanical design, in particular to a rotary clamping support mechanism. Background Art

[0002] As is known, when moving a target object, it is necessary to first use a clamping mechanism to clamp the target object, and then use a rotating transport mechanism or a linear transport mechanism to move the target object to a specified position, wherein the main components of the rotating transport mechanism include a support arm, a driving mechanism disposed on the support arm, a rotating arm is fixedly connected to the rotating shaft of the driving mechanism, and a clamping mechanism is disposed on the rotating arm. During operation:

[0003] First, the target object is clamped and fixed by the clamping mechanism, and the driving mechanism first drives the rotating arm to move in a straight line to lift the target object;

[0004] Secondly, the rotating shaft of the driving mechanism rotates to drive the rotating arm to move the target object to the specified position area. The driving mechanism then drives the rotating arm to move along a straight line to place the target object at the specified position. The clamping mechanism removes the clamping of the target object to complete the transportation of the target object.

[0005] The disadvantage of the prior art is that when the rotating transport mechanism moves a relatively heavy target object, there is a large interaction force between its rotating arm and the rotating shaft of the driving mechanism, which may cause the rotating shaft of the driving mechanism to bend and deform, making it difficult for the target object to be moved accurately to the specified position. Summary of the invention

[0006] The purpose of the present invention is to provide a rotary clamping support mechanism to solve the technical problems in the related art.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A rotary clamping support mechanism comprises a support arm and a driving mechanism arranged on the support arm, wherein a rotating arm is provided at a power output end of the driving mechanism, and a clamping mechanism for clamping a target object is provided at one end of the rotating arm away from the driving mechanism. The mechanism also comprises a plurality of support bearings arranged at the end of the support arm, wherein the rotating arm performs a linear motion stroke in a direction away from the support arm based on the power of the driving mechanism; the plurality of support bearings have two states: in a first state, before the shortest distance dimension between the rotating arm and the support arm is equal to the radial dimension of the support bearing, the plurality of support bearings are in a stationary state; in a second state, after the shortest distance dimension between the rotating arm and the support arm is equal to the radial dimension of the support bearing, each support bearing performs a linear motion following the rotating arm based on the power of the driving mechanism; when the rotating arm performs a circumferential motion stroke based on the power of the driving mechanism, some of the support bearings support the rotating arm.

[0009] As mentioned above, several of the support bearings are divided into two groups. In the first state, the two groups of support bearings are placed on both sides of the width direction of the rotating arm, and the distance between two corresponding support bearings in the two groups is consistent with the width dimension of the rotating arm.

[0010] As mentioned above, the rotating arm is provided with two pads corresponding to the two groups of support bearings. During the rolling contact between the support bearings and the rotating arm, the pads isolate the friction between the support bearings and the rotating arm.

[0011] As mentioned above, the support arm is provided with a positioning hole, and the rotating arm is provided with a positioning pin corresponding to the positioning hole. When the rotating arm moves linearly in a direction close to the support arm, the positioning pin is plugged into the positioning hole.

[0012] As mentioned above, the support arm is provided with a plurality of induction switches, and the rotating arm is provided with an induction pad. When it is necessary to clamp the target object at a specified position and move the target object to a specified position, the induction pad cooperates with the plurality of induction switches.

[0013] As mentioned above, each of the support bearings is slidably arranged on the support arm through a first rod body, and in the sliding direction, a first elastic member is provided between the first rod body and the support arm, a first groove body is opened on the first rod body, a second rod body is slidably arranged in the first groove body, and the second rod body is slidably arranged on the support arm; in the stroke in which the shortest distance dimension between the rotating arm and the support arm gradually becomes equal to the radial dimension of the support bearing, the second rod body slides in the first groove body, and the first rod body drives the correspondingly connected support bearing to rotate until the axial direction is parallel to a certain radial direction when the rotating arm moves circumferentially.

[0014] As mentioned above, the first groove body includes a spiral segment and a straight segment. When the second rod body slides from the spiral segment to the straight segment, the first rod body drives the correspondingly connected support bearing to rotate to a radial direction parallel to the axial direction when the rotating arm moves circumferentially; after the second rod body moves to the end of the straight segment originally away from the spiral, based on the power of the driving mechanism, the support bearing moves linearly with the rotating arm.

[0015] The above also includes a protection mechanism connected to each first rod body, and when the driving mechanism loses the force acting on the rotating arm in the straight direction during the circumferential movement of the rotating arm, the protection mechanism slows down the speed of the rotating arm approaching the support arm.

[0016] As mentioned above, the protection mechanism includes an air box arranged on the support arm and a piston plate slidably arranged in the air box along the sliding direction of the first rod body. The piston plate and the first rod body are connected by a piston rod. An air hole is opened on the air box, and the size of the air hole is smaller than the size of the air box.

[0017] As mentioned above, when the supporting bearing rotates to be parallel to a radial direction when the rotating arm moves in the circumferential direction, the distance between two corresponding supporting bearings in two groups is smaller than the width of the rotating arm.

[0018] The beneficial effect of the present invention is that by arranging a number of support bearings, after the shortest distance between the rotating arm and the support arm is equal to the radial dimension of the support bearing, during the circumferential movement of the rotating arm, some of the support bearings will roll and abut against the rotating arm. In this way, when the clamping mechanism clamps the target object, some of the support bearings can play an auxiliary supporting role for the rotating arm, so as to reduce the interaction force between the rotating arm and the rotating shaft of the driving mechanism, thereby reducing the wear between the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when it is in a first state;

[0021] Figure 2 An exploded view from a first perspective of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when the support bearing is in a first state;

[0022] Figure 3 An exploded view from a second perspective of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when the support bearing is in a first state;

[0023] Figure 4 It is a schematic diagram of a top plan structure of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when it is in a first state;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when it is in a second state;

[0025] Figure 6 An exploded view of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when in a second state;

[0026] Figure 7 It is a schematic diagram of a top plan structure of a support bearing of a rotary clamping support mechanism provided in an embodiment of the present invention when it is in a second state;

[0027] Figure 8 It is a schematic diagram of a three-dimensional structure of a first slot body and a second rod body of a rotary clamping support mechanism provided in an embodiment of the present invention;

[0028] Fig. 9 A schematic cross-sectional structure diagram of a protection mechanism of a rotary clamping support mechanism provided in an embodiment of the present invention;

[0029] Description of reference numerals:

[0030] 1. Support arm; 10. Push-pull cylinder; 11. Rotating power motor; 12. Rotating arm; 13. Clamping mechanism; 14. Cushion body; 15. Positioning pin; 16. Positioning hole; 17. Induction switch; 18. Induction plate; 2. Support bearing; 20. First rod body; 21. First slot body; 210. Spiral segment; 211. Straight segment; 22. Second rod body; 23. Supporting part; 3. Protection mechanism; 30. Air box; 31. Piston plate; 32. Piston rod; 33. Air hole; 34. Second slot body; 35. Third rod body; 36. Baffle. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, Figure 1 To Attachment Fig. 9 The present invention is further described in detail.

[0032] An embodiment of the present invention provides a rotary clamping support mechanism, comprising a support arm 1 and a driving mechanism arranged on the support arm 1, wherein a rotating arm 12 is provided at a power output end of the driving mechanism, and a clamping mechanism 13 for clamping a target object is provided at an end of the rotating arm 12 away from the driving mechanism. The mechanism also comprises a plurality of support bearings 2 arranged at the end of the support arm 1, wherein the rotating arm 12 performs a linear motion stroke in a direction away from the support arm 1 based on the power of the driving mechanism; the plurality of support bearings 2 have two states: in a first state, before the shortest distance dimension between the rotating arm 12 and the support arm 1 is equal to the radial dimension of the support bearing 2, the plurality of support bearings 2 are in a stationary state; in a second state, after the shortest distance dimension between the rotating arm 12 and the support arm 1 is equal to the radial dimension of the support bearing 2, each support bearing 2 performs a linear motion following the rotating arm 12 based on the power of the driving mechanism; when the rotating arm 12 performs a circumferential motion stroke based on the power of the driving mechanism, some of the support bearings 2 support the rotating arm 12.

[0033] Specifically, the support arm 1 is arranged vertically on the installation base, that is, its length direction is parallel to the vertical direction, wherein the installation base can be the ground, a wall, etc., the rotating arm 12 is arranged in the horizontal direction, that is, its length direction is parallel to the horizontal direction, and the driving mechanism arranged on the support arm 1 includes a push-pull cylinder 10, a rotary power motor 11 arranged at the power output end of the push-pull cylinder 10, and the rotary power motor 11 is arranged on the support arm 1 along the vertical sliding, and a speed reducer is installed at the power output end of the rotary power motor 11, and the speed ratio of the rotary power motor 11 to the speed reducer is 50:1, that is, the rotary power motor The force motor 11 rotates 50 circles and the reducer rotates 1 circle. The power output end of the reducer is fixedly connected to one end of the rotating arm 12 to provide power for the circumferential movement of the rotating arm 12. A clamping mechanism 13 is installed at the other end of the rotating arm 12. The clamping mechanism 13 is used to clamp the target object. The clamping mechanism 13 can be selected according to the actual clamped target object. The push-pull cylinder 10 extends or contracts at a uniform speed during operation to maintain the stability of the clamping mechanism 13 clamping the target object. This is the prior art and will not be described in detail. Its operation process has been described in the background technology and will not be described in detail here.

[0034] However, in the prior art, when moving a heavier target object, there is a large interaction force between the rotating arm 12 and the power output shaft of the reducer, which will cause the power output shaft of the reducer to deviate from the rotation axis and bend and deform. This will not only cause increased wear, but also is obviously difficult to achieve if the moving position of the target object needs to be precisely positioned.

[0035] Therefore, based on the above technical problems, in this embodiment, a plurality of support bearings 2 are arranged on the support arm 1 to support the rotating arm 12 during its circumferential movement, that is, the position of each support bearing 2 can be changed in the vertical direction, and the power for changing its position is based on the action of the push-pull cylinder 10 in the driving mechanism. When supporting the rotating arm 12, the plurality of support bearings 2 should roll and abut against its vertical lower surface. In this way, the plurality of support bearings 2 exist in two states, that is, in the first state, the rotating arm 12 moves vertically based on the power of the push-pull cylinder 10 until the shortest distance between the rotating arm 12 and the support arm 1 is equal to the radial size of the support bearing 2. During this process, the plurality of support bearings are stationary axially. In the first state, the rotating arm 12 will not move vertically. In the second state, if the rotating arm 12 needs to move vertically, several support bearings 2 will also move vertically based on the action of the push-pull cylinder 10. When the upward moving distance of the rotating arm 12 is determined, its linear motion stops, and the vertical movement of several support bearings 2 stops together. Subsequently, when the rotating arm 12 moves circumferentially, several supporting axial parts will roll and abut against the lower surface of the rotating arm 12 to form vertical support for the rotating arm 12. In this way, after the clamping mechanism 13 clamps the target object, during the circumferential movement of the rotating arm 12, some bearings will always support the rotating arm 12, thereby reducing the large interaction force between the rotating arm 12 and the power output shaft of the reducer.

[0036] The beneficial effect of this embodiment is that by setting a plurality of support bearings 2, after the shortest distance between the rotating arm 12 and the support arm 1 is equal to the radial dimension of the support bearing 2, during the circumferential movement of the rotating arm 12, some of the support bearings 2 will roll and abut against the rotating arm 12. In this way, when the clamping mechanism 13 clamps the target object, some of the support bearings 2 can play an auxiliary supporting role for the rotating arm 12, so as to reduce the interaction force between the rotating arm 12 and the rotating shaft of the driving mechanism, thereby reducing the wear between the two.

[0037] Furthermore, the plurality of support bearings 2 are divided into two groups. In the first state, the two groups of support bearings 2 are disposed on both sides of the width direction of the rotating arm 12 , and the distance between two corresponding support bearings 2 in the two groups is consistent with the width dimension of the rotating arm 12 .

[0038] Specifically, if the moving position of the target object needs to be precisely positioned, then each time the circumferential movement of the rotating arm 12 stops, the clamping mechanism 13 needs to be accurately vertically aligned with the specified placement position for the placement of the target object after movement and transportation. For example, when the rotating arm 12 does not perform linear motion and circumferential motion based on the power of the driving mechanism, the rotating arm 12 is at an initial position named point A, wherein the position where the target object is initially placed is named point B, and the target object needs to be transported from point B to point A. In this embodiment, in the first state, when the rotating arm 12 is at point A, the two groups of support bearings 2 are disposed on both sides of the width direction of the rotating arm 12, and the distance between the two corresponding support bearings 2 in the width direction of the rotating arm 12 is consistent or substantially consistent with the width dimension of the rotating arm 12. Then, in the stroke of transporting the target object, the rotating arm 12 first moves vertically upward based on the power of the driving mechanism, and the upward movement distance is a height that does not affect the transportation of the target object. Then the rotating arm 12 moves circumferentially to above point B. At this time, the clamping mechanism 13 and the target object are There is no need to make particularly precise requirements for whether the vertical alignment is completely complete. Therefore, at this time, the clamping mechanism 13 can clamp the target object with the assistance of human beings, that is, after the rotating arm 12 drives the clamping mechanism 13 to reach point B, the rotating arm 12 moves vertically downward, and with the assistance of human beings, the clamping mechanism 13 clamps the target object, and then the rotating arm 12 moves vertically upward, and then moves circumferentially from point B back to point A, and the rotating arm 12 moves vertically downward again. During this process, the plurality of support bearings 2 and the rotating arm 12 no longer form a vertical interaction. In this way, during the vertical downward movement of the rotating arm 12, the plurality of support bearings 2 also move vertically downward until the plurality of support bearings 2 can no longer move vertically downward, and the rotating arm 12 can continue to move downward back to the initial position based on the power of the driving mechanism. In this process, the two groups of support bearings 2 will limit the linear motion of the rotating arm 12 in the width direction of the rotating arm 12, which can prevent the rotating arm 12 from deviating from the specified position due to shaking or mechanical matching clearance, thereby playing a positioning role.

[0039] Preferably, two pads 14 corresponding to the two groups of support bearings 2 are provided on the rotating arm 12 , and during the rolling contact between the support bearings 2 and the rotating arm 12 , the pads 14 isolate the friction between the support bearings 2 and the rotating arm 12 .

[0040] Specifically, since the support arm 1 and the support bearing are both made of metal, there will inevitably be friction obstruction and friction loss in the rolling contact between the two. Therefore, in this embodiment, a pad 14 is installed at the part corresponding to the rotating arm 12 and each group of support bearings 2. The pad 14 can be made of rubber material, thereby reducing friction obstruction and loss in terms of mobility.

[0041] Preferably, a positioning hole 16 is provided on the support arm 1 , and a positioning pin 15 corresponding to the positioning hole 16 is provided on the rotating arm 12 , and when the rotating arm 12 moves linearly in a direction close to the support arm 1 , the positioning pin 15 is plugged into and matched with the positioning hole 16 .

[0042] Specifically, based on the aforementioned use of two sets of support bearings 2 to position the rotating arm 12 back to the initial position to improve the accuracy of placement of the target object, this embodiment opens a positioning hole 16 on the support arm 1, and installs a positioning pin 15 on the rotating arm 12, wherein the number of positioning holes 16 and positioning pins 15 can be set according to actual needs, but the two correspond one to one, and the target object can be accurately placed after the positioning holes 16 and the positioning pins 15 are fully plugged in. In an optional embodiment, a plurality of induction switches 17 can also be provided on the support arm 1, and an induction pad 18 can be provided on the rotating arm 12. When it is necessary to clamp the target object at a specified position and move the target object to a specified position, the induction pad cooperates with the plurality of induction switches 17.

[0043] Furthermore, each of the support bearings 2 is slidably arranged on the support arm 1 through a first rod body 20, and in the sliding direction, a first elastic member is provided between the first rod body 20 and the support arm 1, and a first groove body 21 is opened on the first rod body 20, and a second rod body 22 is slidably arranged in the first groove body 21, and the second rod body 22 is slidably arranged on the support arm 1; in the stroke in which the shortest distance between the rotating arm 12 and the support arm 1 gradually becomes equal to the radial size of the support bearing 2, the second rod body 22 slides in the first groove body 21, and the first rod body 20 drives the correspondingly connected support bearing to rotate until the axial direction is parallel to a certain radial direction when the rotating arm 12 moves circumferentially.

[0044] Specifically, as to how the driving mechanism drives the support bearings 2 to move vertically following the rotating arm 12, in the present embodiment, a first rod 20 is installed on each support bearing 2, and the first rod 20 is arranged to slide vertically on the support arm 1. When the driving mechanism needs to drive the support bearing to move upward, it needs to be achieved by pushing the first rod 20 to move upward. Before the shortest distance between the rotating arm 12 and the support arm 1 is equal to the radial dimension of the support bearing 2, the support bearing 2 cannot move upward. Therefore, a first groove 21 is provided on each first rod 20, and a second rod 22 is slidably arranged in each first groove 21. The second rod 22 is arranged to slide vertically on the support arm 1. Correspondingly, A supporting portion 23 which can push the second rod body 22 upward is provided on the power output end of the push-pull cylinder 10 of the driving mechanism, and the supporting portion 23 can only push the second rod body 22 upward, that is, for the downward movement of the support bearing 2, a first elastic member can be provided between the first rod body 20 and the support arm 1, and the first elastic member can be utilized to realize it by utilizing the rebound force of the first elastic member. However, although the above structure realizes that the support bearing 2 can move vertically upward based on the power of the driving mechanism when its support rotation is required, after the support bearing 2 moves upward, the direction of the force applied to the support bearing 2 by the circumferential motion of the rotating arm 12 is not parallel to the horizontal tangential force in the rotation direction of the support bearing 2, and the support bearing 2 will have a certain hindering effect on the circumferential motion of the rotating arm 12.

[0045] Based on the above-mentioned technical problems, in order to solve the above-mentioned problems, in this embodiment, the first groove body 21 includes a spiral segment 210 and a straight segment 211. The spiral segment 210 is a columnar spiral. When the second rod body 22 cannot rotate along the circumferential direction of the first rod body 20 and can only move along its axial direction, during the sliding stroke of the second rod body 22 from the spiral segment 210 to the straight segment 211, the squeezing effect of the first rod body 20 on the spiral segment 210 will cause the first rod body 20 to rotate. The first rod body 20 drives the correspondingly connected support bearing to rotate until the axial direction is parallel to a certain radial direction when the rotating arm 12 moves circumferentially, that is, the direction of the force applied to the support bearing 2 by the circumferential movement of the rotating arm 12 is parallel to the horizontal tangential force in the rotation direction of the support bearing 2. During the circumferential movement of the rotating arm 12, the interaction force between the support shaft and the rotating arm 12 can be effectively reduced, and after the second rod body 22 moves to the end of the straight segment 211 that is originally away from the spiral, based on the power action of the driving mechanism, the support bearing 2 follows the rotating arm 12 to make linear motion, that is, the length dimension of the straight segment 211 is basically consistent with the radial dimension of the second rod body 22. In the subsequent process of the first rod body 20 driving the support bearing 2 to move vertically, the second rod body 22 and the straight segment 211 cooperate with each other, which can limit the rotation of the first rod body 20 and prevent the support bearing 2 from being affected by external force, so that the direction of the horizontal tangential force during its rotation is no longer parallel to the direction of the force applied by the circumferential movement of the rotating arm 12.

[0046] Furthermore, it also includes a protection mechanism 3 connected to each first rod body 20. During the circumferential movement of the rotating arm 12, when the driving mechanism loses the force acting on the rotating arm 12 in the linear direction, the protection mechanism 3 slows down the speed of the rotating arm 12 approaching the support arm 1.

[0047] Specifically, the push-pull cylinder 10 in the driving mechanism is mainly used to drive the rotating arm 12 to move vertically. When the push-pull cylinder 10 loses power, its vertical support for the rotating arm 12 disappears, and the rotating arm 12 will move downward rapidly due to the action of gravity, causing a violent collision with the support arm 1. If the clamping mechanism 13 still clamps the target object, the collision between the rotating arm 12 and the support arm 1 will cause huge losses. Therefore, in this embodiment, in order to avoid the above situation, the rotating arm 12 and the support arm 1 cannot be protected in time, a protection mechanism 3 is set on the support arm 1, that is, when the push-pull cylinder 10 fails and cannot provide sufficient vertical support for the rotating arm 12, the rotating arm 12 moves downward due to gravity. The protection mechanism 3 can buffer and slow down the downward movement of the rotating arm 12, thereby reducing the impact force between the rotating arm 12 and the support arm 1 to a certain extent.

[0048] That is, in a preferred embodiment, the protection mechanism 3 includes an air box 30 provided on the support arm 1 and a piston plate 31 slidably arranged in the air box 30 along the sliding direction of the first rod body 20, the piston plate 31 and the first rod body 20 are connected by a piston rod 32, and an air hole 33 is opened on the air box 30, and the size of the air hole 33 is smaller than the size of the air box 30.

[0049] Specifically, the height of the air box 30 is adapted to the maximum dimension distance of the vertical movement of the rotating arm 12, and when the rotating arm 12 is in the initial position, there is still a certain distance between the piston plate 31 and the inner bottom surface of the air box 30, and the piston plate 31 and the inner wall of the air box 30 are dynamically sealed (dynamic sealing is a prior art and will not be described in detail), the piston plate 31 is connected to the first rod body 20 through the piston rod 32, and the first rod body 20 at different positions can be provided with corresponding protection mechanisms 3 according to actual needs. When the first rod body 20 moves vertically, the piston plate 31 can be driven by the piston rod 32 to move in the air box 30, the piston plate 31 moves up, and the air holes 33 on the air box 30 take in air, and vice versa. During the uniform movement of the piston plate 31, the air The inlet and outlet air velocity of the hole 33 remains basically unchanged, wherein the size of the air hole 33 is smaller than the size of the air box 30, that is, when the moving speed of the piston plate 31 is suddenly accelerated, the gas flow rate of the air hole 33 cannot keep up, then the gas in the air box 30 will produce a reaction force on the movement of the piston plate 31, so as to achieve the purpose of slowing down the movement of the piston plate 31. In this way, when the push-pull cylinder 10 fails, the speed of the rotating arm 12 gradually increases during the downward movement due to gravity. Then, when the exhaust speed of the air hole 33 cannot keep up with the moving speed of the piston plate 31, the gas in the air box 30 reacts on the piston plate 31, causing the piston plate 31 to slow down, thereby buffering the downward movement speed of the rotating arm 12 to reduce the impact force between the rotating arm 12 and the support arm 1.

[0050] Furthermore, when the supporting bearings rotate to be parallel to a radial direction when the rotating arm 12 moves circumferentially in the axial direction, the distance between two corresponding supporting bearings 2 in two groups is smaller than the width of the rotating arm 12 .

[0051] Specifically, in the aforementioned embodiment, the position of several support bearings 2 can be such that when they abut against the lower surface of the rotating arm 12, the push-pull cylinder 10 fails and the downward movement signal of the rotating arm 12 is transmitted to the piston plate 31. However, when the rotating arm 12 moves vertically at point A, it is difficult to transmit the signal. Therefore, the axial dimension of the support bearing 2 is appropriately lengthened so that when the supporting bearing rotates to be parallel to a certain radial direction when the axial direction of the rotating arm 12 moves circumferentially, the distance dimension between the two corresponding support bearings 2 is smaller than the width dimension of the rotating arm 12. In this way, as long as the shortest distance dimension between the rotating arm 12 and the support arm 1 is equal to or greater than the radial dimension of the support bearing 2, the support bearing 2 can rotate, thereby achieving the purpose of making the distance dimension between the two corresponding support bearings 2 smaller than the width dimension of the rotating arm 12.

[0052] When the downward moving distance of the rotating arm 12 is long enough, its descending speed and the speed of gas discharge from the air hole 33 may reach a balance state. At this time, the rotating arm 12 continues to move downward at this speed and collides with the support arm 1, and there is still a possibility of damage. Therefore, it is necessary to further reduce the speed of the downward movement of the rotating arm 12 after the speeds of the two reach a balance state. That is, in this embodiment, it is achieved by changing the aperture of the air hole 33, that is, a second groove body 34 is fixedly connected to the piston plate 31, and a third rod body 35 is vertically slidably arranged in the second groove body 34, and a second elastic member is provided between the third rod body 35 and the second groove body 34 in the sliding direction, and a baffle 36 is hinged on the third rod body 35, and a third elastic member is provided at the hinge of the two. Under the elastic force of the third elastic member, the baffle 36 has a tendency to always slide against the inner wall of the gas box 30. When the gas enters the gas box 30, the gas can push the baffle The plate 36 flips over, so as not to hinder the gas from entering the air box 30 from the air hole 33, that is, after the rotating arm 12 moves down a distance of 100 cm, it can reach the initial position and stop, and when it moves down to 80 cm, the piston plate 31 will drive the baffle 36 to start covering the air hole 33 through the third rod body 35 (in other cases, the rotating arm 12 moves down a distance of more than 20 cm, and when it reaches a distance of 120 cm from the support arm, the piston plate 31 will drive the baffle 36 to start covering the air hole 33). As the rotating arm 12 continues to move down, the area of ​​the baffle 36 covering the air hole 33 gradually increases, the cross-sectional area of ​​the gas discharged from the air box 30 decreases, and the reaction of the gas in the air box 30 to the piston plate 31 also gradually increases, thereby further reducing the downward movement speed of the rotating arm 12, thereby further reducing the impact force between the rotating arm 12 and the support arm 1, and protecting both.

[0053] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of the protection of the present invention.

Claims

1. A rotary clamping support mechanism, comprising a support arm and a driving mechanism arranged on the support arm, wherein a rotary arm is arranged at a power output end of the driving mechanism, and a clamping mechanism for clamping a target object is arranged at one end of the rotary arm away from the driving mechanism, wherein: It also includes a plurality of support bearings arranged at the end of the support arm, when the rotating arm moves linearly in a direction away from the support arm based on the power of the driving mechanism; Some support bearings have two states: In the first state, before the shortest distance between the rotating arm and the supporting arm is equal to the radial dimension of the supporting bearing, the plurality of supporting bearings are in a stationary state; In the second state, after the shortest distance between the rotating arm and the support arm is equal to the radial dimension of the support bearing, each support bearing follows the rotating arm to make linear motion based on the power of the driving mechanism; when the rotating arm makes circumferential motion based on the power of the driving mechanism, some support bearings support the rotating arm.

2. The rotary clamping support mechanism according to claim 1, characterized in that: The supporting bearings are divided into two groups. In the first state, the two groups of supporting bearings are respectively placed on both sides of the width direction of the rotating arm, and the distance between two corresponding supporting bearings in the two groups is consistent with the width dimension of the rotating arm.

3. The rotary clamping support mechanism according to claim 2, characterized in that: The rotating arm is provided with two pads corresponding to the two groups of support bearings. During the rolling contact between the support bearings and the rotating arm, the pads block the friction between the support bearings and the rotating arm.

4. The rotary clamping support mechanism according to claim 1, characterized in that: The support arm is provided with a positioning hole, and the rotating arm is provided with a positioning pin corresponding to the positioning hole. When the rotating arm moves linearly in a direction close to the support arm, the positioning pin is plugged into the positioning hole.

5. The rotary clamping support mechanism according to claim 1, characterized in that: The support arm is provided with a plurality of induction switches, and the rotating arm is provided with induction pads. When it is necessary to clamp the target object at a designated position and move the target object to a designated position, the induction pads cooperate with the plurality of induction switches.

6. The rotary clamping support mechanism according to claim 3, characterized in that: Each of the support bearings is slidably arranged on the support arm through a first rod body, and in the sliding direction, a first elastic member is provided between the first rod body and the support arm, a first groove body is opened on the first rod body, a second rod body is slidably arranged in the first groove body, and the second rod body is slidably arranged on the support arm; in the stroke in which the shortest distance between the rotating arm and the support arm gradually becomes equal to the radial size of the support bearing, the second rod body slides in the first groove body, and the first rod body drives the correspondingly connected support bearing to rotate until the axial direction is parallel to a certain radial direction when the rotating arm moves circumferentially.

7. The rotary clamping support mechanism according to claim 6, characterized in that: The first groove body includes a spiral segment and a straight segment. When the second rod body slides from the spiral segment to the straight segment, the first rod body drives the corresponding connected support bearing to rotate to a radial direction parallel to the axial direction when the rotating arm moves circumferentially; after the second rod body moves to the end of the straight segment originally away from the spiral, based on the power of the driving mechanism, the support bearing moves linearly with the rotating arm.

8. The rotary clamping support mechanism according to claim 6, characterized in that: It also includes a protection mechanism connected to each first rod body. During the circumferential movement of the rotating arm, when the driving mechanism loses the force acting on the rotating arm in the straight direction, the protection mechanism slows down the speed of the rotating arm approaching the support arm.

9. The rotary clamping support mechanism according to claim 8, characterized in that: The protection mechanism includes an air box arranged on the support arm and a piston plate slidably arranged in the air box along the sliding direction of the first rod body. The piston plate and the first rod body are connected by a piston rod. An air hole is opened on the air box, and the size of the air hole is smaller than the size of the air box.

10. The rotary clamping support mechanism according to claim 9, characterized in that: When the supporting bearing rotates to a point where the axial direction is parallel to a certain radial direction when the rotating arm moves in the circumferential direction, the distance between two corresponding supporting bearings in two groups is smaller than the width of the rotating arm.

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