Intelligent machining mechanical arm

Abstract

The utility model discloses an intelligent machining mechanical arm which comprises a base, a first arm capable of rotating is connected to the base, a second arm capable of rotating is connected to the first arm, a third arm capable of rotating is connected to the second arm, and a first clamp is fixed to the end of the third arm. A second clamp capable of moving in the axial direction of the third arm is arranged on the third arm, and the first clamp and the second clamp are perpendicular to each other. Firstly, the two sides of the workpiece are clamped through the first clamp, the workpiece is moved through the mechanical arm, the non-clamped face of the workpiece is machined, when the clamped face of the workpiece needs to be machined, the second clamp is moved to the position of the workpiece, the non-clamped face of the workpiece is clamped from the other two sides of the workpiece, then the first clamp loosens clamping of the workpiece, and then the workpiece is machined. And then the second clamp drives the workpiece to continuously move forwards to be away from the first clamp, so that the workpiece can be clamped by the second clamp to be machined.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an intelligent processing mechanical arm. Background Art

[0002] With the development of society, robotic arms have been used in various fields of society, especially in high-risk operation areas or in the production process of parts with high precision requirements.

[0003] However, most of the existing robot arms have only one clamp. After the workpiece is clamped, only the unclamped surface of the workpiece can be processed. When the clamped surface of the workpiece needs to be processed, the workpiece needs to be removed and re-clamped, which seriously reduces production efficiency. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes an intelligent processing mechanical arm.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An intelligent processing robot arm comprises a base, wherein a rotatable first arm is connected to the base, a rotatable second arm is connected to the first arm, a rotatable third arm is connected to the second arm, a first clamp is fixed to the end of the third arm, a second clamp which can move along the axial direction of the third arm is arranged on the third arm, and the first clamp and the second clamp are perpendicular to each other.

[0007] Preferably, the first clamp includes a first mounting plate fixed on the third arm, a first sliding groove is provided on the first mounting plate, a pair of first clamping plates are slidably connected in the first sliding groove, a bidirectional screw is rotatably connected in the first sliding groove to form a threaded connection with the first clamping plate, a first motor is fixed to the end of the first mounting plate, and the output shaft of the first motor is connected to the end of the bidirectional screw.

[0008] Preferably, the second clamp includes a second mounting plate mounted on the third arm, a pair of second sliding grooves are opened on the second mounting plate, a second clamping plate is slidably connected in the second sliding groove, a first screw rod threadedly connected to the second clamping plate is rotatably connected in the second sliding groove, a second motor is fixed at both ends of the second mounting plate, the output shaft of the second motor is connected to the corresponding end of the first screw rod, an electric push rod is fixed on the ear block on the third arm, and the output shaft of the electric push rod is connected to the second mounting plate.

[0009] Preferably, a positioning column is inserted into the positioning sleeve on the third arm, and the other end of the positioning column is fixed to the second mounting plate.

[0010] Preferably, the third arm is rotationally connected with the second arm via a rotating shaft, a third motor is fixed to the side of the second arm, the output shaft of the third motor is connected to the first gear, the end of the rotating shaft is fixedly sleeved with a second gear meshingly connected to the first gear, and a protective shell for covering the third motor and the end of the rotating shaft is fixed to the side of the second arm.

[0011] Preferably, a fourth motor is installed inside the first arm, and an output shaft of the fourth motor is connected to the second arm.

[0012] Preferably, the first arm is rotatably connected to the base via a connecting shaft, a fifth motor is fixed to the rear of the base, and an output shaft of the fifth motor is connected to an end of the connecting shaft.

[0013] The beneficial effects of the utility model are:

[0014] 1. The device is provided with a first clamp and a second clamp. First, the two sides of the workpiece are clamped by the first clamp, and the workpiece is moved by the robot arm to process the unclamped surface of the workpiece. When the clamped surface of the workpiece needs to be processed, the second clamp is moved to the workpiece, and the unclamped surface of the workpiece is clamped from the other two sides of the workpiece. Then the first clamp releases the clamping of the workpiece, and then the second clamp drives the workpiece to continue to move forward away from the first clamp, so that the workpiece can be clamped by the second clamp for processing.

[0015] 2. The device is provided with a first clamp, and the first motor output shaft drives the bidirectional screw to rotate, so that the two first clamping plates move closer to each other along the first sliding groove, thereby clamping the workpiece.

[0016] 3. The device is provided with a movable second clamp. When the electric push rod is started, the output shaft of the electric push rod can drive the second clamp to move along the axial direction of the third arm. The two second motors are started at the same time, and the output shaft of the second motor drives the second clamping plate to move toward the middle along the second slide groove, and the two second clamping plates can clamp the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of an intelligent processing robot arm proposed by the utility model;

[0018] Figure 2 This is a schematic diagram of the installation structure of a first clamping plate and a second clamping plate of an intelligent processing robot arm proposed by the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the second arm and the third arm of an intelligent processing robot arm proposed by the utility model;

[0020] Figure 4 For this utility model Figure 3Schematic diagram of the enlarged structure of point A of the proposed intelligent processing robot arm.

[0021] In the figure: 1. base; 2. first arm; 3. second arm; 4. third arm; 5. first mounting plate; 6. second mounting plate; 7. ear block; 8. electric push rod; 9. positioning sleeve; 10. positioning column; 11. first slide groove; 12. first clamping plate; 13. bidirectional screw; 14. first motor; 15. second slide groove; 16. second clamping plate; 17. first screw; 18. second motor; 19. rotating shaft; 20. third motor; 21. first gear; 22. second gear; 23. protective shell. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] Reference Figure 1-4 , an intelligent processing robot arm, including a base 1, a rotatable first arm 2 is connected to the base 1, a rotatable second arm 3 is connected to the first arm 2, a rotatable third arm 4 is connected to the second arm 3, a first clamp is fixed to the end of the third arm 4, and a second clamp that can move along the axial direction of the third arm 4 is provided on the third arm 4. The first clamp and the second clamp are perpendicular to each other. First, the two sides of the workpiece are clamped by the first clamp, and the workpiece is moved by the robot arm to process the unclamped surface of the workpiece. When the clamped surface of the workpiece needs to be processed, the second clamp is moved to the workpiece, and the unclamped surface of the workpiece is clamped from the other two sides of the workpiece, and then the first clamp releases the clamping of the workpiece, and then the second clamp drives the workpiece to continue to move forward away from the first clamp, so that the workpiece can be clamped by the second clamp for processing.

[0024] Furthermore, the first clamp includes a first mounting plate 5 fixed on the third arm 4, and a first sliding groove 11 is opened on the first mounting plate 5. A pair of first clamping plates 12 are slidably connected in the first sliding groove 11, and a bidirectional screw 13 is rotatably connected in the first sliding groove 11 to form a threaded connection with the first clamping plate 12. A first motor 14 is fixed to the end of the first mounting plate 5, and the output shaft of the first motor 14 is connected to the end of the bidirectional screw 13. The output shaft of the first motor 14 drives the bidirectional screw 13 to rotate, so that the two first clamping plates 12 move closer to each other along the first sliding groove 11, thereby clamping the workpiece.

[0025] Furthermore, the second clamp includes a second mounting plate 6 mounted on the third arm 4, a pair of second slide grooves 15 are provided on the second mounting plate 6, a second clamping plate 16 is slidably connected in the second slide groove 15, a first screw 17 threadedly connected to the second clamping plate 16 is rotatably connected in the second slide groove 15, a second motor 18 is fixed at both ends of the second mounting plate 6, the output shaft of the second motor 18 is connected to the corresponding end of the first screw 17, an electric push rod 8 is fixed on the ear block 7 on the third arm 4, the output shaft of the electric push rod 8 is connected to the second mounting plate 6, the electric push rod 8 is started, and the output shaft of the electric push rod 8 can drive the second clamp to move along the axial direction of the third arm 4, the two second motors 18 are started at the same time, the output shaft of the second motor 18 drives the second clamping plate 16 to move toward the middle along the second slide groove 15, and the two second clamping plates 16 can clamp the workpiece.

[0026] Furthermore, a positioning column 10 is inserted into the positioning sleeve 9 on the third arm 4, and the other end of the positioning column 10 is fixed on the second mounting plate 6. The second mounting plate 6 can be limited by the sliding fit between the positioning column 10 and the positioning sleeve 9.

[0027] Furthermore, the third arm 4 is rotationally connected with the second arm 3 through the rotating shaft 19, a third motor 20 is fixed to the side of the second arm 3, the output shaft of the third motor 20 is connected to the first gear 21, the end of the rotating shaft 19 is fixedly sleeved with a second gear 22 meshing with the first gear 21, and a protective shell 23 for covering the third motor 20 and the end of the rotating shaft 19 is fixed to the side of the second arm 3, the output shaft of the third motor 20 drives the first gear 21 to rotate, the first gear 21 meshes and drives the second gear 22 to rotate, and the second gear 22 synchronously drives the rotating shaft 19 to rotate, thereby realizing the rotation of the third arm 4.

[0028] Furthermore, a fourth motor is installed inside the first arm 2, and the output shaft of the fourth motor is connected to the second arm 3. The output shaft of the fourth motor drives the second arm 3 to rotate, thereby realizing the flipping of the workpiece.

[0029] Furthermore, the first arm 2 is rotatably connected to the base 1 via a connecting shaft. A fifth motor is fixed to the rear of the base 1. The output shaft of the fifth motor is connected to the end of the connecting shaft. The output shaft of the fifth motor drives the connecting shaft to rotate, thereby realizing the rotation of the first arm 2.

[0030] Working principle: the rotation of the first arm 2 is realized by the fifth motor, the first gear 21 is driven to rotate by the output shaft of the third motor 20, the first gear 21 is meshed to drive the second gear 22 to rotate, and the second gear 22 synchronously drives the rotating shaft 19 to rotate, thereby realizing the rotation of the third arm 4. When the first fixture on the robotic arm moves to the workpiece, first the output shaft of the first motor 14 drives the bidirectional screw 13 to rotate, so that the two first clamps 12 move closer to each other along the first slide groove 11 to clamp the workpiece, and then process it. When the clamping surface of the workpiece needs to be processed, the second fixture is moved to the workpiece by the electric push rod 8, and the two second motors 18 are started at the same time. The output shaft of the second motor 18 drives the second clamp 16 to move toward the middle along the second slide groove 15. The two second clamps 16 clamp the workpiece on the other two sides of the workpiece, and then the first fixture releases the clamping of the workpiece, and then the second fixture and the workpiece are driven by the electric push rod 8 to continue to move forward away from the first fixture, so that the workpiece can be clamped by the second fixture for processing.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

Claims

1. An intelligent processing robot arm, comprising a base (1), characterized in that: The base (1) is connected to a rotatable first arm (2), the first arm (2) is connected to a rotatable second arm (3), the second arm (3) is connected to a rotatable third arm (4), a first clamp is fixed to the end of the third arm (4), and the third arm (4) is provided with a second clamp that can move along the axial direction of the third arm (4), and the first clamp and the second clamp are perpendicular to each other.

2. The intelligent processing robot arm according to claim 1, characterized in that: The first clamp comprises a first mounting plate (5) fixed on the third arm (4), the first mounting plate (5) being provided with a first slide groove (11), a pair of first clamping plates (12) being slidably connected in the first slide groove (11), a bidirectional screw rod (13) being rotatably connected in the first slide groove (11) and being threadedly connected to the first clamping plates (12), a first motor (14) being fixed at the end of the first mounting plate (5), and an output shaft of the first motor (14) being connected to the end of the bidirectional screw rod (13).

3. The intelligent processing robot arm according to claim 1, characterized in that: The second clamp comprises a second mounting plate (6) sleeved on the third arm (4), a pair of second slide grooves (15) being provided on the second mounting plate (6), a second clamping plate (16) being slidably connected in the second slide groove (15), a first screw rod (17) being rotatably connected in the second slide groove (15) and being threadedly connected to the second clamping plate (16), a second motor (18) being fixed at both ends of the second mounting plate (6), an output shaft of the second motor (18) being connected to the corresponding end of the first screw rod (17), an electric push rod (8) being fixed on the ear block (7) on the third arm (4), and an output shaft of the electric push rod (8) being connected to the second mounting plate (6).

4. The intelligent processing robot arm according to claim 3, characterized in that: A positioning column (10) is inserted into the positioning sleeve (9) on the third arm (4), and the other end of the positioning column (10) is fixed on the second mounting plate (6).

5. The intelligent processing robot arm according to claim 1, characterized in that: The third arm (4) is rotatably connected to the second arm (3) via a rotating shaft (19); a third motor (20) is fixed to the side of the second arm (3); an output shaft of the third motor (20) is connected to a first gear (21); a second gear (22) meshingly connected to the first gear (21) is fixedly sleeved at the end of the rotating shaft (19); and a protective shell (23) for covering the third motor (20) and the end of the rotating shaft (19) is fixed to the side of the second arm (3).

6. The intelligent processing robot arm according to claim 1, characterized in that: A fourth motor is installed inside the first arm (2), and an output shaft of the fourth motor is connected to the second arm (3).

7. The intelligent processing robot arm according to claim 1, characterized in that: The first arm (2) is rotatably connected to the base (1) via a connecting shaft, a fifth motor is fixed to the rear of the base (1), and an output shaft of the fifth motor is connected to the end of the connecting shaft.

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