A swing arm up and down feeding structure driven by a servo motor

Abstract

The utility model discloses a kind of swing arm feeding and discharging structures of servo motor drive, belong to mechanical manufacturing and automation technical field, including support, manipulator, rotary shaft assembly, speed reducer and servo motor. Speed reducer is connected at the output end of servo motor, for the high speed, low torque output of servo motor is converted into low speed, high torque output, to drive manipulator steady swing, make equipment can adapt long time, high strength's continuous production operation requirement. The utility model is controlled first manipulator and second manipulator by two independent electric drive systems respectively, manipulator free end is equipped with air claw, for the quick clamping and releasing of workpiece, this structure can work with grinding equipment, realize the automatic handling of workpiece between feeding position, grinding position and discharging position, with overall component easy to install, high reliability, adjustment is convenient, maintenance cost is low and the like advantage, applicable to high-precision, high-beat's automated production line.

Description

Technical Field

[0001] This utility model relates to the field of mechanical manufacturing and automation technology, specifically to a servo motor driven swing arm loading and unloading structure. Background Technology

[0002] In automated precision machining production lines for disc-shaped parts such as wheel hubs and bearing rings, automatic loading and unloading mechanisms are key equipment for achieving efficient continuous production. Their core function is to precisely transport workpieces between the loading, machining, and unloading positions. While the widely used hydraulic drive system provides significant driving force, it suffers from several inherent drawbacks: complex system structure, reliance on cylinders, hydraulic stations, and numerous valve blocks and pipelines leads to low reliability and frequent failures; hydraulic oil requires regular maintenance, making cleanliness management difficult and prone to leakage, polluting the environment and posing safety hazards, resulting in significant maintenance costs; furthermore, cylinder-driven systems lack positioning accuracy and rigid motion control, failing to meet the requirements of high-precision and high-cycle production, and are energy inefficient with high power consumption. Therefore, there is an urgent need for a simple, precise, stable, energy-efficient, and easy-to-maintain loading and unloading technology to replace the traditional hydraulic drive system. Utility Model Content

[0003] The purpose of this utility model is to provide a servo motor driven swing arm loading and unloading structure to solve the problems of system complexity, high pollution, low control precision and low efficiency of traditional hydraulic drive. By adopting an electric drive scheme that combines a servo motor and a reducer, and configuring two independent swing systems, the loading and unloading operation can be made precise, stable, efficient and clean.

[0004] To solve the above-mentioned technical problems, this utility model specifically provides the following technical solution: A servo motor-driven swing arm loading / unloading structure includes a support frame and a servo motor. A rotary shaft assembly is mounted on the support frame. The servo motor is driven and connected to the rotary shaft assembly via a reducer. The reducer is connected to the output end of the servo motor and converts the high-speed, low-torque output of the servo motor into a low-speed, high-torque output. The rotary shaft assembly is connected to the output end of the reducer via a coupling. The rotary shaft assembly, reducer, and servo motor are arranged in two independent sets. One set of rotary shaft assemblies is connected to a first robotic arm, and the other set is connected to a second robotic arm, forming two independent electric drive swing systems, left and right. This design with two independent electric drive systems directly achieves completely independent control of the first and second robotic arms, allowing parallel loading and unloading operations, thus shortening cycle time and significantly improving production efficiency. The reducer, connected to the output end of the servo motor, functions to convert the high-speed, low-torque output of the servo motor into the low-speed, high-torque output required for the robotic arm's swing, providing sufficient power for handling heavy objects. Furthermore, the reducer significantly reduces the enormous load inertia by a square relationship and maps it to the motor shaft, enabling the servo system to easily handle heavy-duty swing arms. This achieves a match between the servo motor rotor inertia and the robot arm's load inertia, significantly improving the servo control system's response speed, stability, and positioning accuracy. This invention, through the optimized combination of the servo motor and reducer, compared to traditional hydraulic drives, not only achieves a cleaner power source but also, through precise inertia matching and torque output, makes the movements of the first and second robotic arms smoother and more controllable.

[0005] Specifically, the axis of the rotary shaft assembly connecting the first robotic arm constitutes a first rotation center, and the axis of the rotary shaft assembly connecting the second robotic arm constitutes a second rotation center. The first rotation center and the second rotation center are parallel to each other and fixed to the bracket at an interval.

[0006] Specifically, the free end of the first robotic arm is equipped with a first pneumatic gripper, and the free end of the second robotic arm is equipped with a second pneumatic gripper. The first and second pneumatic grippers are used to perform workpiece gripping and release. The first and second pneumatic grippers are rack-and-pinion grippers, driven by a pneumatic control system. They have an internal rack and pinion transmission mechanism, which uses a cylinder to push the rack to achieve synchronous opening and closing movements of the grippers. The first and second pneumatic grippers are communicatively connected to a servo control system, receiving position trigger signals to immediately perform workpiece gripping and release actions during or after the robotic arm's positioning process. This invention, by setting pneumatic grippers at the free end of the robotic arm, utilizes pneumatic actuators to achieve rapid and reliable workpiece gripping and release, with a simple structure and controllable cost. Furthermore, the rack and pinion transmission ensures symmetrical movement of the grippers, avoiding workpiece skew during gripping, making it particularly suitable for handling precision workpieces with high neutrality requirements.

[0007] Specifically, it also includes a feeding channel, the end of which is provided with a feeding position located on the swing trajectory of the first robot arm, allowing the first robot arm to move to that position to pick up the workpiece. The structure is configured to work in conjunction with a grinding device having a grinding position, the movement trajectory of the first robot arm covering the grinding position, for transporting the workpiece to be processed from the feeding position to the grinding position.

[0008] Specifically, it also includes a feeding channel, the beginning of which is provided with a feeding position. The feeding position is located on the swing trajectory of the second robot arm, allowing the second robot arm to move to this position to place the processed workpiece. The structure is configured to work in conjunction with a grinding device having a grinding position. The movement trajectory of the second robot arm covers the grinding position, used to transport the processed workpiece from the grinding position to the feeding position.

[0009] Specifically, the servo motor is driven and controlled by a servo control system. The movement trajectories of the first and second robotic arms overlap, and the servo control system coordinates their movement timing to avoid interference, thus enabling parallel execution of loading and unloading operations.

[0010] During loading and unloading operations, the workpiece rolls to the loading position via the loading channel. The first gripper on the first robotic arm clamps the workpiece. Driven by a servo motor, the first robotic arm rotates around the first rotation center via a reducer. It swings from the loading position to the grinding position, releases the first gripper, and returns to the loading position, completing the loading function. After the workpiece is ground, the second gripper on the second robotic arm clamps the workpiece. Driven by a servo motor, the second robotic arm rotates around the second rotation center via a reducer. It swings from the grinding position to the unloading position, releases the second gripper, and the workpiece rolls out along the unloading channel, completing the unloading function.

[0011] The beneficial effects of this utility model are as follows: The servo motor-driven swing arm loading and unloading structure provided by this utility model, through the optimized combination of the servo motor and the reducer, successfully converts the high speed and low torque output of the motor into the low speed and high torque required for the swing of the robotic arm, providing power for the stable handling of heavy objects. The reducer significantly reduces the influence of load inertia on the motor shaft, achieving precise matching between rotor inertia and load inertia, and significantly improving the response speed, control stability, and positioning accuracy of the servo system. Two completely independent electric drive systems are used to control the first and second robotic arms respectively, enabling them to perform loading and unloading operations in parallel, thereby significantly shortening the production cycle time and significantly improving production efficiency. This utility model has the advantages of easy installation of the overall components, high reliability, convenient adjustment, and low maintenance costs. Compared with the prior art, the overall structure operates smoothly, greatly reducing mechanical impact and equipment noise during start-up, stopping, and reversing processes, reducing wear, and extending the service life of the equipment. Attached Figure Description

[0012] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0013] Figure 1 This is a front view of a servo motor driven swing arm loading and unloading structure according to the present invention.

[0014] Figure 2 This is a rear view of a servo motor driven swing arm loading and unloading structure according to this utility model.

[0015] Figure 3 This is a perspective view of a servo motor driven swing arm loading and unloading structure according to the present invention.

[0016] Figure 4 This is a schematic diagram of a servo motor and reducer integrated into a single unit.

[0017] Explanation of reference numerals in the attached drawings: 1-Feeding channel; 11-Feeding position; 2-Discharging channel; 21-Discharging position; 3-First robotic arm; 31-First rotation center; 32-First pneumatic gripper; 4-Second robotic arm; 41-Second rotation center; 42-Second pneumatic gripper; 5-Grinding position; 6-Bracket; 7-Rotation shaft assembly; 71-Coupling; 8-Reducer; 9-Servo motor. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] The concepts involved in this application will first be described with reference to the accompanying drawings. It should be noted that the following descriptions of various concepts are only for the purpose of making the content of this application easier to understand and do not constitute a limitation on the scope of protection of this application; furthermore, the embodiments and features in the embodiments of this application can be combined with each other unless otherwise specified. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Example 1 Figures 1-3 The diagram shows a servo motor-driven swing arm loading / unloading structure, including a bracket 6 and a servo motor 9. A rotary shaft assembly 7 is mounted on the bracket 6. The servo motor 9 is driven and connected to the rotary shaft assembly 7 via a reducer 8. The reducer 8 is connected to the output end of the servo motor 9 and converts the high-speed, low-torque output of the servo motor 9 into a low-speed, high-torque output. The rotary shaft assembly 7 is connected to the output end of the reducer 8 via a coupling 71. The rotary shaft assembly 7, reducer 8, and servo motor 9 are arranged in two independent sets. One set of rotary shaft assemblies 7 is connected to a first robotic arm 3, and the other set is connected to a second robotic arm 4, forming two independent electric-driven swing systems, one on the left and one on the right.

[0021] The reducer 8 is connected to the output end of the servo motor 9. Its core function is to convert the high-speed, low-torque output of the servo motor into the low-speed, high-torque output required for the manipulator's swing, providing sufficient power for handling heavy objects. Furthermore, the reducer 8 significantly reduces the enormous load inertia by a square relationship and maps it to the motor shaft, allowing the servo system to easily handle the heavy-duty swing arm. This achieves a match between the rotor inertia of the servo motor 9 and the load inertia of the manipulator, significantly improving the response speed, stability, and positioning accuracy of the servo control system, and overcoming the impact, vibration, and noise problems inherent in traditional hydraulic drives. This invention employs a design with two independent electric drive systems. Its direct effect is to achieve completely independent control of the first manipulator 3 and the second manipulator 4, allowing parallel execution of loading and unloading operations, thereby shortening cycle time and significantly improving production efficiency.

[0022] Specifically, the axis of the rotary shaft assembly 7 connecting the first robotic arm 3 forms a first rotation center 31, and the axis of the rotary shaft assembly 7 connecting the second robotic arm 4 forms a second rotation center 41. The first rotation center 31 and the second rotation center 41 are parallel to each other and fixed to the bracket 6 at intervals.

[0023] Specifically, the free end of the first robotic arm 3 is equipped with a first pneumatic gripper 32, and the free end of the second robotic arm 4 is equipped with a second pneumatic gripper 42. The first pneumatic gripper 32 and the second pneumatic gripper 42 are used to perform workpiece gripping and release. By setting pneumatic grippers at the free ends of the robotic arms, pneumatic actuators enable rapid and reliable gripping and release of workpieces, resulting in a simple structure and controllable cost. The first robotic arm 3 and the second robotic arm 4 can complete the gripping action instantly upon reaching the target point, and can even trigger signals in advance during the approach process, making the gripping action almost instantaneous. This precise timing control through mechatronics greatly shortens the auxiliary time for single-piece operations, further squeezing out cycle time potential and improving overall efficiency. The time savings it brings far exceed the simple summation of individual pneumatic grippers or servo drives working alone.

[0024] Preferably, the first pneumatic gripper 32 and the second pneumatic gripper 42 are rack-and-pinion grippers. These grippers are driven by a pneumatic control system and have an internal rack-and-pinion transmission mechanism. A cylinder drives the rack to achieve synchronous opening and closing movements of the grippers. The first and second pneumatic grippers 32 and 42 are communicatively connected to a servo control system, receiving position trigger signals to immediately execute workpiece gripping and releasing actions during or after the robot's positioning process. The rack-and-pinion transmission ensures symmetrical movement of the grippers, preventing workpiece skew during gripping, and is particularly suitable for handling precision workpieces requiring high neutrality.

[0025] Specifically, it also includes a feeding channel 1, at the end of which a feeding position 11 is provided. The feeding position 11 is located on the swing trajectory of the first robotic arm 3, allowing the first robotic arm 3 to move to this position to pick up the workpiece. The structure is configured to work in conjunction with a grinding equipment having a grinding position 5. The movement trajectory of the first robotic arm 3 covers the grinding position 5, used to transport the workpiece to be processed from the feeding position 11 to the grinding position 5.

[0026] Specifically, it also includes a feeding channel 2, the beginning of which is provided with a feeding position 21. The feeding position 21 is located on the swing trajectory of the second robot arm 4, so that the second robot arm 4 can move to this position to place the processed workpiece. The structure is configured to work in conjunction with a grinding equipment having a grinding position 5. The movement trajectory of the second robot arm 4 covers the grinding position 5, for transporting the processed workpiece from the grinding position 5 to the feeding position 21.

[0027] Specifically, the servo motor 9 is driven and controlled by a servo control system. The motion trajectories of the first robotic arm 3 and the second robotic arm 4 overlap, and the servo control system coordinates their action timing to avoid interference, enabling parallel execution of loading and unloading operations. This configuration allows for precise control of the robotic arm's swing angle, speed, and acceleration, thereby achieving high repeatability and smooth start-stop characteristics, effectively reducing shock, vibration, and noise during equipment operation.

[0028] The all-electric drive structure eliminates the need for complex hydraulic stations, cylinders, valve blocks, and pipelines, thus preventing oil leakage risks and environmental pollution at the source. The electronic control system offers fast response and precise control, reducing hard impacts and wear between components. Simultaneously, its excellent motion smoothness reduces fatigue damage to the mechanical structure, significantly improving the mean time between failures (MTBF) and service life of the entire device. This invention, through the optimized combination of the servo motor 9 and the reducer 8, not only achieves a cleaner power source compared to traditional hydraulic drives but also, through precise inertia matching and torque output, makes the movements of the first robotic arm 3 and the second robotic arm 4 more stable and controllable.

[0029] Example 2 This invention creatively employs a layout of two independent drive systems that are parallel but staggered. The first rotation center 31 and the second rotation center 41 are not arranged on the same vertical line, but are offset in the horizontal and / or vertical directions.

[0030] This staggered layout allows the first robotic arm 3 and the second robotic arm 4 to "avoid" each other during their respective swings, greatly reducing the limitations on the length and swing angle of the robotic arms. It allows for the design of longer robotic arms within limited installation space, thereby expanding the working range or making the structure more compact. At the same time, this layout provides physical space assurance for the safe and interference-free movement of the two robotic arms in overlapping trajectory areas, which is a key foundation for achieving parallel operation.

[0031] Preferred, see Figure 4 The servo motor 9 and the reducer 8 are integrated into a single unit and are mounted in an inverted configuration. The servo motor 9 is suspended below or to the rear side of the reducer 8, with its weight borne by the reducer 8 housing. This integrated design reduces installation errors, backlash, and potential vibration points associated with using separate couplings, improving transmission rigidity and accuracy. The inverted structure significantly saves lateral and longitudinal installation space, making the entire drive unit more compact and lowering the center of gravity, thus enhancing overall stability. Furthermore, placing the servo motor 9 below facilitates wiring and heat dissipation maintenance, preventing heat buildup around critical components inside the reducer 8 or robotic arm, thus creating an excellent heat dissipation path without additional cost.

[0032] More preferably, the servo motor 9 and the reducer 8 are connected by an integrated flange, eliminating the need for a traditional independent coupling 71. The servo motor 9 is inverted and suspended below the input end of the reducer 8, with the entire weight and working reaction torque of the servo motor 9 borne by the highly rigid reducer 8 housing. This integrated design eliminates the coupling, completely removing installation misalignment errors, elastic deformation, and backlash caused by independent couplings, minimizing transmission chain errors. This results in faster control response of the servo system, with significantly higher positioning accuracy and repeatability than structures using traditional split couplings. The traditional "motor-coupling-reducer" series layout requires a large longitudinal installation space; the "inverted" structure compresses the total length of the drive unit to almost the length of the reducer itself, greatly saving longitudinal installation space. This allows the center of gravity of the entire swing arm structure to shift significantly inward toward the support 6, rather than extending outward. Shifting and lowering the center of gravity can greatly reduce the overturning torque generated by the robot during high-speed start-stop, reduce the load on the support 6, thereby making the swing smoother, with less impact and vibration, achieving higher acceleration and faster cycle time while improving lifespan and reliability.

[0033] It should be noted that the terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the scope of this application. As shown in this specification, unless the context clearly indicates otherwise, words such as "a," "an," "an," and / or "the" do not specifically refer to the singular and may include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element.

[0034] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0035] The embodiments and / or implementation methods described above are merely preferred embodiments and / or implementation methods for implementing the present utility model, and are not intended to limit the implementation methods of the present utility model in any way. Any person skilled in the art may make some modifications to other equivalent embodiments without departing from the scope of the technical means disclosed in the present utility model, but these should still be regarded as the same technology or embodiments as the present utility model. This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A servo motor-driven swing arm loading and unloading structure, comprising a bracket (6), characterized in that, The bracket (6) is provided with a rotary shaft assembly (7), which is connected in sequence to a reducer (8) and a servo motor (9). The reducer (8) is connected to the output end of the servo motor (9) and is used to convert the high speed and low torque output of the servo motor (9) into a low speed and high torque output. The rotary shaft assembly (7), reducer (8) and servo motor (9) are two sets and are set independently. One set of rotary shaft assemblies (7) is connected to the first manipulator (3), and the other set of rotary shaft assemblies (7) is connected to the second manipulator (4), which respectively constitute two independent electric drive swing systems on the left and right. The free end of the first manipulator (3) is provided with a first pneumatic gripper (32), and the free end of the second manipulator (4) is provided with a second pneumatic gripper (42). The first pneumatic gripper (32) and the second pneumatic gripper (42) are used to perform the gripping and releasing of the workpiece.

2. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, The rotary shaft assembly (7) is connected to the output end of the reducer (8) via a coupling (71).

3. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, The axis of the rotary shaft assembly (7) connecting the first robotic arm (3) forms the first rotary center (31), and the axis of the rotary shaft assembly (7) connecting the second robotic arm (4) forms the second rotary center (41). The first rotary center (31) and the second rotary center (41) are parallel to each other and fixed at intervals on the bracket (6).

4. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, The first pneumatic gripper (32) and the second pneumatic gripper (42) are rack and pinion pneumatic grippers.

5. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, It also includes a feeding channel (1), at the end of which is a feeding position (11), which is located on the swing trajectory of the first robot (3), so that the first robot (3) can move to that position to pick up the workpiece.

6. The servo motor-driven swing arm loading and unloading structure according to claim 5, characterized in that, The structure is configured to work in conjunction with a grinding equipment having a grinding position (5), the movement trajectory of the first manipulator (3) covering the grinding position (5) for transporting the workpiece to be processed from the loading position (11) to the grinding position (5).

7. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, It also includes a feeding channel (2), the beginning of which is provided with a feeding position (21), the feeding position (21) is located on the swing trajectory of the second robot (4), so that the second robot (4) can move to the position to place the processed workpiece.

8. The servo motor driven swing arm loading and unloading structure according to claim 7, characterized in that, The structure is configured to work in conjunction with a grinding equipment having a grinding position (5), the movement trajectory of which covers the grinding position (5) for transporting the processed workpiece from the grinding position (5) to the unloading position (21).

9. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, The servo motor (9) is driven and controlled by the servo control system.

10. A servo motor-driven swing arm loading and unloading structure according to claim 9, characterized in that, The motion trajectories of the first robotic arm (3) and the second robotic arm (4) overlap, and the timing of their actions is coordinated by a servo control system to avoid interference, thereby achieving parallel execution of loading and unloading operations.

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