Mechanical arm for machining

Abstract

The utility model discloses a mechanical arm for machining, which comprises a device shell, the top of the device shell is fixedly connected with a connecting block, the inner wall of the device shell is rotatably connected with three rotating shafts, and the three rotating shafts are respectively provided with a clamping mechanism. According to the mechanical arm for machining, the two corresponding sliding blocks can be driven to get close to each other by extruding the two extruding blocks, then the inserting rods can slide in the clamping jaws, and after the clamping jaws leave the corresponding mounting blocks on old rubber pads, the rubber pads can be pulled to enable the mounting blocks to be separated from the clamping jaws, so that the clamping jaws can be driven to rotate. Then, a mounting block on a new rubber pad is inserted into a clamping jaw, then two extrusion blocks are loosened, two insertion rods can be inserted into the corresponding mounting block under the action of the elastic force of corresponding springs, then the mounting block can be limited, and then dismounting and mounting of the rubber pad are completed, the process is simple and convenient, and the working efficiency is improved. And the replacement efficiency of follow-up maintenance personnel on the rubber pad is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical processing technical field especially relates to a mechanical hand for machining. BACKGROUND

[0002] The mechanical hand is an automatic device simulating human hand function, usually composed of multiple adjustable joints, connecting rods, actuators and sensors, and can perform complex movements in multiple degrees of freedom. Through the control system and sensor feedback, the mechanical hand can accurately perform tasks such as grabbing, carrying and assembling, and is widely used in industrial manufacturing, medical surgery, agriculture and service industry, etc., to improve work efficiency and accuracy.

[0003] For example, Chinese utility model patent (CN215848211U) discloses an electronic mechanical hand for machining, which records: "Through the cooperation of mechanical claws and friction layer, when machining workpieces, the friction force of the workpieces can be increased during clamping, and the workpiece clamping operation can be stable and smooth. By setting the connecting head, the worker can conveniently install and connect the cylinder with the mechanical arm, replace the mechanical hand, and facilitate installation and disassembly." It also records: "At present, when machining workpieces, it is relatively cumbersome for workers to take workpieces, which is not conducive to flexible use of workpieces to be machined, time-consuming and labor-intensive. Therefore, there is an urgent need for a mechanical hand that can grab and place workpieces to be machined, increasing the convenience of workers."

[0004] In summary, the existing technology uses a friction layer on the mechanical claw to increase the friction force when clamping the workpiece. However, this method has the following technical problems: The friction layer will gradually wear and age with the increase of the number of uses, and thus needs to be replaced regularly. However, the above device does not have a structure for conveniently replacing the friction layer. Therefore, the present application proposes a mechanical hand for machining to solve the technical problems mentioned in the above patent and provides a new technical solution. UTILITY MODEL CONTENT

[0005] Therefore, it is necessary to provide a mechanical hand for machining to solve the above technical problems. By squeezing the two extrusion blocks, the corresponding two sliding blocks can be brought closer to each other, and the insertion rod can slide inside the clamping jaw. When the clamping jaw leaves the corresponding mounting block on the old rubber pad, the rubber pad can be pulled to make the mounting block disengage from the clamping jaw. Then, the mounting block on the new rubber pad is inserted into the clamping jaw, and the two insertion rods are inserted into the corresponding mounting blocks under the action of the corresponding spring force. Then, the mounting block can be limited, and the disassembly and installation of the rubber pad are completed. This process is relatively simple and convenient, and improves the replacement efficiency of the rubber pad by subsequent maintenance personnel.

[0006] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0007] A mechanical hand for machining is applied to machining.

[0008] The mechanical hand for machining specifically comprises:

[0009] The device shell is fixedly connected with a connecting block at the top, three rotating shafts are rotatably connected to the inner wall of the device shell, clamping mechanisms are arranged on the three rotating shafts, and a driving mechanism is arranged in the device shell.

[0010] The clamping mechanism comprises a rotating frame, a clamping jaw, an extrusion assembly, an anti-skid assembly and a limiting assembly.

[0011] As a preferred embodiment of the mechanical hand for machining, the extrusion assembly comprises a fixed block, springs are fixedly connected to the upper and lower sides of the fixed block, sliding blocks are fixedly connected to the ends of the springs away from each other, the sliding blocks are slidably connected to the inner wall of the clamping jaw, extrusion blocks are fixedly connected to the outer walls of the sliding blocks, and the extrusion blocks are slidably connected to the inner wall of the clamping jaw.

[0012] As a preferred embodiment of the mechanical hand for machining, the anti-skid assembly comprises a rubber pad, two mounting blocks are fixedly connected to the outer wall of the rubber pad, and the mounting blocks are movably inserted into the clamping jaw.

[0013] As a preferred embodiment of the mechanical hand for machining, the limiting assembly comprises a plug rod, the plug rods are fixedly connected to the sides of the sliding blocks away from each other, the plug rods are slidably connected to the inner wall of the clamping jaw, and the plug rods are movably inserted into the mounting blocks.

[0014] As a preferred embodiment of the mechanical hand for machining, the driving mechanism comprises a servo motor, the servo motor is fixedly installed on the inner wall of the device shell, the output end of the servo motor is fixedly connected with a threaded rod, and the threaded rod is rotatably connected to the inner wall of the device shell.

[0015] As a preferred embodiment of the mechanical hand for machining, the driving mechanism further comprises an internally threaded block, the threaded rod is threadedly connected with the internally threaded block, the outer wall of the internally threaded block is rotatably connected with three connecting rods, and the ends of the connecting rods away from the internally threaded block are rotatably connected to the top end of the rotating frame.

[0016] Compared with the prior art, the mechanical hand for machining has the following beneficial effects:

[0017] The mechanical hand for machining has the following beneficial effects:

[0018] The mechanical hand for machining has the following beneficial effects:

[0019] The mechanical hand for machining has the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the scheme in the utility model, the following will be a brief introduction to the drawings needed to be used in the embodiment description, and obviously, the following description of the drawings is some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating creative labor.

[0021] Figure 1 It is the overall structure schematic diagram of the mechanical hand for machining provided by the utility model;

[0022] Figure 2 It is the device shell internal structure schematic diagram of the mechanical hand for machining provided by the utility model;

[0023] Figure 3 It is the partial device shell internal structure schematic diagram of the mechanical hand for machining provided by the utility model;

[0024] Figure 4Part structure amplification schematic view of the mechanical hand for machining is provided by the utility model.

[0025] Figure 5 The internal structure schematic view of the clamping jaw of the mechanical hand for machining is provided by the utility model.

[0026] The mark in the drawing is explained as follows:

[0027] 1, device shell, 2, connecting block, 3, rotating shaft, 4, clamping mechanism, 5, driving mechanism, 6, rotating frame, 7, clamping jaw, 8, rubber pad, 9, mounting block, 10, fixed block, 11, spring, 12, sliding block, 13, extrusion block, 14, plug rod, 15, servo motor, 16, threaded rod, 17, internal threaded block, 18, connecting rod. Specific implementation

[0028] In order to make the personnel in the technical field better understand the utility model scheme, the technical scheme in the embodiment of the utility model will be described clearly and completely in the embodiment of the utility model below, obviously, the described embodiment is only a part of the embodiment of the utility model, rather than all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skilled person in the art without creative labor should belong to the protection scope of the utility model.

[0029] As described in the background, but the general friction layer will gradually wear and age with the increase of the use times, and then the friction layer needs to be replaced regularly, and the structure for facilitating the replacement of the friction layer is not provided in the above device.

[0030] In order to solve this technical problem, the utility model provides a mechanical hand for machining, which is applied to machining.

[0031] Specifically, please refer to Figures 1-2 The mechanical hand for machining specifically comprises:

[0032] The device shell 1 is fixedly connected with the connecting block 2 at the top, the inner wall of the device shell 1 is rotatably connected with three rotating shafts 3, the three rotating shafts 3 are all provided with the clamping mechanism 4, and the device shell 1 is provided with the driving mechanism 5.

[0033] The clamping mechanism 4 comprises a rotating frame 6, a clamping jaw 7, an extrusion assembly, an anti-skid assembly and a limiting assembly, the outer wall of the rotating shaft 3 is fixedly connected with the rotating frame 6, the rotating frame 6 is slidably connected to the inner wall of the device shell 1, and the bottom end of the rotating frame 6 is detachably connected with the clamping jaw 7 through bolts.

[0034] The connection mode of the connecting block 2 and the mechanical arm in the present application is the same as the connection mode of the connecting head and the mechanical arm in the prior art in the background art of the present application, and belongs to the prior art, so it will not be described in more detail.

[0035] The mechanical hand for machining has the advantages that the two extrusion blocks 13 can drive the corresponding two sliding blocks 12 to move close to each other, the plug rods 14 can slide in the inside of the clamping jaw 7, the rubber pad 8 can be pulled to make the mounting block 9 separate from the clamping jaw 7 after the clamping jaw 7 moves away from the corresponding mounting block 9 on the old rubber pad 8, the mounting block 9 on the new rubber pad 8 can be inserted into the clamping jaw 7, the two plug rods 14 can be inserted into the corresponding mounting block 9 under the action of the corresponding spring 11, the mounting block 9 can be limited, and the dismounting and mounting of the rubber pad 8 are completed, the process is relatively simple and convenient, and the replacement efficiency of the rubber pad 8 by a subsequent maintenance personnel is improved.

[0036] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings.

[0037] Embodiment 1:

[0038] Please refer to Figures 2-5 A mechanical hand for machining comprises:

[0039] The extrusion assembly comprises a fixed block 10, the upper and lower sides of the fixed block 10 are fixedly connected with springs 11, the ends of the two springs 11 away from each other are fixedly connected with sliding blocks 12, the two sliding blocks 12 are slidingly connected to the inner wall of the clamping jaw 7, the outer walls of the two sliding blocks 12 are fixedly connected with extrusion blocks 13, the two extrusion blocks 13 are slidingly connected to the inner wall of the clamping jaw 7, and the extrusion assembly can remove the limitation between the clamping jaw 7 and the mounting block 9.

[0040] The anti-skid assembly comprises a rubber pad 8, the outer wall of the rubber pad 8 is fixedly connected with two mounting blocks 9, the two mounting blocks 9 are movably inserted into the clamping jaw 7, the rubber pad 8 can play an anti-skid role, and the mounting block 9 can be used to mount the rubber pad 8 on the clamping jaw 7.

[0041] The limiting assembly comprises plug rods 14, the sides of the two sliding blocks 12 away from each other are fixedly connected with the plug rods 14, the two plug rods 14 are slidingly connected to the inner wall of the clamping jaw 7, the plug rods 14 are movably inserted into the mounting block 9, and the limiting assembly can limit the movement of the mounting block 9 inserted into the inside of the clamping jaw 7 to the outside of the clamping jaw 7.

[0042] Through the above structural design, the two extrusion blocks 13 can drive the corresponding two sliding blocks 12 to move close to each other, so that the two springs 11 are deformed, and the insertion rods 14 can slide in the inside of the clamping jaws 7. When the clamping jaws 7 are away from the corresponding mounting blocks 9 on the old rubber pad 8, the rubber pad 8 can be pulled to make the mounting blocks 9 separate from the clamping jaws 7, and then the mounting blocks 9 on the new rubber pad 8 are inserted into the clamping jaws 7, and then the two extrusion blocks 13 are loosened, so that the two insertion rods 14 are inserted into the corresponding mounting blocks 9 under the action of the elastic force of the corresponding springs 11, and the mounting blocks 9 are limited, and the dismounting and mounting of the rubber pad 8 are completed.

[0043] Embodiment 2:

[0044] The mechanical hand for machining provided in Embodiment 1 is further optimized, and specifically, as shown in Figures 3-4 The driving mechanism 5 includes a servo motor 15, the inner wall of the device housing 1 is fixedly installed with the servo motor 15, the output end of the servo motor 15 is fixedly connected with a threaded rod 16, the threaded rod 16 is rotationally connected to the inner wall of the device housing 1, and the servo motor 15 can drive the threaded rod 16 to rotate, thereby providing power for the multiple clamping jaws 7 to move close to each other or move away from each other.

[0045] The driving mechanism 5 further includes an internal threaded block 17, the outer wall of the threaded rod 16 is threadedly connected with the internal threaded block 17, the outer wall of the internal threaded block 17 is rotationally connected with three connecting rods 18, one end of the connecting rod 18 away from the internal threaded block 17 is rotationally connected to the top end of the rotating frame 6, and the rotating frame 6 is limited by the device housing 1 and the rotating shaft 3, so that the rotating frame 6 can only rotate by relying on the rotating shaft 3. The rotating frame 6 can limit the movement track of the internal threaded block 17 through the connecting rod 18, so that the internal threaded block 17 cannot rotate with the threaded rod 16.

[0046] Through the above structural design, after the device housing 1 is installed on a suitable mechanical arm through the connecting block 2, the servo motor 15 is controlled to drive the threaded rod 16 to rotate, thereby driving the internal threaded block 17 to rise or fall under the limitation of the connecting rod 18 and the rotating frame 6. The movement of the internal threaded block 17 can make the internal threaded block 17 rotate with the connecting rod 18, thereby making the connecting rod 18 rotate with the rotating frame 6, so that the rotating frame 6 drives the rotating shaft 3 to rotate in the inside of the device housing 1, thereby making the three clamping jaws 7 move away from each other or move close to each other, and then the workpiece can be placed down and clamped by relying on the clamping jaws 7.

Claims

1. A robot for machining, comprising a device housing (1), characterised in that: The top of the device shell (1) is fixedly connected with a connecting block (2), the inner wall of the device shell (1) is rotatably connected with three rotating shafts (3), the three rotating shafts (3) are all provided with clamping mechanisms (4), and the device shell (1) is provided with a driving mechanism (5); The clamping mechanism (4) comprises a rotating frame (6), a clamping jaw (7), an extrusion assembly, an anti-skid assembly and a limiting assembly, the outer wall of the rotating shaft (3) is fixedly connected with the rotating frame (6), the rotating frame (6) is slidably connected to the inner wall of the device shell (1), and the bottom end of the rotating frame (6) is detachably connected with the clamping jaw (7) through bolts.

2. The machine tool according to claim 1, characterized in that, The extrusion assembly comprises a fixed block (10), the upper and lower sides of the fixed block (10) are fixedly connected with springs (11), the ends of the two springs (11) away from each other are fixedly connected with sliding blocks (12), the two sliding blocks (12) are slidably connected to the inner wall of the clamping jaw (7), the outer walls of the two sliding blocks (12) are fixedly connected with extrusion blocks (13), and the two extrusion blocks (13) are slidably connected to the inner wall of the clamping jaw (7).

3. The machine tool according to claim 2, wherein The anti-skid assembly comprises a rubber pad (8), the outer wall of the rubber pad (8) is fixedly connected with two mounting blocks (9), and the two mounting blocks (9) are movably inserted into the clamping jaw (7).

4. The machine tool according to claim 3, wherein The limiting assembly comprises an insertion rod (14), the sides of the two sliding blocks (12) away from each other are fixedly connected with insertion rods (14), and the two insertion rods (14) are slidably connected to the inner wall of the clamping jaw (7) and movably inserted into the mounting block (9).

5. The machine tool according to claim 1, wherein The driving mechanism (5) comprises a servo motor (15), the inner wall of the device shell (1) is fixedly provided with the servo motor (15), the output end of the servo motor (15) is fixedly connected with a threaded rod (16), and the threaded rod (16) is rotatably connected to the inner wall of the device shell (1).

6. The machine tool according to claim 5, wherein The driving mechanism (5) further comprises an inner threaded block (17), the outer wall of the threaded rod (16) is threadedly connected with the inner threaded block (17), the outer wall of the inner threaded block (17) is rotatably connected with three connecting rods (18), and the ends of the connecting rods (18) away from the inner threaded block (17) are rotatably connected to the top end of the rotating frame (6).

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