A two-axis aerodynamic rotary mechanism

Abstract

The utility model relates to a kind of two-axis pneumatic rotating mechanism, comprising: shell assembly, including shell;First cylinder assembly, including first cylinder body and first piston rod;First support shaft assembly, connect shell and first cylinder body, for supporting first cylinder body rotation;Second cylinder assembly, including second cylinder body and second piston rod;Second support shaft assembly, connect second cylinder body and shell, for supporting second cylinder body rotation;First linkage assembly, connect second cylinder body and first piston rod, for the telescopic movement of first piston rod is converted into the rotary motion of second cylinder body;End assembly, including end mounting disc, for connecting manipulator;Second linkage assembly, connect end assembly and second cylinder, for the telescopic movement of second piston rod is converted into the rotary motion of end assembly.The utility model adjusts the posture angle of manipulator by first cylinder and second cylinder as power, both meet the demand of multi-posture, and cost is lower.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a two-axis pneumatic rotary mechanism. Background Technology

[0002] In the injection molding industry, robotic arms are important in many ways, mainly in improving production efficiency, achieving shorter production cycles and faster finished product output. They also enable one person to perform multiple tasks, reducing labor costs for enterprises. The addition of robotic equipment greatly increases the stability of product production and significantly reduces the waste of raw materials.

[0003] At the same time, with the increasing variety of products available today, there are also more and more requirements for robotic arms, and more sophisticated end effectors and cheaper additional axes have become urgent needs.

[0004] In current robotic arm applications, the end effector axis is mainly a single C-axis (side-position cylinder), which only provides two angles for docking in the end direction. This is sufficient for simple removal of molded parts from injection molding machines, but for robotic arms requiring multi-position and multi-angle docking, traditional end effectors are inadequate, and in most cases, no longer suitable. This necessitates the installation of more expensive servo AC-axis or BC-axis end effectors, significantly increasing equipment costs. Simultaneously, equipment control becomes more complex, and the technical requirements for production personnel are raised, which is highly detrimental to the convenience and simplicity of equipment application. Utility Model Content

[0005] Therefore, this utility model provides a two-axis pneumatic rotary mechanism that can meet the multi-angle requirements of injection molded products for end effectors, simplify and expedite operation, and achieve the goal in a cheaper way with less investment. This allows the robot to optimize production as the market changes, quickly adapt to changes in market demand, and make enterprises more competitive in the market.

[0006] To solve the above-mentioned technical problems, this utility model provides a two-axis pneumatic rotation mechanism, comprising:

[0007] Housing assembly, including housing;

[0008] The first cylinder assembly includes a first cylinder block and a first piston rod;

[0009] The first support shaft assembly connects the housing and the first cylinder body, and is used to support the rotation of the first cylinder body;

[0010] The second cylinder assembly includes a second cylinder block and a second piston rod;

[0011] The second support shaft assembly connects the second cylinder body and the housing, and is used to support the rotation of the second cylinder body;

[0012] The first linkage component connects the second cylinder and the first piston rod, and is used to convert the extension and retraction motion of the first piston rod into the rotational motion of the second cylinder.

[0013] An end effector assembly, including an end mounting plate for connecting a robotic arm;

[0014] The second linkage component connects the end component and the second cylinder, and is used to convert the extension and retraction motion of the second piston rod into the rotational motion of the end component;

[0015] The rotation axis of the first cylinder and the rotation axis of the second cylinder are parallel to each other and both perpendicular to the rotation axis of the end assembly.

[0016] Furthermore, the first support shaft assembly includes a first support, a first support shaft, a first bearing, and a first end lock. The first support is mounted on the housing, the first bearing is mounted in the first support, the first cylinder is connected to the first bearing through the first support shaft, and the first end lock is mounted on the housing and used to prevent the first support shaft from axially moving.

[0017] The second support shaft assembly includes a second support, a second support shaft, and a second end lock. The second support is mounted on the housing. The second cylinder is rotatably connected to the second support via the second support shaft. The second end lock is mounted on the housing and is used to prevent the second support shaft from moving axially.

[0018] Furthermore, the first linkage assembly includes a third support, a third support shaft, a gasket, and a bushing. The third support is threadedly connected to the first piston rod, and the second cylinder is rotatably connected to the third support via the third support shaft. The gasket is disposed between the third support and the first piston rod, and the bushing is connected between the third support shaft and the third support.

[0019] Furthermore, the second linkage assembly includes a rack, a second bearing, a fourth support shaft, a gear, and a bearing nut. The second piston rod has a groove, and the rack is embedded in the groove. The rack is fixed relative to the second piston rod. The second bearing is connected to the second cylinder body. The fourth support shaft is connected to the second bearing. The gear is located inside the second cylinder body and is fixedly sleeved on the fourth support shaft. The gear and the rack mesh with each other. The end assembly is threaded to the fourth support shaft and connected to each other through a locating pin. The bearing nut is used to prevent the second bearing from axially moving.

[0020] Furthermore, the housing assembly also includes a buffer A and a buffer B, both of which are connected to the housing and located on the clockwise and counterclockwise swing directions of the first cylinder, respectively. When the first cylinder is stopped at the starting position, the buffer A abuts against the first cylinder body and restricts the first cylinder from continuing to rotate clockwise. When the first cylinder is stopped at the ending position, the buffer B abuts against the first cylinder body and restricts the first cylinder from continuing to rotate counterclockwise.

[0021] Furthermore, the housing assembly also includes metal part A and metal part B, metal part A being threadedly connected to buffer A, and metal part B being threadedly connected to buffer B;

[0022] The first cylinder assembly also includes a magnetic switch A and a magnetic switch B, both of which are mounted on the first cylinder body;

[0023] When the first cylinder rotates to the starting position, the magnetic switch A detects the metal part A; when the first cylinder rotates to the ending position, the magnetic switch B detects the metal part B.

[0024] Furthermore, the end assembly also includes a rotating plate and a limiting member, the rotating plate being fixed relative to the end mounting plate, the limiting member being fixed relative to the rotating plate, and the limiting member including a first limiting portion;

[0025] The second cylinder assembly further includes a stop A and a stop B, both of which are fixed relative to the second cylinder body.

[0026] When the rotating plate stops at the starting position, the first limiting part abuts against the stop A and restricts the rotating plate from continuing to rotate clockwise.

[0027] When the rotating plate stops at the end position, the first limiting part abuts against the stop member B and restricts the rotating plate from continuing to rotate counterclockwise.

[0028] Furthermore, the limiting member also includes a second limiting part.

[0029] The two-axis pneumatic rotation mechanism also includes:

[0030] The third cylinder assembly includes a third cylinder block, a third piston rod, and a contact head;

[0031] The third cylinder is fixed relative to the second cylinder, the third piston rod is connected to the third cylinder, and the contact head is connected to the third piston rod;

[0032] The intermediate stop assembly includes a stop C, a friction plate, a column, a pull rod, and a spring. The stop C is movably connected to the second cylinder body. The friction plate is disposed between the stop C and the second cylinder body. The pull rod is connected to the second cylinder body. The spring is connected between the pull rod and the stop C. The column is connected to the stop C.

[0033] When the rotating plate is stopped in the middle position, the third piston rod extends, the contact head applies a pushing force to the column, the third piston rod pushes the column, and the stop C moves to the position that abuts against the second limiting part and restricts the rotating plate from continuing to rotate counterclockwise.

[0034] When the rotating plate passes the middle position, the third piston rod retracts, the contact head disengages from the column, and the spring's restoring force drives the stop C to avoid the rotational trajectories of the first and second limiting parts.

[0035] Furthermore, the second cylinder assembly includes a proximity sensor A and a proximity sensor B, both of which are mounted on the second cylinder body. When the rotating plate rotates to the starting position, the proximity sensor A detects the rotating plate; when the rotating plate rotates to the ending position, the proximity sensor B detects the rotating plate; and when the rotating plate rotates to the middle position, both the proximity sensor A and the proximity sensor B detect the rotating plate.

[0036] Furthermore, the first cylinder assembly also includes a first speed control valve, through which the first cylinder is supplied with air; the second cylinder assembly also includes a second speed control valve, through which the second cylinder is supplied with air; and the third cylinder assembly also includes a third speed control valve, through which the third cylinder is supplied with air.

[0037] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0038] 1) The two-axis pneumatic rotation mechanism of this utility model, by setting a first cylinder assembly and a second cylinder assembly, uses the first cylinder and the second cylinder as power to adjust the posture angle of the robot, which not only meets the needs of multiple postures, but also greatly reduces the cost compared with using an end servo axis to adjust the posture angle of the robot.

[0039] 2) The two-axis pneumatic rotation mechanism of this utility model includes a first support shaft assembly comprising a first support, a first bearing, a first support shaft and a first end lock, which can stably and reliably support the rotation of the first cylinder; and a second support shaft assembly comprising a second support, a second support shaft and a second end lock, which can stably and reliably support the rotation of the second cylinder.

[0040] 3) The two-axis pneumatic rotary mechanism of this utility model has a hinged first linkage component, which can reliably convert the telescopic motion of the first piston rod into the rotary motion of the second cylinder.

[0041] 4) The two-axis pneumatic rotary mechanism of this utility model has a rack and pinion structure as the second linkage component, which can reliably convert the extension and retraction motion of the second piston rod into the rotational motion of the end component. The rack is embedded in the second piston rod and the gear is hidden in the second cylinder, making the structure more compact.

[0042] 5) The two-axis pneumatic rotary mechanism of this utility model, by setting buffer A and buffer B, can limit the first cylinder and prevent hard contact;

[0043] 6) The two-axis pneumatic rotary mechanism of this utility model can accurately reflect the position of the first cylinder by setting metal part A, metal part B, magnetic switch A and magnetic switch B, thereby controlling the start and stop of the first cylinder.

[0044] 7) The two-axis pneumatic rotation mechanism of this utility model can limit the starting position and ending position of the end mounting plate by setting a rotating plate, a first limiting part, a stop A and a stop B;

[0045] 8) The two-axis pneumatic rotation mechanism of this utility model, by setting a third cylinder assembly and an intermediate stop assembly, allows the end mounting plate to stop in three positions and the first cylinder to stop in two positions, thus enabling the posture angles of 2x3 robotic arms.

[0046] 9) The two-axis pneumatic rotation mechanism of this utility model can accurately feedback the position of the end mounting plate by setting proximity sensor A and proximity sensor B, thereby controlling the start and stop of the second cylinder;

[0047] 10) The two-axis pneumatic rotary mechanism of this utility model can precisely adjust the speed coordination between each axis by setting a first speed regulating valve, a second speed regulating valve and a third speed regulating valve. Attached Figure Description

[0048] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0049] Figure 1 This is a schematic diagram of the assembly of the two-axis pneumatic rotating mechanism at one angle in this utility model;

[0050] Figure 2 This is an assembly diagram of the two-axis pneumatic rotary mechanism of this utility model from another angle;

[0051] Figure 3This is an assembly diagram of the first cylinder assembly, the first support shaft assembly, and the first linkage assembly in this utility model;

[0052] Figure 4 This is an exploded view of the first cylinder assembly, the first support shaft assembly, and the first linkage assembly in this utility model;

[0053] Figure 5 This is an assembly diagram of the second cylinder assembly, the second support shaft assembly, the second linkage assembly, and the end assembly in this utility model.

[0054] Figure 6 This is an exploded view of the second cylinder assembly, the second support shaft assembly, the second linkage assembly, and the end assembly in this utility model.

[0055] Figure 7 This is a schematic diagram of the assembly of the third cylinder assembly and the intermediate stop assembly in this utility model;

[0056] Figure 8 This is an exploded view of the third cylinder assembly and the intermediate stop assembly in this utility model;

[0057] Figure 9 This is a schematic diagram showing the first cylinder in the present invention located at the starting position;

[0058] Figure 10 This is a schematic diagram showing the first cylinder in the end position in this utility model;

[0059] Figure 11 This is a schematic diagram showing the end mounting plate located at the starting point in this utility model;

[0060] Figure 12 This is a schematic diagram showing the end mounting plate located in the middle position in this utility model;

[0061] Figure 13 This is a schematic diagram showing the end mounting plate located at the endpoint position in this utility model.

[0062] Explanation of reference numerals in the accompanying drawings: 1. Housing assembly; 11. Housing; 12. Buffer A; 13. Buffer B; 14. Metal part A; 15. Metal part B;

[0063] 2. First cylinder assembly; 21. First cylinder block; 22. First piston rod; 23. First speed control valve;

[0064] 3. First support shaft assembly; 31. First support; 32. First support shaft; 33. First end lock;

[0065] 4. Second cylinder assembly; 41. Second cylinder body; 42. Second piston rod; 421. Groove; 43. Stop A; 44. Stop B; 45. Proximity sensor A; 46. Proximity sensor B; 47. Second speed control valve;

[0066] 5. Second support shaft assembly; 51. Second support; 52. Second support shaft; 53. Second end lock;

[0067] 6. First linkage assembly; 61. Third support; 62. Third support shaft; 63. Gasket; 64. Bushing;

[0068] 7. End assembly; 71. End mounting plate; 72. Rotating plate; 721. First limiting part; 722. Second limiting part;

[0069] 8. Second linkage assembly; 81. Rack; 82. Second bearing; 83. Fourth support shaft; 84. Gear; 85. Bearing nut; 86. Locating pin;

[0070] 9. Third cylinder assembly; 91. Third cylinder block; 92. Third piston rod; 93. Contact head; 94. Third speed control valve;

[0071] 10. Intermediate stop assembly; 101. Stop component C; 102. Friction plate; 103. Column; 104. Tie rod; 105. Spring. Detailed Implementation

[0072] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0073] Example 1: See Figures 1 to 13 As shown, this utility model provides an embodiment of a two-axis pneumatic rotary mechanism.

[0074] The two-axis pneumatic rotary mechanism includes:

[0075] Housing assembly 1 includes housing 11;

[0076] The first cylinder assembly 2 includes a first cylinder body 21 and a first piston rod 22;

[0077] The first support shaft assembly 3 connects the housing 11 and the first cylinder 21 and is used to support the rotation of the first cylinder 21.

[0078] The second cylinder assembly 4 includes a second cylinder body 41 and a second piston rod 42;

[0079] The second support shaft assembly 5 connects the second cylinder 41 and the housing 11 and is used to support the rotation of the second cylinder 41.

[0080] The first linkage component 6 connects the second cylinder 41 and the first piston rod 22, and is used to convert the extension and retraction motion of the first piston rod 22 into the rotational motion of the second cylinder 41.

[0081] The end effector 7 includes an end effector mounting plate 71, which is used to connect to the robot arm;

[0082] The second linkage component 8 connects the end component 7 and the second cylinder component 4, and is used to convert the extension and retraction motion of the second piston rod 42 into the rotational motion of the end component 7.

[0083] The rotation axis of the first cylinder 21 and the rotation axis of the second cylinder 41 are parallel to each other and both perpendicular to the rotation axis of the end assembly 7.

[0084] In the above description, housing assembly 1 includes housing 11, which serves as the mounting base for the entire mechanism and provides structural support for other components. First support shaft assembly 3 connects housing 11 to first cylinder 21, supporting first cylinder assembly 2 to rotate about its axis of rotation. Second support shaft assembly 5 connects housing 11 to second cylinder 41, supporting second cylinder assembly 4 to rotate about its axis of rotation.

[0085] The first cylinder assembly 2 includes a first cylinder assembly 2, which provides initial power through the extension and retraction of the piston rod to drive the first cylinder body 21 to rotate about the first support shaft assembly 3 and the second cylinder body 41 to rotate about the second support shaft assembly 5. The second cylinder assembly 4 includes a second cylinder assembly 4, whose cylinder body is rotatable about the second support shaft assembly 5, and whose piston rod extension and retraction is used to drive the end assembly 7 to rotate.

[0086] The first linkage assembly 6 connects the cylinder body of the second cylinder assembly 4 to the piston rod of the first cylinder assembly 2. The linear motion of the piston rod drives the cylinder body of the second cylinder to rotate, realizing the conversion from linear motion to rotational motion. The second linkage assembly 8 connects the end assembly 7 to the second piston rod 42, converting the extension and retraction motion of the second cylinder piston rod into the rotational motion of the end assembly 7.

[0087] The end effector 7 includes an end effector mounting plate 71 for connecting a robot or other actuator to perform specific operational functions.

[0088] Specifically, the first cylinder assembly 2 is configured as a compact cylinder, the first piston rod 22 extends and retracts, and pulls / pushes the first cylinder body 21 and the second cylinder body 41 to rotate through the first linkage assembly 6, and the second piston rod 42 extends and retracts, and drives the end assembly 7 to rotate through the second linkage assembly 8.

[0089] The above technical solution allows for the adjustment of the robot's posture angle by using the first cylinder assembly 2 and the second cylinder assembly 4, which not only meets the requirements of multiple postures but also has a cost that is far lower than the selection of the end effector servo axis.

[0090] In this embodiment, the first support shaft assembly 3 includes a first support 31, a first bearing (not shown in the figure), a first support shaft 32, and a first end lock 33. The first support 31 is mounted on the housing 11, the first bearing is mounted in the first support 31, the first cylinder 21 is connected to the first bearing through the first support shaft 32, and the first end lock 33 is mounted on the housing 11 and is used to prevent the first support shaft 32 from axially moving.

[0091] The second support shaft assembly 5 includes a second support 51, a second support shaft 52, and a second end lock 53. The second support 51 is mounted on the housing 11. The second cylinder 41 is rotatably connected to the second support 51 via the second support shaft 52. The second end lock 53 is mounted on the housing 11 and is used to prevent the second support shaft 52 from moving axially.

[0092] In the above description, the first support 31 and the second support 51 serve as the basic mounting structure, fixed to the housing 11, providing support points for the first support shaft assembly 3 and the second support shaft assembly 5, respectively. The first bearing is installed in the first support 31 to prevent lifespan issues caused by sliding friction when the first cylinder assembly 2 experiences a certain sway angle. The first support shaft 32 and the second support shaft 52 are the core connecting components. The first support shaft 32 connects the cylinder body of the first cylinder assembly 2 to the first support 31, allowing the first cylinder assembly 2 to rotate around its axis. The second support shaft 52 connects the second cylinder body 41 to the second support 51, allowing the second cylinder assembly 4 to rotate around its axis to accommodate possible angle changes during operation. The first end lock 33 and the second end lock 53 are safety protection components, preventing axial movement of the first support shaft 32 and the second support shaft 52, ensuring the stability and reliability of the connection.

[0093] Specifically, the housing 11 is assembled from machined parts, or it can be cast as a single piece, reducing costs during mass production. The first bearing is an oil-free bearing, and the first support shaft 32 is a long shaft, consisting of one shaft. Both ends of the first support shaft 32 are connected to the two aforementioned first supports 31 via two first bearings. The second support shaft 52 is a short shaft, consisting of two shafts, each connected to one of the two second supports 51. When the first piston rod 22 extends, it drives the second cylinder assembly 4 to rotate forward by a certain angle; when the first piston rod 22 shortens, it drives the second cylinder assembly 4 to rotate backward by a certain angle.

[0094] Through the above technical solution, the first support shaft assembly 3 includes a first support 31, a first bearing, a first support shaft 32 and a first end lock 33, which can stably and reliably support the rotation of the first cylinder assembly 2, and the second support shaft assembly 5 includes a second support 51, a second support shaft 52 and a second end lock 53, which can stably and reliably support the rotation of the second cylinder assembly 4.

[0095] In this embodiment, the first linkage component 6 includes a third support 61, a third support shaft 62, a gasket 63, and a bushing 64. The third support 61 is threadedly connected to the first piston rod 22. The second cylinder 41 is rotatably connected to the third support 61 through the third support shaft 62. The gasket 63 is disposed between the third support 61 and the first piston rod 22. The bushing 64 is connected between the third support shaft 62 and the third support 61.

[0096] In the above description, the third support 61 serves as the main connecting structure, connected to the piston rod of the first cylinder assembly 2 via threads, providing a supporting foundation for the entire assembly. The third support shaft 62 is the core connecting component, connecting the second cylinder body 41 to the third support 61, allowing the second cylinder assembly 4 to rotate around the shaft and adapt to angular changes during operation. The gasket 63 is located between the third support 61 and the first piston rod 22 to prevent equipment failure caused by thread failure during movement. The bushing 64 connects the third support shaft 62 and the third support 61 to reduce friction and lower rotational resistance.

[0097] Specifically, during the movement of the first piston rod 22, the first cylinder assembly 2 is allowed to rotate to a certain extent. When the first piston rod 22 extends, the first cylinder assembly 2 can tilt as a whole, reducing the space occupied by the first cylinder assembly 2.

[0098] Through the above technical solution, the first linkage component 6 is a hinged structure, which can reliably convert the telescopic motion of the first piston rod 22 into the rotational motion of the second cylinder component 4, and the structure of the first cylinder component is relatively compact.

[0099] In this embodiment, the second linkage assembly 8 includes a rack 81, a second bearing 82, a fourth support shaft 83, a gear 84, and a bearing nut 85. The second piston rod 42 is provided with a groove 421, and the rack 81 is embedded in the groove 421. The second bearing 82 is connected to the second cylinder 41, and the fourth support shaft 83 is connected to the second bearing 82. The gear 84 is located in the second cylinder 41 and is fixedly sleeved on the fourth support shaft 83. The gear 84 and the rack 81 mesh with each other. The end assembly 7 is threaded to the fourth support shaft 83 and is connected to each other through a positioning pin 86. The bearing nut 85 is used to prevent the second bearing 82 from moving axially.

[0100] In the above description, rack 81 is fixed relative to the second piston rod 42, transmitting the linear motion of the cylinder to gear 84. Second bearing 82 is connected to the second cylinder body 41, supporting the fourth support shaft 83 and allowing it to rotate freely. The fourth support shaft 83, as the core component of the transmission, connects the second bearing 82 and fixes the gear 84, transmitting rotational motion to the end assembly 7. Gear 84 is fixedly sleeved on the fourth support shaft 83, meshing with rack 81, converting the linear motion of the rack into its own rotational motion. Bearing nut 85 is used to prevent axial movement of the second bearing 82, ensuring the stability and reliability of the transmission system. Groove 421 provides a precise mounting position for rack 81. This embedded structure saves space, making the entire system more compact. Gear 84 is located inside the second cylinder body 41, further optimizing space utilization and helping to protect gear 84 from external environmental influences. Simultaneously, integrating the transmission components inside the second cylinder assembly 4 reduces the overall volume. End assembly 7 is threadedly connected to the fourth support shaft 83, facilitating the installation and removal of end assembly 7. The locating pin 86 ensures the precise relative position of the end component 7 and the fourth support shaft 83. The dual connection method guarantees both connection strength and transmission accuracy.

[0101] Specifically, when the second piston rod 42 moves linearly, the rack 81 fixed to it moves accordingly. The linear movement of the rack 81 drives the gear 84 to rotate through meshing. The rotation of the gear 84 drives the fourth support shaft 83 fixed to it to rotate, thereby enabling the end assembly 7, which is fixed relative to the fourth support shaft 83, to rotate. The second bearing 82 provides support and a low-friction rotational environment, while the bearing nut 85 ensures the axial stability of the entire transmission system.

[0102] Through the above technical solution, the second linkage component 8 is a rack and pinion structure, which can reliably convert the extension and retraction motion of the second piston rod 42 into the rotational motion of the end component 7. The rack 81 is embedded in the second piston rod 42, and the gear 84 is hidden in the second cylinder 41, making the structure more compact.

[0103] In this embodiment, the housing assembly 1 further includes a buffer A12 and a buffer B13. The buffer A12 and the buffer B13 are both connected to the housing 11 and are located on the clockwise swing direction side and the counterclockwise swing direction side of the first cylinder assembly 2, respectively. When the first cylinder assembly 2 is stopped at the starting position, the buffer A12 abuts against the first cylinder body 21 and restricts the first cylinder assembly 2 from continuing to rotate clockwise. When the first cylinder assembly 2 is stopped at the ending position, the buffer B13 abuts against the first cylinder body 21 and restricts the first cylinder assembly 2 from continuing to rotate counterclockwise.

[0104] In the above text, buffers A12 and B13 absorb and disperse impact forces, reducing vibration and noise generated by mechanical collisions and protecting equipment components from damage.

[0105] Specifically, when the first cylinder assembly 2 swings to the starting position, the buffer A12 contacts the first cylinder body 21 and begins to absorb the impact energy, gradually slowing down the movement speed of the first cylinder assembly 2 and eventually bringing it to a smooth stop at the predetermined position, preventing the first cylinder assembly 2 from continuing to rotate clockwise due to inertia. When the first cylinder assembly 2 swings to the ending position, the buffer B13 contacts the first cylinder body 21, playing a buffering role and controlling the movement trajectory of the first cylinder assembly 2 to ensure that it accurately stops at the target position.

[0106] Through the above technical solution, by setting buffer A12 and buffer B13, the first cylinder assembly 2 can be limited and hard contact can be prevented.

[0107] In this embodiment, the housing assembly 1 further includes a metal part A14 and a metal part B15. The metal part A14 is threadedly connected to the buffer A12, and the metal part B15 is threadedly connected to the buffer B13.

[0108] The first cylinder assembly 2 also includes a magnetic switch A (not shown in the figure) and a magnetic switch B (not shown in the figure), both of which are mounted on the first cylinder body 21.

[0109] When the first cylinder assembly 2 rotates to the starting position, the magnetic switch A detects the metal part A14; when the first cylinder assembly 2 rotates to the ending position, the magnetic switch B detects the metal part B15.

[0110] In the above description, magnetic switches A and B utilize the principle of magnetic field induction. When they approach a magnetic material (such as a metal part), they generate an electrical signal. Metal parts A14 and B15 serve as the detection targets for magnetic switches A and B, respectively. Simultaneously, buffers A12 and B13 provide mechanical limiting. When metal parts A14 and B15 are detected, an electrical signal is output to the control system, triggering the corresponding control action. Both metal parts A14 and B15 are designed as nuts for easy connection to buffers A12 and B13.

[0111] Specifically, when the first cylinder assembly 2 swings clockwise to the starting position, the buffer A12 contacts the first cylinder body 21, providing mechanical cushioning and limiting. Simultaneously, the magnetic switch A mounted on the first cylinder body 21 moves with the first cylinder assembly 2 to the vicinity of the metal part A14. The magnetic switch A detects the metal part A14 and generates an electrical signal. Upon receiving the signal, the control system confirms that the first cylinder has reached the starting position and can trigger the next action or control. When the first cylinder assembly 2 swings counterclockwise to the ending position, the buffer B13 contacts the cylinder body, providing mechanical cushioning and limiting. Simultaneously, the magnetic switch B mounted on the first cylinder body 21 moves with the cylinder to the vicinity of the metal part B15. The magnetic switch B detects the metal part B15 and generates an electrical signal. Upon receiving the signal, the control system confirms that the first cylinder has reached the ending position and can trigger the corresponding control logic.

[0112] By using the above technical solution, and by setting metal parts A14 and B15, magnetic switch A and magnetic switch B, the position of the first cylinder assembly 2 can be accurately fed back, thereby controlling the start and stop of the first cylinder assembly 2.

[0113] In this embodiment, the end component 7 further includes a rotating plate 72, which is fixed relative to the end mounting plate 71, and the rotating plate 72 includes a first limiting part 721.

[0114] The second cylinder assembly 4 also includes a stop A43 and a stop B44. The stop A43 and the stop B44 are both fixed relative to the second cylinder body 41, and the contact head 93 is fixed relative to the third piston rod 92.

[0115] When the rotating plate 72 stops at the starting position, the first limiting part 721 abuts against the stop member A43 and restricts the rotating plate 72 from continuing to rotate clockwise.

[0116] When the rotating plate 72 stops at the end position, the first limiting part 721 abuts against the stop member B44 and restricts the rotating plate 72 from continuing to rotate counterclockwise.

[0117] In the above text, the rotating plate 72 is fixed relative to the end mounting plate 71 and can rotate around the axis to achieve switching of working positions at different angles. The first limiting part 721 is fixed relative to the rotating plate 72 and rotates together with the rotating plate. During the rotation, it cooperates with the stop A43 and the stop B44 to achieve mechanical limiting. The stop A43 and the stop B44 are both bolts, which facilitates connection with the second cylinder 41.

[0118] Specifically, stop A43 and stop B44 are fixed on the second cylinder 41 and located on the rotation path of the first limiting part 721. They mechanically limit the first limiting part 721 at the starting and ending positions respectively, ensuring that the rotating plate 72 stops in the accurate position.

[0119] As the rotating plate 72 rotates clockwise, the first limiting part 721 moves with the rotating plate 72 until it comes into contact with the stop A43. The stop A43 provides a mechanical limit to prevent the rotating plate 72 from continuing to rotate clockwise. At this time, the rotating plate 72 stops precisely at the starting position.

[0120] The rotating plate 72 rotates counterclockwise, and the first limiting part 721 moves with the rotating plate 72 until it comes into contact with the stop member B44. The stop member B44 provides a mechanical limit to prevent the rotating plate 72 from continuing to rotate counterclockwise. At this time, the rotating plate 72 stops precisely at the end position.

[0121] Through the above technical solution, by setting the rotating plate 72, the first limiting part 721, the stop A43, the stop B44, etc., the starting and ending positions of the end mounting plate 71 can be limited.

[0122] In this embodiment, the rotating plate 72 further includes a second limiting part 722;

[0123] The aforementioned two-axis pneumatic rotary mechanism also includes:

[0124] The third cylinder assembly 9 includes a third cylinder body 91, a third piston rod 92 and a contact head 93. The third cylinder body 91 is fixed relative to the second cylinder body 41. The third piston rod 92 is connected to the third cylinder body 91 and the contact head 93 is connected to the third piston rod 92.

[0125] The intermediate stop assembly 10 includes a stop member C101, a friction plate 102, a column 103, a pull rod 104, and a spring 105. The stop member C101 is movably connected to the second cylinder 41. The friction plate 102 is disposed between the stop member C101 and the second cylinder 41. The pull rod 104 is connected to the second cylinder 41. The spring 105 is connected between the pull rod 104 and the stop member C101. The column 103 is connected to the stop member C101.

[0126] When the rotating plate 72 is stopped in the middle position, the third piston rod 92 extends and pushes the column 103. The stop member C101 moves to the position that abuts against the second limiting part 722 and restricts the rotating plate 72 from continuing to rotate counterclockwise.

[0127] When the rotating plate 72 passes through the middle position, the third piston rod 92 retracts and disengages from the column 103. The restoring force of the spring 105 drives the stop C101 to avoid the rotation trajectory of the second limiting part 722 and the first limiting part 721.

[0128] In the above description, the second limiting part 722 is fixed relative to the rotating plate 72 to provide a limiting point at the intermediate position. It cooperates with the stop member C101 of the intermediate stop assembly 10 to achieve precise positioning at the intermediate position. The second limiting part 721 is a bolt, which facilitates connection and fixation with the rotating plate 72.

[0129] Specifically, the third cylinder assembly 9 controls the position of the contact head 93, indirectly controlling the movement of the stop C101. The contact head 93 is fixed relative to the third piston rod 92 and moves together with it. When the stop is in the intermediate position, it pushes the column 103 to adjust the position of the stop C101. The friction plate 102 connects the stop C101 and the second cylinder 41 to prevent the second cylinder assembly 4 from experiencing excessive friction. The stop C101 can move relative to the second cylinder 41, connected by the friction plate 102. When the stop is in the intermediate position, the stop C101 cooperates with the second limiting part 722 to restrict the rotation of the rotating plate 72. The column 103 connects to the stop C101 and receives the thrust of the contact head 93. The spring 105 provides a reset force, driving the stop C101 back to its initial position when the third piston rod 92 retracts, avoiding the rotation path.

[0130] When the rotating plate 72 needs to stop at the middle position, the third piston rod 92 extends and pushes the contact head 93 and the column 103. The column 103 drives the stop member C101 to move. The stop member C101 moves to the position where it abuts against the second limiting part 722. When the rotating plate 72 rotates counterclockwise to the middle position, the second limiting part 722 moves with the rotating plate 72 and abuts against the stop member C101. The stop member C101 provides a limiting function, preventing the rotating plate 72 from continuing to rotate counterclockwise and stopping it at the middle position.

[0131] When the rotating plate 72 needs to move from the starting point through the intermediate position to the end point, or from the end point through the intermediate position back to the starting point, the third piston rod 92 retracts, the contact head 93 disengages from the column 103, and the restoring force of the spring 105 drives the stop C101 back to the initial position, avoiding the rotational trajectory of the second limiting part 722 and the first limiting part 721. The rotating plate 72 can then freely rotate through the intermediate position.

[0132] Through the above technical solution, by setting the third cylinder assembly 9 and the intermediate stop assembly 10, the middle position of the end mounting plate 71 can be limited. Since the end mounting plate 71 can stop in three positions and the first cylinder assembly 2 can stop in two positions, the posture angles of 2x3 manipulators can be realized.

[0133] In this embodiment, the second cylinder assembly 4 includes a proximity sensor A45 and a proximity sensor B46, both of which are mounted on the second cylinder body 41. When the rotating plate 72 rotates to the starting position, the proximity sensor A45 detects the rotating plate 72. When the rotating plate 72 rotates to the ending position, the proximity sensor B46 detects the rotating plate 72. When the rotating plate 72 rotates to the middle position, both the proximity sensor A45 and the proximity sensor B46 detect the rotating plate 72.

[0134] In the above description, proximity sensor A45 is located on the second cylinder 41, near the starting position of the rotating plate 72. When the rotating plate 72 rotates to the starting position, it detects the rotating plate 72 and generates an electrical signal, which is transmitted to the control system to confirm that the rotating plate 72 has reached the starting position. Proximity sensor B46 is located on the second cylinder 41, near the ending position of the rotating plate 72. When the rotating plate 72 rotates to the ending position, it detects the rotating plate 72 and generates an electrical signal, which is transmitted to the control system to confirm that the rotating plate 72 has reached the ending position. When the rotating plate 72 rotates to the middle position, both proximity sensors A45 and B46 detect the rotating plate 72. The control system confirms that the rotating plate 72 has reached the middle position by simultaneously receiving signals from both sensors.

[0135] Specifically, when the rotating plate 72 rotates clockwise to the starting position, the first limiting part 721 contacts the stop member A43, providing a mechanical limit. Simultaneously, the proximity sensor A45 detects the rotating plate 72 and generates an electrical signal. Upon receiving the signal, the control system confirms that the rotating plate 72 has reached the starting position and can trigger the next action or control logic. When the rotating plate 72 rotates counterclockwise to the ending position, the first limiting part 721 contacts the stop member B44, providing a mechanical limit. Simultaneously, the proximity sensor B46 detects the rotating plate 72 and generates an electrical signal. Upon receiving the signal, the control system confirms that the rotating plate 72 has reached the ending position and can trigger the corresponding control logic, such as stopping the movement or switching the working mode. When the rotating plate 72 rotates to the middle position, the second limiting part 722 contacts the stop member C101 to provide mechanical limiting. At the same time, both the proximity sensor A45 and the proximity sensor B46 detect the rotating plate 72 and generate electrical signals. The control system confirms that the rotating plate 72 has reached the middle position by receiving the signals from the two sensors at the same time, and can trigger the specific control logic of the middle position.

[0136] Through the above technical solution, by setting proximity sensor A and proximity sensor B, the position of the end mounting plate can be accurately fed back, thereby controlling the start and stop of the second cylinder.

[0137] In this embodiment, the first cylinder assembly further includes a first speed control valve 23, which supplies air to the first cylinder assembly 2. The second cylinder assembly 4 further includes a second speed control valve 47, which supplies air to the second cylinder assembly 4. The third cylinder assembly 9 further includes a third speed control valve 94, which supplies air to the third cylinder assembly 9.

[0138] In the above text, the first speed control valve 23, the second speed control valve 47 and the third speed control valve 94 are flow control valves that control the movement speed of the cylinder by adjusting the gas flow.

[0139] Through the above technical solution, by setting the first speed regulating valve 23, the second speed regulating valve 47 and the third speed regulating valve 94, the speed coordination between each shaft can be precisely adjusted.

[0140] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A two-axis pneumatic rotary mechanism, characterized in that, include: Housing assembly, including housing; The first cylinder assembly includes a first cylinder block and a first piston rod; The first support shaft assembly connects the housing and the first cylinder body, and is used to support the rotation of the first cylinder body; The second cylinder assembly includes a second cylinder block and a second piston rod; The second support shaft assembly connects the second cylinder body and the housing, and is used to support the rotation of the second cylinder body; The first linkage component connects the second cylinder and the first piston rod, and is used to convert the extension and retraction motion of the first piston rod into the rotational motion of the second cylinder. An end effector assembly, including an end mounting plate for connecting a robotic arm; The second linkage component connects the end component and the second cylinder, and is used to convert the extension and retraction motion of the second piston rod into the rotational motion of the end component; The rotation axis of the first cylinder and the rotation axis of the second cylinder are parallel to each other and both perpendicular to the rotation axis of the end assembly.

2. The two-axis pneumatic rotating mechanism according to claim 1, characterized in that, The first support shaft assembly includes a first support, a first support shaft, a first bearing, and a first end lock. The first support is mounted on the housing, the first bearing is mounted in the first support, the first cylinder is connected to the first bearing through the first support shaft, and the first end lock is mounted on the housing and used to prevent the first support shaft from axially moving. The second support shaft assembly includes a second support, a second support shaft, and a second end lock. The second support is mounted on the housing. The second cylinder is rotatably connected to the second support via the second support shaft. The second end lock is mounted on the housing and is used to prevent the second support shaft from moving axially.

3. The two-axis pneumatic rotary mechanism according to claim 1, characterized in that, The first linkage assembly includes a third support, a third support shaft, a gasket, and a bushing. The third support is threadedly connected to the first piston rod. The second cylinder is rotatably connected to the third support via the third support shaft. The gasket is disposed between the third support and the first piston rod. The bushing is connected between the third support shaft and the third support.

4. The two-axis pneumatic rotating mechanism according to claim 1, characterized in that, The second linkage assembly includes a rack, a second bearing, a fourth support shaft, a gear, and a bearing nut. The second piston rod has a groove, and the rack is embedded in the groove. The rack is fixed relative to the second piston rod. The second bearing is connected to the second cylinder body. The fourth support shaft is connected to the second bearing. The gear is located inside the second cylinder body and is fixedly sleeved on the fourth support shaft. The gear and the rack mesh with each other. The end assembly is threaded to the fourth support shaft and connected to each other through a locating pin. The bearing nut is used to prevent the second bearing from axially moving.

5. The two-axis pneumatic rotating mechanism according to claim 1, characterized in that, The housing assembly further includes a buffer A and a buffer B, both of which are connected to the housing and located on the clockwise and counterclockwise swing directions of the first cylinder, respectively. When the first cylinder is stopped at the starting position, the buffer A abuts against the first cylinder body and restricts the first cylinder from continuing to rotate clockwise. When the first cylinder is stopped at the ending position, the buffer B abuts against the first cylinder body and restricts the first cylinder from continuing to rotate counterclockwise.

6. The two-axis pneumatic rotary mechanism according to claim 5, characterized in that, The housing assembly further includes metal component A and metal component B, wherein metal component A is threadedly connected to buffer A and metal component B is threadedly connected to buffer B; The first cylinder assembly also includes a magnetic switch A and a magnetic switch B, both of which are mounted on the first cylinder body; When the first cylinder rotates to the starting position, the magnetic switch A detects the metal part A; when the first cylinder rotates to the ending position, the magnetic switch B detects the metal part B.

7. The two-axis pneumatic rotating mechanism according to claim 1, characterized in that, The end assembly further includes a rotating plate and a limiting member. The rotating plate is fixed relative to the end mounting plate, and the limiting member is fixed relative to the rotating plate. The limiting member includes a first limiting part. The second cylinder assembly further includes a stop A and a stop B, both of which are fixed relative to the second cylinder body. When the rotating plate stops at the starting position, the first limiting part abuts against the stop A and restricts the rotating plate from continuing to rotate clockwise. When the rotating plate stops at the end position, the first limiting part abuts against the stop member B and restricts the rotating plate from continuing to rotate counterclockwise.

8. The two-axis pneumatic rotary mechanism according to claim 7, characterized in that, The limiting member also includes a second limiting part. The two-axis pneumatic rotation mechanism also includes: The third cylinder assembly includes a third cylinder block, a third piston rod, and a contact head; The third cylinder is fixed relative to the second cylinder, the third piston rod is connected to the third cylinder, and the contact head is connected to the third piston rod; The intermediate stop assembly includes a stop C, a friction plate, a column, a pull rod, and a spring. The stop C is movably connected to the second cylinder body. The friction plate is disposed between the stop C and the second cylinder body. The pull rod is connected to the second cylinder body. The spring is connected between the pull rod and the stop C. The column is connected to the stop C. When the rotating plate is stopped in the middle position, the third piston rod extends, the contact head applies a pushing force to the column, the third piston rod pushes the column, and the stop C moves to the position that abuts against the second limiting part and restricts the rotating plate from continuing to rotate counterclockwise. When the rotating plate passes the middle position, the third piston rod retracts, the contact head disengages from the column, and the spring's restoring force drives the stop C to avoid the rotational trajectories of the first and second limiting parts.

9. The two-axis pneumatic rotary mechanism according to claim 8, characterized in that, The second cylinder assembly includes proximity sensor A and proximity sensor B, both of which are mounted on the second cylinder body. When the rotating plate rotates to the starting position, proximity sensor A detects the rotating plate. When the rotating plate rotates to the ending position, proximity sensor B detects the rotating plate. When the rotating plate rotates to the middle position, both proximity sensor A and proximity sensor B detect the rotating plate.

10. The two-axis pneumatic rotary mechanism according to claim 8, characterized in that, The first cylinder assembly further includes a first speed control valve, through which the first cylinder is supplied with air; the second cylinder assembly further includes a second speed control valve, through which the second cylinder is supplied with air; and the third cylinder assembly further includes a third speed control valve, through which the third cylinder is supplied with air.

Images