Swing arm grabbing mechanism

Abstract

A swing arm grabbing mechanism belongs to the technical field of automatic grabbing equipment and comprises a swing arm mechanism, the swing arm mechanism comprises a large arm part and a small arm part, and the front end of the large arm part is connected with the rear end of the small arm part through a bearing assembly; the front end of the small arm part is fixedly connected with a clamping jaw; the rear end of the large arm part is rotationally arranged on the supporting seat; a connecting rod driving mechanism is arranged on the supporting seat to drive the large arm part to rotate by an angle; a transmission mechanism is arranged on the large arm part and drives the small arm part to rotate by an angle when the large arm part rotates, so that an object clamped by the clamping jaw is transferred to a point B from a point A appointed by an operator. The swing arm grabbing mechanism driven by the single motor is provided for solving the problems that due to the fact that an existing motor is too many in use, the cost is too large, and the later debugging difficulty is increased.

Description

Technical Field

[0001] The present application belongs to the technical field of automated gripping equipment, and in particular relates to a swing-arm gripping mechanism for horizontally gripping filling materials. Background Art

[0002] The applicant wanted to build an aerosol packaging line that would handle material handling, aluminum can aerosol nozzle installation, boxing, and case packing. However, the existing equipment was unable to meet the requirements for the aerosol packaging line, so a new aerosol nozzle retrieving mechanism was needed to accommodate the aluminum can nozzle installation.

[0003] In the patent application CN117864272A, an auxiliary AGV and its operating method suitable for bottled granule-based Chinese medicine pharmacies are installed on the top of the AGV body. The gripping device includes a vertically movable robotic arm with a gripper mounted on the actuator end of the arm. The robotic arm drives the gripper to move horizontally and flip it up and down. The applicant believes that the existing robotic arm requires multiple motors, which is costly and difficult to coordinate, increasing the complexity of software control. Utility Model Content

[0004] The purpose of the utility model is to provide a swing arm grabbing mechanism driven by a single motor to address the problems of excessive use of existing motors, resulting in excessive costs and increased difficulty in later debugging.

[0005] In order to achieve the above technical objectives, the following technical solution is provided: a swing arm grasping mechanism, comprising a swing arm mechanism, the swing arm mechanism comprising a large arm portion and a small arm portion, the front end of the large arm portion and the rear end of the small arm portion being connected by a bearing assembly; the front end of the small arm portion being fixedly connected to a claw; the rear end of the large arm portion being rotatably disposed on a support seat;

[0006] A connecting rod drive mechanism is provided on the support seat to drive the upper arm to rotate an angle; a transmission mechanism is provided on the upper arm, which drives the lower arm to rotate an angle when the upper arm rotates, so that the object clamped by the claw is transferred from point A specified by the operator to point B.

[0007] In an practicable manner, the support base is fixed on the equipment fixing frame.

[0008] In an practicable manner, the driving mechanism includes a reduction motor fixed to the upper end of the support base,

[0009] The output shaft of the reduction motor is connected to the fixed end of the fixed frame, and the swing arm end of the fixed frame is rotatably connected to a connecting rod rotatably connected to the large arm part;

[0010] When the reduction motor is working, it drives the fixed frame to rotate, and the fixed frame drives the large arm part connected by the connecting rod to rotate.

[0011] In an operative manner, the bearing assembly includes a bearing member embedded in the front end of the arm portion.

[0012] A first shaft is located in the bearing component and passes through the large arm portion. The small arm portion is fixed to the left end of the first shaft, and the right end is fixedly connected to the transmission mechanism.

[0013] In an operative embodiment, the rear end of the upper arm is connected to the support seat via a rotating shaft component, which includes a second shaft. The right end of the second shaft is provided with a bearing seat, and the left end is fixedly connected to the upper arm; the second shaft is connected to the transmission mechanism bearing.

[0014] In an practicable manner, the transmission mechanism includes a fixed synchronous pulley provided on the first shaft, a rotating synchronous pulley provided on the second shaft, and a synchronous belt provided on the fixed synchronous pulley and the rotating synchronous pulley.

[0015] In an operative embodiment, the clamping claw includes a connecting block fixed to the left end of the first shaft, a cylinder fixed to the connecting block, and a pair of clamping plates fixed to the cylinder.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This application adopts a motor and realizes precise linkage of the front end arm by setting a transmission mechanism on a connecting arm, which saves the use of the motor and greatly reduces the cost of the equipment and the difficulty of adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 1 swing arm mechanism, 2 bearing assembly, 3 support seat, 4 connecting rod drive mechanism, 5 claw, 6 transmission mechanism,

[0019] 11 big arm, 12 small arm, 31 equipment fixing frame, 41 reduction motor, 42 fixing frame, 43 connecting rod, 51 connecting block, 52 cylinder, 53 air claw splint, 61 fixed synchronous pulley, 62 rotating synchronous pulley, 63 synchronous belt,

[0020] 111 bearing, 112 first shaft, 113 second shaft, 114 bearing seat,

[0021] Figure 1 It is a structural diagram of this embodiment;

[0022] Figure 2 It is a schematic diagram of the explosion structure of this embodiment. DETAILED DESCRIPTION

[0023] like Figure 1 and Figure 2The embodiment shown is a swing arm grasping mechanism, including a swing arm mechanism 1, which includes a large arm portion 11 and a small arm portion 12, wherein the front end of the large arm portion 11 and the rear end of the small arm portion 12 are connected by a bearing assembly 2; the front end of the small arm portion 12 is fixedly connected to a claw 5.

[0024] In this embodiment, the bearing assembly 2 includes a bearing member 111 embedded in the front end of the upper arm portion 11, a first shaft 112 located in the bearing member 111 and passing through the upper arm portion 11, the left end of the first shaft 112 is fixed with the lower arm portion 12, and the right side is fixedly connected to the transmission mechanism 6.

[0025] In this embodiment, the rear end of the boom 11 is pivotally mounted on the support base 3. This connection is via a rotating shaft assembly comprising a second shaft 113. Second shaft 113 extends through the support base 3, with a bearing seat 114 positioned at its right end and a fixed connection to the boom 11 at its left end. Second shaft 113 is connected to a bearing of the transmission mechanism 6. The support base 3 is secured to a device mounting bracket 31, which can be bolted to any conveying equipment.

[0026] In this embodiment, to enable the boom portion 11 to rotate upward, a connecting rod drive mechanism 4 is provided on the support base 3 to drive the boom portion 11 to rotate through an angle. The drive mechanism 4 includes a reduction motor 41 fixed to the upper end of the support base 3. The output shaft of the reduction motor 41 passes through the support base 3 and is connected to the fixed end of a fixing bracket 42. The swing arm end of the fixing bracket 42 is rotatably connected to a connecting rod 43 that is rotatably connected to the boom portion 11. When the reduction motor 41 is in operation, it drives the fixing bracket 42 to rotate, and the fixing bracket 42 rotates the boom portion 11 connected thereto via the connecting rod 43.

[0027] In this embodiment, in order to allow the small arm part 12 to rotate and replace the function of the motor in the prior art, the present application provides a transmission mechanism 6 on the upper arm part 11. The transmission mechanism 6 can drive the small arm part 12 to rotate an angle when the upper arm part 11 rotates, so that the object clamped by the claw 5 is transferred from point A specified by the operator to point B.

[0028] In this embodiment, the transmission mechanism 6 includes a fixed synchronous pulley 61 provided on the first shaft 112 , a rotating synchronous pulley 62 provided on the second shaft 113 , and a synchronous belt 63 provided on the fixed synchronous pulley 61 and the rotating synchronous pulley 62 .

[0029] In this embodiment, the claw 5 includes a connecting block 51 fixed to the left end of the first shaft 112, a cylinder 52 fixed to the connecting block 51, and a pair of claw clamps 53 fixed to the cylinder 52. The opening and closing of the pair of claw clamps 53 are achieved by the extension and contraction of the cylinder 52.

[0030] In this embodiment, in order to control the rotation angle of the upper arm 11, a photoelectric limit system is provided. That is, when the upper arm 11 rotates to a specified position, the photoelectric switch is triggered and the controller stops the reduction motor 41 from rotating.

[0031] In the present application, the upper arm portion 11 rotates upward and the lower arm portion 12 begins to be lifted upward. During this process, because the weight of the claw 5 is large, the claw 5 of the lower arm portion 12 rotates downward. At this time, the first shaft 112 rotates counterclockwise, and the fixed synchronous pulley 61 fixed on the first shaft 112 also rotates counterclockwise. At this time, the lower rotating synchronous pulley 62 starts to rotate driven by the synchronous belt 63. The transmission mechanism 6 is set to control the rotation angle and the pause angle of the lower arm portion 12 to achieve precise positioning, and to prevent the lower arm portion 11 from being in a swinging state when the upper arm portion 11 reaches the specified position.

[0032] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

[0033] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this patent application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0035] In this specification, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this specification based on specific circumstances.

[0036] In this specification, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0038] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A swing arm grasping mechanism, comprising a swing arm mechanism (1), characterized in that: The swing arm mechanism (1) comprises a large arm portion (11) and a small arm portion (12), wherein the front end of the large arm portion (11) and the rear end of the small arm portion (12) are connected via a bearing assembly (2); the front end of the small arm portion (12) is fixedly connected to a claw (5); The rear end of the large arm portion (11) is rotatably mounted on the support seat (3); The support seat (3) is provided with a connecting rod driving mechanism (4) for driving the upper arm portion (11) to rotate at an angle; the upper arm portion (11) is provided with a transmission mechanism (6), and the transmission mechanism (6) drives the lower arm portion (12) to rotate at an angle when the upper arm portion (11) rotates, so that the object clamped by the clamping claw (5) is transferred from point A specified by the operator to point B.

2. The swing arm grabbing mechanism according to claim 1, characterized in that: The support seat (3) is fixed on the equipment fixing frame (31).

3. The swing arm grabbing mechanism according to claim 1 or 2, characterized in that: The driving mechanism (4) includes a reduction motor (41) fixed to the upper end of the support seat (3), The output shaft of the reduction motor (41) is connected to the fixed end of the fixing frame (42), and the swing arm end of the fixing frame (42) is rotatably connected to a connecting rod (43) rotatably connected to the large arm portion (11); When the reduction motor (41) is in operation, it drives the fixing frame (42) to rotate, and the fixing frame (42) drives the large arm portion (11) connected via the connecting rod (43) to rotate.

4. The swing arm grabbing mechanism according to claim 3, characterized in that: The bearing assembly (2) comprises a bearing member (111) embedded in the front end of the large arm portion (11). A first shaft (112) is located in the bearing member (111) and passes through the large arm portion (11). The small arm portion (12) is fixed to the left end of the first shaft (112), and the right end is fixedly connected to the transmission mechanism (6).

5. The swing arm grabbing mechanism according to claim 4, characterized in that: The rear end of the large arm portion (11) is connected to the support seat (3) via a rotating shaft component, and the rotating shaft component includes a second shaft (113). The right end of the second shaft (113) is provided with a bearing seat (114), and the left end is fixedly connected to the large arm portion (11); the second shaft (113) is connected to the transmission mechanism (6) by a bearing.

6. The swing arm grabbing mechanism according to claim 5, characterized in that: The transmission mechanism (6) includes a fixed synchronous pulley (61) arranged on the first shaft (112), a rotating synchronous pulley (62) arranged on the second shaft (113), and a synchronous belt (63) arranged on the fixed synchronous pulley (61) and the rotating synchronous pulley (62).

7. The swing arm grabbing mechanism according to claim 6, characterized in that: The clamping claw (5) includes a connecting block (51) fixed to the left end of the first shaft (112), a cylinder (52) fixed on the connecting block (51), and a pair of air claw clamps (53) fixed on the cylinder (52).

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