Rotating swing arm of a handling robot

Abstract

The utility model discloses a rotary swing arm of a handling robot, comprising a first swing arm and a second swing arm, wherein the second swing arm is rotatably arranged in a rotation groove of the first swing arm, a rotating shaft is arranged at the other end of the first swing arm, and mounting grooves which are symmetrically provided on both sides of the first swing arm and are perpendicular to the rotation groove and the axis of the rotating shaft, and threaded holes are provided in the mounting grooves. The rotary swing arm of the handling robot provided by the utility model utilizes threaded holes to install a linear guide rail into the mounting groove, at which time the linear guide rail is attached to the side of the first swing arm, and the linear guide rail is as parallel as possible to the length straight line of the first swing arm itself through the accommodation and guidance of the mounting groove, and then the dial indicator can be driven by a sliding slider to measure the second swing arm, thereby eliminating the need to use an additional temporary fixing frame to install the linear guide rail, thereby improving the measurement efficiency and the measurement accuracy of the parallelism between the swing arms.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a rotary swing arm of a transport robot. Background Art

[0002] Horizontal multi-joint industrial robots such as SCARA horizontal handling robots are suitable for plane positioning and are currently widely used in many application fields that require high-efficiency assembly, welding, sealing and handling.

[0003] According to the publication number CN 211867811 U, the publication (announcement) date: 2020.11.06, a horizontal robot is disclosed, including a base; a first horizontal swing arm is rotatably mounted on the base; a first drive unit is arranged on the base, which makes the first horizontal swing arm rotate relative to the base; a second horizontal swing arm is rotatably mounted on the second connecting end; a second drive unit is arranged on the second horizontal swing arm, which makes the second horizontal swing arm rotate relative to the second connecting end; a screw spline assembly is installed on the second horizontal swing arm, which has a screw spline; a third drive unit and a fourth drive unit are installed on the second horizontal swing arm, and the third drive unit and the fourth drive unit move together to drive the screw spline to realize the forward and reverse rotation movement in the horizontal direction. This structure is simple and reliable, reduces the transition pieces that affect the accuracy, and improves the accuracy. It can meet the high-speed and high-precision parts handling, assembly, welding, spraying and other process flows of the light industry and electronics industry, and greatly improve the production efficiency of the assembly line.

[0004] In the prior art including the above-mentioned patent, the first horizontal swing arm is rotatably set on the base, and the second horizontal swing arm is rotatably set at the end of the first horizontal swing arm, wherein the joint rotation angle values ​​of the first horizontal swing arm and the second horizontal swing arm are used to convert the specific values ​​of the handling space coordinate system of the robot end. In order to improve the accuracy of the base axis of the coordinate system, it is necessary to perform parallelism inspection and calibration on the first horizontal swing arm and the second horizontal swing arm, so that in the default state, the second horizontal swing arm is kept parallel and collinear with the first horizontal swing arm as much as possible. The parallelism detection of the swing arms is often measured by linear guide sliders and dial indicators. However, since there is no position for installing the linear guide on the outside of the second horizontal swing arm, a temporary fixing frame for installing the linear guide needs to be additionally provided on the side of the swing arm to measure the parallelism of the two swing arms through the dial indicator, thereby reducing the measurement efficiency of the parallelism between the swing arms, which is not convenient for the actual debugging and use of the robot. Utility Model Content

[0005] The utility model aims to provide a rotary swing arm of a handling robot, so as to solve the above-mentioned problem.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a rotating swing arm of a handling robot, comprising a first swing arm and a second swing arm, the second swing arm is rotatably arranged in a rotating groove of the first swing arm, a rotating shaft is arranged at the other end of the first swing arm, and installation grooves which are symmetrically provided on both sides of the first swing arm and are perpendicular to the rotating groove and the axis of the rotating shaft, and threaded holes are arranged in the installation grooves.

[0007] Preferably, a stabilizing seat and a limiting seat are provided on both sides of the first swing arm, the stabilizing seat is fixedly arranged so that its upper buffer portion is flush with the two side walls of the installation groove, the limiting seat is slidingly arranged parallel to the installation groove, and a limiting portion for limiting the linear guide rail in the installation groove is provided on the limiting seat.

[0008] Preferably, the first swing arm is provided with an active cavity, the limit seat is slidably disposed in the active cavity, an elastic member for driving the limit seat to slide away from the stable seat is disposed in the active cavity, and the limit seat is located between the stable seat and the rotating shaft.

[0009] Preferably, it also includes a rubber contact strip whose two ends are respectively fixedly connected to the buffer portion and the limiting portion to cover the side surface of the first swing arm.

[0010] Preferably, the rubber contact strip is made of vulcanized rubber.

[0011] In the above technical scheme, the utility model provides a rotating swing arm of a handling robot, which has the following beneficial effects: a threaded hole is used to install a linear guide rail into an installation groove, at which time the linear guide rail is attached to the side of the first swing arm, and the installation groove is accommodated and guided to make the linear guide rail as parallel as possible to the length straight line of the first swing arm itself, and then the dial indicator can be driven by a sliding slider to measure the second swing arm, thereby eliminating the need to use an additional temporary fixing frame to install the linear guide rail, thereby improving the measurement efficiency and improving the measurement accuracy of the parallelism between the swing arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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 utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0013] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the utility model;

[0014] Figure 2 A schematic diagram of the overall structure provided for an embodiment of the utility model;

[0015] Figure 3 A schematic cross-sectional view of the overall structure provided for an embodiment of the utility model;

[0016] Figure 4 A schematic diagram of the overall partial structure provided for an embodiment of the utility model.

[0017] Description of reference numerals:

[0018] 11. First swing arm; 111. Mounting groove; 1111. Threaded hole; 112. Movable cavity; 113. Rotating shaft; 114. Rotating groove; 12. Second swing arm; 13. Lifting rod; 2. Stable seat; 21. Buffer part; 3. Limit seat; 31. Limit part; 4. Rubber touch strip; 5. Elastic member. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0020] like Figure 1-4 As shown, a rotating swing arm of a handling robot includes a first swing arm 11 and a second swing arm 12. The second swing arm 12 is rotatably arranged in a rotating groove 114 of the first swing arm 11. A rotating shaft 113 is arranged at the other end of the first swing arm 11. Installation grooves 111 which are symmetrically provided on both sides of the first swing arm 11 and are perpendicular to the axes of the rotating groove 114 and the rotating shaft 113, and threaded holes 1111 are provided in the installation grooves 111.

[0021] Specifically, Figure 1As shown, the second swing arm 12 is rotatably arranged at the rotation slot 114 at the left end of the first swing arm 11, and the first swing arm 11 can be rotatably arranged on the required installation base through the rotation shaft 113, and the left end of the second swing arm 12 is also vertically arranged with a lifting rod 13, and installation grooves 111 are opened on the two sides of the first swing arm 11. When the robot body needs to be initially debugged, the second swing arm 12 joint is first moved to be most parallel to the first swing arm 11, and the installation groove 111 is simultaneously aligned with the axis of the rotation slot 114 and the rotation shaft 113. The lines are perpendicular to each other, and the linear guide can be installed in the mounting groove 111 through the threaded hole 1111. At this time, the linear guide is attached to the side of the first swing arm 11, and the linear guide is as parallel to the length straight line of the first swing arm 11 as possible through the accommodation and guidance of the mounting groove 111. Then, the dial indicator can be driven by the sliding slider to measure the second swing arm 12, so that there is no need to use an additional temporary fixing frame to install the linear guide, which improves the measurement efficiency and improves the measurement accuracy of the parallelism between the swing arms.

[0022] In the above technical solution, the threaded hole 1111 is used to install the linear guide into the installation groove 111. At this time, the linear guide is attached to the side of the first swing arm 11, and the installation groove 111 is used to accommodate and guide the linear guide and the length straight line of the first swing arm 11 as much as possible. Then, the dial indicator can be driven by the sliding slider to measure the second swing arm 12, so that there is no need to use an additional temporary fixing frame to install the linear guide. While improving the measurement efficiency, it can also improve the measurement accuracy of the parallelism between the swing arms.

[0023] As an embodiment further provided by the present invention, a stabilizing seat 2 and a limiting seat 3 are provided on both sides of the first swing arm 11. The stabilizing seat 2 is fixedly arranged so that the upper buffer portion 21 thereof is flush with the two side walls of the mounting groove 111. The limiting seat 3 is slidingly arranged parallel to the mounting groove 111, and a limiting portion 31 for limiting the linear guide rail in the mounting groove 111 is provided on the limiting seat 3.

[0024] Specifically, Figure 4 As shown, the stabilizing seat 2 and the limiting seat 3 are arranged on both sides of the first swing arm 11, and the buffer portion 21 of the stabilizing seat 2 extends out from the buffer portion 21 so that the buffer portion 21 is flush with the two side walls of the mounting groove 111, and the limiting portion 31 of the limiting seat 3 extends out of the outer side of the mounting groove 111 and then extends parallel to the opening of the mounting groove 111. When the linear guide is installed in the mounting groove 111, the buffer portion 21 of the stabilizing seat 2 contacts the two sides of the linear guide to clamp and buffer the guide, thereby avoiding the error in the dial indicator reading caused by the jumping of the linear guide and improving the measurement accuracy, and the limiting portion 31 contacts the top of the linear guide to limit the stability of the guide within the mounting groove 111, which is convenient for the specific installation of the linear guide and can further improve the installation stability of the linear guide.

[0025] As an embodiment further provided by the present invention, the first swing arm 11 is provided with an active cavity 112, the limit seat 3 is slidably disposed in the active cavity 112, an elastic member 5 is disposed in the active cavity 112 for driving the limit seat 3 to slide away from the stable seat 2, and the limit seat 3 is located between the stable seat 2 and the rotating shaft 113.

[0026] Specifically, Figure 2 As shown, the limit seat 3 is slidably disposed in the movable cavity 112 opened in the first swing arm 11, and the elastic member 5 drives the limit seat 3 to slide away from the limit seat 3, that is, when the linear guide rail is installed, the limit seat 3 can be pushed so that the limit portion 31 pushes the slider on the linear guide rail to slide, and the elastic member 5 applies a certain resistance to the limit seat 3 to improve the stability when pushing the slider to move, thereby improving the data accuracy during measurement. Secondly, when the parallelism measurement of the swing arms is completed, when the robot body is transporting, the rotation shaft 113 of the first swing arm 11 drives the first swing arm 11 and the second swing arm 12 to rotate as a whole, and the second swing arm 12 rotates to drive itself and the lifting rod 13 to rotate. Since the rotation linear velocity at the rotation shaft 113 of the first swing arm 11 is the smallest, and the rotation linear velocity at the lifting rod 13 is the largest, the lifting rod 13 has the largest rotational inertia. When the first swing arm 11 rotates, the limit seat 3 will slide toward one side of the limit seat 3 due to the centrifugal force, and when the first swing arm 11 rotates to its position, the elastic member 5 drives the limit seat 3 to slide back to the limit seat 3 and reset away, so that the repeated sliding of the elastic member 5 and the limit seat 3 makes the first swing arm 11 vibrate in its own length direction when it stops rotating, thereby interfering with and alleviating the inertial impulse in the rotation direction of the first swing arm 11, thereby improving the service life of the first swing arm 11 and reducing the overall jitter during the operation of the robot body.

[0027] As a further embodiment provided by the present invention, it also includes a rubber contact strip 4 whose two ends are respectively fixedly connected to the buffer portion 21 and the limiting portion 31 to cover the side surface of the first swing arm 11 .

[0028] Specifically, Figure 3As shown, the two ends of the rubber contact strip 4 are respectively fixedly connected to the buffer portion 21 and the limit portion 31 to cover the side of the first swing arm 11. Since this type of SCARA robot uses the specific rotation angles of the first swing arm 11 and the second swing arm 12 as the joint position to convert the working coordinate system, in the event of an operation error, the joint position of the second swing arm 12 will be too close to the first swing arm 11, causing the lifting rod 13 to approach and collide with the side of the first swing arm 11. The rubber contact strip 4 on the side of the first swing arm 11 is used as a collision buffer to reduce The invention can reduce the damage to the first swing arm 11 and the lifting rod 13, and improve the stability of the device. Secondly, during the process that the first swing arm 11 rotates and stops in place, the limit seat 3 first slides away from the rotating shaft 113 and then slides close to reset. At this time, the rubber contact strip 4 is first squeezed and bent and then straightened again. That is, when the first swing arm 11 rotates and stops in place, the rubber contact strip 4 approaches the rotating shaft 113 of the first swing arm 11 to reduce the rotational momentum of the first swing arm 11, thereby reducing the inertial impact of the first swing arm 11 when it stops, and improving the service life of the first swing arm 11.

[0029] As an embodiment further provided by the present invention, the rubber contact strip 4 is made of vulcanized rubber.

[0030] Specifically, the rubber contact strip 4 is made of vulcanized rubber to improve its flexibility and service life.

[0031] The above only describes some exemplary embodiments of the present invention by way of illustration. 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 protection of the claims of the present invention.

Claims

1. A rotary swing arm of a handling robot, characterized in that: The invention comprises a first swing arm (11) and a second swing arm (12), wherein the second swing arm (12) is rotatably arranged in a rotation groove (114) of the first swing arm (11), a rotation shaft (113) is arranged at the other end of the first swing arm (11), and mounting grooves (111) which are symmetrically arranged on both sides of the first swing arm (11) and are perpendicular to the axes of the rotation groove (114) and the rotation shaft (113), and threaded holes (1111) are arranged in the mounting grooves (111).

2. The rotary swing arm of a handling robot according to claim 1, characterized in that: A stabilizing seat (2) and a limiting seat (3) are provided on both sides of the first swing arm (11); the stabilizing seat (2) is fixedly arranged so that its upper buffer portion (21) is flush with the two side walls of the mounting groove (111); the limiting seat (3) is slidably arranged parallel to the mounting groove (111); and a limiting portion (31) for limiting the linear guide rail in the mounting groove (111) is provided on the limiting seat (3).

3. The rotary swing arm of a handling robot according to claim 2, characterized in that: The first swing arm (11) is provided with an active cavity (112), the limiting seat (3) is slidably arranged in the active cavity (112), an elastic member (5) is arranged in the active cavity (112) for driving the limiting seat (3) to slide away from the stable seat (2), and the limiting seat (3) is located between the stable seat (2) and the rotating shaft (113).

4. The rotary swing arm of a handling robot according to claim 3, characterized in that: It also includes a rubber contact strip (4) whose two ends are respectively fixedly connected to the buffer portion (21) and the limiting portion (31) to cover the side surface of the first swing arm (11).

5. The rotary swing arm of a handling robot according to claim 4, characterized in that: The rubber contact strip (4) is made of vulcanized rubber.

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