Manipulator rotating mechanism driven by worm gear and worm

Abstract

The utility model relates to the technical field of pneumatic manipulators, in particular to a manipulator rotating mechanism driven by a worm gear and a worm. Comprising a machine frame and a rotating device, the rotating device comprises a bearing seat, a spline sleeve, a bearing, a spacer ring, a clamping spring, a spline rod, a positioning plate, a pneumatic clamping jaw, a worm gear, a worm frame, a transmission worm, a servo motor, a descending assembly and a guide assembly, and during work, the descending assembly acts to drive the spline rod to vertically slide in the spline sleeve, so that vertical height adjustment of the pneumatic clamping jaw can be achieved; furthermore, the servo motor can drive the transmission worm to rotate forwards and backwards after acting, the transmission worm rotates to drive the worm gear to rotate, and the worm gear rotates to drive the spline housing to rotate, so that rotation of the spline rod is achieved, rotation of the pneumatic clamping jaw can be achieved finally, and angle adjustment can be conducted when a product is clamped or placed. And therefore, the problems that an existing pneumatic manipulator is difficult to adjust the angle after the workpiece is clamped and is inconvenient to use can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pneumatic manipulator technical field especially relates to a mechanical hand rotating mechanism of worm gear drive. BACKGROUND

[0002] Pneumatic manipulator is one kind of automation equipment commonly used in current industrial automation control, at present, in automation production, generally need to use manipulator to take and place workpiece, and the current manipulator is generally complex structure, high manufacturing cost, easy to damage, high maintenance cost.

[0003] Through the search, prior art CN204603927U discloses a kind of pneumatic manipulator, it includes a mounting plate, a cylinder, a slider, a slide rail, a connecting plate, two first driving arms and two second driving arms, cylinder is set on the surface of mounting plate, slider is fixed on the piston rod of cylinder, slider is slidably set on slide rail, slide rail extends along the length direction of the piston rod of cylinder, connecting plate is fixed with slider, one end of two first driving arms is hingedly connected with connecting plate, two second driving arms are L-shaped, one end of two second driving arms is respectively hingedly connected with the other end of two first driving arms, the corner of two second driving arms is hingedly connected with mounting plate, the other end of two second driving arms is respectively extended outside mounting plate and is fixed with a rubber chuck, two first driving arms and two second driving arms are symmetrically arranged relative to slide rail.The utility model has simple structure and low manufacturing cost.

[0004] The above-mentioned pneumatic manipulator has the following problems in use: in actual production, the workpiece clamped sometimes needs to be adjusted in angle, and the workpiece clamped in the above-mentioned prior art cannot be adjusted in angle, so that the use has great limitation, causing inconvenience. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of mechanical hand rotating mechanism of worm gear drive, to solve the problem that the existing pneumatic manipulator is difficult to adjust in angle after workpiece clamping, inconvenient to use.

[0006] To achieve the above-mentioned purpose, the utility model provides a kind of mechanical hand rotating mechanism of worm gear drive, including rack, further including rotating device;

[0007] The rotating device comprises a bearing seat, a spline sleeve, a bearing, a spacer ring, a snap spring, a spline rod, a positioning plate, a pneumatic clamping jaw, a worm wheel, a worm gear frame, a transmission worm, a servo motor, a descending assembly and a guide assembly, the bearing seat is detachably connected with the rack and located at one side of the top of the rack, the spline sleeve is installed on the bearing seat through the bearing, the spacer ring is arranged between the spline sleeve and the bottom inner ring of the bearing and is sleeved on the spline sleeve in sliding mode, the snap spring is installed on the spline sleeve and abuts against the upper inner ring end face of the bearing, the spline rod is in sliding connection with the spline sleeve and penetrates through the spline sleeve, the positioning plate is fixed at the bottom of the spline rod, the pneumatic clamping jaw is fixed at the bottom of the positioning plate, the worm wheel is fixed at the top of the spline sleeve, the worm gear frame is fixedly connected with the rack and located at the side of the rack close to the worm wheel, the transmission worm is rotatably installed on the worm gear frame and is in mesh with the worm wheel, the servo motor is fixedly connected with the worm gear frame, the output shaft of the servo motor is connected with the top connecting shaft of the transmission worm through a shaft coupling and located at the top of the worm gear frame, the descending assembly is arranged at the side of the rack close to the top end of the spline rod, and the guide assembly is arranged at one side of the descending assembly.

[0008] The pneumatic clamping jaw is a pneumatic finger air cylinder.

[0009] The descending assembly comprises a mounting plate and a descending air cylinder, the mounting plate is rotatably connected with the top end of the spline rod and located at the top of the spline rod, and the descending air cylinder is fixedly connected with the rack and connected with the end of the mounting plate away from the spline rod.

[0010] The guide assembly comprises a T-shaped linear sliding bearing and a guide rod, the T-shaped linear sliding bearing is fixedly connected with the rack and located at the side of the rack close to the descending air cylinder, and the guide rod is in screw connection with the mounting plate and in sliding fit with the T-shaped linear sliding bearing.

[0011] The worm wheel and worm drive mechanical hand rotating mechanism further comprises an isolation device, the isolation device comprises a first isolation cover and a second isolation cover, the first isolation cover is fixed at one side of the top of the rack, and the second isolation cover is symmetrically arranged with the first isolation cover and fixed at the top of the rack close to the side of the first isolation cover.

[0012] The utility model discloses a mechanical hand rotating mechanism of worm gear drive, when working, the downlink subassembly action drives the vertical sliding of key rod in key sleeve, thereby can realize the vertical height adjustment of pneumatic clamp jaw, further, servo motor action can drive transmission worm positive and negative rotation, transmission worm rotation will drive worm rotation, and worm rotation will drive key sleeve rotation, thereby realizes the rotation of key rod, finally can realize the rotation of pneumatic clamp jaw, and when the product is clamped or placed, can carry out angle adjustment, and then can solve the angle adjustment of the existing pneumatic manipulator after workpiece clamping, and the inconvenient use problem. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the embodiment of the present application or prior art, the following will briefly introduce the drawing needed to be used in the embodiment or prior art description.

[0014] Figure 1 It is the overall structure schematic diagram of the mechanical hand rotating mechanism of worm gear drive of the first embodiment of the utility model.

[0015] Figure 2 It is the structure schematic diagram of key sleeve of the first embodiment of the utility model.

[0016] Figure 3 It is the front view of key rod of the first embodiment of the utility model.

[0017] Figure 4 It is the overall structure schematic diagram of the mechanical hand rotating mechanism of worm gear drive of the second embodiment of the utility model.

[0018] In the drawing: 101 - rack, 102 - bearing seat, 103 - key sleeve, 104 - bearing, 105 - spacer ring, 106 - snap spring, 107 - key rod, 108 - positioning plate, 109 - pneumatic clamp jaw, 110 - worm, 111 - worm gear frame, 112 - transmission worm, 113 - servo motor, 114 - mounting plate, 115 - downlink cylinder, 116 - guide rod, 117 - T-shaped linear sliding bearing, 201 - first isolation cover, 202 - second isolation cover. DETAILED DESCRIPTION

[0019] The embodiments of the utility model are described in detail below, the example of the embodiment is shown in the drawing, the embodiment described below by referring to the drawing is exemplary, and it is used to explain the utility model, and can not be understood as the limitation of the utility model.

[0020] Embodiment one:

[0021] As Figures 1 to 2 Shown, wherein Figure 1 It is the overall structure schematic diagram of the mechanical hand rotating mechanism of worm gear drive,Figure 2 is a structural diagram of the spline sleeve 103, Figure 3 The utility model provides a mechanical hand rotating mechanism of worm gear drive: including frame 101 and rotating device, the rotating device includes bearing seat 102, spline sleeve 103, bearing 104, spacer ring 105, clasp spring 106, spline rod 107, positioning plate 108, pneumatic clamping jaw 109, worm wheel 110, worm rack 111, transmission worm 112, servo motor 113, downlink assembly and guide assembly, the downlink assembly includes mounting plate 114 and downlink pneumatic cylinder 115, the guide assembly includes T shape linear sliding bearing 117 and guide rod 116, through preceding scheme can solve the problem that the existing pneumatic mechanical hand is difficult to carry out angle adjustment after workpiece clamping, inconvenient to use, can understand, preceding scheme can realize the angle adjustment when product clamping or placing.

[0022] In the embodiment, the frame 101 can be fixed by positioning pins and bolts.

[0023] The bearing seat 102 is detachably connected with the rack 101 and located at one side of the top of the rack 101, the spline sleeve 103 is installed on the bearing seat 102 through the bearing 104, the spacer ring 105 is arranged between the spline sleeve 103 and the bottom inner ring of the bearing 104 and sleeved on the spline sleeve 103, the clamping spring 106 is installed on the spline sleeve 103 and abuts against the upper inner ring end face of the bearing 104, the spline rod 107 is in sliding connection with the spline sleeve 103 and penetrates through the spline sleeve 103, the positioning plate 108 is fixed at the bottom of the spline rod 107, the pneumatic clamping jaw 109 is fixed at the bottom of the positioning plate 108, the worm wheel 110 is fixed at the top of the spline sleeve 103, the worm gear frame 111 is fixedly connected with the rack 101 and located at the side of the rack 101 close to the worm wheel 110, the transmission worm 112 is rotatably installed on the worm gear frame 111 and in mesh with the worm wheel 110, the servo motor 113 is fixedly connected with the worm gear frame 111, the output shaft of the servo motor 113 is connected with the top connecting shaft of the transmission worm 112 through a shaft coupling and located at the top of the worm gear frame 111, the downward assembly is arranged at the side of the rack 101 close to the top end of the spline rod 107, and the guide assembly is arranged at one side of the downward assembly. The bearing seat 102 is fixed on the rack 101 through positioning pins and bolts, the bearing seat 102 is internally provided with an installation cavity for installing the bearing 104, and a detachable gland is arranged at the top of the bearing seat 102 and used for abutting and limiting the outer ring on the top side of the bearing 104 after installation. The spline sleeve 103 is first sleeved with the spacer ring 105 during installation, the spacer ring 105 is abutted and limited by the limiting step at the bottom of the spline sleeve 103, then the spline sleeve 103 is penetrated through the bearing 104 from bottom to top, finally, the clamping spring 106 is installed in the clamping spring groove of the spline sleeve 103, and the clamping spring 106 is abutted against the outer side of the inner ring on the top side of the bearing 104 after installation, so that the installation of the spline sleeve 103 is completed, and the gland is fixed on the spline sleeve 103 through bolts after installation. The spline cavity in the spline sleeve 103 is directly used for vertical sliding of the spline rod 107. The positioning plate 108 is fixed on the bottom end of the spline rod 107 through a plurality of annularly arranged countersunk head bolts, the pneumatic clamping jaw 109 is fixed on the positioning plate 108 through bolts and supplied with gas through a movable air pipe, the spline sleeve 103 is provided with a key groove on the top stepped portion, a flat key is installed in the key groove, the installation of the worm wheel 110 is facilitated, a penetrating key groove is arranged in the inner cavity of the worm wheel 110, and the worm wheel 110 is limited by the slightly smaller clamping spring 106 arranged at the top after installation.The worm frame 111 is fixed by positioning pin and bolt arranged from bottom to top, three clamping and dismounting support arms are vertically arranged on the left side, the top support arm is fixed with the servo motor 113 through bolt, the servo motor 113 is provided with brake mechanism and encoder, which is convenient for stopping lock shaft and rotation angle control, and is electrically connected with external mobile numerical control cabinet through working cable, the output shaft of the servo motor 113 is connected with the top connecting shaft of the transmission worm 112 through shaft coupling to realize transmission, the two sides of the transmission worm 112 are installed with stepped shafts which are installed on the two support arms below the worm frame 111 through rotating bearing and are in meshing transmission with the worm wheel 110. The downward assembly is used for driving the vertical sliding of the spline rod 107, and the guide assembly is used for improving the vertical sliding stability of the spline rod 107. The transmission worm 112 and the worm wheel 110 adopt low-speed transmission, the bearing 104 is provided with dust cover on both sides, and is filled with lubricating grease for lubrication.

[0024] Secondly, the pneumatic clamping jaw 109 is a pneumatic finger cylinder. The pneumatic clamping jaw 109 can directly adopt the pneumatic finger cylinder in the prior art to realize clamping of the workpiece, for example, the parallel finger cylinder of the MH22 series of the SMC company in the prior art, and meanwhile, the pneumatic clamping jaw 109 can also adopt other forms of pneumatic finger cylinder in the prior art, which is not limited herein.

[0025] Then, the mounting plate 114 is rotationally connected with the top end of the spline rod 107 and is located on the top of the spline rod 107, and the downward cylinder 115 is fixedly connected with the rack 101 and is connected with the end of the mounting plate 114 away from the spline rod 107. The mounting plate 114 is provided with stepped mounting holes of rotating bearing on the side end close to the top of the spline rod 107, so that the top stepped end of the spline rod 107 is mounted on the mounting plate 114 through the rotating bearing, and after mounting, the top can be limited by the rotating bearing through the clamping spring 106 with a corresponding size, and the downward cylinder 115 is fixed on the rack 101 through bolt, and the output end is connected with the mounting plate 114 through bolt.

[0026] Finally, the T-shaped linear sliding bearing 117 is fixedly connected with the rack 101 and is located on the side of the rack 101 close to the downward cylinder 115, and the guide rod 116 is threadedly connected with the mounting plate 114 and is in sliding cooperation with the T-shaped linear sliding bearing 117. The fixing disc of the T-shaped linear sliding bearing 117 is fixed on the mounting part outside the matching hole of the rack 101 through bolt, the outer threaded end of the top of the guide rod 116 is directly matched with the threaded hole on the mounting plate 114 to realize mounting, and is in sliding cooperation with the T-shaped linear sliding bearing 117.

[0027] When using this invention to solve the problem of existing pneumatic manipulators being inconvenient to use due to difficulty in angle adjustment after workpiece clamping, during operation, the downward cylinder 115 is controlled to drive the spline rod 107 to slide vertically up and down within the spline sleeve 103, thereby enabling vertical height adjustment of the pneumatic gripper 109 and thus vertical position adjustment of the product. Furthermore, controlling the forward and reverse rotation of the servo motor 113 can drive the transmission worm gear 112 to rotate forward and reverse, and the rotation of the transmission worm gear 112 will drive the worm wheel 110 to rotate. The worm gear 110 rotates, which drives the spline sleeve 103 to rotate, thereby rotating the spline rod 107. Finally, the pneumatic gripper 109 can rotate, allowing the product to be adjusted in angle during clamping or placement. The rotation angle of the servo motor 113 can be set by its encoder, preventing the pneumatic gripper 109 from hitting the guide rod 116 and the downward cylinder 115 when rotating. This solves the problem of existing pneumatic manipulators being difficult to adjust in angle after workpiece clamping, resulting in inconvenience.

[0028] Example 2:

[0029] like Figure 4 As shown, where Figure 4 This is a schematic diagram of the overall structure of a worm gear driven robotic arm rotation mechanism. Based on the first embodiment, this utility model provides a worm gear driven robotic arm rotation mechanism, which further includes an isolation device, comprising a first isolation cover 201 and a second isolation cover 202.

[0030] The first isolation cover 201 is fixed to one side of the top of the frame 101; the second isolation cover 202 is symmetrically arranged with the first isolation cover 201 and fixed to the top of the frame 101 near the first isolation cover 201. The first isolation cover 201 and the second isolation cover 202 are respectively fixed by bolts arranged from bottom to top.

[0031] In this embodiment, by setting the first isolation cover 201 and the second isolation cover 202, a certain degree of isolation and protection can be provided for the periphery of the equipment.

[0032] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A worm drive mechanical hand rotating mechanism, comprising a frame, characterized in that: further comprising a rotating device; the rotating device comprises a bearing seat, a spline sleeve, a bearing, a spacer ring, a snap spring, a spline rod, a positioning plate, a pneumatic clamp jaw, a worm gear, a worm gear rack, a transmission worm, a servo motor, a descending assembly and a guide assembly, the bearing seat is detachably connected with the frame and located at one side of the top of the frame, the spline sleeve is installed on the bearing seat through the bearing, the spacer ring is arranged between the spline sleeve and the bottom inner ring of the bearing and is sleeved on the spline sleeve, the snap spring is installed on the spline sleeve and abuts against the upper inner ring end face of the bearing, the spline rod is in sliding connection with the spline sleeve and penetrates through the spline sleeve, the positioning plate is fixed at the bottom of the spline rod, the pneumatic clamp jaw is fixed at the bottom of the positioning plate, the worm gear is fixed at the top of the spline sleeve, the worm gear rack is fixedly connected with the frame and located at one side of the frame close to the worm gear, the transmission worm is rotatably installed on the worm gear rack and is in mesh with the worm gear, the servo motor is fixedly connected with the worm gear rack, the output shaft of the servo motor is connected with the top connecting shaft of the transmission worm through a shaft coupling and is located at the top of the worm gear rack, the descending assembly is arranged at one side of the frame close to the top end of the spline rod, and the guide assembly is arranged at one side of the descending assembly.

2. The worm drive mechanical hand rotating mechanism according to claim 1, characterized in that: the pneumatic clamp jaw is a pneumatic finger air cylinder.

3. The worm drive mechanical hand rotating mechanism according to claim 1, characterized in that: the descending assembly comprises a mounting plate and a descending air cylinder, the mounting plate is in rotary connection with the top end of the spline rod and is located at the top of the spline rod, and the descending air cylinder is fixedly connected with the frame and has an output end connected with the end of the mounting plate away from the spline rod.

4. The worm drive mechanical hand rotating mechanism according to claim 3, characterized in that: the guide assembly comprises a T-shaped linear sliding bearing and a guide rod, the T-shaped linear sliding bearing is fixedly connected with the frame and located at one side of the frame close to the descending air cylinder, and the guide rod is in screw connection with the mounting plate and is in sliding fit with the T-shaped linear sliding bearing. The worm drive mechanical hand rotating mechanism further comprises an isolation device, the isolation device comprises a first isolation cover and a second isolation cover, the first isolation cover is fixed at one side of the top of the frame, and the second isolation cover is symmetrically arranged with the first isolation cover and is fixed at one side of the top of the frame close to the first isolation cover. ​ ​ ​ ​ 5. The worm drive mechanical hand rotation mechanism of claim 1, wherein : ​

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