Rotating device of carrying manipulator
By using an internal and external rotating shaft structure and a servo motor drive, the problem of low reducer life in automated sheet metal production has been solved, achieving efficient and low-cost multi-directional conversion and precise positioning, thus extending the service life of the device and the durability of the cables.
Patent Information
- Application Number
- CN202520340064.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-02-28
AI Technical Summary
In the existing technology, during the automated production of sheet metal parts, the lifespan of the reducer is reduced because it has to bear the weight of the end effector and the sheet metal, resulting in increased costs and low production efficiency.
It adopts an internal and external rotating shaft structure, with the support plate bearing the weight of the end effector and the reducer only bearing the torque effect. Combined with the servo motor drive, it realizes multi-directional conversion, and the stability and accuracy of the device are improved by the connection of the expansion sleeve.
It improves the service life of the speed reducer, reduces production costs, enhances production efficiency and positioning accuracy, and extends the service life of the servo motor and cables.
Smart Images
Figure CN223917990U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to sheet metal automatic production technical field, especially a kind of rotating device of handling manipulator. BACKGROUND
[0002] With the rapid development of automobile industry, the automation production level of sheet metal parts is required higher and higher. In the process of sheet metal parts automation production, it is necessary to use automatic equipment to carry sheet metal parts from the first position to the second position. The placement direction of sheet metal parts at the first position and the second position is often inconsistent, and it is necessary to adjust the placement direction of sheet metal parts. If the adjustment is not in place, it is easy to cause inaccurate feeding and affect the yield.
[0003] The prior art changes the placement direction of the sheet by driving the end picker to rotate with the driving device. With the increasing size of the workpiece, especially the appearance of double door ring, the weight of the sheet is also increased. The output end of the speed reducer used in the prior art is directly connected with the end picker through the shaft. The problem is that the speed reducer needs to bear the weight of the end picker and the sheet. In the working process, the speed reducer will be affected by torque and bending moment, which will greatly reduce the service life of the speed reducer, increase the cost and affect the production. To solve the above problems, the utility model provides a handling mechanical rotating device, which can improve the working life of the speed reducer and realize the rotating carrying function of sheet metal parts with the handling manipulator. SUMMARY
[0004] The utility model is just to overcome the above-mentioned prior art existing shortcoming, provide a kind of handling manipulator rotating device. The utility model is arranged with inner and outer rotating shafts in the driving part, the outer rotating shaft is connected with the support plate in the support part, the inner rotating shaft is connected with the end picker, the inner and outer rotating shafts are connected through bearing, so that the support plate bears the weight of the end picker, the speed reducer only bears the influence of torque, which greatly improves the service life of the speed reducer. The servo motor is used to drive the speed reducer to rotate, which can realize the conversion of the sheet in the logistics direction in the feeding operation process, effectively solve the efficiency and cost problems caused by the different directions of the sheet, and reduce the input cost.
[0005] The utility model solves the technical scheme adopted for its technical problems:
[0006] A kind of handling manipulator rotating device, including support part, driving part, end picker, the driving part is connected with support part, the driving part is connected with end picker, the support part includes left connection component, right connection component, support plate, the left connection component, right connection component are connected with the shuttle arm of handling manipulator respectively by one quick-change tool disc, the left connection component is connected with support plate one end, right connection component is connected with support plate other end;
[0007] The driving part comprises a servo motor, a speed reducer, an outer rotating shaft, an inner rotating shaft, a compression nut and an expansion sleeve; the servo motor is connected with the speed reducer; the inner rotating shaft is connected with the outer rotating shaft; the speed reducer is connected with the outer rotating shaft through the support plate; the outer rotating shaft is fixed at the bottom of the support plate; the end pickup is connected with the support plate through the inner rotating shaft and the outer rotating shaft.
[0008] First and second bearings are arranged at the upper and lower ends of the inner hole of the outer rotating shaft; the inner rotating shaft is connected with the outer rotating shaft through the second bearing and the first bearing.
[0009] A motor baffle and a cable support are arranged on the support plate; a cable groove is arranged on the cable support.
[0010] The left connecting assembly is connected with one end of the support plate through a bearing seat assembly one; the right connecting assembly is connected with the other end of the support plate through a bearing seat assembly two.
[0011] An outer thread is arranged at the end of the inner rotating shaft; the compression nut is threadedly connected with the end of the inner rotating shaft.
[0012] Two expansion sleeves are arranged in the inner hole of the inner rotating shaft; an expansion sleeve bolt is arranged at the bottom of the inner rotating shaft; the output end of the speed reducer is connected with the inner rotating shaft through the two expansion sleeves; the expansion sleeve bolt is connected with the expansion sleeves.
[0013] The bearing seat assembly one comprises two first bearing seats, a first rotating shaft, third bearings and a limiting pad; the two first bearing seats are connected with the left connecting assembly through bolt assemblies; the two first bearing seats are internally provided with the third bearings; the first rotating shaft is connected with the inner holes of the third bearings at two ends; the limiting pad is arranged on the support plate; the first rotating shaft is fixed at one end of the support plate through the limiting pad and the bolt assemblies.
[0014] The bearing seat assembly two comprises two second bearing seats, fourth bearings, a third bearing seat, a fifth bearing and a second rotating shaft; the fourth bearings are arranged in the holes of the second bearing seats; the second rotating shaft is connected with the inner holes of one of the fourth bearings at two ends; the third bearing seat is internally provided with the fifth bearing; the inner hole of the fifth bearing is connected with the second rotating shaft; the third bearing seat is fixed at the other end of the support plate; the second bearing seats are connected with the right connecting assembly through the bolt assemblies.
[0015] The bearing holes of the two second bearing seats are arranged in an elliptical structure; the fifth bearing is a spherical joint bearing.
[0016] The driving part of the utility model has the advantages of:
[0017] 1. The driving part of the utility model comprises inner and outer rotating shafts; the outer rotating shaft is connected with the support plate in the support part; the inner rotating shaft is connected with the end pickup; the inner and outer rotating shafts are connected through bearings; the support plate bears the weight of the end pickup; the speed reducer only bears the influence of torque; and the service life of the speed reducer is greatly improved.
[0018] 2. This utility model uses a servo motor to drive the reducer to rotate, which can realize the conversion of the material sheet in multiple directions during the feeding process. It can effectively solve the efficiency and cost problems caused by different material sheet directions, reduce input costs, and has the advantages of strong applicability, accurate positioning, high degree of automation and high work efficiency.
[0019] 3. The reducer output end and the inner rotating shaft are connected by a shrink-fit sleeve, ensuring zero backlash between them. The clamping nut, by tightening the first bearing, prevents the inner rotating shaft from falling off, further enhancing safety and improving the feeding accuracy of the device during rotation. Furthermore, by adjusting the shrink-fit sleeve bolts from the bottom of the inner rotating shaft, a tight connection between the reducer output end and the inner rotating shaft can be achieved, facilitating easy assembly and disassembly.
[0020] 4. This utility model device automatically makes slight adjustments through the elliptical bearing hole in the second bearing seat and the spherical joint bearing in the third bearing seat, which increases the movement margin between the left and right support components, reduces the impact of errors in the support components on the rigid connection, eliminates the impact of the rigid connection of the left and right support components during operation, enhances the stability of the device operation, and increases the service life of the components and the device.
[0021] 5. During the bracket assembly, the motor baffle can effectively block the heat and light radiation effects of the high-temperature material sheet on the servo motor, thus extending the service life of the servo motor.
[0022] 6. The cable tray and cable bracket in the second bracket assembly can support, insulate against heat and prevent the cable from being torn, and effectively isolate heat radiation and light radiation, thus extending the service life of the cable.
[0023] 8. The limiting pad in the bearing housing assembly can limit the rotation angle of the two second bearing housings relative to the first rotating shaft, thus providing safety protection for the circuit. Attached Figure Description
[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:
[0025] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;
[0026] Figure 2 This is a schematic diagram of the end effector structure according to an embodiment of the present utility model;
[0027] Figure 3 This is a schematic diagram of the bracket assembly structure according to an embodiment of the present utility model;
[0028] Figure 4 This is a schematic diagram of the drive assembly structure according to an embodiment of the present utility model.Figure 1 ;
[0029] Figure 5 This is a schematic diagram of the drive assembly structure according to an embodiment of the present utility model. Figure 2 ;
[0030] Figure 6 This is a schematic diagram of the bearing housing assembly according to an embodiment of the present utility model. Figure 1 ;
[0031] Figure 7 Schematic diagram of the bearing housing assembly two in this embodiment of the utility model Figure 2 ;
[0032] Figure 8 This utility model provides a schematic diagram of the working mechanism of the handling robot when it rotates horizontally by 90°.
[0033] In the diagram, the components are: end effector 23, bracket assembly 24, drive assembly 25, left connecting assembly 26, right connecting assembly 27, bearing housing assembly 1 28, bearing housing assembly 29, support plate 30, motor baffle 31, cable bracket 32, cable trough 33, quick-change tool tray 34, servo motor 35, reducer 36, outer rotating shaft 37, first bearing 38, second bearing 39, inner rotating shaft 40, clamping nut 41, expansion sleeve 42, expansion sleeve bolt 43, first bearing housing 44, first rotating shaft 45, third bearing 46, limit pad 47, second bearing housing 48, fourth bearing 49, third bearing housing 50, fifth bearing 51, second rotating shaft 52, handling robot 53, press 54, column 55, and material sheet 56. Detailed Implementation
[0034] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.
[0035] like Figures 1-8 As shown, a rotating device for a handling robot includes a support assembly 24, a drive assembly 25, and an end effector 23. The drive assembly 25 is connected to the support assembly 24 and the end effector 23. The function of the support assembly 24 is to support and fix the drive assembly 25 and the end effector 23.
[0036] The bracket assembly 24 includes a left connecting component 26, a right connecting component 27, a bearing seat assembly 1 28, a bearing seat assembly 29, a support plate 30, a motor baffle 31, a cable bracket 32, and a cable trough 33; the left connecting component 26 and the right connecting component 27 are respectively connected to the shuttle arm of the handling robot through a quick-change tool tray 34.
[0037] The left connecting component 26 is connected to one end of the support plate 30 through the bearing seat assembly 28, and the right connecting component 27 is connected to the other end of the support plate 30 through the bearing seat assembly 29. The motor baffle 31 and the cable bracket 32 are fixed on the support plate 30, and the cable groove 33 is fixed on the cable bracket 32. The functions of the cable groove 33 and the cable bracket 32 are to support, insulate, and prevent the cable from being torn. They can effectively isolate heat radiation and light radiation and extend the cable life.
[0038] The drive assembly 25 includes a servo motor 35, a reducer 36, an outer shaft 37, a first bearing 38, a second bearing 39, an inner shaft 40, a clamping nut 41, and a tightening sleeve 42. The servo motor 35 is connected to the reducer 36, and the inner shaft 40 is connected to the outer shaft 37. The reducer 36 passes through the support plate 30 and is connected to the outer shaft 37. The outer shaft 37 is fixed to the bottom of the support plate 30. The end effector 23 is connected to the support plate 30 through the inner shaft 40 and the outer shaft 37. The function of the second bracket assembly 24 is to support and fix the second drive assembly 25 and the end effector 23.
[0039] The outer rotating shaft 37 has a first bearing 38 and a second bearing 39 at its upper and lower ends of the inner hole, respectively. The inner rotating shaft 40 passes through the second bearing 39 and the first bearing 38 in sequence and is connected to the outer rotating shaft 37.
[0040] The inner rotating shaft 40 has an external thread at its end, and the clamping nut 41 is threadedly engaged with the end of the inner rotating shaft 40. The function of the clamping nut 41 is to prevent the inner rotating shaft 40 from falling off by clamping the first bearing 38, thus providing a safety protection function.
[0041] The inner shaft 40 has two expansion sleeves 42 in its inner hole and expansion sleeve bolts 43 at its bottom. The output end of the reducer 36 is connected to the inner shaft 40 through the two expansion sleeves 42. The expansion sleeve bolts 43 cooperate with the expansion sleeves 42. By adjusting the expansion sleeve bolts 43 from the bottom of the inner shaft 40, the output end of the reducer 36 can be tightly connected to the inner shaft 40, which is convenient for disassembly and assembly. Moreover, through the connection method of the expansion sleeves, there is zero backlash between the output end of the reducer and the inner shaft, which improves the feeding accuracy of this device during rotation operation.
[0042] The bearing housing assembly 28 includes two first bearing housings 44, a first rotating shaft 45, a third bearing 46, and a limiting pad 47. The two first bearing housings 44 are respectively connected to the left connecting assembly 26 by bolt assemblies. The third bearing 46 is provided inside each of the two first bearing housings 44. The two ends of the first rotating shaft 45 are respectively connected to the inner holes of the third bearing 46. The limiting pad 47 is provided on the support plate 30. The first rotating shaft 45 is fixed to one end of the support plate 30 by the limiting pad 47 and the bolt assembly. The limiting pad 47 can limit the rotation angle of the two first bearing housings 44 relative to the first rotating shaft 45, which plays a safety protection role for the electrical circuit.
[0043] The bearing housing assembly 29 includes two second bearing housings 48, a fourth bearing 49, a third bearing housing 50, a fifth bearing 51, and a second rotating shaft 52. The fourth bearing 49 is installed in the hole of the second bearing housing 48. The two ends of the second rotating shaft 52 are respectively connected to the inner hole of one of the fourth bearings 49. The fifth bearing 51 is installed inside the third bearing housing 50. The inner hole of the fifth bearing 51 is connected to the second rotating shaft 52 in the middle. The third bearing housing 50 is fixed to the other end of the support plate 30. The second bearing housings 48 are respectively connected to the right connecting assembly 27 by bolt assemblies.
[0044] The bearing holes of the two second bearing seats 48 are set in an elliptical structure, and the fifth bearing 51 is a spherical plain bearing. The device of this utility model can automatically and slightly adjust through the elliptical bearing holes in the second bearing seat 48 and the spherical plain bearing in the third bearing seat 50, which can effectively eliminate the influence caused by the rigid connection of the left and right support components during operation and increase the service life of the parts and the device.
[0045] The main working principle of this utility model is as follows:
[0046] Taking a 90° horizontal rotation as an example, the handling robot 53 is fixed on two columns 55 on the loading side of the press 54. The handling robot 53 drives the end effector 23 to move directly above the material sheet 56. After the end effector 23 picks up the material sheet 56, the handling robot 53 drives the end effector 23 to move towards the press 54. During this process, the end effector 23 rotates 90° under the drive of the servo motor, causing the material sheet 56 to rotate 90° horizontally. The end effector 23 then places the material sheet 56 into the stamping position of the press 54.
[0047] In the description of this utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this utility model and do not require that this utility model be constructed or operated in a specific orientation, and therefore should not be construed as limiting this utility model. The terms "connected" and "linked" in this utility model should be interpreted broadly. For example, they can refer to a connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.
[0048] The above description represents the preferred embodiments of this utility model. The specific embodiments are provided only for a better understanding of the concept of this utility model. For those skilled in the art, several improvements or equivalent substitutions can be made based on the principles of this utility model, and these improvements or equivalent substitutions are also considered to fall within the protection scope of this utility model.
Claims
1. A rotating device for a handling robot, comprising a support assembly, a drive assembly, and an end effector, wherein the drive assembly is connected to the support assembly and the end effector, characterized in that, The bracket assembly includes a left connecting component, a right connecting component, and a support plate. The left connecting component and the right connecting component are respectively connected to the shuttle arm of the handling robot through a quick-change tool tray. The left connecting component is connected to one end of the support plate, and the right connecting component is connected to the other end of the support plate. The drive assembly includes a servo motor, a reducer, an outer rotating shaft, an inner rotating shaft, a clamping nut, and a shrink sleeve; the servo motor is connected to the reducer, the inner rotating shaft is connected to the outer rotating shaft, the reducer passes through the support plate and is connected to the outer rotating shaft, the outer rotating shaft is fixed to the bottom of the support plate, and the end effector is connected to the support plate through the inner rotating shaft and the outer rotating shaft.
2. The rotating device for the handling robot according to claim 1, characterized in that, The inner bore of the outer rotating shaft is provided with a first bearing and a second bearing at its upper and lower ends, respectively. The inner rotating shaft passes through the second bearing and the first bearing in sequence and is connected to the outer rotating shaft.
3. The rotating device for the handling robot according to claim 1, characterized in that, The support plate is equipped with a motor baffle and a cable bracket, and the cable bracket is fitted with a cable groove.
4. The rotating device for the handling robot according to claim 1, characterized in that, The left connecting component is connected to one end of the support plate via bearing seat assembly one, and the right connecting component is connected to the other end of the support plate via bearing seat assembly two.
5. The rotating device for the handling robot according to claim 1, characterized in that, The inner shaft end is provided with an external thread, and the clamping nut is threadedly engaged with the inner shaft end.
6. The rotating device for the handling robot according to claim 5, characterized in that, The inner hole of the inner rotating shaft is provided with two expansion sleeves, and the bottom of the inner rotating shaft is provided with expansion sleeve bolts. The output end of the reducer is connected to the inner rotating shaft through the two expansion sleeves, and the expansion sleeve bolts cooperate with the expansion sleeves.
7. The rotating device for the handling robot according to claim 4, characterized in that, The bearing housing assembly includes two first bearing housings, a first rotating shaft, a third bearing, and a limiting pad. The two first bearing housings are connected to the left connecting assembly by bolt assemblies. The two first bearing housings are each provided with a third bearing. The two ends of the first rotating shaft are respectively connected to the inner holes of the third bearings. The support plate is provided with a limiting pad. The first rotating shaft is fixed to one end of the support plate by the limiting pad and the bolt assembly.
8. The rotating device for the handling robot according to claim 4, characterized in that, The bearing housing assembly 2 includes two second bearing housings, a fourth bearing, a third bearing housing, a fifth bearing, and a second rotating shaft. The second bearing housing has a fourth bearing installed inside its hole. The two ends of the second rotating shaft are respectively connected to the inner hole of one of the fourth bearings. The third bearing housing has a fifth bearing installed inside its hole. The inner hole of the fifth bearing is connected to the second rotating shaft in the middle. The third bearing housing is fixed to the other end of the support plate. The second bearing housings are respectively connected to the right connecting assembly through bolt assemblies.
9. The rotating device for a handling robot according to claim 8, characterized in that, The bearing holes of the two second bearing seats are set in an elliptical structure, and the fifth bearing is a spherical plain bearing.