An end effector rotating device

Abstract

The utility model discloses an end picker rotating device, including support part, drive part, drive part is fixed on support part, and drive part bottom is connected with end picker, and support part includes support plate, and the support plate is equipped with the slot hole for drive part to pass in the middle position of being close to left and right sides, drive part includes servo motor assembly, speed reducer, rotating axle sleeve, mounting sleeve, flange mounting plate, and speed reducer is connected with servo motor assembly, and rotating axle sleeve top is connected with speed reducer bottom, and speed reducer upper end is arranged in mounting sleeve inside, and speed reducer is fixed in mounting sleeve bottom end, and flange mounting plate is connected with support plate, and servo motor assembly is fixed in mounting sleeve top end. The utility model installs speed machine below support plate, and the total height of speed reducer and rotating axle sleeve is as the safety distance of end picker rotation operation, and rotating axle sleeve height reduces, and the weight reduces, and reduces the side inclination moment when operating, and improves the service life of speed reducer.

Description

Technical Field

[0001] This utility model relates to the field of automated sheet metal production technology, specifically to an end effector rotation device. Technical Background In automated sheet metal production, sheets are transported automatically along the logistics direction. However, due to factors such as factory layout, such as an L-shaped production line layout, it is necessary to change the placement direction of the sheets during automated transportation. This requires a rotating device to control the horizontal rotation of the end effector, thereby achieving the purpose of changing the placement direction of the sheets.

[0002] To address the issue of changing the orientation of sheet metal placement, utility model publication CN220501966U, entitled "A Rotating Device for a Handling Robot," discloses the following technical solution: a rotating device is added to the end effector, and the rotating device is connected to the robotic arm of the handling robot via left and right supports; after the handling robot drives the end effector to pick up the sheet metal, the rotating device controls the rotation angle of the end effector through a servo motor and a reducer, thereby changing the orientation of the sheet metal placement. However, the technical solution of this rotating device for the handling robot has the following problem: In addition to bearing the weight of the end effector and the material, the robotic arm of the handling robot also needs to support the weight of the rotating device, resulting in excessive load, high inertia, and slow movement. Specifically, this manifests in the following ways: 1) Due to the high inertia of the equipment components, greater external force is required when changing speed or direction, leading to high energy consumption; 2) When arranging the reducer, the servo motor and reducer need to be fixed on the upper side of the support plate, with the reducer output end passing through the support plate and connected to the end effector via a rotating shaft. Because a safe distance needs to be maintained between the end effector and the support plate for its rotation operation, the height of the rotating shaft needs to be increased to a safe height, resulting in the reducer output end bearing a greater weight from the rotating shaft, which also increases the lateral tilting moment and safety risks; 3) Furthermore, the increased weight of the entire rotating device reduces the service life of the reducer; 4) The use of an L-type planetary reducer in this device, with its large weight and size, further increases the weight of the rotating device, making the handling space even smaller, prone to interference problems, and even posing production safety hazards. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides an end effector rotation device. This utility model mainly comprises two parts: a support assembly and a drive assembly. The drive assembly is fixed on the support assembly, and its output end is connected to the end effector via a rotating bushing. This utility model installs an RV reducer below the support plate. The reducer in the drive assembly is a linear RV reducer, which has the advantages of a large speed ratio, small size, and light weight. The output end of the RV reducer is connected to the rotating bushing, so that the total height of the RV reducer and the rotating bushing serves as the safe distance for the end effector's rotation operation. Reducing the height and weight of the rotating bushing can reduce the lateral tilting torque generated during operation and improve the service life of the reducer.

[0004] An end effector rotation device includes a support assembly and a drive assembly. The drive assembly is fixed on the support assembly, the bottom of the drive assembly is connected to the end effector, and the support assembly is connected to two shuttle arms of a robot. The bracket assembly includes a support plate, and the support plate has a slot near the middle position of the left and right sides for the drive assembly to pass through. The drive assembly includes a servo motor assembly, a reducer, a rotating bushing, a mounting sleeve, and a flange mounting plate. The reducer is connected to the servo motor assembly, the top of the rotating bushing is connected to the bottom of the reducer, the upper end of the reducer is arranged inside the mounting sleeve, the reducer is fixed to the bottom end of the mounting sleeve, the flange mounting plate is connected to the support plate, and the servo motor assembly is fixed to the top of the mounting sleeve.

[0005] The speed reducer is fitted with a sealing ring, and a seal is formed between the speed reducer and the mounting sleeve through the sealing ring.

[0006] The speed reducer is a linear RV speed reducer.

[0007] The flange mounting plate includes two semi-circular flange mounting plates, which are spliced ​​together to form a circular flange.

[0008] The two semi-circular flange mounting plates are provided with threaded holes one, and the semi-circular flange mounting plates are fixed to the mounting sleeve through threaded holes one and bolt assembly; The slot is a cubic slot, and the mounting sleeve passes through the cubic slot from the bottom of the mounting plate; Two through holes are symmetrically arranged in the front and back directions of the cube slot. The flange mounting plate is provided with a through hole 2 that matches the position of through hole 1. Two semi-threaded bolts pass through through hole 1 and through hole 2 respectively to initially fasten the flange mounting plate to the bottom of the support plate. The two flange mounting plates each have a threaded hole, and the flange mounting plates are further secured to the mounting plates using the threaded holes and bolt and nut assemblies.

[0009] The mounting sleeve has two oil plug holes, which are sealed by oil plugs.

[0010] The servo motor assembly includes a servo motor, a first gear shaft, and a shrink sleeve. The shrink sleeve is fitted on the end of the first gear shaft. The output shaft of the servo motor passes through the end of the first gear shaft, and the shrink sleeve tightly connects the output shaft of the servo motor to the end of the first gear shaft. The intermediate shaft is located near the middle of the first gear shaft. The end gear of the first gear shaft meshes with three second gears on the reducer.

[0011] The second sealing ring is fixed at the step inside the mounting sleeve, and a retaining ring is installed in the groove inside the mounting sleeve. The intermediate shaft is connected to the second sealing ring. The bottom end of the rotating bushing is connected to the end effector via bolt holes.

[0012] A servo motor cover is provided on the upper part of the support plate behind the slot.

[0013] The beneficial effects of this utility model are: 1. This utility model includes a support assembly and a drive assembly. The drive assembly is fixed on the support assembly. The support assembly includes a support plate. The support plate has a slot near the middle of the left and right sides for the drive assembly to pass through. The drive assembly includes a servo motor assembly, a reducer, a rotating bushing, a mounting sleeve, and a flange mounting plate. When the reducer is arranged, in addition to mounting the servo motor on the upper side of the support plate, the other connecting plates of the drive assembly are located on the lower side of the support plate. Under the condition of ensuring the safe distance of the end effector rotation operation, the height of the device itself can be used as part of the reserved safe height when the end effector rotates, so that the height of the rotating bushing is reduced and the weight is reduced. While reducing the weight borne by the output end of the reducer, the tilting torque generated when the reducer drives the end effector to rotate is reduced, the service life of the reducer is improved, and the problem of the output end of the existing reducer having to bear a greater weight from the rotating shaft, resulting in increased tilting torque and increased safety risks is avoided.

[0014] 2. This invention utilizes a servo motor and RV reducer to control the rotation direction of the end effector, solving the problem of inconsistent orientation of sheet metal during automated operation. It also allows the automated sheet metal production line to be adapted to more production line layouts, maximizing the value of the production line. After the end effector picks up the sheet metal, the robot arm moves the end effector, driving the end effector to rotate horizontally to the target direction. This ensures the sheet metal is oriented correctly when it reaches the next workstation. This device can work in conjunction with a robot arm to achieve fast and precise rotary transport.

[0015] 3. The RV reducer is small in size and is installed below the support plate, which reduces the space occupied above the support plate and reduces the interference caused by the tight space above the support plate, thereby improving the safety of the end effector rotation operation.

[0016] 4. Compared with L-type planetary reducers, linear RV reducers have the advantages of large speed ratio, small size and light weight. In addition, the weight of the rotating bushing is small, which greatly reduces the weight of the entire rotating device, reduces the load on the robotic arm, and allows the robotic arm to drive the end effector and workpiece through the workpiece at a faster speed, thus improving work efficiency.

[0017] 5. The flange mounting plate of this utility model includes two semi-circular flange mounting plates, which are spliced ​​together to form a circular flange. Since the dimensions of both ends of the mounting sleeve are larger than the inner diameter of the flange mounting plate, it would be impossible to pass through and install it as a single piece. By splicing the two semi-circular flange mounting plates into a circular flange, the mounting sleeve and the mounting holes of the flange mounting plate are matched, thereby reducing the connection height and achieving a compact structure.

[0018] 6. Two semi-circular flange mounting plates are fixed to the mounting sleeve through threaded hole one and bolt assembly; the slot is a cubic slot, and the mounting sleeve passes through the cubic slot from the bottom of the mounting plate; two semi-threaded bolts pass through through hole one and through hole two respectively, and initially fasten the flange mounting plate to the bottom of the support plate; the upper part of the semi-threaded bolt is a smooth rod without threads, which contacts the inner surface of through hole one and through hole two. The smooth rod part of the threaded bolt has a positioning function and can be subjected to the force brought by rotation during rotation. The bearing part is subjected to bending moment brought by the reducer. The lower part of the bolt rod has threads, and the mounting sleeve and mounting plate are fixed by tightening the threads.

[0019] 8. Two oil plug holes are arranged on the installation sleeve. The oil plug holes are sealed by oil plug heads. When lubricating oil is needed, simply unscrew the oil plug heads to add oil.

[0020] 9. The servo motor assembly includes a servo motor, a first gear shaft, and a shrink sleeve. During operation, the output end of the servo motor drives the first gear shaft to rotate, and the three second gears meshing with the end gear of the first gear shaft rotate, thereby driving the output end of the reducer to rotate the rotating sleeve.

[0021] 10. Fix the sealing ring at the step inside the installation sleeve. Install a retaining ring at the groove inside the installation sleeve. The intermediate shaft is connected to the sealing ring. The function of the sealing ring is to prevent lubricating oil leakage, and the function of the retaining ring is to prevent the sealing ring from falling out.

[0022] 11. A servo motor cover is provided on the upper part of the support plate behind the slot. The lower part of the servo motor cover is connected to the support plate by a detachable bolt and nut assembly. The servo motor cover isolates the servo motor from the heat radiation from the high-temperature sheet material, providing safety protection for the servo motor. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1This is a schematic diagram of the structure of an embodiment of the present utility model. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an embodiment of the present utility model. Figure 2 ; Figure 3 Schematic diagram of the drive assembly structure for this embodiment Figure 1 ; Figure 4 This is a schematic diagram of the drive assembly structure for an embodiment. Figure 2 ; Figure 5 This is a schematic diagram of the drive assembly structure for an embodiment. Figure 3 ; Figure 6 This is a schematic diagram of the first gear shaft structure in an embodiment.

[0024] In the figure, bracket assembly 1, support plate 11, slot 111, through hole 112, servo motor cover 12, drive assembly 2, servo motor assembly 3, reducer 4, second gear 41, rotating bushing 5, mounting sleeve 6, oil plug hole 61, flange mounting plate 7, through hole 2 71, threaded hole 1 72, sealing ring 1 8, oil plug 9, semi-threaded bolt 10, servo motor 13, output shaft 131, first gear shaft 14, shaft end 141, intermediate shaft 142, end gear 143, sealing ring 2 15, retaining ring 16, expansion sleeve 17, bolt hole 18. Detailed Implementation

[0025] 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.

[0026] Combination Figures 1-6 An end effector rotation device includes a support assembly 1 and a drive assembly 2. The drive assembly 2 is fixed to the support assembly 1, and its bottom is connected to the end effector. The support assembly 1 is connected to two shuttle arms of a robotic arm. After the end effector picks up a sheet, as the robotic arm moves the end effector, the drive assembly 2 rotates the end effector horizontally to the target direction, ensuring the sheet arrives at the next workstation in the correct orientation. This device can work with a robotic arm to achieve fast and precise rotary transport.

[0027] The bracket assembly 1 includes a support plate 11, and the support plate 11 has a slot 111 for the drive assembly 2 to pass through at the middle position near the left and right sides. The drive assembly 2 includes a servo motor assembly 3, a reducer 4, a rotating bushing 5, a mounting sleeve 6, and a flange mounting plate 7. The reducer 4 is connected to the servo motor assembly 3. The top of the rotating bushing 5 is connected to the bottom of the reducer 4 via bolts. The upper end of the reducer 4 is located inside the mounting sleeve 6, and the reducer 4 is fixed to the bottom of the mounting sleeve 6 via bolts. The flange mounting plate 7 is connected to the support plate 11.

[0028] The reducer 4 is fitted with a sealing ring 8, which forms a seal between the reducer 4 and the mounting sleeve 6 to prevent lubricating oil from flowing out.

[0029] The reducer 4 is a linear RV reducer, which has the advantages of large speed ratio, small size and light weight compared with the existing L-type planetary reducer.

[0030] The flange mounting plate 7 comprises two semi-circular flange mounting plates that are mirror images of each other and are joined together to form a circular flange. Since the dimensions at both ends of the mounting sleeve 6 are larger than the inner diameter of the flange mounting plate, it would be impossible to pass through and install it as a single unit. By joining the two semi-circular flange mounting plates into a circular flange, the mounting sleeve 6 is fitted with the mounting holes of the flange mounting plate, thus reducing the height and achieving a compact structure.

[0031] The two semi-circular flange mounting plates are provided with threaded holes 72, and the mounting sleeve 6 is provided with threaded holes. The semi-circular flange mounting plates are fixed to the mounting sleeve 6 through threaded holes 72, threaded holes, and bolt assemblies. The slot 111 is a cubic slot, and the mounting sleeve 6 passes through the central cubic slot from the bottom of the support plate 11. Two through holes 112 are symmetrically arranged in the front and back direction of the cubic slot. The flange mounting plate 7 is provided with a through hole 71 that matches the position of the through hole 112. Two semi-threaded bolts 10 pass through the through holes 112 and 71 respectively, and initially fasten the flange mounting plate 7 to the bottom of the support plate 11. The upper part of the semi-threaded bolt is a smooth rod without threads, which contacts the inner surface of the through holes 1 and 2. The two semi-threaded bolts 10 have a positioning function and can be subjected to the force brought by the rotation during rotation, and can also withstand part of the bending moment brought by the reducer. The lower part of the bolt rod has threads, and the mounting sleeve and mounting plate are fixed by tightening the threads.

[0032] Eight threaded holes 72 are arranged evenly in a circle on the two flange mounting plates 7 and the support plate 11, respectively. The flange mounting plates 7 are further fixed to the support plate 11 through the threaded holes 72 and the bolt and nut assembly. The servo motor assembly 3 is fixed to the top of the mounting sleeve 6.

[0033] Two oil plug holes 61 are arranged on the mounting sleeve 6. The oil plug holes 61 are sealed by the oil plug plug 9. When lubricating oil is needed, the oil plug plug 9 can be unscrewed to add oil.

[0034] The servo motor assembly 3 includes a servo motor 13, a first gear shaft 14, and a shrink sleeve 17. The shrink sleeve 17 is fitted onto the shaft end 141 of the first gear shaft 14. The output shaft 131 of the servo motor 13 passes through the shaft end 141 of the first gear shaft 14, and the shrink sleeve 17 tightly connects the output shaft 131 of the servo motor 13 to the shaft end 141 of the first gear shaft 14. An intermediate shaft 142 is provided near the middle of the first gear shaft 14. The end gear 143 of the first gear shaft 14 meshes with three second gears 41 on the reducer 4. During operation, the output end of the servo motor 13 drives the first gear shaft 14 to rotate, and the three second gears 41 meshing with the end gear 143 of the first gear shaft 14 rotate, thereby driving the output end of the reducer 4 to rotate the rotating bushing 5.

[0035] The second sealing ring 15 is fixed at the inner step of the mounting sleeve 6, and a retaining ring 16 is installed in the inner groove of the mounting sleeve 6. The intermediate shaft 142 is connected to the second sealing ring 15. The function of the second sealing ring 15 is to prevent lubricating oil leakage, and the function of the retaining ring 16 is to prevent the second sealing ring 15 from falling out.

[0036] The bottom end of the rotating bushing 5 is connected to the end effector through bolt hole 18.

[0037] This invention installs the RV reducer 4 below the support plate 11, with the output end of the RV reducer connected to the rotating bushing. The total height of the RV reducer and the rotating bushing serves as the safe distance for the end effector's rotation operation. The reduced height and weight of the rotating bushing can decrease the lateral tilting torque generated during operation and improve the service life of the reducer.

[0038] A servo motor cover 12 is provided on the upper part of the support plate 11 behind the slot 111. The lower part of the servo motor cover 12 is connected to the support plate 11 by a detachable bolt and nut assembly. The servo motor cover 12 isolates the servo motor from the heat radiation caused by the high-temperature sheet material, thus providing safety protection for the servo motor.

[0039] The following describes the main working method of this utility model, taking the horizontal rotation of the sheet metal by 90° during sheet metal stamping as an example: 1) The robot arm drives the end effector to move above the sheet metal, and the end effector picks up the sheet metal; 2) The robot arm drives the sheet metal to move above the press mold. During this process, the servo motor 13 drives the output end of the RV reducer 4 to rotate 90°, thereby causing the end effector to drive the sheet metal to rotate horizontally by 90°; 3) The robot arm drives the end effector to place the sheet metal into the press mold, the robot arm drives the end effector to move out, and the press stamps.

[0040] 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.

[0041] 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. An end effector rotation device, characterized in that, It includes a support assembly and a drive assembly. The drive assembly is fixed on the support assembly. The bottom of the drive assembly is connected to the end effector. The support assembly is connected to the two shuttle arms of the robot. The bracket assembly includes a support plate, and the support plate has a slot near the middle position of the left and right sides for the drive assembly to pass through. The drive assembly includes a servo motor assembly, a reducer, a rotating bushing, a mounting sleeve, and a flange mounting plate. The reducer is connected to the servo motor assembly, the top of the rotating bushing is connected to the bottom of the reducer, the upper end of the reducer is arranged inside the mounting sleeve, the reducer is fixed to the bottom end of the mounting sleeve, the flange mounting plate is connected to the support plate, and the servo motor assembly is fixed to the top of the mounting sleeve.

2. The end effector rotation device according to claim 1, characterized in that, The speed reducer is fitted with a sealing ring, and a seal is formed between the speed reducer and the mounting sleeve through the sealing ring.

3. The end effector rotation device according to claim 1, characterized in that, The speed reducer is a linear RV speed reducer.

4. The end effector rotation device according to claim 1, characterized in that, The flange mounting plate includes two semi-circular flange mounting plates, which are spliced ​​together to form a circular flange.

5. The end effector rotation device according to claim 4, characterized in that, The two semi-circular flange mounting plates are provided with threaded holes one, and the semi-circular flange mounting plates are fixed to the mounting sleeve through threaded holes one and bolt assembly; The slot is a cubic slot, and the mounting sleeve passes through the cubic slot from the bottom of the mounting plate; Two through holes are symmetrically arranged in the front and back directions of the cube slot. The flange mounting plate is provided with a through hole 2 that matches the position of through hole 1. Two semi-threaded flange bolts pass through through hole 1 and through hole 2 respectively to initially fasten the flange mounting plate to the bottom of the support plate. The two flange mounting plates each have a threaded hole, and the mounting sleeve has a threaded hole. The flange mounting plates are further fixed to the mounting sleeve through the threaded hole, the threaded hole, and the bolt and nut assembly.

6. The end effector rotation device according to claim 1, characterized in that, The mounting sleeve has two oil plug holes, which are sealed by oil plugs.

7. The end effector rotation device according to claim 1, characterized in that, The servo motor assembly includes a servo motor, a first gear shaft, and a shrink sleeve. The shrink sleeve is fitted on the end of the first gear shaft. The output shaft of the servo motor passes through the end of the first gear shaft, and the shrink sleeve tightly connects the output shaft of the servo motor to the end of the first gear shaft. The intermediate shaft is located near the middle of the first gear shaft. The end gear of the first gear shaft meshes with three second gears on the reducer.

8. The end effector rotation device according to claim 7, characterized in that, The second sealing ring is fixed at the step inside the mounting sleeve, and a retaining ring is installed in the groove inside the mounting sleeve. The intermediate shaft is connected to the second sealing ring.

9. The end effector rotation device according to claim 1, characterized in that, The bottom end of the rotating bushing is connected to the end effector via a bolt hole.

10. The end effector rotation device according to claim 1, characterized in that, A servo motor cover is provided on the upper part of the support plate behind the slot.

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