Mechanical arm carrying mechanism

Abstract

The utility model relates to the technical field of carrying equipment, in particular to a mechanical arm carrying mechanism. Comprising a base, a first mounting plate, a second mounting plate and a third mounting plate which are parallel to one another are arranged on the base, a servo motor is arranged on the outer side of the first mounting plate, an output shaft of the servo motor is connected with a rotating shaft through a coupler, and the rotating shaft is rotatably mounted between the second mounting plate and the third mounting plate and provided with a driving synchronizing wheel and a rotating arm; a mounting seat is arranged on one side of the base; according to the utility model, the volume is small, the installation in a limited space on a production line is convenient, and the parts are fixed by adopting a bolt detachable connection mode, so that the later maintenance work is convenient; according to the clamping jaw mechanism, the rotating arm is driven to rotate and is matched with the driving synchronous wheel, the driven synchronous wheel and the synchronous belt structure, so that the clamping jaw can be effectively prevented from rotating, displacement of the clamping jaw mechanism in the horizontal direction and the vertical direction is achieved, and a workpiece can be conveniently clamped or placed.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a robotic arm handling mechanism. Background Art

[0002] With the rapid development of China's equipment manufacturing industry, enterprises have an increasingly high demand for mechanical automation in production. In an automated production line, it is often necessary to move workpieces in one station to another station for assembly. For example, a robotic arm is used to handle the workpieces and move them to another station for assembly. However, most of the displacement robotic arms currently used in factories are still hoisting robotic arms. Such robotic arms are large in size, require a very high installation space, are troublesome to operate, have a low safety factor, and are inconvenient for equipment maintenance. To address such problems, it is necessary to design a robotic arm handling mechanism that is miniaturized, easy to operate, and has a high safety factor. Summary of the Utility Model

[0003] Aiming at the deficiencies of the prior art, the utility model provides a convenient operation, convenient equipment maintenance, and easy installation in a small space of the production line.

[0004] To achieve the above technical objectives, the utility model proposes the following technical solution: A robotic arm handling mechanism includes a base. On the base, there are a first mounting plate, a second mounting plate, and a third mounting plate that are parallel to each other. A servo motor is provided outside the first mounting plate. The output shaft of the servo motor is connected to a rotating shaft through a coupling. The rotating shaft is rotatably installed between the second mounting plate and the third mounting plate. An active synchronous pulley and a rotating arm are installed on the rotating shaft. An installation seat is provided on one side of the base. One end of the rotating arm away from the rotating shaft is arranged on one side of the installation seat. A connecting rod is connected between the installation seat and the rotating arm through a bearing. A driven synchronous pulley is installed on the connecting rod. The driven synchronous pulley is connected to the active synchronous pulley through a synchronous belt. One end of the connecting rod passing through the bearing of the rotating arm is connected to a jaw mechanism.

[0005] Further, a disc is provided at one end of the rotating shaft passing through the third mounting plate. An origin sensing piece and two extreme position sensing pieces for sensing the disc are installed on the third mounting plate.

[0006] Further, a baffle is provided on one side of the third mounting plate, and a gasket is provided on the baffle.

[0007] Further, a sliding groove is provided on the rotating arm. A tensioning mechanism is provided in the sliding groove. The tensioning mechanism includes a slider slidably installed in the sliding groove, a tensioning wheel installed on the slider, an internal thread sleeve provided at the bottom of the slider, and an internal hexagonal bolt. A limiting block is provided at the bottom of the sliding groove. The internal hexagonal bolt passes through the limiting block and is threadedly connected to the internal thread sleeve. The tensioning wheel is located at the top of the synchronous belt and abuts against the synchronous belt.

[0008] Further, the jaw mechanism includes a support plate, the support plate is connected to the connecting rod through a support frame, a double-slider guide rodless cylinder is provided at the bottom of the support plate, connecting plates are installed on the sliders at the bottom of the double-slider guide rodless cylinder, and jaws are provided on the connecting plates.

[0009] Further, L-shaped frames are installed on both sides of the support plate, linear guides are provided at the bottoms of the L-shaped frames, auxiliary support clamps are slidably provided at the bottoms of the linear guides, the sides of the linear guides close to the support plate and the sides of the auxiliary support clamps far from the support plate are connected by springs, rollers are installed on the sides of the auxiliary support clamps close to the support plate, and curved raceways in contact with the rollers are provided on one side of each connecting plate.

[0010] Compared with the prior art, the beneficial effects produced by the present utility model are as follows: The structure of the present utility model is novel, ingeniously conceived, and simple and convenient to operate. Compared with the prior art, it has the following advantages: The present utility model is small in size, facilitating installation in the limited space on the production line, and most of the components of the present utility model are fixed by a detachable connection method using bolts, which facilitates the later maintenance and servicing work; By driving the rotation of the rotating arm and the mutual cooperation of the structure of the driving synchronous pulley, the driven synchronous pulley and the synchronous belt, the rotation of the jaws can be effectively avoided, realizing the displacement of the jaw mechanism in the horizontal and vertical directions, and facilitating the clamping or placement of workpieces. Description of the Drawings

[0011] Figure 1 is the overall structural schematic diagram of the present utility model;

[0012] Figure 2 is the overall structural schematic diagram of another view of the present utility model;

[0013] Figure 3 is the structural schematic diagram of the jaw mechanism of the present utility model.

[0014] In the figure, 1, base; 2, first mounting plate; 3, second mounting plate; 4, third mounting plate; 5, servo motor; 6, coupling; 7, rotating shaft; 8, driving synchronous pulley; 9, rotating arm; 10, mounting seat; 11, connecting rod; 12, driven synchronous pulley; 13, synchronous belt; 14, jaw mechanism; 15, disc; 16, origin sensing piece; 17, extreme position sensing piece; 18, baffle; 19, chute; 21, tensioning pulley; 22, internal thread sleeve; 23, hexagon socket head bolt; 24, support plate; 25, support frame; 26, double-slider guide rodless cylinder; 27, connecting plate; 28, jaw; 29, L-shaped frame; 30, single-slider slide rail cylinder; 31, auxiliary support clamp; 32, spring; 33, roller; 34, curved raceway. Detailed Embodiments

[0015] The following are specific embodiments of the present utility model, and the technical solutions of the present utility model will be further described in conjunction with the accompanying drawings. However, the present utility model is not limited to these embodiments.

[0016] As Figures 1-3 shown, the present utility model provides a robotic arm handling mechanism, including a base 1. On the base 1, a first mounting plate 2, a second mounting plate 3, and a third mounting plate 4 that are parallel to each other are connected by bolts. A plurality of strengthening rods are connected between the first mounting plate 2 and the second mounting plate 3. The third mounting plate 4 and the base 1 are stabilized by a strengthening plate. A servo motor 5 is provided outside the first mounting plate 2. The output shaft of the servo motor 5 is connected to a rotating shaft 7 through a coupling 6. The rotating shaft 7 is rotatably installed between the second mounting plate 3 and the third mounting plate 4. An active synchronous pulley 8 and a rotating arm 9 are installed on the rotating shaft 7. Among them, the active synchronous pulley 8 and the second mounting plate 3 are fixed by bolts. The rotating shaft 7 is sleeved on the active synchronous pulley 8 and does not contact the active synchronous pulley 8. A connecting disk is fixed on the rotating shaft 7. The rotating arm 9 is installed on the connecting disk by bolts. One end of the rotating arm 9 far from the rotating shaft 7 is fixed to one side of a mounting seat 10. A connecting rod 11 is connected between the mounting seat 10 and the rotating arm 9 through a bearing. A driven synchronous pulley 12 is installed on the connecting rod 11. The driven synchronous pulley 12 drives the connecting rod 11 to rotate. The driven synchronous pulley 12 and the active synchronous pulley 8 are connected by a synchronous belt 13. One end of the connecting rod 11 passing through the bearing of the rotating arm 9 is connected to a jaw mechanism 14.

[0017] As Figure 1 shown, the rotation of the rotating shaft 7 is driven by the servo motor 5. The rotating shaft 7 drives the rotating arm 9 to rotate. The rotating arm 9 drives the mounting seat 10 to rotate. By means of the synchronous belt 13, it is ensured that the jaw mechanism 14 does not rotate and only realizes displacements in the horizontal and vertical directions, facilitating the jaw mechanism 14 to grip the product. Specifically, if the servo motor 5 drives the rotating arm 9 to drive the mounting seat 10 to rotate clockwise by a certain angle, the position of the meshing teeth between the synchronous belt 13 and the active synchronous pulley 8 changes. The synchronous belt 13 will drive the connecting rod 11 to rotate counterclockwise by a certain angle, keeping the jaw mechanism 14 from rotating, so as to realize the transfer of the workpiece from one position to another by the clamping mechanism 14. Compared with the hoisting robotic arm in the prior art, the present utility model is small in volume and convenient for installation in the limited space on the production line. In the present utility model, most of the components are fixed by a detachable connection method using bolts, which is convenient for later maintenance and servicing work.

[0018] One end of the rotating shaft 7 passing through the third mounting plate 4 is provided with a disk 15. An origin sensing piece 16 and two extreme position sensing pieces 17 for sensing the disk 15 are installed on the third mounting plate 4.

[0019] As Figure 1As shown in the figure, the origin sensing piece 16 senses the starting position of the servo motor 5, and the two limit sensing pieces 17 mainly limit the movement range of the servo motor 5 to prevent the servo motor 5 from exceeding the convenient movement range, thus avoiding collisions, damaging equipment or causing safety accidents. Specifically, when the servo motor 5 moves to the limit position, the limit sensing piece 17 will trigger a signal, which is sent to the control system (not shown in the figure), and the control system randomly issues an instruction to stop the movement of the servo motor 5 to ensure the safe operation of the system.

[0020] One side of the third mounting plate 4 is provided with a baffle 18, and a gasket is provided on the baffle 18.

[0021] As Figure 2 shown in the figure, the baffle 30 can prevent the rotating arm 9 from falling off due to work mistakes and damaging the jaw mechanism 14, and the gasket can buffer the impact force of the rotating arm 9 on the baffle 18.

[0022] A chute 19 is formed on the rotating arm 9, and a tensioning mechanism is arranged in the chute 19. The tensioning mechanism includes a slider 20 slidably mounted in the chute 19, a tensioning wheel 21 mounted on the slider 20, an internal thread sleeve 22 arranged at the bottom of the slider 20, and an internal hexagonal bolt 23. A limiting block is arranged at the bottom of the chute 19, and the internal hexagonal bolt 23 passes through the limiting block and is threadedly connected with the internal thread sleeve 22. The tensioning wheel 21 is located at the top of the synchronous belt 13 and abuts against the synchronous belt 13.

[0023] As Figure 2 shown in the figure, by adjusting the length of the internal hexagonal bolt 23 extending into the internal thread sleeve 22, the slider 20 is controlled to rise or fall in the chute 19, driving the tensioning wheel 21 to rise or fall in the chute 19, thereby adjusting the tension of the synchronous belt 13, preventing the synchronous belt 13 from slipping and ensuring the transmission efficiency.

[0024] The jaw mechanism 14 includes a support plate 24, the support plate 24 is connected to the connecting rod 11 through a support frame 25, a double-slider guide rail rodless cylinder 26 is arranged at the bottom of the support plate 24, connecting plates 27 are mounted on the sliders at the bottom of the double-slider guide rail rodless cylinder 26, and jaws 28 are arranged on the connecting plates 27. Anti-slip lines are arranged on the clamping parts of the jaws 28, which can increase the friction force between the workpiece and the jaws 28 and improve the clamping effect.

[0025] As Figure 3 shown in the figure, the double-slider guide rail rodless cylinder 26 controls the two jaws 28 to move relatively or away from each other to clamp the workpiece.

[0026] On both sides of the support plate 24, L-shaped frames 29 are installed by bolts. At the bottom of the L-shaped frames 29, linear guide rails 30 are installed. On the bottom of the linear guide rails 30, auxiliary support clamps 31 are slidably arranged. On the side of the linear guide rails 30 close to the support plate 24 and the side of the auxiliary support clamps 31 far from the support plate 24 are connected by springs 32. On the side of the auxiliary support clamps 31 close to the support plate 24, rollers 33 are installed. On one side of the connecting plate 27, curved raceways 34 in contact with the rollers 33 are provided. The action of the spring 32 makes the rollers 33 always in contact with the curved raceways 34.

[0027] As Figure 3 shown, when the two jaws 28 move relative to each other to clamp the workpiece, the auxiliary support clamps 31 are located inside the workpiece (the two sides or the inside of the workpiece are hollow structures), prompting the auxiliary support clamps 31 to move away from the connecting plate 27, that is, the auxiliary support clamps 31 expand outwards to support the workpiece. The auxiliary support clamps 31 assist in clamping the workpiece, which can improve the clamping effect of the jaws 28 and prevent the workpiece from falling off.

[0028] Principle of use: During use, the double-slider guide rail rodless cylinder 26 is used to control the relative movement of the jaws 28 to clamp the workpiece to be transferred. The auxiliary support clamps 31 are located inside the workpiece and move away from each other with the relative movement of the jaws 28 to support the inner wall of the workpiece. Then, the servo motor 5 is started to drive the rotating shaft 7 to rotate. The rotating shaft 7 indirectly drives the mounting seat 10 to rotate through the rotating arm 9. Under the action of the synchronous belt 13, the jaws 28 of the jaw mechanism 14 always face downwards, that is, the jaws 28 do not rotate and only generate displacements in the horizontal and vertical directions. In this way, the workpiece can be transferred to the next position.

[0029] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A robotic arm handling mechanism, characterized in that: The invention comprises a base (1), wherein a first mounting plate (2), a second mounting plate (3) and a third mounting plate (4) are provided on the base (1), a servo motor (5) is provided on the outer side of the first mounting plate (2), an output shaft of the servo motor (5) is connected to a rotating shaft (7) via a coupling (6), the rotating shaft (7) is rotatably mounted between the second mounting plate (3) and the third mounting plate (4), a driving synchronous wheel (8) and a rotating arm (9) are mounted on the rotating shaft (7), a mounting seat (10) is provided on one side of the base (1), an end of the rotating arm (9) away from the rotating shaft (7) is arranged on one side of the mounting seat (10), a connecting rod (11) is connected to the mounting seat (10) and the rotating arm (9) via a bearing, a driven synchronous wheel (12) is mounted on the connecting rod (11), the driven synchronous wheel (12) and the driving synchronous wheel (8) are connected via a synchronous belt (13), and one end of the connecting rod (11) passing through the bearing of the rotating arm (9) is connected to a clamping claw mechanism (14).

2. A robotic arm transport mechanism according to claim 1, characterized in that: One end of the rotating shaft (7) passing through the third mounting plate (4) is provided with a disc (15), and the third mounting plate (4) is provided with an origin sensing plate (16) and two limit position sensing plates (17) of the sensing disc (15).

3. A robotic arm transport mechanism according to claim 1, characterized in that: A baffle (18) is provided on one side of the third mounting plate (4), and a gasket is provided on the baffle (18).

4. A robotic arm transport mechanism according to claim 1, characterized in that: The rotating arm (9) is provided with a slide groove (19), and a tensioning mechanism is provided in the slide groove (19). The tensioning mechanism comprises a slider (20) slidably mounted in the slide groove (19), a tensioning wheel (21) mounted on the slider (20), an internal thread sleeve (22) and a hexagon socket bolt (23) arranged at the bottom of the slider (20), a limit block is provided at the bottom of the slide groove (19), and the hexagon socket bolt (23) passes through the limit block and is threadedly connected to the internal thread sleeve (22), and the tensioning wheel (21) is located at the top of the synchronous belt (13) and contacts the synchronous belt (13).

5. The robot arm transport mechanism according to claim 1, characterized in that: The clamping mechanism (14) comprises a support plate (24), the support plate (24) being connected to the connecting rod (11) via a support frame (25), a double-slider guide rail rodless cylinder (26) being provided at the bottom of the support plate (24), a connecting plate (27) being installed on the sliders at the bottom of the double-slider guide rail rodless cylinder (26), and a clamping claw (28) being provided on the connecting plate (27).

6. A robotic arm transport mechanism according to claim 5, characterized in that: L-shaped frames (29) are installed on both sides of the support plate (24), a linear guide rail (30) is provided at the bottom of the L-shaped frame (29), an auxiliary support clamp (31) is slidably provided at the bottom of the linear guide rail (30), a side of the linear guide rail (30) close to the support plate (24) and a side of the auxiliary support clamp (31) away from the support plate (24) are connected by a spring (32), a roller (33) is installed on the side of the auxiliary support clamp (31) close to the support plate (24), and a curved surface raceway (34) in contact with the roller (33) is provided on one side of the connecting plate (27).

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