Cutter carrying manipulator
By introducing a limiting mechanism and a buffer device into the gripping mechanism of the robotic arm, the problem of tool misalignment caused by unstable air supply was solved, and stable gripping and rotation of the tool on the robotic arm was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-23
- Publication Date
- 2026-03-20
AI Technical Summary
When the air supply to the existing CNC machine tool tool magazine robot is unstable, there is a gap between the tool and the hand, which causes the tool to become misaligned when it moves and rotates with the hand.
Design a tool handling robot that connects to a clamping mechanism by setting a limiting mechanism. During the clamping process, the limiting component abuts against the upper surface of the tool to prevent the clamping component from moving out of position. A buffer spring and guide post are used to ensure the tool is stable and prevent misalignment.
This effectively avoids the misalignment of the tool due to gaps during clamping and rotation, ensuring the stability of the tool during the movement and rotation of the robot arm.
Smart Images
Figure CN224011767U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a tool handling robotic arm. Background Technology
[0002] CNC machine tool tool magazines commonly use tool retrieval robots. These robots have only one arm and one hand. The arm is usually telescopic and rotatable, and the hand is used to grasp the tool. The structure is relatively simple and occupies little space. Through the telescopic and rotatable movement of the arm, the hand is moved to the position of the designated tool in the tool magazine. Then the hand clamps the tool, and the arm moves in the opposite direction to retrieve the tool and deliver it to the designated position.
[0003] Generally, the pneumatic drive of the hands used by robotic arms to hold tools pushes two symmetrical hands to move relative to each other to grip the tool. However, when the air source driving the hands to move is unstable, the hands that grip the tool cannot move into place effectively. Although they can grip the end of the tool, there is a significant gap between the tool and the hands, which causes the tool to become misaligned when it moves and rotates with the hands, thus affecting the subsequent placement of the tool.
[0004] Therefore, a tool handling robot is designed to solve the technical problem in the prior art where, when the air source driving the hand movement is unstable, there is a significant gap between the tool and the hand, which causes the tool to become misaligned when it moves and rotates with the hand.
[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content
[0006] This disclosure provides at least one tool handling robot.
[0007] In a first aspect, embodiments of this disclosure provide a tool handling robot, comprising:
[0008] drive;
[0009] The clamping mechanism is located on the lower end face of the driver; wherein
[0010] The clamping mechanism includes at least one pair of clamping members, and the two clamping members are adapted to move relative to each other under the drive of a driver to clamp the tool; and
[0011] A limiting mechanism, which includes a limiting component;
[0012] The limiting member is adapted to move toward the upper end face of the tool under the action of the clamping member connected to it during the relative movement of the two clamping members until it contacts the upper end face of the tool.
[0013] In some embodiments, a guiding column is connected to the center of the limiting member in a sliding manner, and a shaft sleeve is threadedly engaged with the outer wall of the limiting member.
[0014] A driving assembly is arranged on the outer wall of the shaft sleeve and connected with one of the clamping members.
[0015] The driving assembly is adapted to rotate the shaft sleeve during the relative movement of the two clamping members, thereby driving the limiting member to slide along the guiding column until the upper end surface of the tool is contacted.
[0016] In some embodiments, the driving assembly comprises:
[0017] A plurality of gear teeth are uniformly arranged on the outer wall of the shaft sleeve.
[0018] A driving rack is engaged with the gear teeth, and the driving rack is connected with one of the clamping members.
[0019] The driving rack is adapted to engage with the gear teeth during the relative movement of the two clamping members, thereby driving the shaft sleeve to rotate.
[0020] In some embodiments, a buffer sleeve is connected to the outer wall of the end of the limiting member facing the upper end surface of the tool; and
[0021] A buffer spring is arranged between the buffer sleeve and the limiting member; wherein
[0022] The buffer spring is adapted to contract when the buffer sleeve and the upper end surface of the tool are contacted and the limiting member continues to move.
[0023] In some embodiments, a sliding seat is arranged on the driver, and a sliding rail is formed in the interior of the sliding seat.
[0024] The upper end surfaces of the two clamping members are respectively provided with clamping sleeves, and each clamping sleeve is provided with a sliding block; wherein
[0025] Each sliding block is adapted to relatively slide in the sliding rail under the action of the driver.
[0026] In some embodiments, a limiting plate is arranged on the lower end surface of the sliding seat; wherein
[0027] The lower end surface of the limiting plate is connected with the upper end surface of the guiding column, and the lower end surface of the limiting plate is bearing-connected with the upper end surface of the shaft sleeve.
[0028] The utility model discloses beneficial effect is, the mechanical hand passes through setting limit mechanism, make it with clamping mechanism connection, in the process of driving two clamping pieces relative movement clamping tool of driver, make the limit piece of limit mechanism extension and resist the upper end surface of tool simultaneously, press the connection of tool and clamping piece with tool, avoid the problem of the gap between the clamping piece and tool that the clamping piece moves to the position of not leading to, further lead to the problem of the dislocation of tool in the process of driving tool rotation.
[0029] Other features and advantages of the present utility model will be set forth in the following description of the drawings, and, in part will become apparent from the description, or be learned by practice of the present utility model. The purpose and other advantages of the present utility model are realized and obtained in the structure that is pointed out specially in the description, the claims and the drawings.
[0030] In order to make the above purpose, feature and advantage of the utility model more obvious and easy to understand, this paper will hold the preferred embodiment, and cooperate the drawing, and make detailed description as follows. BRIEF DESCRIPTION OF DRAWINGS
[0031] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in prior art, the following will be briefly introduced to the drawing needed to be used in the specific embodiment or prior art description, obviously, the drawing in the following description is some embodiments of the utility model, for ordinary skilled person in the art, under the premise of not paying creative labor, other drawings can also be obtained according to these drawings.
[0032] Figure 1-1 The clamping mechanism three-dimensional structure schematic diagram provided by the embodiment of the present disclosure is provided.
[0033] Figure 1-2 The clamping mechanism sectional structure schematic diagram provided by the embodiment of the present disclosure is provided.
[0034] Figure 2 The clamping seat three-dimensional structure schematic diagram provided by the embodiment of the present disclosure is provided.
[0035] Figure 3 The limit mechanism sectional structure schematic diagram provided by the embodiment of the present disclosure is provided.
[0036] Figure 4 The overall three-dimensional structure schematic diagram provided by the embodiment of the present disclosure is provided.
[0037] In the drawing:
[0038] 1, driver;
[0039] 2, clamping mechanism;21, clamping piece;22, sliding seat;220, slide rail;221, limit plate;23, sliding block;24, clamping sleeve;
[0040] 3, limiting mechanism; 30, limiting member; 31, shaft sleeve; 32, guide column; 33, driving assembly; 330, gear tooth; 331, driving rack; 34, buffer sleeve; 35, buffer spring;
[0041] 4, tool. DETAILED DESCRIPTION
[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0043] In this document, when a first component is referred to as being "on" a second component, it can be directly on the second component or a third component can be interposed between the first component and the second component. Also, in the drawings, the thickness of components can be exaggerated or reduced for effective description of the technical content.
[0044] In this document, when an element or layer is referred to as being "on", "engaged to", "connected to", "attached to", or "coupled to" another element or layer, it can be directly on, engaged, connected, attached, or coupled to the other element or layer, or one or more intervening elements or layers can be present. In contrast, when an element is referred to as being "directly on", "directly engaged to", "directly connected to", "directly attached to", or "directly coupled to" another element or layer, there are no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., "between" versus "directly between", "adjacent" versus "directly adjacent", etc.). As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.
[0045] In this document, example embodiments of the disclosure will be described in greater detail with reference to the accompanying drawings. As used herein, expressions such as "at least one of", when preceded by terms such as "comprising" or "including", modify the phrase following the comma (i.e., "a, b, and c at least one of" means one or more of a, b, and c, one or more of a or b, one or more of a or c, one or more of a, b, and c, one or more of a, one or more of b, or one or more of c).
[0046] The terminology used herein is for the purpose of describing particular example configurations only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" can be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having," are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order
[0047] As used herein, the phrases "in an embodiment," "according to an embodiment," "in some embodiments," and the like generally mean the particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of the present disclosure. Thus, appearances of such phrases in various places throughout this specification are not necessarily intended to refer to the same embodiment. As used herein, the term "for example" or "e.g." means "for the purpose of example, illustration, or description." Any implementation, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations, aspects, or designs.
[0048] It is found through research that the hand driving of the general mechanical hand for clamping the tool adopts a pneumatic mode, and two symmetrical hands are pushed to move relatively to clamp the tool. When the gas source driving the hand to move is unstable, the hand clamping the tool cannot effectively move to the position, although the clamping of the end of the tool can be realized, there is a gap between the tool and the hand, and the tool is misaligned when following the hand to move and rotate, thereby affecting the subsequent placement of the tool.
[0049] Based on the above research, the tool carrying mechanical hand provided by the embodiments of the present disclosure is provided. By setting a limiting mechanism, the limiting mechanism is connected with the clamping mechanism. In the process of driving the drive to drive the two clamping pieces to move relatively to clamp the tool, the limiting piece in the limiting mechanism is extended to resist the upper end surface of the tool, and the tool is pressed and combined at the connection between the tool and the clamping piece. The gap between the clamping piece and the tool is avoided, and the problem of misalignment of the tool in the process of driving the tool to rotate is avoided.
[0050] The defects of the above solutions are the results of the inventors after practice and careful research, and therefore, the discovery process of the above problems and the solutions proposed by the present disclosure to the above problems in this paper should be the contribution of the inventors to the present disclosure in the process of the present disclosure.
[0051] It should be noted that like reference numerals and letters refer to like items throughout the several views, and once an item is defined in one view, it is not necessary to further define and explain it in the subsequent views.
[0052] Some embodiments of the present application will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
[0053] In some embodiments, as shown in Figure 1-1 and Figure 1-2 When the operator of the numerical control machine needs to take a tool from the tool magazine, the required tool position is input through the control module, and the manipulator moves to the corresponding tool under the action of the control module. The driver 1 controls the two sliding blocks 23 to slide on the slide rail 220 opened in the sliding seat 22, thereby driving the corresponding clamping sleeve 24 and the clamping piece 21 to move relatively close. The two clamping pieces 21 move relatively, and the opposite side of the two clamping pieces 21 is provided with a clamping groove corresponding to the outer wall of the tool 4, so that the clamping groove is in close contact with the outer wall of the tool 4 after the two clamping pieces 21 are moved to the position, thereby clamping the tool 4 (the way of moving the sliding block controlled by the driver is prior art, and will not be described in detail here. The driving mode includes but is not limited to pneumatic driving).
[0054] In some embodiments, as shown in Figure 2 A limiting plate 221 is fixed on the lower end surface of the sliding seat 22, and the slide rail 220 is separated by the limiting plate 221. When the two sliding blocks 23 drive the corresponding clamping pieces 21 to slide relatively, until the two sliding blocks 23 are in close contact with the two end surfaces of the limiting plate 221, the clamping pieces 21 are just clamped to the tool 4 at this time.
[0055] In some embodiments, as shown in Figure 3 When the two sliding blocks 23 move relatively, the corresponding clamping sleeve 24 and clamping piece 21 fixed on the lower end surface of the sliding block 23 move synchronously. One driving rack 331 is fixed on one of the clamping sleeves 24, and when the clamping sleeve 24 moves, the driving rack 331 moves and engages with the gear teeth 330 on the outer wall of the shaft sleeve 31. Since the upper end surface of the shaft sleeve 31 is bearing connected with the lower end surface of the limiting plate 221, the shaft sleeve 31 rotates under the action of the driving rack 331. The limiting piece 30 threaded in the shaft sleeve 31 moves along the axis of the shaft sleeve 31 towards the upper end surface of the tool 4 until it is in contact with the upper end surface of the tool 4 to apply force to the tool 4 to prevent the tool from shaking between the two clamping pieces 21. The top end of the guide column 32 is fixed with the lower end surface of the limiting plate 221 and is inserted in the center of the limiting piece 30. The shape of the guide column 32 is preferably prismatic to limit the rotation of the limiting piece 30.
[0056] In some embodiments, asFigure 3 As shown, in the process of moving close to the upper end face of the cutter 4, the bottom buffer sleeve 34 of the limiting piece 30 first collides with the upper end face of the cutter 4, and with the continuous movement of the clamping sleeve 24, the limiting piece 30 continuously moves downward, and the buffer spring 35 is compressed, and the buffer sleeve 34 is tightly attached to the upper end face of the cutter 4. If the two clamping pieces 21 can be moved in place at this time, the compression degree of the buffer spring 35 is the largest, and the buffer sleeve 34 is in contact with the upper end face of the cutter 4, so that the cutter is stable, and if the clamping piece 21 cannot be moved in place, a gap is formed between the cutter 4 and the clamping piece 21, and the buffer sleeve 34 is pressed on the upper end face of the cutter 4 by the buffer spring 35, so that the cutter 4 is stable, and the existence of the gap in the subsequent clamping cutter 4 rotation process is avoided. The cutter 4 is dislocated.
[0057] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0058] In the description of the present application, it should be explained that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, terms such as "first", "second" and other numerical terms are used in this paper, unless otherwise indicated in this paper. Therefore, the first element, component, area, layer or section discussed above can be referred to as the second element, component, area, layer or section without departing from the teachings of the example embodiments.
[0059] Spatially relative terms, such as "inner," "outer," "beneath," "below," "lower," "above," "upper," and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms can be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
[0060] In the above discussion, unless otherwise stated, the terms "about," "approximately," "substantially" and the like mean a variation of + / - 10% of the value.
[0061] With the above ideal embodiments according to the present application as the inspiration, through the above description, relevant personnel can certainly make various changes and modifications without deviating from the technical thought of the present application. The technical scope of the present application is not limited to the content in the specification, and must be determined according to the scope of claims.
Claims
1. A tool handling robot, characterized in that, include: Driver (1); The clamping mechanism (2) is disposed on the lower end face of the driver (1); wherein The clamping mechanism (2) includes at least one pair of clamping members (21), and the two clamping members (21) are adapted to move relative to each other under the drive of the driver (1) to clamp the tool (4); and The limiting mechanism (3) includes a limiting element (30); The limiting member (30) is adapted to move toward the upper surface of the tool (4) under the action of the clamping member (21) connected to it during the relative movement of the two clamping members (21) until it abuts against the upper surface of the tool (4).
2. The tool handling robot as described in claim 1, characterized in that, The center of the limiting member (30) is slidably connected to a guide post (32), and a bushing (31) is threadedly engaged on the outer wall of the limiting member (30). The drive assembly (33) is disposed on the outer wall of the bushing (31) and connected to one of the clamping members (21); The drive assembly (33) is adapted to drive the bushing (31) to rotate during the relative movement of the two clamping members (21), thereby driving the limiting member (30) to slide along the guide post (32) until it abuts the upper surface of the tool (4).
3. The tool handling robot as described in claim 2, characterized in that, The driving component (33) includes: Several gear teeth (330) are evenly distributed on the outer wall of the bushing (31); A drive rack (331) meshes with a gear tooth (330), and the drive rack (331) is connected to one of the clamping members (21); The drive rack (331) is adapted to mesh with the gear teeth (330) during the relative movement of the two clamping members (21), thereby driving the bushing (31) to rotate.
4. The tool handling robot as described in claim 2, characterized in that, The limiting member (30) has a buffer sleeve (34) slidably connected to the outer wall of one end facing the upper end face of the cutter (4); and A buffer spring (35) is provided between the buffer sleeve (34) and the limiting member (30); wherein The buffer spring (35) is adapted to retract when the buffer sleeve (34) abuts against the upper end face of the cutter (4) and the limiting member (30) continues to move.
5. The tool handling robot as described in claim 1, characterized in that, The driver (1) is provided with a sliding seat (22), and the sliding seat (22) is provided with a slide rail (220) inside. The upper end faces of the two clamping members (21) are respectively provided with clamping sleeves (24), and each clamping sleeve (24) is provided with a slider (23); wherein Each of the sliders (23) is adapted to slide relative to each other within the slide rail (220) under the action of the driver (1).
6. The tool handling robot as described in claim 5, characterized in that... A limit plate (221) is provided on the lower end face of the sliding seat (22); wherein The lower end face of the limiting plate (221) is connected to the upper end face of the guide post (32), and the lower end face of the limiting plate (221) is connected to the upper end face of the bushing (31) in a bearing connection.