Turnover mechanism of manipulator

Abstract

The turnover mechanism comprises a turnover arm, a rotating head is installed on the front end face of the turnover arm, a horizontal bar air cylinder fixedly installed in the turnover arm is arranged on one side of the rotating head, a piston rod of the horizontal bar air cylinder is connected with a tooth row, one side of the outer surface of the tooth row is meshed with a gear, and the other side of the outer surface of the tooth row is meshed with the gear. The axis of the gear is connected with a gear rotating shaft, one side of the outer surface of the gear rotating shaft is fixedly sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear, and a metal sleeve located on the outer side of the rear end of the rotating head is fixedly arranged in the second bevel gear; an arc-shaped block is fixedly arranged on one side of the inner wall of the metal sleeve, a spring groove is formed in the arc-shaped block, and a damping spring is arranged in the spring groove. By means of the device, the impact force borne by the device can be reduced when a grabbed object is rotated through the device, and therefore the service life of the device is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of turnover, in particular to a turnover mechanism of a manipulator. Background Art

[0002] A robot is a highly automated device that can simulate the movements of a human hand to complete various tasks in a variety of fields such as industrial manufacturing, medical care, and logistics. The robot is mainly composed of a hand and a motion mechanism. The hand is used to grasp workpieces or tools, while the motion mechanism enables the hand to complete rotation, movement, or combined movements to achieve the specified action.

[0003] The flipping mechanism of the manipulator is a key component that enables the manipulator to flip at a specific angle. It can make the manipulator more flexible and efficient when performing tasks, thereby adapting to a variety of different occasions.

[0004] When the flipping mechanism of the manipulator is needed to rotate the grasped object to a specific angle, an inertia will be generated. When the grasped object is rotated to the specific angle and the flipping mechanism stops rotating, its inertia will not disappear. This inertia will have a certain impact on the flipping mechanism of the manipulator. If the flipping mechanism of the manipulator withstands this impact for a long time, it will increase the wear rate of its own parts, thereby affecting its service life. Therefore, it does not meet the existing needs, and we have proposed a flipping mechanism of the manipulator. Utility Model Content

[0005] The purpose of the present utility model is to provide a flipping mechanism of a manipulator to solve the problem raised in the above-mentioned background technology that when the flipping mechanism of the manipulator is needed to rotate the grasped object to a specific angle, an inertia will be generated. When the grasped object is rotated to the specific angle and the flipping mechanism stops the rotation operation, its inertia will not disappear. This inertia will have a certain impact on the flipping mechanism of the manipulator. If the flipping mechanism of the manipulator withstands this impact force for a long time, the wear rate of its own parts will increase, thereby affecting its service life.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solution: a flip mechanism of a manipulator, comprising a flip arm, a rotating head is installed on the front end surface of the flip arm, a horizontal bar cylinder is provided on one side of the rotating head, and a piston rod of the horizontal bar cylinder is connected to a gear row, and one side of the outer surface of the gear row is meshed with a gear, the axis of the gear is connected to a gear shaft, one side of the outer surface of the gear shaft is fixedly sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear, and a metal sleeve located on the outer side of the rear end of the rotating head is fixedly provided inside the second bevel gear, an arc block is fixedly provided on one side of the inner wall of the metal sleeve, a spring groove is provided inside the arc block, a damping spring is provided inside the spring groove, and a buffer block is connected to both sides of the outer surface of the damping spring, and a metal strip fixed to the outer surface of the rotating head is provided on one side of the damping spring, and the surface of the metal strip facing the nearest buffer block is in contact with the buffer block.

[0007] Preferably, a grabbing plate is fixedly mounted on the front end surface of the rotating head, and the rotating head and the grabbing plate are fixed by screws.

[0008] Preferably, the lower end surface of the gear row is slidably connected to the inside of the flip arm, the gear row and the piston rod on the horizontal bar cylinder are fixed by bolts, and the horizontal bar cylinder and the flip arm are electrically connected.

[0009] Preferably, both ends of the gear shaft are located inside the flip arm housing, and the gear shaft located inside the flip arm housing is connected to the flip arm via a roller bearing.

[0010] Preferably, the inner wall diameter of the metal sleeve is larger than the outer surface diameter of the rotating head located therein, and the front and rear end surfaces of the metal sleeve are connected to the flip arm via roller bearings.

[0011] Preferably, the buffer block is integrally made of rubber, and the buffer block is slidably connected to the arc block.

[0012] Preferably, a metal cover plate is provided above the metal sleeve and is located on the outer surface of the flip arm, and the flip arm and the metal cover plate are fixed by screws.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The utility model can rotate the metal sleeve located on the outer side of the rotating head through a horizontal-bar cylinder. When the metal sleeve rotates, the buffer block indirectly connected to it will revolve around the rotating head as the center. If it is necessary to rotate the grabbing disc and the object grabbed by the grabbing disc ninety degrees clockwise through the rotating head, the metal sleeve is first rotated eighty-eight degrees clockwise through the horizontal-bar cylinder. Then, when the grabbing disc is adjusted to a specific angle through the rotating head, the metal strip fixed to the outer surface of the rotating head will contact the buffer block whose position changes with the rotation of the metal sleeve. The damping spring connected to the buffer block can absorb the impact force borne by the metal strip itself. The above technical solution can reduce the impact force borne by the metal strip itself when the grasped object is rotated by the rotating head, thereby improving the service life of the equipment.

[0015] 2. In the present invention, the diameter of the inner wall of the metal sleeve is larger than the diameter of the outer surface of the rotating head located inside the metal sleeve. This structure can prevent the force of the rotating head from acting on the metal sleeve during rotation, thereby causing the position of the metal sleeve and the buffer block indirectly connected thereto to change, and ultimately causing the rotating head to be unable to contact the buffer block when it rotates to the corresponding angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a top view of the internal structure of the utility model;

[0018] Figure 3 For this utility model Figure 2 A magnified view of the structure at point A;

[0019] Figure 4 It is a side view of the internal structure between the rotating head and the metal sleeve in the utility model.

[0020] In the figure: 1. Flip arm; 2. Rotating head; 3. Horizontal bar cylinder; 4. Gear row; 5. Gear; 6. Gear shaft; 7. First bevel gear; 8. Second bevel gear; 9. Metal sleeve; 10. Arc block; 11. Spring slot; 12. Damping spring; 13. Buffer block; 14. Metal bar; 15. Grab plate. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] The flip arm 1 (model QD), horizontal bar cylinder 3 (model HLQ8) and first bevel gear 7 (model M08) mentioned in the present invention can be purchased from the market or obtained through private customization.

[0023] See also Figures 1 to 4 The utility model provides an embodiment of a flip mechanism of a manipulator, comprising a flip arm 1, a rotating head 2 is installed on the front end surface of the flip arm 1, a horizontal bar cylinder 3 fixedly installed inside the flip arm 1 is provided on one side of the rotating head 2, the piston rod of the horizontal bar cylinder 3 is connected with a gear row 4, one side of the outer surface of the gear row 4 is meshed with a gear 5, the axis of the gear 5 is connected with a gear shaft 6, one side of the outer surface of the gear shaft 6 is fixedly sleeved with a first bevel gear 7, the first bevel gear 7 is meshed with a second bevel gear 8, the inside of the second bevel gear 8 is fixedly provided with a metal sleeve 9 located on the outside of the rear end of the rotating head 2, an arc block 10 is fixedly provided on one side of the inner wall of the metal sleeve 9, a spring groove 11 is provided inside the arc block 10, a damping spring 12 is provided inside the spring groove 11, the damping spring 12 has a A buffer block 13 is connected to both sides of the surface, and a metal strip 14 is provided on one side of the damping spring 12, and the surface of the metal strip 14 facing the nearest buffer block 13 is in contact with the buffer block 13; when the gear row 4 is pushed by the horizontal cylinder 3, the gear 5 meshing with the gear row 4 will rotate accordingly, and when the gear 5 rotates, the gear shaft 6 connected to the axis of the gear 5 and the first bevel gear 7 fixedly sleeved on the outer surface of the gear shaft 6 will rotate together, and the rotating first bevel gear 7 can drive the second bevel gear 8 meshing with it and the metal sleeve 9 fixed to the inner wall of the second bevel gear 8 to rotate synchronously. When the metal sleeve 9 rotates, the position of the buffer block 13 slidingly connected to the arc block 10 fixed on the inner wall of the metal sleeve 9 will change accordingly;

[0024] A grabbing disc 15 is fixedly mounted on the front end surface of the rotating head 2, and the rotating head 2 and the grabbing disc 15 are fixed by screws; if it is necessary to rotate the grabbing disc 15 and the object grabbed by the grabbing disc 15 ninety degrees clockwise by the rotating head 2, first rotate the metal sleeve 9 eighty-eight degrees clockwise by the horizontal cylinder 3, and then when the grabbing disc 15 is adjusted to a specific angle by the rotating head 2, the metal strip 14 fixed to the outer surface of the rotating head 2 will contact the buffer block 13 whose position changes with the rotation of the metal sleeve 9, and the damping spring 12 connected to the buffer block 13 can absorb the impact force borne by the metal strip 14 itself. Through the above technical solution, the impact force borne by the metal strip 14 itself when the grasped object is rotated by the rotating head 2 can be reduced, thereby improving the service life of the equipment;

[0025] After the rotating head 2 has stopped rotating, the metal sleeve 9 is pushed to rotate two degrees clockwise by the horizontal cylinder 3, so that the metal strip 14 and the buffer block 13 connected thereto are adjusted to be in contact with each other. Thereafter, when the grabbing plate 15 and the object on the grabbing plate 15 need to be rotated clockwise by the rotating head 2, the buffer block 13 is adjusted to the position where the rotating head 2 is about to rotate minus two degrees by the horizontal cylinder 3, so as to ensure that the two can contact each other.

[0026] The lower end surface of the gear row 4 is slidingly connected to the inside of the flip arm 1, the gear row 4 and the piston rod on the horizontal bar cylinder 3 are fixed by bolts, and the horizontal bar cylinder 3 and the flip arm 1 are electrically connected; through the sliding connection structure between the flip arm 1 and the gear row 4, the stability of the gear row 4 can be ensured, and since the horizontal bar cylinder 3 and the flip arm 1 are electrically connected, the horizontal bar cylinder 3 can be controlled together by the control system that controls the flip arm 1.

[0027] Both ends of the gear shaft 6 are located inside the outer shell of the flip arm 1, and the gear shaft 6 located inside the outer shell of the flip arm 1 is connected to the flip arm 1 through a roller bearing; the gear shaft 6 can be supported by the roller bearing structure between the flip arm 1 and the gear shaft 6.

[0028] The inner wall diameter of the metal sleeve 9 is larger than the diameter of the outer surface of the rotating head 2 located inside it, and the front and rear end faces of the metal sleeve 9 are connected to the flip arm 1 through roller bearings; the inner wall diameter of the metal sleeve 9 is larger than the diameter of the outer surface of the rotating head 2 located inside the metal sleeve 9. This structure can prevent the force of the rotating head 2 from acting on the metal sleeve 9 during rotation, thereby causing the position of the metal sleeve 9 and the buffer block 13 indirectly connected to it to change, and ultimately causing the rotating head 2 to be unable to contact the buffer block 13 when it rotates to the corresponding angle.

[0029] The buffer block 13 is made of rubber as a whole, and the buffer block 13 is slidingly connected to the arc block 10; the buffer block 13 made of rubber can prevent the metal bar 14 from being hard damaged when the metal bar 14 collides with the buffer block 13.

[0030] A metal cover is provided above the metal sleeve 9 and is located on the outer surface of the flip arm 1, and the flip arm 1 and the metal cover are fixed by screws; the metal cover can protect the internal structure of the flip arm 1, and when the internal structure of the flip arm 1 fails, the metal cover can be removed to repair the internal structure of the flip arm 1.

[0031] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A turning mechanism of a manipulator, comprising a turning arm (1), characterized in that: The front end surface of the flip arm (1) is provided with a rotating head (2), one side of the rotating head (2) is provided with a horizontal bar cylinder (3) fixedly installed inside the flip arm (1), the piston rod of the horizontal bar cylinder (3) is connected with a gear row (4), one side of the outer surface of the gear row (4) is meshed with a gear (5), the axis of the gear (5) is connected with a gear shaft (6), one side of the outer surface of the gear shaft (6) is fixedly provided with a first bevel gear (7), the first bevel gear (7) is meshed with a second bevel gear (8), the interior of the second bevel gear (8) is fixedly provided with a gear (5). A metal sleeve (9) is located outside the rear end of the rotating head (2), an arc block (10) is fixedly provided on one side of the inner wall of the metal sleeve (9), a spring groove (11) is provided inside the arc block (10), a damping spring (12) is provided inside the spring groove (11), both sides of the outer surface of the damping spring (12) are connected to a buffer block (13), a metal strip (14) fixed to the outer surface of the rotating head (2) is provided on one side of the damping spring (12), and the surface of the metal strip (14) facing the nearest buffer block (13) is in contact with the buffer block (13).

2. The turning mechanism of a robot according to claim 1, characterized in that: A grabbing disc (15) is fixedly mounted on the front end surface of the rotating head (2), and the rotating head (2) and the grabbing disc (15) are fixed via screws.

3. The turning mechanism of a robot according to claim 1, characterized in that: The lower end surface of the tooth row (4) is slidably connected to the interior of the flip arm (1), the tooth row (4) and the piston rod on the horizontal bar cylinder (3) are fixed by bolts, and the horizontal bar cylinder (3) and the flip arm (1) are electrically connected.

4. The turning mechanism of a robot according to claim 1, characterized in that: Both ends of the gear shaft (6) are located inside the outer shell of the flip arm (1), and the gear shaft (6) located inside the outer shell of the flip arm (1) and the flip arm (1) are connected via roller bearings.

5. The turning mechanism of a robot according to claim 1, characterized in that: The inner wall diameter of the metal sleeve (9) is larger than the outer surface diameter of the rotating head (2) located therein, and the front and rear end surfaces of the metal sleeve (9) are connected to the flip arm (1) via roller bearings.

6. The turning mechanism of a robot according to claim 1, characterized in that: The buffer block (13) is integrally made of rubber, and the buffer block (13) is slidably connected to the arc block (10).

7. The turning mechanism of a robot according to claim 1, characterized in that: A metal cover plate is provided above the metal sleeve (9) and is located on the outer surface of the flip arm (1), and the flip arm (1) and the metal cover plate are fixed by screws.

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