A mechanical arm for processing a special-shaped template and a processing method thereof

Abstract

The application discloses a mechanical arm for processing special-shaped templates and a processing method thereof, and relates to the field of special-shaped template processing. The mechanical arm comprises a supporting table, a base, a mechanical arm body, a processing unit and a protection mechanism. A driving seat body is arranged on the top of the supporting table. A driving arm is arranged on the end of the mechanical arm body. An installation seat is arranged on the end of the driving arm. The processing unit is used for processing the special-shaped templates. The mechanical arm body and the driving arm are used for driving the processing unit. The protection mechanism is arranged on the installation seat. The abutment seat, the processing head and the protection mechanism are matched and arranged. The protection cover limits and shields the end of the installation bolt and covers the installation bolt. The processing head can shield the splashed debris on the processing position of the special-shaped template. The end of the installation bolt is limited and protected, and the installation bolt is covered. The safety of the driving arm is improved.

Description

Technical Field

[0001] This invention relates to the field of irregular template processing, and in particular to a robotic arm for irregular template processing and its processing method. Background Technology

[0002] Irregular formwork typically refers to formwork that does not conform to general or standard specifications in terms of shape, size, or structure. Irregular formwork is usually designed and customized according to the special design requirements of the project. When processing irregular formwork, robotic arm processing units are usually used to process it.

[0003] Existing robotic arm processing units typically include a base, a robotic arm body, a drive arm, and a processing head. The robotic arm body is mounted on the base, and the drive arm is mounted on the robotic arm body. The drive arm has a mounting seat, and the processing head is mounted to the mounting seat by bolts, thereby fixing the processing head to the mounting seat on the drive arm. During processing, the robotic arm body drives the drive arm to move, and the drive arm drives the processing head to move, so that the processing head can perform processing operations on irregular templates.

[0004] However, during some processing steps, when the processing head processes irregular templates, there may be debris splashing. The irregular template robotic arm processing unit is usually not convenient for protecting the end of the drive arm or preventing the bolts connecting the processing head and the mounting base from loosening. This makes the end of the drive arm easy to get contaminated and the processing head easy to loosen, affecting the safety of the robotic arm processing unit. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm and a processing method for processing irregularly shaped templates, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for processing irregularly shaped templates, comprising:

[0007] A support platform, the top of which is equipped with a drive seat;

[0008] Base, which is mounted on the drive body;

[0009] A robotic arm body is mounted on a base, a drive arm is mounted at one end of the robotic arm body, and a mounting base is mounted at one end of the drive arm.

[0010] The processing unit is located on the mounting base and is used to perform specified processing on the irregular template. The robotic arm body and the drive arm are used to drive the processing unit.

[0011] A protective mechanism is located on the mounting base and is used to shield and protect the connection between the workpiece and the mounting base.

[0012] Preferred options also include:

[0013] A processing table is located between adjacent support tables. The top of the processing table has mounting holes at equal intervals, and the bottom of the processing table has a cavity. The processing table is used to support and fix irregular templates.

[0014] A support mechanism is located at the bottom of the processing table, and the support mechanism is used to slide the processing table between adjacent support tables and provide bottom support for the processing table;

[0015] A collection mechanism, located inside the cavity, is used to collect impurities that fall into the mounting hole;

[0016] An auxiliary mechanism is located on a support mechanism and is used to fix the processing table to the support mechanism and to fix the support mechanism to the support table.

[0017] A storage mechanism, located on a base, is used to store the processing head to be replaced and the tools used.

[0018] Preferably, the processing unit includes:

[0019] A mating seat, wherein the mating seat is located on the side of the mounting base;

[0020] A processing head, which is fixedly connected to the docking seat;

[0021] The mounting bolt is threadedly inserted into the side of the mating seat, and the end of the mounting bolt is threadedly inserted into the mounting seat.

[0022] Preferably, the support mechanism includes:

[0023] A support plate, wherein the support plate is located between adjacent support platforms;

[0024] A horizontal plate, which is fixedly connected between adjacent support plates;

[0025] A support plate, which is fixedly connected to the top of a support plate and is located at the bottom of the processing table;

[0026] A guide frame, which is fixedly connected to the side of the support platform;

[0027] An assembly plate is fixedly connected to the side of a support plate, and the assembly plate is slidably inserted into the inner cavity of a guide frame.

[0028] The positioning column is fixedly connected to the top of the support plate. The bottom of the processing table is symmetrically provided with a first sliding groove that cooperates with the positioning column. The side of the positioning column is provided with a limit groove, and the side of the processing table is provided with a second sliding groove.

[0029] Preferably, the auxiliary mechanism includes:

[0030] A support portion, wherein the support portion is located on the side of the processing table;

[0031] The connecting portion is located between adjacent bearing portions;

[0032] The support portion is located at the bottom of the connecting portion;

[0033] The fixing part is located on the side of the support part, and a locking bolt is threadedly connected to the side of the fixing part. The end of the locking bolt is threadedly connected to the support plate.

[0034] An assembly frame, the assembly frame being located on the side of the support portion, the assembly frame being located on the side of the support platform;

[0035] The docking part is located at the bottom of the support part;

[0036] An assembly column is fixedly inserted into the middle of the mating part;

[0037] The locking part is located on the side of the bearing part, and the locking part is slidably inserted into the inner cavity of the second sliding groove and the limiting groove.

[0038] The assembly base is fixedly connected to the side of the support plate, and the assembly column is slidably inserted into the inner cavity of the assembly base.

[0039] A threaded column, the end of which is fixedly connected to a support platform, and the outer wall of which is slidably inserted into an assembly frame;

[0040] A locking ring, which is threaded onto the outside of a threaded post.

[0041] Preferably, the collection mechanism includes:

[0042] A collection frame, wherein the collection frame is slidably inserted into the inner cavity of the cavity;

[0043] A positioning plate, which is fixedly connected to the side of the collection frame;

[0044] The positioning plate has a first slot at the bottom that mates with the plug-in plate, and the bottom of the connecting part has symmetrical T-shaped slots. The plug-in plate is slidably inserted into the inner cavity of the T-shaped slot.

[0045] A fixing plate is fixedly connected to the side of the plug-in plate, and the fixing plate is located inside the T-slot;

[0046] A movable plate is fixedly connected to the side of the plug-in plate, and a third sliding groove that mates with the movable plate is provided on the side of the connecting part.

[0047] A push plate, which is fixedly connected to the side of the movable plate;

[0048] The support bracket is installed at the bottom of the connecting part;

[0049] A sliding rod is fixedly connected to the bottom of the plug-in plate, and the outside of the sliding rod is slidably inserted into the support frame;

[0050] Mounting cap, which is threaded onto the end of the sliding rod;

[0051] The first spring is sleeved on the outside of the sliding rod. One end of the first spring is fixedly connected to the plug plate, and the other end of the first spring is in contact with the inner wall of the support frame.

[0052] Preferably, the protection mechanism includes:

[0053] A protective plate, which is fixedly sleeved onto the outside of the mounting base;

[0054] A protective cover is slidably disposed on the side of the mating seat and covers the outside of the mounting bolts;

[0055] A sliding plate, which is fixedly connected to the outside of the protective cover;

[0056] A fixing base is fixedly connected to the side of the protective plate;

[0057] A guide plate is fixedly connected to the side of the sliding plate, and the guide plate is slidably inserted into the inner cavity of the fixed seat;

[0058] An anti-detachment plate is fixedly connected to the side of the guide plate, and a fourth sliding groove that mates with the anti-detachment plate is provided on the side of the inner wall of the fixing seat.

[0059] A reinforcing plate is fixedly connected to the side of the protective cover and is located outside the processing head.

[0060] Preferably, the protection mechanism further includes:

[0061] A support frame, which is fixedly connected to the side of the sliding plate;

[0062] A limiting member, located inside the support frame, comprising:

[0063] A movable body, which is slidably disposed inside the support frame;

[0064] The snap-fit ​​part is located on the side of the movable body. The side of the inner wall of the support frame is provided with a fifth sliding groove that cooperates with the snap-fit ​​part. The side of the fixed seat is provided with a second snap-fit ​​groove that cooperates with the snap-fit ​​part.

[0065] A sliding part, wherein the sliding part is located on the other side of the moving body;

[0066] A fixed support plate is fixedly connected to the inside of the support frame, and the sliding part slides through the fixed support plate.

[0067] An operating panel, which is fixedly connected to the side of the sliding part;

[0068] A round rod is fixedly connected between the fixed support plate and the inner wall of the support frame, and the outer wall of the round rod is slidably inserted into the moving body;

[0069] The second spring is sleeved on the outside of the round rod. One end of the second spring is fixedly connected to the moving body, and the other end of the second spring is fixedly connected to the fixed support plate.

[0070] Preferably, the storage mechanism includes:

[0071] An extension frame, which is fixedly connected to the outside of the base;

[0072] A storage box, which is installed on top of the extension frame, is used to store the processing head to be replaced and the tools used.

[0073] A cover plate, which is rotatably connected to the top of the storage box.

[0074] This invention also provides a method for using a robotic arm for processing irregularly shaped templates, including the following specific steps:

[0075] Step 1: When processing the irregular template, install the irregular template on the top of the processing table through the mounting holes and the outer bracket. Then, move the support plate so that the processing table, carrying the irregular template, enters between adjacent support tables. The support plate drives the assembly frame to insert into the threaded column, and the assembly plate slides inside the guide frame. The locking ring limits the relative position of the threaded column and the assembly frame, so that the irregular template is in the processing position. The laser sensor detects the position of the locking ring in real time. If the locking ring is detected to be displaced, a loosening signal is sent to the controller. After receiving the loosening signal, the controller controls the alarm to sound a loosening alarm sound to re-tighten the locking ring.

[0076] Step 2: The drive base moves, causing the main body of the robotic arm and the drive arm to move to the processing position. Then, the main body of the robotic arm controls the drive arm to move, causing the drive arm to drive the processing head to process the irregular template. The debris generated at the processing position of the irregular template is blocked by the protective plate. During the processing, the vision sensor detects the position of the irregular template. If displacement is detected during the processing of the irregular template, an alarm signal is sent to the controller. Upon receiving the alarm signal, the controller controls the alarm to sound a displacement alarm and stops the operation of the main body of the robotic arm, the drive arm, and the processing head to re-fix the irregular template.

[0077] Step 3: During the processing of the irregular template, some of the debris that falls into the mounting hole will fall into the collection frame and be collected. The irregular template to be processed is installed on the top of the processing table to be used. After the irregular template is processed, the locking ring is unscrewed, and the support plate moves the processing table out from between the adjacent support tables so that the processed irregular template can be taken out. Then, a new irregular template is directly pushed in between the adjacent support tables for processing.

[0078] The technical effects and advantages of this invention are as follows:

[0079] (1) The present invention utilizes a combination of docking seat, processing head and protective mechanism. The docking seat connects the processing head to the mounting seat. The protective plate shields the end of the drive arm and can shield the debris splashed at the processing point of the irregular template. The protective cover limits and shields the end of the mounting bolt and covers the mounting bolt. The sliding plate, fixed seat and guide plate support and guide the installation of the protective cover. The limiting member fixes the protective cover and the protective plate together. This is beneficial to shield the debris splashed at the processing point of the irregular template by the processing head, so as to protect the end of the drive arm. At the same time, it is beneficial to limit and protect the end of the mounting bolt and cover the mounting bolt, so as to improve the safety of the drive arm.

[0080] (2) The present invention utilizes an extension frame, a storage box, a cover plate, and a base in a coordinated manner. The extension frame is connected to the base, and the extension frame supports the storage box. The cover plate is rotatably connected to the storage box to protect the inside of the storage box. The storage box stores the processing head to be replaced and related tools, which facilitates the storage of the processing head to be replaced and related tools. It is convenient to directly replace the processing head at the main body of the robotic arm and the drive arm, and to easily retrieve and use it nearby.

[0081] (3) The present invention utilizes a combination of processing table, mounting holes, support plate, horizontal plate, support plate, guide frame, assembly plate and positioning column. The processing table and the entire bottom are provided with two sets, which can fix and load two different irregular templates respectively. The processing table supports the irregular template, the mounting holes allow the irregular template to be installed on the processing table, the support plate and support plate support the bottom of the processing table, and the guide frame and assembly plate slide guide the installation of the support plate. This makes it easier for the processing table to slide on top of the two support tables, which is convenient for supporting the irregular template. At the same time, the two sets of processing tables can be switched back and forth, reducing the waiting time for the irregular template to be removed and replaced with a new irregular template after processing, and improving work efficiency.

[0082] (4) The present invention utilizes a combination of a collection frame, a positioning plate, a plug-in plate, a fixing plate, a moving plate, a pushing plate, a support frame, a sliding rod, and a first spring. The collection frame is located below the mounting hole, which can directly collect impurities that fall into the mounting hole and impurities that are swept from the top of the processing table into the mounting hole. The positioning plate and the plug-in plate are used to install and remove the position of the collection frame, which is beneficial for collecting and protecting impurities. At the same time, it is also beneficial for the collection frame to be removed and cleaned directly, which is convenient for operation.

[0083] (5) The present invention utilizes a configuration in which a bearing part, a connecting part, a supporting part, a fixing part, an assembly part, a docking part, an assembly column, a locking part, an assembly seat, a locking bolt, a threaded column, and a locking ring are coordinated. The bearing part supports the locking part, the supporting part supports the assembly frame, the assembly frame and the supporting part provide positioning support for the support plate, the locking ring limits the relative position of the threaded column and the assembly frame, and the locking part limits the relative position of the processing table and the positioning column. This facilitates the installation and disassembly of the processing table and the support plate, allowing for the replacement or removal of the processing table for cleaning. It also helps to lock the position of the support plate so that the processing table is fixed between the two support platforms for use. Furthermore, it facilitates the support of the plug-in plate and other components, making it easy to use in conjunction with the other components. Attached Figure Description

[0084] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0085] Figure 2 This is a schematic diagram of the structure of the main body of the robotic arm of the present invention;

[0086] Figure 3 This is a schematic diagram of the structure of the protective plate of the present invention;

[0087] Figure 4 This is a schematic diagram of the structure of the mounting base of the present invention;

[0088] Figure 5 This is a schematic cross-sectional view of the protective cover of the present invention.

[0089] Figure 6 This is a top sectional view of the support frame structure of the present invention;

[0090] Figure 7 This is a schematic diagram of the structure at the support plate of the present invention;

[0091] Figure 8 This is a front cross-sectional view of the positioning post of the present invention;

[0092] Figure 9 This is a front cross-sectional view of the positioning plate of the present invention.

[0093] In the diagram: 1. Support platform; 2. Drive base; 3. Machining unit; 31. Base; 32. Main body of robotic arm; 33. Drive arm; 34. Mounting seat; 35. Docking seat; 36. Machining head; 37. Mounting bolt; 4. Machining table; 41. Mounting hole; 5. Support mechanism; 51. Support plate; 52. Horizontal plate; 53. Support plate; 54. Guide frame; 55. Assembly plate; 56. Positioning column; 6. Collection mechanism; 61. Collection frame; 62. Positioning plate; 63. Insertion plate; 64. Fixing plate; 65. Moving plate; 66. Pushing plate; 67. Support frame; 68. Sliding rod; 69. Mounting cap; 610. First spring; 7. Auxiliary mechanism; 71. Bearing part 72. Connecting part; 73. Supporting part; 74. Fixing part; 75. Assembly frame; 76. Connecting part; 77. Assembly column; 78. Locking part; 79. Assembly seat; 710. Locking bolt; 711. Threaded column; 712. Locking ring; 8. Protection mechanism; 81. Protection plate; 82. Protection cover; 83. Sliding plate; 84. Fixing seat; 85. Guide plate; 86. Anti-detachment plate; 87. Reinforcing plate; 88. Support frame; 89. Limiting component; 891. Moving body; 892. Snap-fit ​​part; 893. Sliding part; 810. Fixed support plate; 811. Operating plate; 812. Second spring; 9. Storage mechanism; 91. Extension frame; 92. Storage box; 93. Cover plate. Detailed Implementation

[0094] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0095] This invention provides, for example Figures 1-9The robotic arm shown includes a support platform 1, a base 31, a robotic arm body 32, a processing unit 3, and a protective mechanism 8 for processing irregular templates. The support platform 1 supports the drive base 2, which is driven longitudinally and laterally and can be driven by a motor or screw, thereby driving the base 31 to move. This allows the robotic arm body 32 and the drive arm 33 to perform multi-position processing operations on the irregular template. The base 31 supports the robotic arm body 32 and facilitates its installation. The drive base 2 is mounted on the top of the support platform 1, and the base 31 is mounted on the drive base 2. The robotic arm body 32 is mounted on the base 31. Above, a drive arm 33 is installed at the end of the robotic arm body 32. The drive arm 33 is beneficial for supporting the processing head 36 and facilitating multi-directional drive operation of the processing head 36. The drive arm 33 can be selected according to the processing type. A mounting base 34 is installed at the end of the drive arm 33, which is beneficial for connecting with the processing head 36 to install the processing head 36. The processing unit 3 is located on the mounting base 34. The processing unit 3 is used to perform specified processing on the irregular template. The robotic arm body 32 and the drive arm 33 are used to drive the processing unit 3. The protection mechanism 8 is located on the mounting base 34. The protection mechanism 8 is used to shield and protect the connection between the processed part and the mounting base 34.

[0096] Furthermore, it also includes a processing table 4, a support mechanism 5, a collection mechanism 6, an auxiliary mechanism 7, and a storage mechanism 9. The processing table 4 is beneficial for supporting the irregular template and facilitating its installation for processing operations. The processing table 4 is located between adjacent support tables 1. The top of the processing table 4 has equidistant mounting holes 41, which facilitates fixing the irregular template to the top of the processing table 4 using brackets and bolts, thus achieving fixation during processing. The bottom of the processing table 4 has a cavity for supporting and fixing the irregular template. The support mechanism 5 is located at the bottom of the processing table 4 and is used to slide the processing table 4 between adjacent support tables 1 and provide bottom support for the processing table 4. The collection mechanism 6 is located inside the cavity and is used to collect impurities that fall into the mounting holes 41. The auxiliary mechanism 7 is located on the support mechanism 5 and is used to fix the processing table 4 to the support mechanism 5 and to fix the support mechanism 5 to the support table 1. The storage mechanism 9 is located on the base 31 and is used to store the processing head 36 to be replaced and the tools used.

[0097] Furthermore, the processing unit 3 includes a docking seat 35, a processing head 36, and a mounting bolt 37. The docking seat 35 provides support for the processing head 36, facilitating its installation. The processing head 36 can be of various types, depending on the processing type, such as a hammer, welding head, or laser cutting head. The processing head 36 facilitates the corresponding processing of irregular templates. The mounting bolt 37 secures the docking seat 35 to the mounting seat 34, enabling the installation and removal of the processing head 36. The docking seat 35 is located on the side of the mounting seat 34, and the processing head 36 is fixedly connected to the docking seat 35. The mounting bolt 37 is threadedly connected to the side of the docking seat 35, and its end is threadedly connected to the mounting seat 34.

[0098] Furthermore, the support mechanism 5 includes a support plate 51, a horizontal plate 52, a support plate 53, a guide frame 54, an assembly plate 55, and a positioning column 56. Two sets of the support mechanism 5, processing table 4, auxiliary mechanism 7, and collection mechanism 6 can be prepared. Thus, when one irregular template is installed on the processing table 4 and sent between the two support tables 1 for processing, another irregular template can be fixed to the processing table 4 while this one is being processed. After the processing of this one irregular template is completed, the processing table 4 can be moved out as a whole, and then the prepared other irregular template can be immediately installed for processing. This saves waiting time and improves work efficiency. The support plate 51 provides support for the support plate 53, and the bottom of the support plate 51 is equipped with casters to move the support table 1. The horizontal plate 52 reinforces the connection between the two support plates 51, increasing their stability. The support plate 53 provides support for the processing table 4. To facilitate the installation of the processing table 4, the guide frame 54 is U-shaped. The guide frame 54 is conducive to cooperating with the assembly plate 55, thereby facilitating the horizontal guidance of the support plate 51 and supporting the support plate 51. The positioning column 56 is conducive to connecting with the processing table 4, thereby facilitating the vertical positioning of the processing table 4. The support plate 51 is located between adjacent support tables 1. The horizontal plate 52 is fixedly connected between adjacent support plates 51. The support plate 53 is fixedly connected to the top of the support plate 51 and is located at the bottom of the processing table 4. The guide frame 54 is fixedly connected to the side of the support table 1. The assembly plate 55 is fixedly connected to the side of the support plate 51. The assembly plate 55 and the inner cavity of the guide frame 54 are slidably inserted and connected. The positioning column 56 is fixedly connected to the top of the support plate 53. The bottom of the processing table 4 is symmetrically provided with a first sliding groove that cooperates with the positioning column 56. The side of the positioning column 56 is provided with a limit groove. The side of the processing table 4 is provided with a second sliding groove.

[0099] Specifically, the auxiliary mechanism 7 includes a bearing portion 71, a connecting portion 72, a support portion 73, a fixing portion 74, an assembly frame 75, a docking portion 76, an assembly column 77, a locking portion 78, an assembly seat 79, a threaded column 711, and a locking ring 712. The bearing portion 71 facilitates the support of the locking portion 78, making it easier to move the locking portion 78. The connecting portion 72 facilitates the connection between the two bearing portions 71. The support portion 73 facilitates the support of the connecting portion 72 and also facilitates the support of the assembly frame 75. The fixing portion 74 facilitates the cooperation with the locking bolt 710, making it easy to install the support portion 73, the connecting portion 72, and the bearing portion 71. The assembly frame 75 is L-shaped, which facilitates support for the support part 73 and, consequently, the support plate 51. The assembly frame 75 also facilitates the positioning of the support plate 51 during installation. The mating part 76 supports the assembly column 77, which connects to the inner cavity of the assembly base 79, thus facilitating the positioning of the support part 73 during installation. The locking part 78 limits the relative position of the processing table 4 and the positioning column 56, thereby facilitating the installation and disassembly of the processing table 4 for cleaning or replacement. The assembly base 79 connects to the assembly column 77, facilitating the positioning of the assembly column 77 during installation. The threaded post 711 facilitates connection with the assembly frame 75, enabling easy positioning for the assembly frame 75 during installation. The locking ring 712 helps to define the relative position of the threaded post 711 and the assembly frame 75, thereby facilitating the installation and removal of the support plate 51. This allows the processing table 4 to be installed between two support tables 1 for use. The bearing portion 71 is located on the side of the processing table 4, the connecting portion 72 is located between adjacent bearing portions 71, the support portion 73 is located at the bottom of the connecting portion 72, and the fixing portion 74 is located on the side of the support portion 73. A locking bolt 710 is threadedly inserted into the side of the fixing portion 74, and the end of the locking bolt 710 is threaded into the support plate 51. The assembly frame 75 is located on the side of the support part 73 and the support platform 1. The docking part 76 is located at the bottom of the support part 73. The assembly column 77 is fixedly inserted into the middle of the docking part 76. The locking part 78 is located on the side of the bearing part 71. The locking part 78 is slidably inserted into the inner cavity of the second slide groove and the limiting groove. The assembly seat 79 is fixedly connected to the side of the support plate 51. The assembly column 77 is slidably inserted into the inner cavity of the assembly seat 79. The end of the threaded column 711 is fixedly connected to the support platform 1. The outer wall of the threaded column 711 is slidably inserted into the assembly frame 75. The locking ring 712 is threadedly sleeved on the outside of the threaded column 711.

[0100] Specifically, the collection mechanism 6 includes a collection frame 61, a positioning plate 62, a plug-in plate 63, a fixing plate 64, a moving plate 65, a pushing plate 66, a support frame 67, a sliding rod 68, a mounting cap 69, and a first spring 610. The collection frame 61 is useful for collecting impurities that fall into the mounting hole 41 during the processing of the irregular template, and can also collect impurities on the top of the processing table 4. The positioning plate 62 is useful for supporting the collection frame 61 and limiting its position. The plug-in plate 63 is useful for limiting the relative position of the connecting part 72 and the positioning plate 62, thereby facilitating the installation and disassembly of the collection frame 61, so as to facilitate the removal and cleaning of the collection frame 61. In terms of operation, the fixed plate 64 helps to limit the movement position of the insertion plate 63, the movable plate 65 helps to drive the insertion plate 63 to move up and down, making it easy for the insertion plate 63 to disengage from the positioning plate 62, thereby releasing the position limitation on the collection frame 61. The push plate 66 helps to simultaneously push the two movable plates 65 to move, facilitating the driving operation of the two movable plates 65. The support bracket 67 facilitates the sliding of the sliding rod 68, and also facilitates the installation of the sliding rod 68 and supports the deformation of the first spring 610. The sliding rod 68 helps to support the insertion plate 63, facilitates the guidance of the vertical movement of the insertion plate 63, and facilitates the deformation of the first spring 610. The deformation of spring 610 guides the movement, and the mounting cap 69 helps to limit the installation position of sliding rod 68. The elastic force of the first spring 610 helps to push the plug plate 63 to move, making it easy for the plug plate 63 to return to its original position after movement, facilitating repeated operation of the plug plate 63. The first spring 610 can be used in conjunction with a damper. The collecting frame 61 is slidably inserted into the inner cavity of the cavity. The positioning plate 62 is fixedly connected to the side of the collecting frame 61. The bottom of the positioning plate 62 has a first slot that mates with the plug plate 63. The bottom of the connecting part 72 has symmetrically formed T-shaped slots. The plug plate 63 is slidably inserted into the inner cavity of the T-shaped slot. The fixing plate 64 is fixedly connected to the plug plate. On the side of 63, the fixed plate 64 is located inside the T-slot, the movable plate 65 is fixedly connected to the side of the plug-in plate 63, the side of the connecting part 72 is provided with a third sliding groove that cooperates with the movable plate 65, the push plate 66 is fixedly connected to the side of the movable plate 65, the support bracket 67 is installed at the bottom of the connecting part 72, the sliding rod 68 is fixedly connected to the bottom of the plug-in plate 63, the outside of the sliding rod 68 is slidably inserted and connected to the support bracket 67, the mounting cap 69 is threadedly sleeved on the end of the sliding rod 68, the first spring 610 is sleeved on the outside of the sliding rod 68, one end of the first spring 610 is fixedly connected to the plug-in plate 63, and the other end of the first spring 610 is in contact with the inner wall of the support bracket 67.

[0101] Specifically, the protective mechanism 8 includes a protective plate 81, a protective cover 82, a sliding plate 83, a fixed base 84, a guide plate 85, an anti-detachment plate 86, and a reinforcing plate 87. The protective plate 81 can be fitted with a flexible protective sleeve on its back, extending to the rear of the drive arm 33. The protective plate 81 helps to shield and protect the processing position of the processing head 36 on the irregular template, preventing debris from splashing onto the drive arm 33, thus protecting the drive arm 33 and the mounting base 34. Furthermore, the protective plate 81 helps to support the fixed base 84. The protective cover 82 is semi-enclosed, with its inner wall fitting against the end of the mounting bolt 37. This helps prevent the mounting bolt 37 from rotating arbitrarily. The two protective covers 82 also shield the mounting bolt 37, preventing contamination. A sealing gasket is placed between the two protective covers 82 to increase sealing. The sliding plate 83 supports the protective cover 82, facilitating its movement. The fixed base 84 supports the sliding plate 83 and allows the guide plate 85 and anti-detachment plate 86 to slide on it, guiding the installation of the sliding plate 83 and protective cover 82 and increasing the stability of the protective cover 82. The reinforcing plate 87 is trapezoidal, providing external support and protection for the processing head 36, improving its stability during use. The protective plate 81 is fixedly sleeved on the outside of the mounting base 34, and the protective cover 82 is slidably disposed on the side of the mating seat 35, covering the mounting bolt. Outside the bolt 37, the sliding plate 83 is fixedly connected to the outside of the protective cover 82, the fixed seat 84 is fixedly connected to the side of the protective plate 81, the guide plate 85 is fixedly connected to the side of the sliding plate 83, the guide plate 85 is slidably inserted into the inner cavity of the fixed seat 84, the anti-detachment plate 86 is fixedly connected to the side of the guide plate 85, the side of the inner wall of the fixed seat 84 is provided with a fourth sliding groove that cooperates with the anti-detachment plate 86, and the reinforcing plate 87 is fixedly connected to the side of the protective cover 82. The reinforcing plate 87 is located outside the processing head 36.

[0102] More specifically, the protection mechanism 8 also includes a support frame 88, a limiting member 89, a fixed support plate 810, an operating plate 811, a round rod, and a second spring 812. The support frame 88 facilitates the support of the limiting member 89. The fixed support plate 810 facilitates the sliding part 893 to slide on it and supports the deformation of the second spring 812. The operating plate 811 facilitates the movement of the sliding part 893 and the traction operation of the sliding part 893. The round rod guides the sliding of the moving body 891 and facilitates the movement of the second spring 812. The deformation is guided by the second spring 812, which helps to push the moving body 891 to move, making it easy for the moving body 891 and the locking part 892 to return to their original positions after movement, facilitating repeated operation of the locking part 892. The second spring 812 can be used in conjunction with a damper. The support frame 88 is fixedly connected to the side of the sliding plate 83, and the limiting member 89 is located inside the support frame 88. The limiting member 89 includes the moving body 891, the locking part 892, and the sliding part 893. The moving body 891 facilitates the movement of the locking part 892, making it easy to move. The locking part 892 supports the support frame 88 and the fixed seat 84, which helps to define the relative position of the support frame 88 and the fixed seat 84, thereby facilitating the locking and fixing of the sliding plate 83 and the fixed seat 84 to install and fix the protective cover 82. The movable body 891 is slidably disposed inside the support frame 88. The locking part 892 is located on the side of the movable body 891. The side of the inner wall of the support frame 88 is provided with a fifth sliding groove that cooperates with the locking part 892. The side of the fixed seat 84 is provided with a second locking groove that cooperates with the locking part 892. The sliding part 891... 93 is located on the other side of the movable body 891. The fixed support plate 810 is fixedly connected to the inside of the support frame 88. The sliding part 893 slides through the fixed support plate 810. The operating plate 811 is fixedly connected to the side of the sliding part 893. The round rod is fixedly connected between the fixed support plate 810 and the inner wall of the support frame 88. The outer wall of the round rod is slidably inserted into the movable body 891. The second spring 812 is sleeved on the outside of the round rod. One end of the second spring 812 is fixedly connected to the movable body 891, and the other end of the second spring 812 is fixedly connected to the fixed support plate 810.

[0103] Furthermore, the storage mechanism 9 includes an extension frame 91, a storage box 92, and a cover plate 93. The extension frame 91 is L-shaped, which is beneficial for supporting the storage box 92. The storage box 92 is convenient for storing the processing head 36 to be replaced and the replacement tools, making it easy to access and operate from the main body 32 of the robotic arm. The cover plate 93 is convenient for covering the inside of the storage box 92, and the cover plate 93 is locked and fixed with a latch. The extension frame 91 is fixedly connected to the outside of the base 31. The storage box 92 is installed on the top of the extension frame 91. The storage box 92 is used to store the processing head 36 to be replaced and the tools used. The cover plate 93 is rotatably connected to the top of the storage box 92.

[0104] Working principle of this invention:

[0105] When it is necessary to process the irregular template, the irregular template is installed on the top of the processing table 4 through the mounting hole 41 and the outer bracket. Then, the support plate 51 is moved so that the processing table 4, carrying the irregular template, enters between the adjacent support table 1. The support plate 51 drives the assembly frame 75 to be inserted into the threaded column 711, and the assembly plate 55 slides inside the guide frame 54. The locking ring 712 limits the relative position of the threaded column 711 and the assembly frame 75, so that the irregular template is in the processing position. The laser sensor detects the position of the locking ring 712 in real time. If the locking ring 712 is detected to be displaced, a loosening signal is sent to the controller. After receiving the loosening signal, the controller controls the alarm to sound a loosening alarm sound to re-tighten the locking ring 712.

[0106] The drive base 2 moves the drive base 31, causing the robotic arm body 32 and drive arm 33 to move to the processing position. Then, the robotic arm body 32 controls the drive arm 33 to move, causing the drive arm 33 to drive the processing head 36 to process the irregular template. The debris generated at the processing position of the irregular template is blocked by the protective plate 81. During the processing, the vision sensor detects the position of the irregular template. If the irregular template is detected to be displaced during the processing, an alarm signal is sent to the controller. Upon receiving the alarm signal, the controller controls the alarm to sound a displacement alarm and stops the work of the robotic arm body 32, drive arm 33 and processing head 36 to re-fix the irregular template.

[0107] During the processing of the irregular template, some of the debris that falls into the mounting hole 41 falls into the collection frame 61 and is collected. The irregular template to be processed is installed on the top of the processing table 4 to be used. After the irregular template is processed, the locking ring 712 is unscrewed, and the support plate 51 moves the processing table 4 out from between the adjacent support tables 1 so that the processed irregular template can be taken out. Then, a new irregular template is directly pushed into the space between the adjacent support tables 1 for processing.

[0108] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for processing irregularly shaped templates, characterized in that: include: Support platform (1), with a drive seat (2) mounted on the top of the support platform (1). The base (31) is mounted on the drive seat (2); The robotic arm body (32) is mounted on the base (31), and a drive arm (33) is mounted on the end of the robotic arm body (32), and a mounting base (34) is mounted on the end of the drive arm (33). A processing unit (3) is located on a mounting base (34). The processing unit (3) is used to perform specified processing on irregular templates. The robotic arm body (32) and the drive arm (33) are used to drive the processing unit (3). The processing unit (3) includes: A docking seat (35) is located on the side of the mounting seat (34); The processing head (36) is fixedly connected to the docking seat (35); Mounting bolt (37), the mounting bolt (37) is threadedly connected to the side of the mating seat (35), and the end of the mounting bolt (37) is threadedly connected to the mounting seat (34); A protective mechanism (8) is located on the mounting base (34). The protective mechanism (8) is used to shield and protect the connection between the workpiece and the mounting base (34). The protective mechanism (8) includes: A protective plate (81) is fixedly sleeved on the outside of the mounting base (34); A protective cover (82) is slidably disposed on the side of the docking seat (35). The protective cover (82) covers the outside of the mounting bolt (37). The inner wall of the protective cover (82) is in contact with the end of the mounting bolt (37). A sliding plate (83) is fixedly connected to the outside of the protective cover (82); A fixing seat (84) is fixedly connected to the side of the protective plate (81); Guide plate (85), the guide plate (85) is fixedly connected to the side of the sliding plate (83), and the guide plate (85) is slidably inserted into the inner cavity of the fixed seat (84); Anti-detachment plate (86), the anti-detachment plate (86) is fixedly connected to the side of the guide plate (85), and the side of the inner wall of the fixing seat (84) is provided with a fourth sliding groove that cooperates with the anti-detachment plate (86); A reinforcing plate (87) is fixedly connected to the side of the protective cover (82) and the reinforcing plate (87) is located outside the processing head (36); A support frame (88) is fixedly connected to the side of the sliding plate (83); A limiting member (89) is located inside the support frame (88), and the limiting member (89) includes: A movable body (891) is slidably disposed inside the support frame (88); The snap-fit ​​part (892) is located on the side of the moving body (891). The side of the inner wall of the support frame (88) is provided with a fifth sliding groove that cooperates with the snap-fit ​​part (892). The side of the fixed seat (84) is provided with a second snap-fit ​​groove that cooperates with the snap-fit ​​part (892). A sliding part (893) is located on the other side of the moving body (891); Fixed support plate (810), the fixed support plate (810) is fixedly connected to the inside of the support frame (88), and the sliding part (893) slides through the fixed support plate (810); An operation panel (811) is fixedly connected to the side of the sliding part (893); A round rod is fixedly connected between the fixed support plate (810) and the inner wall of the support frame (88), and the outer wall of the round rod is slidably inserted into the movable body (891). The second spring (812) is sleeved on the outside of the round rod. One end of the second spring (812) is fixedly connected to the moving body (891), and the other end of the second spring (812) is fixedly connected to the fixed support plate (810).

2. The robotic arm for processing irregularly shaped templates according to claim 1, characterized in that: Also includes: The processing table (4) is located between adjacent support tables (1). The top of the processing table (4) is provided with mounting holes (41) at equal intervals, and the bottom of the processing table (4) is provided with a cavity. The processing table (4) is used to support and fix the irregular template. Support mechanism (5), the support mechanism (5) is located at the bottom of the processing table (4), the support mechanism (5) is used to slide the processing table (4) between adjacent support tables (1) and provide bottom support for the processing table (4); Collection mechanism (6), located inside the cavity, is used to collect impurities that fall into the mounting hole (41); An auxiliary mechanism (7) is located on a support mechanism (5) and is used to fix the processing table (4) to the support mechanism (5) and to fix the support mechanism (5) to the support table (1); Storage mechanism (9), which is located on base (31), is used to store the processing head (36) to be replaced and the tools used.

3. The robotic arm for processing irregularly shaped templates according to claim 2, characterized in that: The support mechanism (5) includes: A support plate (51) is located between adjacent support platforms (1); A horizontal plate (52) is fixedly connected between adjacent support plates (51); Support plate (53), which is fixedly connected to the top of support plate (51) and located at the bottom of processing table (4); Guide frame (54), the guide frame (54) is fixedly connected to the side of the support platform (1); Assembly plate (55), the assembly plate (55) is fixedly connected to the side of the support plate (51), and the assembly plate (55) is slidably inserted into the inner cavity of the guide frame (54); Positioning column (56) is fixedly connected to the top of support plate (53). The bottom of the processing table (4) is symmetrically provided with a first sliding groove that cooperates with the positioning column (56). The side of the positioning column (56) is provided with a limit groove. The side of the processing table (4) is provided with a second sliding groove.

4. The robotic arm for processing irregularly shaped templates according to claim 3, characterized in that: The auxiliary mechanism (7) includes: The support part (71) is located on the side of the processing table (4); A connecting portion (72) is located between adjacent supporting portions (71); A support portion (73) is located at the bottom of the connecting portion (72); The fixing part (74) is located on the side of the support part (73). The side of the fixing part (74) is threadedly connected with a locking bolt (710). The end of the locking bolt (710) is threadedly connected to the support plate (51). Assembly frame (75), the assembly frame (75) is located on the side of the support (73), the assembly frame (75) is located on the side of the support platform (1); The docking part (76) is located at the bottom of the support part (73); Assembly column (77), said assembly column (77) is fixedly inserted into the middle of the mating part (76); Locking part (78) is located on the side of the bearing part (71), and the locking part (78) is slidably inserted into the inner cavity of the second slide groove and the limiting groove; Assembly base (79), the assembly base (79) is fixedly connected to the side of the support plate (51), and the assembly column (77) is slidably inserted into the inner cavity of the assembly base (79); A threaded column (711) is fixedly connected at its end to a support platform (1), and the outer wall of the threaded column (711) is slidably inserted into the assembly frame (75). A locking ring (712) is threaded onto the outside of a threaded post (711).

5. The robotic arm for processing irregularly shaped templates according to claim 4, characterized in that: The collection mechanism (6) includes: Collection frame (61), the collection frame (61) is slidably inserted into the inner cavity of the cavity; Positioning plate (62), the positioning plate (62) is fixedly connected to the side of the collection frame (61); The bottom of the positioning plate (62) is provided with a first slot that cooperates with the plug-in plate (63), and the bottom of the connecting part (72) is provided with T-shaped grooves symmetrically, and the plug-in plate (63) and the inner cavity of the T-shaped groove are slidably inserted and connected. A fixing plate (64) is fixedly connected to the side of the plug plate (63), and the fixing plate (64) is located inside the T-slot; The movable plate (65) is fixedly connected to the side of the plug plate (63), and the side of the connecting part (72) is provided with a third sliding groove that cooperates with the movable plate (65). A push plate (66) is fixedly connected to the side of the movable plate (65); Support bracket (67), said support bracket (67) is installed at the bottom of the connecting part (72); A sliding rod (68) is fixedly connected to the bottom of the plug plate (63), and the outside of the sliding rod (68) is slidably inserted into the support frame (67); Mounting cap (69), which is threaded onto the end of sliding rod (68); The first spring (610) is sleeved on the outside of the sliding rod (68). One end of the first spring (610) is fixedly connected to the plug plate (63), and the other end of the first spring (610) is in contact with the inner wall of the support frame (67).

6. The robotic arm for processing irregularly shaped templates according to claim 5, characterized in that: The storage mechanism (9) includes: An extension frame (91) is fixedly connected to the outside of the base (31); Storage box (92), which is mounted on top of extension frame (91), is used to store the processing head (36) to be replaced and the tools used; A cover plate (93) is rotatably connected to the top of the storage box (92).

7. The processing method of a robotic arm for processing irregular templates according to claim 6, characterized in that: The specific usage steps are as follows: Step 1: When it is necessary to process the irregular template, the irregular template is installed on the top of the processing table (4) through the mounting hole (41) and the outer bracket. Then, the support plate (51) is moved so that the processing table (4) carries the irregular template between the adjacent support table (1). The support plate (51) drives the assembly frame (75) to be inserted into the threaded column (711). The assembly plate (55) slides inside the guide frame (54). The locking ring (712) limits the relative position of the threaded column (711) and the assembly frame (75) so that the irregular template is in the processing position. The laser sensor detects the position of the locking ring (712) in real time. If the locking ring (712) is detected to be displaced, a loosening signal is sent to the controller. After receiving the loosening signal, the controller controls the alarm to emit a loosening alarm sound to re-tighten the locking ring (712). Step 2: The drive body (2) drives the base (31) to move, so that the main body (32) of the robotic arm and the drive arm (33) move to the processing position. Then the main body (32) of the robotic arm controls the drive arm (33) to move, so that the drive arm (33) drives the processing head (36) to perform processing operation on the processing position of the irregular template. The debris generated at the processing position of the irregular template is blocked by the protective plate (81). During the processing, the vision sensor detects the position of the irregular template. If the irregular template is detected to be displaced during the processing, an alarm signal is sent to the controller. The controller receives the alarm signal, controls the alarm to emit a displacement alarm sound, and stops the work of the main body (32), the drive arm (33) and the processing head (36) to re-fix the irregular template. Step 3: During the processing of the irregular template, some of the debris that falls into the mounting hole (41) falls into the collection frame (61) and is collected. The irregular template to be processed is installed on the top of the processing table (4) to be used. After the irregular template is processed, the locking ring (712) is unscrewed, and the support plate (51) moves the processing table (4) out from between the adjacent support tables (1) so that the processed irregular template can be taken out. Then, a new irregular template is directly pushed into the adjacent support tables (1) for processing.

Images