Mechanical arm for loading and unloading movable parts of machine tool

Abstract

The utility model discloses a mechanical arm for loading and unloading movable parts of a machine tool, which belongs to the technical field of mechanical arms and comprises a base, a steering mechanism and a mechanical gripper, the steering mechanism and the mechanical gripper are arranged on the base, and the mechanical gripper comprises a placing disc, a first clamp and a second clamp. The placing disc is rotationally connected with the steering mechanism; the two sets of first clamps and the two sets of second clamps are arranged on the containing disc. According to the utility model, the first clamp and the second clamp are matched with each other, so that an operator does not need to stop to replace a mechanical gripper or add other mechanical arms. The outer edge of the part can be clamped through the first clamp; when a punched part needs to be grabbed, the second clamping jaw on the second clamp can stretch into a part hole to achieve grabbing, a worker does not need to manually replace the mechanical gripper, and the working efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm for upper and lower live parts of a machine tool. Background Art

[0002] Parts processing is often done on machine tools. For most parts, it is often necessary to punch holes on machine tools so that they can be used in various devices. In order to increase the speed of parts processing, robotic arms are often used instead of manual labor. The robotic arms grab the parts and place them on the machine tools for processing. After the punching is completed, the robotic arms are used to take them out. The use of robotic arms significantly improves the efficiency of parts processing.

[0003] Because the parts that need to be processed are of different types and shapes, and some parts are not punched, while some parts have been punched but need to be processed again, different mechanical grippers need to be replaced when different types of parts need to be processed. Sometimes, the grasping of unpunched and punched parts needs to be done alternately, which requires the robot arm to stop working first, and then the operator manually replaces the mechanical gripper, or sets up some mechanical grippers for grasping other types of parts near the machine tool to cooperate with the existing mechanical grippers to complete the work. When the robot arm is stopped to replace the mechanical gripper, the work efficiency will be significantly reduced; and when other mechanical grippers are added, the processing cost will increase.

[0004] Therefore, we proposed a robotic arm for upper and lower parts of machine tools in order to solve the above-mentioned problems.

[0005] The above information disclosed in this background technology is only used to increase the understanding of the background technology of the present invention and therefore, it may include information that does not constitute the prior art known to a person of ordinary skill in the art. Utility Model Content

[0006] The utility model aims to provide a mechanical arm for upper and lower parts of a machine tool to solve the problems in the current market raised by the above background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides a mechanical arm for upper and lower live parts of a machine tool, comprising a base, a steering mechanism arranged on the base and a mechanical gripper, wherein the mechanical gripper comprises a placement plate, a first clamp and a second clamp;

[0008] The placement plate is rotatably connected to the steering mechanism;

[0009] The first clamp and the second clamp are each provided with two sets and are arranged on a placement plate.

[0010] Preferably, the steering mechanism comprises a fixed platform, a first steering arm and a second steering arm;

[0011] The fixing platform is rotatably connected to the base;

[0012] The first steering arm is rotatably connected to the fixed platform;

[0013] The second steering arm is rotatably connected to the end of the first steering arm.

[0014] Preferably, the first fixture comprises a first placement box, a motor and a first clamp;

[0015] A lead screw is provided in the first placement box, a first gear is fixed on the output shaft of the motor, and the lead screw is meshed and connected with the first gear;

[0016] The two sides of the middle part of the lead screw are provided with threads in opposite directions, and the first clamping jaw is threadedly sleeved on the lead screw;

[0017] A guide rod is also arranged in the first placement box. The guide rod passes through the first clamping claw and is fixed to the inner wall of the first placement box.

[0018] Preferably, the second fixture comprises a second placement box, an electric push rod and a second clamping claw;

[0019] A fixing rod is provided in the second placement box, and the second clamping claw is sleeved on the fixing rod and elastically connected to the fixing rod;

[0020] A transmission rod is provided at the output end of the electric push rod, and the transmission rod is in contact with the second clamping claw.

[0021] Preferably, the transmission rod is a hollow rod, and one end of the second clamping jaw located in the second placement box has an inclined angle.

[0022] Preferably, the fixing rod comprises a main rod and a secondary rod fixed on the main rod;

[0023] The second clamping jaw is arranged on the auxiliary rod;

[0024] The auxiliary rod is also provided with a spring, and the two ends of the spring are respectively fixedly connected to the main rod and the second clamping claw.

[0025] Compared with the prior art, the beneficial effects of the utility model are:

[0026] The utility model makes the mechanical arm more applicable when used through the cooperation between the first clamp and the second clamp. When it is necessary to grab punched or unpunched parts separately, or when it is necessary to grab unpunched and punched parts alternately, it can be done quickly without the operator stopping to replace the mechanical gripper or adding other mechanical arms. The outer edge of the part can be clamped by the first clamp; when it is necessary to grab the punched part, the second clamp on the second clamp can be inserted into the part hole to achieve grabbing. The staff does not need to manually replace the mechanical gripper, which effectively improves the work efficiency.

[0027] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0029] Figure 2 This is a schematic diagram of the internal structure of the first clamp of the utility model;

[0030] Figure 3 This is a schematic diagram of the appearance of the second clamp of the utility model;

[0031] Figure 4 for Figure 3 A cross-sectional view of

[0032] Figure 5 It is a schematic diagram of the state inside the second clamp when the second clamping jaw of the utility model is opened.

[0033] In the figure: 1. Base; 2. Steering mechanism; 3. Mechanical gripper;

[0034] 201, fixed platform; 202, first steering arm; 203, second steering arm;

[0035] 301, placement plate; 302, first fixture; 303, second fixture;

[0036] 3021, first placement box; 3022, motor; 3023, first clamping claw; 3024, lead screw; 3025, first gear; 3026, guide rod;

[0037] 3031, second placement box; 3032, electric push rod; 3033, second clamping claw; 3034, fixing rod; 3035, transmission rod;

[0038] 30341. Main rod; 30342. Auxiliary rod; 30343. Spring. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. It should be pointed out that the drawings are schematic and not drawn to scale. For the sake of clarity and convenience in the figures, the relative sizes and proportions of the parts shown in the figures are exaggerated or reduced in size, and any size is only exemplary and not restrictive.

[0040] See also Figure 1-Figure 5A mechanical arm for upper and lower parts of a machine tool, comprising: a base 1, a steering mechanism 2 and a mechanical gripper 3; the steering mechanism 2 comprises a fixed platform 201, a first steering arm 202 and a second steering arm 203, the fixed platform 201 is rotatably connected to the base 1, the bottom end of the first steering arm 202 is rotatably connected to the fixed platform 201, and the bottom end of the second steering arm 203 is rotatably connected to the top of the first steering arm 202, and both are driven by an internal driving mechanism. The steering mechanism 2 can rotate in the horizontal direction as a whole, the first steering arm 202 can rotate in the vertical direction with its connection point with the fixed platform 201 as the axis, and the second steering arm 203 can rotate in the vertical direction with its connection point with the first steering arm 202 as the axis. The joint is the axis that rotates in the horizontal direction. In addition, the second steering arm 203 can also rotate along its own axis. The mechanical gripper 3 includes a placement plate 301, a first clamp 302 and a second clamp 303. The placement plate 301 is rotatably connected to the top of the second steering arm 203 and is driven by a driving mechanism inside the steering mechanism 2. In addition to being able to rotate, it can also change the angle between it and the second steering arm 203. The first clamp 302 and the second clamp 303 are each provided with two groups, both of which are fixed on the placement plate 301. The first clamp 302 includes a first placement box 3021, a motor 3022 and a first clamp 3023. A lead screw 3024 is provided in the first placement box 3021. A first gear 3025 is fixed on the output shaft of the motor 3022, and the lead screw 3024 is meshed with the first gear 3025; threads in opposite directions are arranged on both sides of the middle of the lead screw 3024, and the first clamping jaw 3023 is threadedly sleeved on the lead screw 3024; a guide rod 3026 is also arranged in the first placement box 3021, and the guide rod 3026 passes through the first clamping jaw 3023 and is fixed to the inner wall of the first placement box 3021; ​​the second clamp 303 includes a second placement box 3031, an electric push rod 3032 and a second clamping jaw 3033; a fixed rod 3034 is arranged in the second placement box 3031, and the fixed rod 3034 includes a main rod 30341 and a secondary rod 3034 2. The auxiliary rod 30342 is provided with multiple groups and is fixed on the main rod 30341 and is at a 90-degree angle with the main rod 30341; the second clamping jaw 3033 is provided on the auxiliary rod 30342; a spring 30343 is also provided on the auxiliary rod 30342, and the two ends of the spring 30343 are respectively fixedly connected with the main rod 30341 and the second clamping jaw 3033; a transmission rod 3035 is provided at the output end of the electric push rod 3032, and the transmission rod 3035 is in contact with the second clamping jaw 3033. The transmission rod 3035 is a hollow rod, and one end of the second clamping jaw 3033 located in the second placement box 3031 has an inclined angle, and the transmission rod 3035 can produce a squeezing effect on the second clamping jaw 3033 when it moves.

[0041] Working principle of this embodiment: when it is necessary to clamp a part from the workbench, the first clamp 302 or the second clamp 303 is selected according to the different types of parts. When the first clamp 302 is used, the mechanical arm moves so that the first clamp 302 is located above the part, and the motor 3022 works to drive the lead screw 3024 to rotate, so that the two first clamps 3023 open to each other and move slightly to the part, and then the lead screw 3024 is controlled to reverse, so that the two first clamps 3023 clamp the outer edge of the part, so that there is a certain pressure between the two first clamps 3023 and the part. , grasping can be achieved; when using the second clamp 303, the mechanical arm moves so that the second clamp 303 is located at the opening above the part. At this time, the telescopic end of the electric push rod 3032 has not extended. Under the action of the spring 30343, the second clamp 3033 is in a retracted state. After the second clamp 3033 enters the part hole, the telescopic end of the electric push rod 3032 extends, driving the transmission rod 3035 to move. The transmission rod 3035 squeezes the inclined surface at the end of the second clamp 3033, so that the second clamp 3033 moves and opens until the part is clamped, and grasping can be achieved.

[0042] The standard parts used in this utility model can be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0043] In the description of the present utility model, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0047] In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mechanical arm for upper and lower parts of a machine tool, comprising a base (1), a steering mechanism (2) arranged on the base (1) and a mechanical gripper (3), characterized in that: The mechanical gripper (3) comprises a placement plate (301), a first clamp (302) and a second clamp (303); The placement plate (301) is rotatably connected to the steering mechanism (2); The first clamp (302) and the second clamp (303) are each provided in two groups and are arranged on the placement plate (301).

2. A mechanical arm for upper and lower parts of a machine tool according to claim 1, characterized in that: The steering mechanism (2) comprises a fixed platform (201), a first steering arm (202) and a second steering arm (203); The fixing platform (201) is rotatably connected to the base (1); The first steering arm (202) is rotatably connected to the fixed platform (201); The second steering arm (203) is rotatably connected to the end of the first steering arm (202).

3. A mechanical arm for upper and lower parts of a machine tool according to claim 1, characterized in that: The first clamp (302) comprises a first placement box (3021), a motor (3022) and a first clamping claw (3023); A lead screw (3024) is provided in the first placement box (3021), a first gear (3025) is fixed on the output shaft of the motor (3022), and the lead screw (3024) is meshedly connected with the first gear (3025); The two sides of the middle of the lead screw (3024) are provided with threads in opposite directions, and the first clamping jaw (3023) is threadedly sleeved on the lead screw (3024); A guide rod (3026) is also provided in the first placement box (3021), and the guide rod (3026) passes through the first clamping claw (3023) and is fixed to the inner wall of the first placement box (3021).

4. A mechanical arm for upper and lower parts of a machine tool according to claim 1, characterized in that: The second clamp (303) comprises a second placement box (3031), an electric push rod (3032) and a second clamping claw (3033); A fixing rod (3034) is provided in the second placement box (3031), and the second clamping claw (3033) is sleeved on the fixing rod (3034) and elastically connected to the fixing rod (3034); The output end of the electric push rod (3032) is provided with a transmission rod (3035), and the transmission rod (3035) is in contact with the second clamping claw (3033).

5. A mechanical arm for upper and lower parts of a machine tool according to claim 4, characterized in that: The transmission rod (3035) is a hollow rod, and one end of the second clamping claw (3033) located in the second placement box (3031) has an inclined angle.

6. A mechanical arm for upper and lower parts of a machine tool according to claim 4, characterized in that: The fixed rod (3034) includes a main rod (30341) and a secondary rod (30342) fixed on the main rod (30341); The second clamping claw (3033) is arranged on the auxiliary rod (30342); The auxiliary rod (30342) is also provided with a spring (30343), and the two ends of the spring (30343) are respectively fixedly connected to the main rod (30341) and the second clamping claw (3033).

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