Mechanical arm for workpiece machining of robot

Abstract

The utility model discloses a mechanical arm for a robot to machine workpieces in the technical field of robot equipment, which comprises a mechanical part and a clamping device, the mechanical part comprises a mechanical arm, a first motor, a guide plate and a connecting frame, and the first motor is fixed at the bottom of the mechanical arm; the mechanical arm for the robot to machine the workpiece is reasonable in arrangement and structural design, the two clamping devices are installed on the two sides of the mechanical arm correspondingly, the two clamping devices are matched with each other to clamp the workpiece with a through hole, the through hole in the workpiece is formed under the mechanical arm, and when the mechanical arm moves up and down in the vertical direction, the through hole in the workpiece can be clamped through the clamping devices. The two clamping devices are limited by the connecting frame to keep clamping the workpiece, the end of the grinding head can be accurately inserted into an open hole, the periphery of the open hole is deburred, the second motor is used for driving the rotating plate to turn over, the opening position of the bottom face of the workpiece can be machined, and therefore the workpiece machining efficiency can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a mechanical arm for robot processing workpieces. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in the fields of industrial assembly and processing.

[0003] After the existing workpiece is processed and opened, a manual hand-held grinding machine is often used to remove burrs around the hole, which will affect the processing efficiency of the workpiece. Therefore, a new technical solution needs to be designed to solve this problem. Utility Model Content

[0004] The utility model aims to provide a robot arm for processing workpieces, so as to solve the problem in the above-mentioned background technology that after the workpiece is processed and opened, a manual handheld grinding machine is often used to remove burrs around the hole, which affects the processing efficiency of the workpiece.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot arm for processing workpieces, comprising a mechanical part and a clamping device, the mechanical part comprising a mechanical arm, a first motor, a guide plate and a connecting frame, the first motor is fixed to the bottom of the mechanical arm, the driving end of the first motor is keyed to a grinding head, the two guide plates are symmetrically distributed and fixed along the outer side wall of the mechanical arm, the interiors of the two guide plates are respectively connected to one of the connecting frames by a guide block for sliding; the bottoms of the two connecting frames are respectively distributed with a clamping device, the clamping device comprises a connecting plate, a cross bar, a second electric push rod, a second motor and a rotating plate, the cross bar is welded to the bottom of the connecting frame, the connecting plate is connected to the cross bar through a moving rod, the fixed end of the second electric push rod is connected to the bottom of the cross bar through a vertical rod, the moving end of the second electric push rod is fixed to the outer side wall of the connecting plate by bolts, the second electric push rod and the rotating plate are distributed on both sides of the connecting plate, the second motor is connected to the connecting plate through a mounting frame, and the rotating plate is clamped with the driving end of the second motor.

[0006] In order to adjust the position of the workpiece so that the opening inside the workpiece is directly below the grinding head, as a preferred robot arm for processing workpieces in the utility model, a first electric push rod is fixed inside the bottom of the connecting plate, and the moving end of the first electric push rod is fixedly connected to a push plate.

[0007] In order to clamp the side wall of the workpiece so that the workpiece can be stably flipped along with the rotating plate, as a preferred robot arm for processing workpieces of the utility model, a third electric push rod is installed on the side where the two rotating plates are close to each other through a cross plate, and a pressure plate is fixed to the bottom of the third electric push rod by bolts, and a bearing plate is welded to the bottom of the rotating plate.

[0008] In order to reduce the friction resistance between the cross bar and the moving rod, as a preferred embodiment of the present invention, a robot arm for processing workpieces is provided, wherein the inner side wall of the cross bar is inlaid with balls, and the balls are in rolling contact with the moving rod.

[0009] In order to enable the connecting frame to move stably along the guide plate, as a preferred robot arm for processing workpieces of the utility model, a column is inserted into the top of the guide plate, a disc is fixed on the top of the column, a spring is sleeved on the outside of the column, the column is placed between the disc and the guide plate, and a balance plate is fixed to the outside of the connecting frame, and the balance plate is in sliding contact with the outer wall of the guide plate.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: the setting of the robot arm for processing workpieces has a reasonable structural design, and a clamping device is installed on both sides of the robot arm respectively, and the two clamping devices cooperate with each other to clamp the workpiece after the hole is opened, and the opening on the workpiece is placed directly under the robot arm, and when the robot arm moves up and down in the vertical direction, the two clamping devices are restricted by the connecting frame to keep the workpiece clamped, so that the end of the grinding head can be accurately inserted into the opening, and the burrs around the opening can be removed, and the second motor is used to drive the rotating plate to flip, so that the opening on the bottom surface of the workpiece can be processed, thereby effectively improving the efficiency of workpiece processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0012] Figure 2 This is a schematic diagram of the structure of the clamping device of the utility model;

[0013] Figure 3 This is a schematic diagram of the internal structure of the guide plate of the utility model.

[0014] In the figure: 100, mechanical part; 110, mechanical arm; 120, first motor; 121, grinding head; 130, guide plate; 131, column; 132, spring; 140, connecting frame; 141, balance board;

[0015] 200, clamping device; 210, connecting plate; 211, moving rod; 212, first electric push rod; 213, push plate; 220, cross bar; 221, ball bearing; 230, second electric push rod; 240, second motor; 250, rotating plate; 251, third electric push rod; 252, pressure plate; 253, bearing plate. DETAILED DESCRIPTION

[0016] 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. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] See also Figure 1-3 , the utility model provides a technical solution:

[0018] In the technical scheme, a robot arm for processing workpieces includes a mechanical part 100 and a clamping device 200. The mechanical part 100 includes a mechanical arm 110, a first motor 120, a guide plate 130 and a connecting frame 140. The first motor 120 is fixed to the bottom of the mechanical arm 110. The driving end key of the first motor 120 is connected to a grinding head 121. Two guide plates 130 are symmetrically distributed and fixed along the outer wall of the mechanical arm 110. The interiors of the two guide plates 130 are respectively connected to a connecting frame 140 through guide blocks for sliding. The interiors of the guide plates 130 are provided with guide grooves, and the guide blocks are slidably connected in the guide grooves. The guide blocks are welded to the ends of the connecting frame 140.

[0019] In this technical solution, the robot arm 110 is used to provide installation points for the installation of various parts, the first motor 120 and the grinding head 121 cooperate with each other to deburr the area around the through hole opened on the workpiece, the guide plate 130 and the connecting frame 140 cooperate with each other to provide connection points for the installation of the clamping device 200, and ensure that when the robot arm 110 moves in the vertical direction, the clamping device 200 will not loosen its grip on the workpiece.

[0020] A clamping device 200 is respectively distributed at the bottom of the two connecting frames 140, and the clamping device 200 includes a connecting plate 210, a cross bar 220, a second electric push rod 230, a second motor 240 and a rotating plate 250. The cross bar 220 is welded to the bottom of the connecting frame 140, and the connecting plate 210 is connected to the cross bar 220 through a moving rod 211. A sliding groove is opened at the bottom of the cross bar 220, and the moving rod 211 slides in the sliding groove. The top of the connecting plate 210 is welded to the end of the moving rod 211, and the fixed end of the second electric push rod 230 is connected to the bottom of the cross bar 220 through a vertical rod, and the vertical rod is welded to the bottom of the cross bar 220. The fixed end of the push rod 230 is fixedly connected to the vertical pole by bolts, the movable end of the second electric push rod 230 is fixed to the outer wall of the connecting plate 210 by bolts, the second electric push rod 230 and the rotating plate 250 are distributed on both sides of the connecting plate 210, the second motor 240 is connected to the connecting plate 210 by a mounting frame, the mounting frame is an L-shaped structure, one end of the mounting frame is welded to the outer wall of the connecting plate 210, and the second motor 240 is fixedly connected to the mounting frame by bolts, the rotating plate 250 is clamped with the driving end of the second motor 240, and the driving shaft inside the second motor 240 runs through the inside of the connecting plate 210 and is clamped with the rotating plate 250;

[0021] In this technical solution, the cross bar 220 and the moving rod 211 are used to provide installation points for the connecting plate 210 and the second electric push rod 230. The second electric push rod 230 is used to control the connecting plate 210 to make reciprocating motion in the horizontal direction. The second motor 240 is used to provide power for the rotation of the rotating plate 250. The connecting plate 210 and the rotating plate 250 are respectively approached to each other under the push of the second electric push rod 230, thereby clamping the workpiece after the hole is opened, so that the grinding head 121 can deburr the area around the hole.

[0022] In some technical solutions, reference Figure 1-2 A first electric push rod 212 is fixed inside the bottom of the connecting plate 210 , and a push plate 213 is fixedly connected to the moving end of the first electric push rod 212 .

[0023] In this technical solution, two first electric push rods 212 are symmetrically distributed on the outer wall of the connecting plate 210, and the two first electric push rods 212 can move synchronously to drive the push plate 213 to move. Before the rotating plate 250 clamps the workpiece, the position of the workpiece is adjusted so that the opening of the workpiece is just below the grinding head 121.

[0024] In some technical solutions, reference Figure 1-2A third electric push rod 251 is installed on one side of the two rotating plates 250 that are close to each other through a horizontal plate. The horizontal plate and the outer side wall of the rotating plate 250 are fixed by bolts, and the fixed end of the third electric push rod 251 is fixed to the horizontal plate by bolts. A pressure plate 252 is fixed to the bottom of the third electric push rod 251 by bolts, and a bearing plate 253 is welded to the bottom of the rotating plate 250.

[0025] In this technical solution, the third electric push rod 251 is used to push the movement of the pressure plate 252, so that the pressure plate 252 and the supporting plate 253 are close to or away from each other, and the workpiece moves from front to back under the conveyor belt. At this time, the supporting plate 253 is located below the workpiece, and the pressure plate 252 is located above the workpiece, so that the workpiece can be clamped to prevent it from falling or shifting during the flipping process, causing the position of the hole to shift.

[0026] In some technical solutions, reference Figure 2 The inner side wall of the cross bar 220 is inlaid with a ball 221, and the ball 221 is in rolling contact with the moving rod 211.

[0027] In this technical solution, the use of the ball 221 can effectively reduce the friction between the moving rod 211 and the cross bar 220, so that the moving rod 211 can stably move in the cross bar 220.

[0028] In some technical solutions, reference Figure 1 and Figure 3 A column 131 is inserted into the top of the guide plate 130, a disc is fixed on the top of the column 131, a spring 132 is sleeved on the outside of the column 131, the column 131 is placed between the disc and the guide plate 130, and a balance plate 141 is fixed to the outside of the connecting frame 140, and the balance plate 141 is in sliding contact with the outer wall of the guide plate 130.

[0029] In this technical solution, the connecting frame 140 can stably slide inside the guide plate 130, thereby preventing the connecting frame 140 from shaking with the guide plate 130 during the movement.

[0030] Working principle: The robot arm 110 is a part of the robot structure. At this time, the robot arm 110 moves to the top of the conveyor belt, so that the workpiece moves horizontally from front to back and passes through the pressure plates 252 and 243 in sequence. When the workpiece to be processed moves to the bottom of the grinding head 121, the robot arm 110 moves vertically upward for a distance. In the initial state, the push plate 213 is lower than the bottom plane of the workpiece, so that the side wall of the push plate 213 can contact the side wall of the workpiece, and then the control switch of the first electric push rod 212 is operated. Multiple first electric push rods 212 work synchronously. The first electric push rod 212 pulls the push plate 213 to move, so that the push plate 213 contacts the workpiece and pushes the position of the workpiece, so that the workpiece is symmetrically distributed along the axis of the connecting plate 210. At this time, the control of the second electric push rod 230 is operated. The second electric push rod 230 pushes the connecting plates 210 to get closer to each other until the rotating plate 250 contacts the workpiece. At this time, the workpiece moves again, so that the opening inside the workpiece and the grinding The first motor 120 drives the second motor 240 to move upward, and the second motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the rotating plate 250 to flip, and the third motor 240 drives the second motor 24 ...

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robot arm for processing a workpiece, characterized in that: The invention comprises a mechanical part (100) and a clamping device (200), wherein the mechanical part (100) comprises a mechanical arm (110), a first motor (120), a guide plate (130) and a connecting frame (140), wherein the first motor (120) is fixed to the bottom of the mechanical arm (110), a driving end of the first motor (120) is keyed to a grinding head (121), two guide plates (130) are symmetrically distributed and fixed along the outer side wall of the mechanical arm (110), and the interiors of the two guide plates (130) are respectively slidably connected to one of the connecting frames (140) via a guide block; A clamping device (200) is respectively distributed at the bottom of the two connecting frames (140), and the clamping device (200) comprises a connecting plate (210), a cross bar (220), a second electric push rod (230), a second motor (240) and a rotating plate (250), wherein the cross bar (220) is welded to the bottom of the connecting frame (140), the connecting plate (210) is connected to the cross bar (220) via a moving rod (211), and the second electric push rod (230) is connected to the second motor (240) via a moving rod (212). The fixed end of the second electric push rod (230) is connected to the bottom of the cross bar (220) through a vertical rod, the movable end of the second electric push rod (230) is fixed to the outer wall of the connecting plate (210) by bolts, the second electric push rod (230) and the rotating plate (250) are distributed on both sides of the connecting plate (210), the second motor (240) is connected to the connecting plate (210) through a mounting frame, and the rotating plate (250) is clamped with the driving end of the second motor (240).

2. A robot arm for processing a workpiece according to claim 1, characterized in that: A first electric push rod (212) is fixed inside the bottom of the connecting plate (210), and a moving end of the first electric push rod (212) is fixedly connected to a push plate (213).

3. The robot arm for processing a workpiece according to claim 1, characterized in that: A third electric push rod (251) is installed on each side of the two rotating plates (250) close to each other through a transverse plate, a pressure plate (252) is fixed to the bottom of the third electric push rod (251) by bolts, and a bearing plate (253) is welded to the bottom of the rotating plate (250).

4. The robot arm for processing a workpiece according to claim 1, characterized in that: The inner side wall of the cross bar (220) is inlaid with a ball (221), and the ball (221) is in rolling contact with the moving bar (211).

5. The robot arm for processing a workpiece according to claim 1, characterized in that: A column (131) is inserted at the top of the guide plate (130), a disc is fixed at the top of the column (131), a spring (132) is sleeved on the outside of the column (131), the column (131) is placed between the disc and the guide plate (130), a balancing plate (141) is fixed on the outside of the connecting frame (140), and the balancing plate (141) is in sliding contact with the outer side wall of the guide plate (130).

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