Mechanical arm for machining

Abstract

The utility model relates to a mechanical arm for machining, which comprises a machine shell and two clamping jaws installed at two opposite ends of the machine shell, the two clamping jaws are both connected with the machine shell in a sliding mode, the machine shell is further provided with a driving portion used for driving the two clamping jaws to slide in opposite directions, and the two clamping jaws are both hollow to form cavities. A plurality of through holes communicating with the cavities are formed in the opposite faces of the two clamping jaws, clamping blocks are connected into the through holes in a sliding mode, the two sets of clamping blocks can slide in the interval direction of the two clamping jaws, and elastic supporting bodies for supporting one ends of the clamping blocks are arranged in the two cavities. And the fluid flows in the cavity, so that the clamping force is automatically redistributed, and the condition of damage caused by local stress concentration can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, specifically to a robotic arm for machining. Background Technology

[0002] In the field of machining, industrial robots, as the core execution unit of automated production lines, directly determine processing efficiency and product quality through their gripping stability. Traditional robots mostly use pneumatic, hydraulic, or electric drive methods, employing rigid grippers, vacuum suction cups, or magnetic adsorption devices to grasp workpieces.

[0003] However, the rigid grippers of traditional robotic arms have a fixed contact surface shape, making it difficult to conform to the local curved surfaces of irregular workpieces. Especially when the gripping points are unevenly distributed, torque imbalance can easily occur, causing the workpiece to slip or even fall off. For example, when gripping irregularly shaped parts with grooves or flanges, traditional grippers have too small a contact area, requiring increased gripping force to compensate for stability. However, this also increases the risk of causing indentations or structural deformation on the workpiece surface. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a robotic arm for machining, so as to solve the problem that the contact surface shape of the rigid gripper of the existing robotic arm is fixed, making it difficult to fit the local curved surface of irregular workpieces, especially when the gripping points are unevenly distributed, which easily causes torque imbalance, resulting in workpiece slippage or even falling off.

[0005] This utility model is achieved through the following technical solution:

[0006] A robotic arm for machining includes a housing and two grippers mounted at opposite ends of the housing. Both grippers are slidably connected to the housing. The housing is also provided with a drive unit for driving the two grippers to slide in opposite directions. Both grippers are hollow inside to form cavities. Multiple through holes communicating with the cavities are provided on opposite sides of the two grippers. Gripping blocks are slidably connected to each of the multiple through holes. Both sets of gripping blocks can slide along the distance between the two grippers. An elastic support body supporting one end of each gripping block is provided in each of the two cavities.

[0007] Further defined, the plurality of through holes are arranged along the axial direction of the two grippers on opposite sides of the grippers.

[0008] Further specifying, the plurality of through holes are evenly distributed in a rectangular array on the opposite side of the two grippers.

[0009] Further, a first magnetic block is provided on one side of each clamping block in the cavity, and a second magnetic block is provided on the side of each clamping block facing the first magnetic block.

[0010] Further, the cavity has a groove extending along the sliding direction of the gripper on its side wall, and a slider is slidably connected in the groove, the slider being connected to the gripper block.

[0011] Further specifying, a rubber block is provided at the end of the clamping block away from the cavity.

[0012] Furthermore, the housing is also equipped with an explosion-proof valve and an internally hollow shell, with connecting pipes at both ends of the shell, and the two connecting pipes are respectively connected to the explosion-proof valve and the cavity;

[0013] A piston plate is provided in the housing, and a spring is provided on the side of the piston plate away from the cavity. The two ends of the spring are connected to the piston plate and the housing, respectively.

[0014] Furthermore, sealing rings are provided at the connection between the connecting pipe and the cavity, as well as at the sliding connection between the clamp and the through hole.

[0015] Further specifying, the drive unit includes a gear rotatably connected to the housing, two racks slidably engaged with the housing, and a motor for driving the gear to rotate. The two racks respectively mesh with the tooth surfaces on opposite sides of the gear, and the two racks are respectively connected to two grippers.

[0016] Further specifying, the drive unit includes an electric telescopic rod and two connecting rods, with one end of the two connecting rods respectively hinged to both ends of the electric telescopic rod, and the opposite ends of the two connecting rods respectively connected to two grippers;

[0017] The housing is provided with a guide groove extending along the distance between the two grippers, and the electric telescopic rod can move towards or away from the center of the guide groove.

[0018] The beneficial effects of this utility model are as follows:

[0019] After the cavity is filled with fluid, the pressure of the fluid provides elastic support to the clamping block. The flow of fluid in the cavity enables automatic redistribution of clamping force, which can reduce damage caused by local stress concentration.

[0020] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0022] Figure 2This is a schematic diagram of the internal structure of the gripper of this utility model;

[0023] Figure 3 This is a schematic diagram showing the connection between the gripper, housing, and explosion-proof valve of this utility model;

[0024] Figure 4 This is a cross-sectional view of the gripper of this utility model;

[0025] Figure 5 This is a structural schematic diagram of Embodiment 2 of the present invention;

[0026] Figure 6 This is a structural schematic diagram of Embodiment 3 of the present invention.

[0027] In the picture:

[0028] 1. Housing; 2. Gripper; 201. Cavity; 202. Through hole; 3. Clamping block; 301. Rubber block; 4. First magnetic block; 401. Second magnetic block; 5. Slide groove; 6. Explosion-proof valve; 7. Housing; 701. Piston plate; 702. Spring; 8. Connecting pipe; 9. Gear; 901. Rack; 902. Motor; 10. Electric telescopic rod; 1001. Connecting rod; 1002. Guide groove. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the above description of this utility model, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0034] Please see Figure 1-6 This utility model provides a technical solution: Embodiment 1: A robotic arm for machining includes a housing 1 and two grippers 2 installed at opposite ends of the housing 1. Both grippers 2 are slidably connected to the housing 1. The housing 1 is also provided with a driving part for driving the two grippers 2 to slide in opposite directions. Both grippers 2 are hollow inside to form cavities 201. Multiple through holes 202 communicating with the cavities 201 are provided on the opposite side of the two grippers 2. Clamping blocks 3 are slidably connected in the multiple through holes 202. Both sets of clamping blocks 3 can slide along the distance between the two grippers 2. Each of the two cavities 201 is provided with an elastic support body supporting one end of the clamping block 3.

[0035] The elastic support can be a fluid, such as air. A valve structure connected to the cavity 201 can be provided on the outer wall of the gripper 2 to allow the fluid to be input into or output into the cavity 201, thereby filling the cavity 201 with fluid. After the cavity 201 is filled with fluid, its pressure provides elastic support to the clamping block 3. When part of the clamping block 3 comes into contact with the mechanical parts, it creates a reaction force on the clamping block 3, causing the clamping block 3 to exert pressure on the fluid. The pressure applied to the fluid is evenly transmitted to all surfaces in contact with the fluid. Therefore, the clamping block 3 that is not in contact with the mechanical parts will be pushed out by the pressure. That is, the flow of fluid in the cavity 201 realizes the automatic redistribution of clamping force (such as the fluid in the area of ​​the pressed clamping block 3 pushing the unpressed clamping block 3 outward to compensate for the clamping force). Thus, the elastic support can reduce the damage caused by local stress concentration.

[0036] In this solution, the two grippers 2 can move closer or further apart through the drive unit. When the two grippers 2 move further apart, the mechanical parts are positioned between the two grippers 2. Then, when the two grippers 2 move closer together, the two sets of clamping blocks 3 on the opposite side of the two grippers 2 abut against the two sides of the mechanical parts, thereby completing the clamping operation.

[0037] Specifically, by dividing the two clamping blocks 3 located on the two grippers 2 into two clamping parts, the clamping surfaces of the two clamping parts are the end faces of the multiple clamping blocks 3. As the multiple clamping blocks 3 abut against the two sides of the mechanical parts, the outer wall of the mechanical parts squeezes the multiple clamping blocks 3 to different degrees, causing the squeezed multiple clamping blocks 3 to slide towards the direction of the cavity 201. At the same time, the fluid in the cavity 201 is squeezed, causing the fluid to flow towards the area where other unsqueezed clamping blocks 3 are located, thereby applying pressure to the unsqueezed clamping blocks 3, causing them to slide away from the cavity 201, and then adhere to the surface of the mechanical parts, thus achieving the effect of clamping mechanical parts of different shapes.

[0038] In this embodiment, the plurality of through holes 202 are arranged along the axial direction of the two grippers 2 on opposite sides of the grippers 2.

[0039] In this solution, the clamping blocks 3 are distributed along the length of the jaws 2 to form a continuous clamping line, which is suitable for the linear clamping requirements of long strip workpieces (such as connecting rod 1001 and guide rail) and enhances clamping stability.

[0040] In this embodiment, a first magnetic block 4 is provided on one side of each clamping block 3 in the cavity 201, and a second magnetic block 401 is provided on the side of each clamping block 3 facing the first magnetic block 4.

[0041] In this scheme, the clamping block 3 is kept in its initial position by magnetic attraction to avoid the clamping block 3 from being displaced due to gravity or vibration. In this state, the clamping block 3 can slide horizontally closer to or away from the cavity 201. When the clamping block 3 is compressed and retracted, the magnetic force provides progressive resistance to reduce the impact of sudden changes in fluid pressure on the surface of the workpiece.

[0042] When the second magnetic block 401 is offset, the distance between the N-pole of the second magnetic block 401 and the S-pole of the first magnetic block 4 is shortened, thus increasing the attractive force. At the same time, the distance between the S-pole of the second magnetic block 401 and the N-pole of the first magnetic block 4 is increased, thus weakening the attractive force. Therefore, the net resultant force is to the left, forming a restoring force of the first magnetic block 4, which forces the first magnetic block 4 to return to the position aligned with the center of the first magnetic block without external influence, thereby resetting it.

[0043] In this embodiment, a sliding groove 5 extending along the sliding direction of the gripper 2 is provided on the side wall of the cavity 201. A slider is slidably connected in the sliding groove 5, and the slider is connected to the clamping block 3.

[0044] Multiple slides 5 and multiple sliders are provided, and the number of slides 5 and multiple sliders is not less than the number of through holes 202. Multiple slides 5 and multiple sliders are correspondingly provided on the sides of multiple clamping blocks 3.

[0045] In this solution, the sliding groove 5 and the slider work together to restrict the slider to slide only along the clamping direction of the gripper 2, so as to avoid jamming or wear caused by lateral offset and improve the stability and durability of the movement trajectory of the clamping block 3.

[0046] In this embodiment, a rubber block 301 is provided at the end of the clamping block 3 away from the cavity 201.

[0047] In this solution, the friction coefficient between the rubber block 301 and the workpiece surface is increased to prevent slippage caused by vibration or inertia during clamping (such as in high-speed handling scenarios).

[0048] In this embodiment, the housing 1 is also provided with an explosion-proof valve 6 and an internally hollow housing 7. Both ends of the housing 7 are provided with connecting pipes 8, and the two connecting pipes 8 are respectively connected to the explosion-proof valve 6 and the cavity 201.

[0049] A piston plate 701 is provided in the housing 7, and a spring 702 is provided on the side of the piston plate 701 away from the cavity 201. The two ends of the spring 702 are respectively connected to the piston plate 701 and the housing 7.

[0050] The movable plate is connected to the spring 702. Under the elastic force of the spring 702, the movable plate is pushed in the direction of the cavity 201.

[0051] In this solution, the piston plate 701 and spring 702 absorb fluid pressure fluctuations (such as workpiece vibration transmitted to the gripper 2), maintain the stability of the clamping force, and improve the anti-interference ability. When the fluid pressure exceeds the limit, the explosion-proof valve 6 automatically releases pressure to prevent the cavity 201 from rupturing and causing clamping failure (such as clamping an overweight workpiece or in case of accidental collision).

[0052] In this embodiment, sealing rings are provided at the connection between the connecting pipe 8 and the cavity 201, as well as at the sliding connection between the clamping block 3 and the through hole 202.

[0053] In this solution, fluid leakage in cavity 201 is prevented to ensure the efficiency of clamping force transmission (such as maintaining constant fluid pressure after long-term use). At the same time, metal chips and cutting fluid in the processing environment are prevented from entering cavity 201 or groove 5, thus extending the service life of the robot.

[0054] In this embodiment, the driving unit includes a gear 9 rotatably connected to the housing 1, two racks 901 slidably engaged with the housing 1, and a motor 902 for driving the gear 9 to rotate. The two racks 901 respectively mesh with the tooth surfaces on opposite sides of the gear 9, and the two racks 901 are respectively connected to two grippers 2.

[0055] In this solution, the meshing transmission of gear 9 and rack 901 ensures the synchronization of the symmetrical reverse movement of the two grippers 2, eliminating the offset of the clamping center caused by unilateral drive error (such as in precision assembly scenarios). At the same time, the gear 9 and rack 901 structure has a strong load-bearing capacity and is suitable for providing stable driving force when clamping large castings.

[0056] Example 2 differs from Example 1 in that the multiple through holes 202 are evenly distributed in a rectangular array on the opposite side of the two grippers 2.

[0057] The rectangular array layout allows the clamping blocks 3 to form a grid-like distribution on the surface of the clamping jaws 2, which can simultaneously cover the irregular features of the workpiece in both height and width directions (such as porous structures, stepped contours, and spherical structures), achieving three-dimensional curved surface fitting. It is especially suitable for mechanical parts with complex shapes (such as engine cylinder blocks and valve bodies).

[0058] If individual clamping blocks 3 cannot make effective contact due to workpiece surface defects (such as pits or burrs), the surrounding clamping blocks 3 can still form a continuous clamping area through fluid pressure compensation, thereby improving clamping reliability.

[0059] Example 3 differs from Example 1 in that the driving unit includes an electric telescopic rod 10 and two connecting rods 1001. The opposite ends of the two connecting rods 1001 are respectively hinged to the two ends of the electric telescopic rod 10, and the opposite ends of the two connecting rods 1001 are respectively connected to two grippers 2.

[0060] The housing 1 is provided with a guide groove 1002 extending along the distance between the two grippers 2, and the electric telescopic rod 10 can move towards or away from the guide groove 1002 at the center.

[0061] In this solution, the electric telescopic rod 10 and the linkage 1001 mechanism reduce the overall size of the robot arm compared to the gear 9 and rack 901 transmission, making it suitable for processing scenarios with limited space. The electric telescopic rod 10 can adjust the extension speed and stroke to realize the slow start and stop action of the gripper 2, avoiding damage to precision workpieces (such as optical lenses and micro bearings) caused by rigid impact.

[0062] The motor model 902 in this application can be: MHMF082L1A2M, the electric telescopic pole model 10 can be: EMC-33, and the explosion-proof valve model 6 can be: AS2201 F-02-08S.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm for machining, comprising a housing (1) and two grippers (2) mounted at opposite ends of the housing (1), wherein both grippers (2) are slidably connected to the housing (1), and the housing (1) is further provided with a driving part for driving the two grippers (2) to slide in opposite directions, characterized in that: Both the clamping jaws (2) are internally hollow to form cavities (201), and a plurality of through holes (202) are arranged on one side of the two clamping jaws (2) and communicate with the cavities (201), and a plurality of clamping blocks (3) are slidably connected in the through holes (202), and the two groups of clamping blocks (3) can slide along the spacing direction of the two clamping jaws (2), and an elastic support body is arranged in the two cavities (201) to support one end of the clamping block (3).

2. The machine tool according to claim 1, characterized by: The plurality of through holes (202) are arranged on one side of the two clamping jaws (2) in the axial direction of the clamping jaws (2).

3. The machine tool according to claim 1, characterized by: The plurality of through holes (202) are evenly distributed in a rectangular array on one side of the two clamping jaws (2).

4. The machine tool according to any one of claims 1 to 3, characterized by: A first magnetic block (4) is arranged on one side of each clamping block (3) in the cavity (201), and a second magnetic block (401) is arranged on the side of each clamping block (3) facing the first magnetic block (4).

5. The machine tool according to claim 4, characterized in that: A sliding groove (5) extending in the sliding direction of the clamping jaw (2) is formed on the side wall of the cavity (201), and a sliding block is slidably connected in the sliding groove (5), and the sliding block is connected with the clamping block (3).

6. The machine tool according to claim 5, characterized in that: A rubber block (301) is arranged at the end of the clamping block (3) away from the cavity (201).

7. The machine tool according to claim 1, characterized by: The shell (1) is further provided with an explosion-proof valve (6) and an internally hollow shell (7), and the shell (7) is provided with a connecting pipe (8) at both ends, and the two connecting pipes (8) respectively communicate with the explosion-proof valve (6) and the cavity (201). A piston plate (701) is arranged in the shell (7), and a spring (702) is arranged on the side of the piston plate (701) away from the cavity (201), and the two ends of the spring (702) are respectively connected with the piston plate (701) and the shell (7).

8. The machine tool according to claim 7, characterized in that: Sealing rings are arranged at the connection between the connecting pipe (8) and the cavity (201) and the sliding connection between the clamping block (3) and the through hole (202).

9. The machine tool according to claim 1, characterized by: The driving part includes a gear (9) rotatably connected to the shell (1), two racks (901) slidably connected with the shell (1), and a motor (902) for driving the gear (9) to rotate, and the two racks (901) are respectively engaged with the tooth surfaces on the opposite sides of the gear (9), and the two racks (901) are respectively connected with the two clamping jaws (2).

10. The machine tool according to claim 1, characterized by: The driving part includes an electric telescopic rod (10) and two connecting rods (1001), and the opposite ends of the two connecting rods (1001) are respectively hinged to the two ends of the electric telescopic rod (10), and the opposite ends of the two connecting rods (1001) are respectively connected with the two clamping jaws (2). The shell (1) is provided with a guide groove (1002) extending in the spacing direction of the two clamping jaws (2), and the electric telescopic rod (10) can move to the central part close to or away from the guide groove (1002).

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