Water mill manipulator clamp and blade water mill processing work station

Abstract

The utility model discloses a water mill manipulator clamp and a blade water mill processing workstation, the water mill manipulator clamp comprises a three-axis manipulator; the rotating assembly is installed at the tail end of the three-axis mechanical arm and comprises a driving motor and a rotating base, and the driving motor is connected with the rotating base and drives the rotating base to rotate around the z-axis direction; and the multiple material taking assemblies are arranged at intervals in the direction of the z-axis, each material taking assembly comprises a driving air cylinder, a rotating block and a suction cup, the driving air cylinders are connected with the rotating blocks and drive the rotating blocks to rotate in the direction of the x-axis, and the suction cups are installed on the rotating blocks to adsorb workpieces. The rotating assembly is integrated at the tail end of the three-axis mechanical arm, and the function of rotating around the z axis is introduced, so that the clamp can rapidly switch the positions of the multiple material taking assemblies, and the rhythm requirement for rapid material taking and feeding is met; and moreover, the material taking assembly has the function of rotating around the x axis, the workpiece can be rotationally clamped from the side edge, the machining efficiency and the operation flexibility are greatly improved, and meanwhile the high precision and consistency of machining are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of water mill processing, in particular to a water mill manipulator fixture and a blade water mill processing workstation with the water mill manipulator fixture. Background Art

[0002] In the traditional machining industry, especially in the field of tool manufacturing, manual operation is not only inefficient but also difficult to ensure the consistency and accuracy of machining. In recent years, with the development of automation technology, manipulator fixtures have been widely used in various machining scenarios because they can achieve high-precision positioning and automated operations. However,

[0003] In blade water mill processing, most of the manipulator fixtures for loading and unloading are designed based on the principle of a rectangular coordinate system, providing only three linear degrees of freedom of movement in the X, Y, and Z directions, and the loading and unloading operations are all carried out by translational operations. However, for some positioning molds that need to be clamped from the side, fixtures that can only move linearly cannot meet the usage requirements. In addition, setting tools outside the positioning mold to drive the workpiece to rotate not only increases the cost but also slows down the loading and unloading cycle, and the positioning adjustment is cumbersome, seriously affecting the machining efficiency. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a water mill manipulator fixture. The water mill manipulator fixture adds a rotating component as the fourth axis, adapts to the design of double grippers, improves the loading and unloading cycle, and designs a pick-up component that can rotate on the side to meet the scenario of side clamping. The automated loading and unloading is fast and convenient, effectively improving the machining efficiency.

[0005] The utility model also provides a blade water mill processing workstation with the above-mentioned water mill manipulator fixture.

[0006] According to the water mill manipulator fixture of the utility model, it includes:

[0007] A three-axis manipulator;

[0008] A rotating component, installed at the end of the three-axis manipulator. The rotating component includes a driving motor and a rotating seat. The driving motor is connected to and drives the rotating seat to rotate around the z-axis direction;

[0009] A plurality of pick-up components, arranged at intervals around the z-axis direction. The pick-up component includes a driving cylinder, a rotating block, and a suction cup. The driving cylinder is connected to and drives the rotating block to rotate around the x-axis direction, and the suction cup is installed on the rotating block to adsorb the workpiece.

[0010] The water mill robotic arm fixture according to the present utility model has at least the following beneficial effects: By integrating a rotating component at the end of the three-axis robotic arm, a rotating function around the z-axis is introduced, enabling the fixture to quickly switch the positions of multiple material taking components, meeting the rhythm requirements of rapid material taking and loading; moreover, the material taking component has a rotating function around the x-axis, capable of rotating and clamping the workpiece from the side, greatly improving the processing efficiency and operation flexibility, while ensuring high precision and consistency in processing.

[0011] For the water mill robotic arm fixture according to some embodiments of the present utility model, there are two material taking components, and the two material taking components are arranged at an interval of 180°.

[0012] For the water mill robotic arm fixture according to some embodiments of the present utility model, the rotating block is fixedly connected to the driving shaft of the driving cylinder. The rotating block is provided with an arc-shaped guiding groove, and the guiding groove extends along the central axis direction of the driving shaft of the driving cylinder. The rotating seat is provided with a plurality of guiding columns, and the guiding columns correspond to the rotating block one by one. The guiding columns are in sliding fit with the guiding groove to guide the rotation of the rotating block.

[0013] For the water mill robotic arm fixture according to some embodiments of the present utility model, the central angle corresponding to the guiding groove is equal to the rotation angle of the driving cylinder to limit the rotation angle of the rotating block.

[0014] For the water mill robotic arm fixture according to some embodiments of the present utility model, a rotating bearing is installed at the end of the guiding column. The guiding column passes through the inner ring of the rotating bearing, and the outer ring of the rotating bearing is in sliding fit with the groove wall of the guiding groove.

[0015] For the water mill robotic arm fixture according to some embodiments of the present utility model, the rotating block is in a plate shape, and a debugging block is installed on the rotating block. The debugging block is in a round cake shape, and the central axis of the debugging block coincides with the central axis of the driving shaft of the driving cylinder.

[0016] For the water mill robotic arm fixture according to some embodiments of the present utility model, the rotating block is provided with a plurality of installation grooves arranged at intervals, and the suction cup is installed in one of the installation grooves.

[0017] For the water mill robotic arm fixture according to some embodiments of the present utility model, the installation groove is in a strip shape.

[0018] For the water mill robotic arm fixture according to some embodiments of the present utility model, the rotating component further includes an angle detection sensor. The angle detection sensor is stationary with the rotating seat, and the angle detection sensor is used to detect the rotation angle of the rotating seat.

[0019] The blade water grinding processing workstation according to the present utility model includes the water grinding manipulator fixture according to the present utility model; the workpiece is a cutting tool; the suction cup adsorbs the side wall of the cutting tool.

[0020] The blade water grinding processing workstation according to the present utility model has at least the following beneficial effects: a rotating component is integrated at the end of the three-axis manipulator, introducing a rotating function around the z-axis, enabling the fixture to quickly switch the positions of multiple material taking components, meeting the rhythm requirements of rapid material taking and loading; moreover, the material taking component has a rotating function around the x-axis, capable of rotating and clamping the workpiece from the side, greatly improving the processing efficiency and operation flexibility, while ensuring high precision and consistency of the processing.

[0021] The additional aspects and advantages of the present utility model will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present utility model will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0023] Figure 1 is the first structural schematic diagram of the water grinding manipulator fixture according to the embodiment of the present utility model;

[0024] Figure 2 is the second structural schematic diagram of the water grinding manipulator fixture according to the embodiment of the present utility model;

[0025] Figure 3 is the structural schematic diagram of the blade water grinding processing workstation according to the embodiment of the present utility model.

[0026] DESCRIPTION OF THE REFERENCE NUMERALS IN THE DRAWINGS:

[0027] Rotating component 100; driving motor 110; rotating seat 120; guiding column 121; rotating bearing 1211;

[0028] Material taking component 200; driving cylinder 210; rotating block 220; guiding groove 2201; mounting groove 2202; debugging block 221; suction cup 230;

[0029] Three-axis manipulator 300;

[0030] Cutting tool 400;

[0031] Angle detection sensor 500;

[0032] Feeding device 600;

[0033] Water grinding device 700. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0035] In the description of the present utility model, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

[0036] In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0037] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present utility model in combination with the specific content of the technical solution.

[0038] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present 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 can be combined in a suitable manner in any one or more embodiments or examples.

[0039] In the traditional machining industry, especially in the field of tool manufacturing, manual operation is not only inefficient but also difficult to ensure the consistency and accuracy of machining. In recent years, with the development of automation technology, robotic fixtures have been widely used in various machining scenarios because they can achieve high-precision positioning and automated operations. However,

[0040] In blade water grinding processing, most of the manipulator fixtures for loading and unloading are designed based on the principle of a rectangular coordinate system, providing only three linear degrees of freedom of motion in the X, Y, and Z directions. The operations of loading and unloading both adopt translational operations. However, for some positioning molds that need to be clamped from the side, fixtures that can only move linearly cannot meet the usage requirements. Additionally, setting tools outside the positioning mold to drive the workpiece to rotate not only increases costs but also slows down the loading and unloading cycle, and the positioning adjustment is cumbersome, seriously affecting the processing efficiency.

[0041] Therefore, as Figures 1 to 3 shown, the water grinding manipulator fixture proposed by the present utility model includes a three-axis manipulator 300, a rotating assembly 100 installed at the end of the three-axis manipulator 300, and a material taking assembly 200 installed at the end of the rotating assembly 100. Among them, the rotating assembly 100 includes a driving motor 110 and a rotating seat 120. The driving motor 110 is connected to and drives the rotating seat 120 to rotate around the z-axis direction. There are multiple material taking assemblies 200, and the multiple material taking assemblies 200 are arranged at intervals around the z-axis direction. Specifically, the material taking assembly 200 includes a driving cylinder 210, a rotating block 220, and a suction cup 230. The driving cylinder 210 is connected to and drives the rotating block 220 to rotate around the x-axis direction. The suction cup 230 is installed on the rotating block 220 to adsorb the workpiece. It should be noted that integrating the rotating assembly 100 at the end of the three-axis manipulator 300 introduces the rotation function around the z-axis, enabling the fixture to quickly switch the positions of multiple material taking assemblies 200 and meet the cycle requirements of rapid material taking and loading. Moreover, the material taking assembly 200 has the rotation function around the x-axis, capable of rotating and clamping the workpiece from the side, greatly improving the processing efficiency and operation flexibility, and at the same time ensuring the high precision and consistency of processing.

[0042] Referring again to Figure 1 and Figure 2In some embodiments of the utility model, there are two material-picking assemblies 200, and the two material-picking assemblies 200 are arranged at an interval of 180°, which not only realizes the efficient alternating grasping and releasing of the workpiece, but also ensures the balance during the rotation process, reduces vibration, and improves the stability and accuracy of processing. Further, the rotating block 220 is fixedly connected to the driving shaft of the driving cylinder 210, and the rotating block 220 is provided with an arc-shaped guide groove 2201, and the guide groove 2201 extends around the center line direction of the driving shaft of the driving cylinder 210. The rotating seat 120 is equipped with a plurality of guide columns 121, and the guide columns 121 correspond to the rotating block 220 one by one. The guide columns 121 and the guide grooves 2201 are slidably matched to guide the rotation of the rotating block 220, which significantly improves the rotation stability of the material-picking assembly 200, makes the rotation operation in the X-axis direction more accurate and reliable, avoids unnecessary mechanical wear, and prolongs the service life of the equipment. Furthermore, the central angle of the guide groove 2201 is equal to the rotation angle of the driving cylinder 210, so as to limit the rotation angle of the rotating block 220. Then, after the driving cylinder 210 rotates in one direction, the guide column 121 abuts against the groove wall at one end of the guide groove 2201; after the driving cylinder 210 rotates in another direction, the guide column 121 abuts against the groove wall at the other end of the guide groove 2201, which ingeniously limits the maximum rotation range of the rotating block 220, ensures the safety of operation and the consistency of repeated positioning, and improves the control accuracy and efficiency of the processing process. In addition, a rotating bearing 1211 is installed at the end of the guide column 121, and the guide column 121 is inserted into the inner ring of the rotating bearing 1211. The outer ring of the rotating bearing 1211 is slidably matched with the groove wall of the guide groove 2201, so as to realize low-friction sliding between the guide column 121 and the guide groove 2201, further optimize the working performance of the rotating mechanism, reduce energy consumption, and improve the response speed and service life of the system.

[0043] In order to improve the convenience of debugging, in some embodiments of the present invention, Figure 1As shown, the rotating block 220 is plate-shaped, and a debugging block 221 is installed on the rotating block 220. The debugging block 221 is disc-shaped, and the center line of the debugging block 221 coincides with the center line of the driving shaft of the driving cylinder 210, which facilitates the rapid adjustment and fine calibration of the position of the rotating block 220, helps to simplify the installation and debugging process of the equipment, and improves the overall working efficiency. In addition, in order to improve the versatility of the workpiece size, the rotating block 220 is provided with a plurality of mounting grooves 2202 arranged at intervals, and the suction cup 230 is installed in one of the mounting grooves 2202. The structure is simple and the adjustment is convenient, so that the manipulator fixture can adapt to workpieces of different sizes, improves the versatility and flexibility of the equipment, and reduces the adjustment cost and time consumption when replacing workpieces. Further, the mounting groove 2202 is strip-shaped, and the mounting position of the suction cup 230 can be adjusted along the length direction of the mounting groove 2202, and a better workpiece adsorption position can be selected to ensure the firmness of the adsorbed workpiece.

[0044] In some embodiments of the present invention, as Figure 2 shown, the rotating assembly 100 includes an angle detection sensor 500. The angle detection sensor 500 is stationary with the rotating seat 120. The angle detection sensor 500 is used to detect the rotation angle of the rotating seat 120, and real-time monitor and feedback the accurate angle information of the rotating seat 120, which enhances the system's monitoring ability during the processing process, facilitates precise automatic control and fault warning, and significantly improves the accuracy and safety of processing. For example, a semi-circular ring block is fixedly installed on the rotating seat 120, the angle detection sensor 500 is fixedly connected to the outer shell of the driving motor 110, the driving motor 110 drives the rotating seat 120 and the semi-circular ring block to rotate together, and the detection side of the angle detection sensor 500 faces the outer peripheral wall of the semi-circular ring block. Since the central angle corresponding to the semi-circular ring block is 180°, the angle detection sensor 500 can detect whether the semi-circular ring block rotates within 180°. After exceeding the rotation range, the detection signal of the angle detection sensor 500 will change.

[0045] Referring again to Figure 3 , the blade water grinding processing workstation according to the embodiment of the present invention includes a water grinding manipulator fixture according to the embodiment of the present invention. Among them, the workpiece is a tool 400, and the suction cup 230 adsorbs the side wall of the tool 400. Applying this water grinding manipulator fixture, especially the design that the suction cup 230 directly adsorbs on the side wall of the tool 400, solves the problem that the traditional manipulator cannot effectively clamp the workpiece from the side, greatly expands the processing applicable range. At the same time, combined with other innovation points, the overall efficiency, consistency and automation level of the tool 400 processing are improved, the production cost is reduced, and the production beat is accelerated.

[0046] In some applications, the blade water grinding processing workstation further includes a feeding device 600 and a water grinding device 700. Among them, the water grinding device 700 includes two water grinders, which can complete the double-sided water grinding of the tool 400 in a single clamping. In this regard, some molds adopt a side clamping method to facilitate the processing of both sides of the tool 400.

[0047] As can be seen from the above, during the operation of the water grinding manipulator fixture on the feeding device 600, the three-axis manipulator 300 drives the suction cup 230 of a picking component 200 to align with the side wall of a tool 400 for adsorbing and picking. Then, the three-axis manipulator 300 and the rotating component 100 cooperate, and the suction cup 230 of another picking component 200 places another tool 400 on the feeding device 600 for discharging.

[0048] Similarly, during the operation of the water grinding manipulator fixture on the water grinding device 700, the three-axis manipulator 300 drives the suction cup 230 of a picking component 200 to align with the side wall of the tool 400 that has been processed on the positioning mold for adsorption, and then takes out the tool 400 by rotating the tool 400 out of the positioning mold through a rotational movement. Then, the three-axis manipulator 300 and the rotating component 100 cooperate, and the suction cup 230 of the picking component 200 places the tool 400 to be processed on the positioning mold for loading.

[0049] In some applications of the positioning mold, the positioning mold is provided with positioning pins. After the tool 400 is inserted into the positioning pins, it is fixed on the positioning mold by rotating around the positioning pins. In this regard, in some debugging applications, the debugging personnel debug and operate the movement of the manipulator fixture, align the debugging block 221 with the positioning pins and coaxial with them, and make the end face of the debugging block 221 fit with the end face of the positioning pins to obtain accurate positioning space coordinate points with great reference value, which is convenient for the subsequent operation of the debugging personnel.

[0050] The other components and operations of the blade water grinding processing workstation according to the embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0051] The above has described the embodiments of the present invention in detail with reference to the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art.

Claims

1. Water mill manipulator fixture, characterized in that: include: Three-axis manipulator; A rotating assembly is installed at the end of the three-axis manipulator, and the rotating assembly includes a driving motor and a rotating seat, and the driving motor is connected to and drives the rotating seat to rotate around the z-axis; A plurality of material picking assemblies are arranged at intervals around the z-axis direction. The material picking assemblies include a driving cylinder, a rotating block and a suction cup. The driving cylinder is connected to and drives the rotating block to rotate around the x-axis direction. The suction cup is installed on the rotating block to adsorb the workpiece.

2. The water mill manipulator fixture according to claim 1, characterized in that: There are two material taking assemblies, and the two material taking assemblies are arranged at an interval of 180°.

3. The water mill manipulator fixture according to claim 1, characterized in that: The rotating block is fixedly connected to the driving shaft of the driving cylinder. The rotating block is provided with an arc-shaped guide groove, which extends around the center line direction of the driving shaft of the driving cylinder. The rotating seat is equipped with a plurality of guide columns, which correspond to the rotating blocks one by one. The guide columns are slidably matched with the guide grooves to guide the rotation of the rotating block.

4. The water mill manipulator fixture according to claim 3, characterized in that: The central angle corresponding to the guide groove is equal to the rotation angle of the driving cylinder to limit the rotation angle of the rotating block.

5. The water mill manipulator fixture according to claim 3, characterized in that: A rotary bearing is installed at the end of the guide column, the guide column is penetrated through the inner ring of the rotary bearing, and the outer ring of the rotary bearing is slidably matched with the groove wall of the guide groove.

6. The water mill manipulator fixture according to claim 1 or 3 or 4 or 5, characterized in that: The rotating block is in the shape of a plate, and a debugging block is installed on the rotating block. The debugging block is in the shape of a round pancake, and the center line of the debugging block coincides with the center line of the driving shaft of the driving cylinder.

7. The water mill manipulator fixture according to claim 1, characterized in that: The rotating block is provided with a plurality of installation grooves arranged at intervals, and the suction cup is installed in one of the installation grooves.

8. The water mill manipulator fixture according to claim 7, characterized in that: The mounting groove is in a strip shape.

9. The water mill manipulator fixture according to claim 1, characterized in that: The rotating assembly further comprises an angle detection sensor, the angle detection sensor and the rotating seat are stationary, and the angle detection sensor is used to detect the rotation angle of the rotating seat.

10. Blade water grinding workstation, characterized by: It comprises the water mill manipulator clamp as claimed in any one of claims 1 to 9; The workpiece is a cutting tool; The suction cup absorbs the side wall of the tool.

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