Mechanical arm for machining

Abstract

The mechanical arm for machining comprises a base, a trunk is installed at the top end of the base, a mechanical claw is connected to the bottom end of the trunk, a containing groove is machined in the side, away from the trunk, of the top end of the base, a cleaning mechanism is arranged in the containing groove, and the cleaning mechanism comprises a cleaning box. The cleaning box is installed in the storage groove through a lifting assembly, a scraper is arranged in the cleaning box, located in the mechanical claw and in contact with the inner wall of the mechanical claw, an air cavity is formed in the scraper, and a plurality of spray heads communicating with the air cavity are machined on the two sides of the bottom end of the scraper correspondingly. Sealing mechanisms attached to the outer walls of the mechanical claws are arranged on the two sides of the cleaning box. The problems that in the prior art, chippings cannot be rapidly cleared away, the chippings influence grabbing stability of a mechanical claw, and machining production continuity and efficiency are solved.

Description

Technical Field

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

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks, and its construction and performance combine the advantages of both human and robotic arms. In current technology, robotic arms are generally used in conjunction with a moving device via a connecting device, which facilitates position changes.

[0003] Currently, robotic arms generally include a base, an upper arm, a lower arm, and a robotic gripper. The base is equipped with a rotating structure to drive the upper arm, lower arm, and robotic gripper to rotate 360 ​​degrees. The base and the upper arm, as well as the upper arm and the lower arm, are connected by a rotating device for flexible rotation. For example, there is a robotic arm for machining with the prior art publication number CN218984806U.

[0004] In existing machining robotic arms, the workpiece generates debris during machining, which adheres to the robotic gripper. This not only affects the gripper's grasping accuracy and stability but also wears down the gripper and workpiece surfaces, impacting the workpiece's appearance. However, manual cleaning may introduce errors and risks, affecting the continuity and efficiency of the production process. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a robotic arm for machining, so as to solve the problems in the prior art that cannot quickly clean up debris, that debris affects the stability of the robotic gripper, and the continuity and efficiency of machining production.

[0006] This utility model is achieved through the following technical solution:

[0007] A robotic arm for machining includes a base, a torso mounted on the top of the base, and a robotic gripper connected to the bottom of the torso. A storage groove is machined on the top of the base away from the torso, and a cleaning mechanism is provided in the storage groove. The cleaning mechanism includes a cleaning box, which is installed in the storage groove via a lifting assembly. A scraper is provided inside the cleaning box, located inside the robotic gripper and in contact with the inner wall of the robotic gripper. An air chamber is provided inside the scraper, and multiple nozzles communicating with the air chamber are machined on both sides of the bottom end of the scraper. A sealing mechanism that fits against the outer wall of the robotic gripper is provided on both sides of the cleaning box.

[0008] Furthermore, the torso includes a turntable, a support arm, and an extension arm. The turntable is rotatably connected to the base. The top end of the support arm is connected to the extension arm, and the bottom end of the support arm is connected to the turntable via a rotating mechanism. The bottom end of the extension arm is fixedly equipped with a motor for driving the mechanical claw to rotate.

[0009] Furthermore, the base is equipped with a second motor, the top of the output shaft of the second motor is connected to the bottom of the turntable, and the rotating mechanism includes two third motors, which are respectively fixed on the outer wall of the support arm and the outer wall of the turntable. Each of the two third motors has a rotating shaft fixed on its output shaft, and the two rotating shafts are respectively connected to the extension arm and the support arm.

[0010] Furthermore, the sealing mechanism includes two cover plates, and rectangular through holes are provided on the top of the outer walls on both sides of the cleaning box. The two cover plates pass through the two rectangular through holes respectively, and an electric push rod is connected to one side of the two cover plates that are close to each other. The outer walls on both sides of the cleaning box are machined with mounting grooves for storing the electric push rod.

[0011] Furthermore, a storage cavity is machined on one side of the base, and a high-pressure air pump and two door panels are installed in the storage cavity. The high-pressure air pump is located between the two door panels and is connected to the air cavity through an air pipe. Both door panels are provided with ventilation windows.

[0012] Furthermore, electric push rods 2 can be detachably installed on the inner walls of both the front and rear sides of the cleaning box. Both electric push rods 2 are located below the cover plate, and the bottom end of the piston rod of the electric push rod 2 is connected to the top end of the scraper.

[0013] Furthermore, the lifting assembly includes two linear modules, which are detachably installed on the inner walls of the front and rear sides of the storage slot. Both linear modules are detachably connected to the outer wall of the cleaning box, and both linear modules are located below the cover plate.

[0014] Furthermore, the front end of the cleaning box has an opening, and a drawer is provided inside the opening. The drawer is located below the scraper, and a permanent magnet is provided inside the drawer.

[0015] The beneficial effects of this utility model are as follows:

[0016] This robotic arm for machining uses a base and torso to carry mechanical grippers to quickly grasp workpieces for machining, which can greatly improve the machining efficiency of workpieces. Furthermore, it can automatically clean the surface of the mechanical grippers with scrapers and nozzles to prevent the debris from adversely affecting the friction of the mechanical gripper surface. It can also prevent the mechanical gripper surface and the workpiece surface from being scratched by the presence of debris. No manual cleaning is required, which significantly improves cleaning efficiency, reduces labor costs, and ensures the continuity and efficiency of the production process.

[0017] By installing drawers inside the cleaning box to collect debris, the drawers can be pulled out of the cleaning box for convenient centralized processing. At the same time, permanent magnets inside the drawers can attract iron debris, helping staff to distinguish and recycle it.

[0018] 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

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the cleaning box storage in this utility model;

[0021] Figure 3 This is a cross-sectional view of the cleaning box in this utility model;

[0022] Figure 4 This is a sectional view of the base in this utility model;

[0023] Figure 5 This is a schematic diagram of the scraper and mechanical claw in this utility model;

[0024] Figure 6 This is a structural diagram of the internal structure of the cleaning box in this utility model.

[0025] In the diagram: 1. Base; 2. Body; 3. Mechanical claw; 4. Storage slot; 5. Cleaning mechanism; 6. Sealing mechanism; 7. Storage cavity; 8. High-pressure air pump; 9. Door panel; 10. Electric push rod II; 11. Opening; 12. Drawer; 13. Permanent magnet;

[0026] 21. Turntable; 22. Support arm; 23. Extension arm; 24. Rotating mechanism; 241. Motor 3; 242. Rotating shaft; 25. Motor 1; 26. Motor 2;

[0027] 51. Cleaning box; 52. Lifting assembly; 521. Linear module; 53. Scraper; 54. Air chamber; 55. Nozzle;

[0028] 61. Cover plate; 62. Rectangular through hole; 63. Electric push rod one; 64. Mounting 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 Figures 1-6This utility model provides a technical solution: a robotic arm for machining, including a base 1, a torso 2 mounted on the top of the base 1, a robotic claw 3 connected to the bottom of the torso 2, a storage groove 4 machined on the top of the base 1 away from the torso 2, a cleaning mechanism 5 provided in the storage groove 4, the cleaning mechanism 5 including a cleaning box 51, the cleaning box 51 being installed in the storage groove 4 via a lifting assembly 52, a scraper 53 provided inside the cleaning box 51, the scraper 53 being located inside the robotic claw 3 and in contact with the inner wall of the robotic claw 3, and two electric push rods 10 detachably mounted on the inner walls of the front and rear sides of the cleaning box 51, both electric push rods 10 being located below a cover plate 61, the bottom end of the piston rod of the electric push rod 10 being connected to the top end of the scraper 53, the electric push rod 10 being a JN185T, which has a brushless motor, good lifespan and performance, and is suitable for this robotic arm.

[0035] To improve the cleaning effect of the robotic gripper 3, an air chamber 54 is provided inside the scraper 53, and multiple nozzles 55 communicating with the air chamber 54 are machined on both sides of the bottom end of the scraper 53. At the same time, a storage cavity 7 is machined on one side of the base 1. A high-pressure air pump 8 and two door panels 9 are installed in the storage cavity 7. The high-pressure air pump 8 is located between the two door panels 9 and is connected to the air chamber 54 through an air pipe. Both door panels 9 are provided with ventilation windows. In actual use, the above-mentioned high-pressure air pump 8 can be selected from different models (such as VCB1500-7AH26, which has high pressure output and good stability, and can provide a stable high-pressure airflow for cleaning the robotic gripper 3).

[0036] To prevent debris from scattering, sealing mechanisms 6 that fit against the outer wall of the mechanical claw 3 are provided on both sides of the cleaning box 51. The sealing mechanism 6 includes two cover plates 61. Rectangular through holes 62 are opened on the top of the outer walls of both sides of the cleaning box 51. The two cover plates 61 pass through the two rectangular through holes 62 respectively. Electric push rod 63 is connected to the side of the two cover plates 61 that is close to each other. The outer walls of both sides of the cleaning box 51 are machined with mounting grooves 64 for storing electric push rod 63. The electric push rod 63 can be the same model as electric push rod 10, or other models, such as DT25, can be selected.

[0037] In actual use, the robotic arm is set to periodically adjust the direction of the robotic claw 3 vertically downwards using the torso 2 on the base 1. After the robotic claw 3 stabilizes and comes to a stop, the lifting component 52 begins to move the cleaning box 51 in the storage slot 4 upwards. At the same time, the two covers 61 are immediately opened, covering the robotic claw 3 with the cleaning box 51. At this time, the two covers 61 automatically close under the action of the electric push rod 1 63. Then, the scraper 53 slowly moves into the inside of the robotic claw 3 and fits against the inner wall of the robotic claw 3. Immediately afterwards, the electric push rod 2 10 begins to extend, pushing the scraper 53 downwards along the inner wall of the robotic claw 3. During the movement of the scraper 53, gas is delivered through the air chamber 54 to the nozzles 55 on both sides of its bottom. Then, high-pressure gas is sprayed from the nozzles 55 on both sides onto the inner wall surface of the mechanical claw 3. The spraying of high-pressure gas not only helps the scraper 53 to more thoroughly remove the debris from the inner wall surface of the mechanical claw 3, but also effectively prevents debris from remaining on the surface of the mechanical claw 3, thereby preventing the debris from adversely affecting the friction of the surface of the mechanical claw 3. At the same time, this design can also prevent the surface of the mechanical claw 3 and the workpiece surface from being scratched by the presence of debris, which greatly improves the safety and stability of equipment operation. No manual cleaning is required, which significantly improves cleaning efficiency, reduces labor costs, and also reduces the errors and risks that may be caused by human operation, ensuring the continuity and efficiency of the production process.

[0038] In this embodiment, as Figures 5-6 As shown, the lifting assembly 52 includes two linear modules 521. The two linear modules 521 are detachably installed on the inner walls of the front and rear sides of the storage slot 4. Both linear modules 521 are detachably connected to the outer wall of the cleaning box 51, and both linear modules 521 are located below the cover plate 61. The linear modules 521 can be selected according to different models (Yintai PMI KM30, this linear module 521 is a ball screw type linear module, which can provide more precise and stable linear motion) to adjust the position of the cleaning box 51.

[0039] The cleaning box 51 is stably supported by two linear modules 521 to move up and down. After the cleaning work is completed, the cleaning box 51 can automatically retract into the storage slot 4 under the drive of the linear modules 521, without affecting the normal operation of the torso 2.

[0040] In this embodiment, as Figure 3 , Figure 5 and Figure 6 As shown, an opening 11 is provided at the front end of the cleaning box 51, and a drawer 12 is provided inside the opening 11. The drawer 12 is located below the scraper 53, and a permanent magnet 13 is provided inside the drawer 12. The debris scraped off by the scraper 53 falls into the drawer 12. When the drawer 12 is taken out to process the debris, the permanent magnet 13 inside the drawer 12 can attract some of the iron debris, thus helping the staff to distinguish the debris for recycling and reuse.

[0041] Please continue reading. Figures 1-4 The torso 2 includes a turntable 21, a support arm 22, and an extension arm 23. The turntable 21 is rotatably connected to the base 1. The top end of the support arm 22 is connected to the extension arm 23, and the bottom end of the support arm 22 is connected to the turntable 21 through a rotating mechanism 24. The bottom end of the extension arm 23 is fixedly provided with a motor 25 for driving the mechanical claw 3 to rotate (the motor 25 can be a brushless motor, such as the Panasonic MINASA6, which has high-precision position control, speed control, and torque control capabilities), which is suitable for adjusting the mechanical claw 3.

[0042] The base 1 is equipped with a second motor 26. The top end of the output shaft of the second motor 26 is connected to the bottom end of the turntable 21. (The second motor 26 can be a geared motor, such as R37-Y0.75KW-4P-60M1). The rotating mechanism 24 includes two third motors 241. The two third motors 241 are respectively fixed to the outer wall of the support arm 22 and the outer wall of the turntable 21. The output shafts of the two third motors 241 are each fixed with a rotating shaft 242. The two rotating shafts 242 are respectively connected to the extension arm 23 and the support arm 22. The third motors 241 can be stepper motors, such as Leadshine 57HS. This type of motor runs smoothly, has low noise, has a certain self-locking ability, and can maintain its position when the power is off. It is suitable for adjusting the angle of the support arm 22 and the extension arm 23.

[0043] Motor 26 drives turntable 21 to rotate support arm 22 on base 1. Support arm 22 moves extension arm 23 and mechanical claw 3 to a suitable angle for gripping workpiece. Then, two motors 3241 drive the connected shaft 242 to rotate. The two shafts 242 respectively drive support arm 22 to rotate on turntable 21 and extension arm 23 to rotate on support arm 22, thereby moving mechanical claw 3 to the workpiece position for gripping. At the same time, motor 125 can also drive mechanical claw 3 to perform independent rotation, so that mechanical claw 3 can flexibly adjust its angle according to the specific shape, position and posture of the workpiece, thus better adapting to various complex workpiece gripping scenarios and greatly improving the success rate and efficiency of gripping.

[0044] Furthermore, in actual use, a control box for controlling the operation of the mechanical claw 3, high-pressure air pump 8, linear module 521, electric push rod 1 63, electric push rod 2 10, motor 1 25, motor 2 26, and motor 3 241 of this utility model can be installed on the base, and the control box contains a battery that provides power. The above technologies are all existing and commonly used technologies, and will not be described in further detail here.

[0045] 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 mechanical hand for machining, comprising a base (1), a top end of which is provided with a trunk (2), a bottom end of which is connected with a mechanical claw (3), characterized in that: The top end of the base (1) is away from the side of the trunk (2) and is processed with a receiving groove (4), and the receiving groove (4) is provided with a cleaning mechanism (5); The cleaning mechanism (5) comprises a cleaning box (51), the cleaning box (51) is installed in the receiving groove (4) through a lifting assembly (52), the inside of the cleaning box (51) is provided with a scraper (53), the scraper (53) is located in the inside of the mechanical claw (3) and is in contact with the inner wall of the mechanical claw (3), the inside of the scraper (53) is provided with an air cavity (54), and the bottom end of the scraper (53) is provided with a plurality of nozzles (55) in communication with the air cavity (54) on both sides; the both sides of the cleaning box (51) are provided with sealing mechanisms (6) in contact with the outer wall of the mechanical claw (3).

2. The machine tool according to claim 1, characterized by: The trunk (2) comprises a rotating disc (21), a supporting arm (22) and an extension arm (23), the rotating disc (21) is rotatably connected to the base (1), the supporting arm (22) and the extension arm (23) are connected through a rotating mechanism (24) between the top end of the supporting arm (22) and the bottom end of the supporting arm (22), and the extension arm (23) is fixedly provided with a motor (25) at the bottom end for driving the mechanical claw (3) to rotate.

3. The machine tool according to claim 2, characterized in that: The inside of the base (1) is provided with a motor (26), the output shaft of the motor (26) is connected to the bottom end of the rotating disc (21), the rotating mechanism (24) comprises two motors (241), the two motors (241) are fixedly arranged on the outer wall of the supporting arm (22) and the outer wall of the rotating disc (21) respectively, a rotating shaft (242) is fixedly arranged on the output shaft of each of the two motors (241), and the two rotating shafts (242) are connected with the extension arm (23) and the supporting arm (22) respectively.

4. The machine tool according to claim 1, characterized by: The sealing mechanism (6) comprises two cover plates (61), the top of the outer wall of the cleaning box (51) is provided with a rectangular through hole (62) on both sides, the two cover plates (61) penetrate through the two rectangular through holes (62) respectively, the side close to each other of the two cover plates (61) is connected with an electric push rod (63), and the outer wall of the cleaning box (51) is provided with a mounting groove (64) for accommodating the electric push rod (63) on both sides.

5. The machine tool according to claim 1, characterized by: The side of the base (1) is processed with a storage cavity (7), the storage cavity (7) is provided with a high-pressure air pump (8) and two door plates (9), the high-pressure air pump (8) is arranged between the two door plates (9), the high-pressure air pump (8) is communicated with the air cavity (54) through an air pipe, and the two door plates (9) are provided with ventilation windows.

6. The machine tool according to claim 4, characterized by: The inside walls of the front and rear sides of the cleaning box (51) are detachably provided with an electric push rod (10), the two electric push rods (10) are arranged below the cover plates (61), and the piston rod of the electric push rod (10) is connected to the top end of the scraper (53).

7. The machine tool according to claim 4, characterized by: The lifting assembly (52) comprises two linear modules (521), the two linear modules (521) are detachably arranged on the inner walls of the front and rear sides of the receiving groove (4), the two linear modules (521) are detachably connected with the outer wall of the cleaning box (51), and the two linear modules (521) are arranged below the cover plates (61).

8. The machine tool according to claim 1, characterized by: The cleaning box (51) is provided with an opening (11) at the front end, the opening (11) is provided with a drawer (12), the drawer (12) is located below the scraper (53), and the inside of the drawer (12) is provided with a permanent magnet (13).

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