Mechanical arm for wire shearing and using method thereof

Abstract

The invention discloses a mechanical arm for wire shearing and a using method thereof, and relates to the technical field of shearing mechanical arms, the mechanical arm comprises a supporting assembly, the supporting assembly comprises a stand column, a transverse plate and a movable plate, the top of the movable plate is provided with a mechanical arm, and the supporting assembly is used for supporting the mechanical arm; a shear knife is installed at the end, away from the movable plate, of the mechanical arm, a visual camera is installed on the surface of the shear knife, and the shear knife is used for shearing materials. Through cooperation of the moving mechanism and the rotating mechanism, the effect that the position and direction of the mechanical arm can be adjusted in the shearing operation process of the mechanical arm is achieved, the use position of the mechanical arm can be adjusted through cooperation of a rack, a moving gear and a first motor, and the mechanical arm is convenient to use. And through cooperation of a rotating disc, a second motor, a driving gear, a driven gear, a transmission rod and a supporting rod, the shearing direction can be adjusted, and therefore the using flexibility of the shearing mechanical arm is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shearing robot arms, in particular to a wire shearing robot arm and a use method thereof. Background Art

[0002] The shearing robot is an automated device that is mainly used to shear materials or products during the production process. During the production process, it can shear raw materials or semi-finished products, such as cutting large plates and pipes into suitable sizes according to production requirements, which can improve production efficiency and reduce the labor intensity and errors of manual operations.

[0003] According to the Chinese patent application number: 202120278345.9, a high-precision automatic shearing device for a robotic arm is disclosed, including a robotic arm and a shearing assembly installed on the robotic arm, the shearing assembly including a mounting plate, two mounting columns are cross-rotatably installed at the center position of the front surface of the mounting plate away from the robotic arm, the ends of the two mounting columns away from the robotic arm are provided with mounting grooves, and the ends of the two mounting columns away from the robotic arm are detachably installed with cutters through quick connectors, the ends of the two mounting columns close to the robotic arm are rotatably installed with drive rods, and the two drive rods are movably connected with a drive sleeve, the drive sleeve is threaded with a drive screw, the drive screw is rotatably installed on the front surface of the drive rod, and the end of the drive screw away from the mounting column is transmission-connected with a shearing motor, and the shearing motor is fixedly installed on the mounting plate;

[0004] The existing technology effectively solves the problem of inconvenient replacement of the cutting part, and has the advantages of being able to flexibly and stably cut the product and facilitating the operator to replace the cutter. However, this type of cutting robot arm can only be fixed in one position to work when in use, thereby reducing its flexibility of use. Summary of the invention

[0005] The purpose of the present invention is to provide a wire cutting robot arm and a method of using the same, which has the advantage of being able to adjust the use position during use, and solves the problem that the cutting robot arm can only be fixed in one position to work during use, thereby reducing the flexibility of use.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: it includes a support assembly, the support assembly includes a column, a horizontal plate and a movable plate, a mechanical arm is installed on the top of the movable plate, the support assembly is used to provide support for the mechanical arm, a shearing knife is installed on the end of the mechanical arm away from the movable plate, a visual camera is installed on the surface of the shearing knife, the shearing knife is used to shear materials, and the visual camera is used for positioning, a moving mechanism is installed on the surface of the horizontal plate, the moving mechanism includes a rack, a moving gear and a first motor, a rotating mechanism is also installed on the surface of the movable plate, the moving mechanism is used to move the mechanical arm, the rotating mechanism is used to adjust the use direction of the mechanical arm, the rotating mechanism includes a turntable, a second motor, a driving gear, a driven gear, a transmission rod and a support rod, the first motor and the second motor are both installed on the top of the movable plate, the turntable, the driving gear, the driven gear, the transmission rod and the support rod are all installed in the inner cavity of the movable plate, and the rack is fixed at the center of the top of the horizontal plate.

[0007] Preferably, the number of the upright posts is two, the transverse plate is fixed to the top of the upright posts, and the movable plate is located on the top of the transverse plate.

[0008] Preferably, the output shaft of the first motor passes through the bottom of the movable plate and is transmission-connected to a moving gear, and the moving gear is meshed with a rack.

[0009] Preferably, the moving mechanism further includes a slide rail and a slider, the number of the slide rail and the number of the slider are both two, and the slide rail is fixed to the front end and the rear end of the top of the cross plate.

[0010] Preferably, the slider is sleeved on the surface of the slide rail and is slidably connected to the surface of the slide rail, and the movable plate is fixedly connected to the slider.

[0011] Preferably, the output shaft of the second motor passes through the inner cavity of the movable plate and is transmission-connected to the driving gear, the driving gear is transmission-connected to the driven gear, one end of the transmission rod is fixedly connected to the turntable, and the other end of the transmission rod is fixedly connected to the driven gear.

[0012] Preferably, one end of the support rod is fixedly connected to the driven gear, the other end of the support rod is movably connected to the inner wall of the movable plate through a bearing, and the mechanical arm is fixed to the top of the turntable.

[0013] Preferably, the method of use comprises the following steps:

[0014] A. First, install the columns on both sides of the assembly line, fix the cross plate on the top of the columns, then fix the robot arm on the top of the turntable with bolts, install the visual camera on one side of the shear knife, and install the shear knife on the execution end of the robot arm with bolts, so that the robot arm can control the shear knife to perform shearing operations, and the visual camera can be positioned during the shearing process;

[0015] B. When movement is required, the output shaft of the first motor rotates to drive the moving gear to rotate, so that the moving gear moves to one side along the surface of the rack. While the moving gear moves, it drives the movable plate to move to one side along the surface of the slide rail through the slider, so that the shearing position of the robot arm can be adjusted. The slide rail and the slider cooperate to limit the movement trajectory of the movable plate;

[0016] C. When the shearing direction needs to be adjusted, the second motor is started, and the output shaft of the second motor rotates to drive the driving gear to rotate. When the driving gear rotates, it drives the driven gear to rotate. When the driven gear rotates, the support rod can provide support and limit it. When the driven gear rotates, the turntable is driven to rotate through the transmission rod, thereby driving the mechanical arm to rotate, and then the shearing direction can be adjusted.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention provides support for the robot arm by setting up columns, horizontal plates and movable plates, so that the robot arm can maintain stable operation. Through the cooperation of the robot arm, shearing knife and visual camera, the shearing operation can be performed, effectively reducing the labor intensity of manual labor.

[0019] 2. The present invention achieves the effect of adjusting the position and direction of the robotic arm during the shearing operation through the cooperation of the moving mechanism and the rotating mechanism. The cooperation of the rack, the moving gear and the first motor can adjust the use position of the robotic arm. The cooperation of the turntable, the second motor, the driving gear, the driven gear, the transmission rod and the support rod can adjust the shearing direction, thereby effectively improving the flexibility of the use of the shearing robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the connection state structure of the mechanical arm and the moving mechanism of the present invention;

[0022] Figure 3 It is a schematic structural diagram of the separation state of the mechanical arm, the moving mechanism and the rotating mechanism of the present invention;

[0023] Figure 4 It is a schematic structural diagram of the separation state of the rotating mechanism of the present invention.

[0024] In the figure: 1. Support assembly; 101. Post; 102. Horizontal plate; 103. Movable plate; 2. Robotic arm; 3. Shear knife; 4. Visual camera; 5. Moving mechanism; 501. Rack; 502. Moving gear; 503. First motor; 504. Slide rail; 505. Slider; 6. Rotating mechanism; 601. Turntable; 602. Second motor; 603. Driving gear; 604. Driven gear; 605. Transmission rod; 606. Support rod. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The support assembly 1, column 101, cross plate 102, movable plate 103, robotic arm 2, shear knife 3, visual camera 4, moving mechanism 5, rack 501, moving gear 502, first motor 503, slide rail 504, slider 505, rotating mechanism 6, turntable 601, second motor 602, driving gear 603, driven gear 604, transmission rod 605 and support rod 606 of the present invention are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0027] Example 1

[0028] like Figure 1-4As shown, it is the first embodiment of the present invention, which provides a wire shearing robot arm, including a support assembly 1, the support assembly 1 includes a column 101, a horizontal plate 102 and a movable plate 103, a robot arm 2 is installed on the top of the movable plate 103, the support assembly 1 is used to provide support for the robot arm 2, a shearing knife 3 is installed at one end of the robot arm 2 away from the movable plate 103, a visual camera 4 is installed on the surface of the shearing knife 3, the shearing knife 3 is used to shear materials, the visual camera 4 is used for positioning, a moving mechanism 5 is installed on the surface of the horizontal plate 102, and the moving mechanism 5 includes a rack 501, a moving gear 502 and a first motor 50 3. A rotating mechanism 6 is also installed on the surface of the movable plate 103. The moving mechanism 5 is used to move the mechanical arm 2. The rotating mechanism 6 is used to adjust the use direction of the mechanical arm 2. The rotating mechanism 6 includes a turntable 601, a second motor 602, a driving gear 603, a driven gear 604, a transmission rod 605 and a support rod 606. The first motor 503 and the second motor 602 are both installed on the top of the movable plate 103. The turntable 601, the driving gear 603, the driven gear 604, the transmission rod 605 and the support rod 606 are all installed in the inner cavity of the movable plate 103. The rack 501 is fixed at the center of the top of the horizontal plate 102.

[0029] like Figure 1-4 As shown, the column 101, the horizontal plate 102 and the movable plate 103 can provide support for the robot arm 2, and the robot arm 2 is used to control the shearing knife 3 to perform shearing operations. The visual camera 4 can be positioned during the operation. Through the cooperation of the rack 501, the mobile gear 502 and the first motor 503, the use position of the robot arm 2 can be adjusted during the shearing operation. The output shaft of the first motor 503 rotates to drive the mobile gear 502 to rotate, so that the mobile gear 502 moves to one side along the surface of the rack 501, so that the robot arm 2 can be driven to move through the movable plate 103, and the turntable 601 and the second motor 60 2. The cooperation of the driving gear 603, the driven gear 604, the transmission rod 605 and the support rod 606 can adjust the direction of the robot arm 2 during the shearing operation. The output shaft of the second motor 602 rotates to drive the driving gear 603 to rotate. When the driving gear 603 rotates, it drives the driven gear 604 to rotate. When the driven gear 604 rotates, the support rod 606 can provide support and limit it. When the driven gear 604 rotates, the turntable 601 is driven to rotate through the transmission rod 605, thereby driving the robot arm 2 to rotate, and then the shearing direction can be adjusted, which effectively improves the flexibility of the shearing robot arm.

[0030] Example 2

[0031] Reference Figure 1-3 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0032] In this embodiment, the number of the upright posts 101 is two, the horizontal plate 102 is fixed to the top of the upright posts 101 , and the movable plate 103 is located on the top of the horizontal plate 102 .

[0033] The output shaft of the first motor 503 passes through the bottom of the movable plate 103 and is in driving connection with the moving gear 502 . The moving gear 502 is meshed with the rack 501 .

[0034] The moving mechanism 5 further includes a slide rail 504 and a slider 505 . The number of the slide rail 504 and the number of the slider 505 are both two. The slide rail 504 is fixed to the front end and the rear end of the top of the transverse plate 102 .

[0035] The slider 505 is sleeved on the surface of the slide rail 504 and is slidably connected to the surface of the slide rail 504 . The movable plate 103 is fixedly connected to the slider 505 .

[0036] like Figure 1-3 As shown, the upright column 101, the horizontal plate 102 and the movable plate 103 cooperate to provide support for the robot arm 2, and the robot arm 2 can be moved through the moving mechanism 5. The output shaft of the first motor 503 rotates to drive the moving gear 502 to rotate, so that the moving gear 502 moves to one side along the surface of the rack 501. While the moving gear 502 moves, it drives the movable plate 103 to move to one side along the surface of the slide rail 504 through the slider 505, so that the shearing position of the robot arm 2 can be adjusted. The slide rail 504 and the slider 505 cooperate to limit the movement trajectory of the movable plate 103, so that the use position of the robot arm 2 can be adjusted, which effectively improves the flexibility of use.

[0037] Example 3

[0038] Reference Figure 1 , 3 and 4, which are the third embodiment of the present invention, and this embodiment is based on the first two embodiments.

[0039] In this embodiment, the output shaft of the second motor 602 passes through the inner cavity of the movable plate 103 and is transmission-connected to the driving gear 603, the driving gear 603 is transmission-connected to the driven gear 604, one end of the transmission rod 605 is fixedly connected to the turntable 601, and the other end of the transmission rod 605 is fixedly connected to the driven gear 604.

[0040] One end of the support rod 606 is fixedly connected to the driven gear 604 , and the other end of the support rod 606 is movably connected to the inner wall of the movable plate 103 through a bearing. The mechanical arm 2 is fixed to the top of the turntable 601 .

[0041] like Figure 1 , 3As shown in 4, the output shaft of the second motor 602 rotates to drive the driving gear 603 to rotate, and when the driving gear 603 rotates, it drives the driven gear 604 to rotate. When the driven gear 604 rotates, the support rod 606 can provide support and limit it. When the driven gear 604 rotates, it drives the turntable 601 to rotate through the transmission rod 605, thereby driving the mechanical arm 2 to rotate, and then the shearing direction can be adjusted.

[0042] The method of using the wire cutting robot arm includes the following steps:

[0043] A. First, install the columns 101 on both sides of the assembly line, fix the horizontal plate 102 on the top of the columns 101, then fix the robot arm 2 on the top of the turntable 601 by bolts, install the visual camera 4 on one side of the shear knife 3, and the shear knife 3 is installed on the execution end of the robot arm 2 by bolts, so that the robot arm 2 can control the shear knife 3 to perform shearing operations, and the visual camera 4 can be positioned during the shearing process;

[0044] B. When movement is required, the output shaft of the first motor 503 rotates to drive the moving gear 502 to rotate, so that the moving gear 502 moves to one side along the surface of the rack 501. When the moving gear 502 moves, it drives the movable plate 103 to move to one side along the surface of the slide rail 504 through the slider 505, so that the shearing position of the robot arm 2 can be adjusted. The slide rail 504 and the slider 505 cooperate to limit the movement trajectory of the movable plate 103;

[0045] C. When the shearing direction needs to be adjusted, the second motor 602 is started, and the output shaft of the second motor 602 rotates to drive the driving gear 603 to rotate. When the driving gear 603 rotates, it drives the driven gear 604 to rotate. When the driven gear 604 rotates, the support rod 606 can provide support and limit it. When the driven gear 604 rotates, the turntable 601 is driven to rotate through the transmission rod 605, thereby driving the mechanical arm 2 to rotate, and then the shearing direction can be adjusted.

[0046] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0047] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wire shearing robot, comprising a support assembly (1), characterized in that: The support assembly (1) comprises a column (101), a horizontal plate (102) and a movable plate (103); a mechanical arm (2) is installed on the top of the movable plate (103); the support assembly (1) is used to provide support for the mechanical arm (2); a shearing knife (3) is installed at one end of the mechanical arm (2) away from the movable plate (103); a visual camera (4) is installed on the surface of the shearing knife (3); the shearing knife (3) is used to shear materials; the visual camera (4) is used for positioning; a moving mechanism (5) is installed on the surface of the horizontal plate (102); the moving mechanism (5) comprises a rack (501), a moving gear (502) and a first motor (503); a rotating mechanism (501) is also installed on the surface of the movable plate (103); The invention relates to a rotating mechanism (6), wherein the moving mechanism (5) is used to move the mechanical arm (2), and the rotating mechanism (6) is used to adjust the use direction of the mechanical arm (2). The rotating mechanism (6) comprises a rotating disk (601), a second motor (602), a driving gear (603), a driven gear (604), a transmission rod (605) and a support rod (606). The first motor (503) and the second motor (602) are both installed on the top of the movable plate (103), and the rotating disk (601), the driving gear (603), the driven gear (604), the transmission rod (605) and the support rod (606) are all installed in the inner cavity of the movable plate (103). The rack (501) is fixed at the center of the top of the horizontal plate (102).

2. The wire cutting robot according to claim 1, characterized in that: The number of the upright posts (101) is two, the transverse plate (102) is fixed to the top of the upright posts (101), and the movable plate (103) is located on the top of the transverse plate (102).

3. The wire cutting robot according to claim 1, characterized in that: The output shaft of the first motor (503) passes through the bottom of the movable plate (103) and is transmission-connected to the moving gear (502), and the moving gear (502) is meshed with the rack (501).

4. The wire cutting robot according to claim 1, characterized in that: The moving mechanism (5) further comprises a slide rail (504) and a slider (505), the number of each of the slide rail (504) and the slider (505) being two, and the slide rail (504) being fixed to the front end and the rear end of the top of the transverse plate (102).

5. The wire cutting robot according to claim 4, characterized in that: The slider (505) is sleeved on the surface of the slide rail (504) and is slidably connected to the surface of the slide rail (504), and the movable plate (103) is fixedly connected to the slider (505).

6. The wire cutting robot according to claim 1, characterized in that: The output shaft of the second motor (602) passes through the inner cavity of the movable plate (103) and is transmission-connected to the driving gear (603), the driving gear (603) is transmission-connected to the driven gear (604), one end of the transmission rod (605) is fixedly connected to the rotating disk (601), and the other end of the transmission rod (605) is fixedly connected to the driven gear (604).

7. The wire cutting robot according to claim 1, characterized in that: One end of the support rod (606) is fixedly connected to the driven gear (604), and the other end of the support rod (606) is movably connected to the inner wall of the movable plate (103) through a bearing. The mechanical arm (2) is fixed to the top of the turntable (601).

8. The method for using the wire cutting robot according to any one of claims 1 to 7, characterized in that: The method of use includes the following steps: A. First, install the columns (101) on both sides of the assembly line, fix the horizontal plate (102) on the top of the columns (101), then fix the robot arm (2) on the top of the turntable (601) by bolts, install the visual camera (4) on one side of the shearing knife (3), and the shearing knife (3) is installed on the execution end of the robot arm (2) by bolts, so that the robot arm (2) can control the shearing knife (3) to perform shearing operations, and the visual camera (4) can be positioned during the shearing process; B. When movement is required, the output shaft of the first motor (503) rotates to drive the moving gear (502) to rotate, so that the moving gear (502) moves to one side along the surface of the rack (501). When the moving gear (502) moves, it drives the movable plate (103) to move to one side along the surface of the slide rail (504) through the slider (505), so that the shearing position of the robot arm (2) can be adjusted. The slide rail (504) and the slider (505) cooperate to limit the movement trajectory of the movable plate (103); C. When the shearing direction needs to be adjusted, the second motor (602) is started, and the output shaft of the second motor (602) rotates to drive the driving gear (603) to rotate. When the driving gear (603) rotates, it drives the driven gear (604) to rotate. When the driven gear (604) rotates, the support rod (606) can provide support and limit for it. When the driven gear (604) rotates, the drive rod (605) drives the turntable (601) to rotate, thereby driving the mechanical arm (2) to rotate, and then the shearing direction can be adjusted.

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