Manipulator structure for transformation of numerical control machine tool

Abstract

The utility model provides a mechanical arm structure for transformation of a numerical control machine tool, belongs to the technical field of mechanical arms, and aims to solve the problems that certain potential safety hazards exist when parts are transferred, unnecessary property loss is caused, and the use safety of a mechanical arm in the practical application process is affected. The positioning frame is inserted into the outer side of the top end face of the supporting base. The positioning auxiliary mechanism is arranged between the supporting base and the positioning frame; the rotating frame is rotationally arranged outside the top end surface of the positioning frame; the connecting arm is hinged to the outer side of the rotating frame; the operating frame is hinged to the outer end of the connecting arm; a detection auxiliary mechanism is arranged between the connecting arm and the connecting shaft; and the use safety of the manipulator in the actual application process is improved, unnecessary potential safety hazards and property loss are relieved, and the construction smoothness is further improved when a data machine tool is transformed.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and more specifically, it relates to a robotic arm structure for CNC machine tool modification. Background Technology

[0002] When modifying CNC machine tools, the clamping frame of the robotic arm is often used to clamp and position the two ends of the modified part before transferring the modified part.

[0003] As disclosed in existing application number CN202122674669.7, a robotic arm for CNC machine tools includes: a mounting block on which a robotic arm is mounted, with a robotic claw mounted at one end of the robotic arm; a bidirectional lead screw, wherein the mounting block has a mounting cavity for mounting the bidirectional lead screw, and two rectangular plates are symmetrically mounted in the mounting cavity, the bidirectional lead screw and the rectangular plates are rotatably connected, and two fixing sleeves are threadedly connected to the bidirectional lead screw, each fixing sleeve being fixedly connected to a pressing block; and multiple sliding mechanisms, each of which includes a fixing plate disposed in the mounting cavity, a sliding rod slidably disposed on the fixing plate, and a limit plate being fixedly connected at one end of the sliding rod. This invention allows for changing the position of each limit plate, thereby increasing the support area of ​​the base according to actual needs, resulting in better stability of the robotic arm after installation.

[0004] Based on the above, during the long-term application of robotic arms, wear and tear can easily affect the stability of gripping and transporting components, leading to certain safety hazards during component transport, causing unnecessary property losses, affecting the safety of robotic arms in actual applications, and the smoothness of construction when modifying data machines. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a robotic arm structure for CNC machine tool retrofitting. This addresses the issue that during long-term use, wear and tear on the robotic arm can easily affect the stability of clamping and transporting components, leading to safety hazards, unnecessary property damage, and compromising the safety of the robotic arm in practical applications, as well as the smoothness of construction during CNC machine tool retrofitting.

[0006] The purpose and effect of this utility model of a robotic arm structure for CNC machine tool modification are achieved by the following specific technical means:

[0007] A robotic arm structure for CNC machine tool retrofitting includes a support base, a positioning frame, a positioning auxiliary mechanism, a rotating frame, a connecting arm, and an operating frame. The positioning frame is inserted into the outer side of the top end face of the support base. The positioning auxiliary mechanism is disposed between the support base and the positioning frame, and includes a drive shaft rotatably connected to the inner end of the support base. The rotating frame is rotatably disposed on the outer side of the top end face of the positioning frame. The connecting arm is hinged to the outer side of the rotating frame, and a support shaft in the connecting arm is fixedly connected to the rotating shaft of a drive motor. The operating frame is hinged to the outer end of the connecting arm, and a connecting shaft is fixedly connected to the rear end of the operating frame. A detection auxiliary mechanism is disposed between the connecting arm and the connecting shaft, and the detection auxiliary mechanism includes an electric push rod rotatably disposed on the inner side of the upper end of the connecting arm, and the outer end of the electric push rod is coaxially fixedly connected to the outer side of the drive shaft of the drive motor.

[0008] Furthermore, a mounting base is fixedly connected to the bottom end face of the positioning frame, and the mounting base is a convex block structure;

[0009] The positioning auxiliary mechanism also includes: a transmission disk, a transmission block, and a positioning block. The transmission disk is coaxially and fixedly connected to the outer side of the top end face of the transmission shaft. There are multiple transmission blocks, which are threadedly connected to the outer side of the transmission disk. The transmission disk and the transmission blocks together form a lead screw and nut transmission pair. There are multiple positioning blocks, which are fixedly connected to the outer side of the top end face of the transmission block. All positioning blocks are arc-shaped plate structures.

[0010] Furthermore, multiple limiting auxiliary grooves are evenly arranged on the inner side of the top end face of the support base;

[0011] The top end face of the transmission block is fixedly connected to a limiting post, and the limiting post is aligned with the limiting auxiliary groove.

[0012] Furthermore, the positioning auxiliary mechanism also includes: a driving worm wheel, a driving rod, and a driving worm. The driving worm wheel is coaxially and fixedly connected to the outer side of the bottom end face of the transmission shaft; the driving rod is rotatably disposed on the outer side of the driving worm wheel; the driving worm is coaxially and fixedly connected to the inner end face of the driving rod, and the driving worm and the driving worm wheel mesh with each other. The driving worm wheel and the driving worm together constitute a worm gear transmission mechanism.

[0013] Furthermore, a piston rod is slidably connected to the outer side of the inner end face of the electric actuator; a drive gear is coaxially fixedly connected to the outer end of the piston rod.

[0014] A driven gear is coaxially fixedly connected to the outside of the connecting shaft. When the driving gear and the driven gear are aligned, the driven gear and the driving gear mesh with each other, and the driving gear and the driven gear together constitute a gear transmission mechanism.

[0015] Furthermore, an incomplete gear is coaxially fixedly connected to the outer end face of the connecting shaft. When the driving gear and the incomplete gear are aligned, the incomplete gear and the driving gear mesh with each other.

[0016] A limiting protrusion is fixedly connected to the outside of the piston rod; a limiting groove is provided in the electric push rod at the position aligned with the limiting protrusion.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] When in use, this utility model ensures the stability of the connection between the positioning frame and the support base, while improving the ease of operation when installing and positioning the positioning frame and the support base. It avoids repetitive work for operators and reduces their workload, further improving the work efficiency when installing and positioning the positioning frame and the support base.

[0019] When in use, this utility model enables timely detection of the stability of the connection between the component and the robot after clamping the component. If the connection effect is poor, the transfer of the component is stopped, which improves the safety of the robot in actual application, reduces unnecessary safety hazards and property losses, and further improves the smoothness of construction when modifying data machine tools. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall isometric structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the installation structure of the positioning frame and positioning auxiliary mechanism of this utility model.

[0022] Figure 3 This is a schematic diagram of the disassembled positioning frame and positioning auxiliary mechanism of this utility model.

[0023] Figure 4 This is a schematic diagram of the positioning auxiliary mechanism of this utility model.

[0024] Figure 5 This is a schematic diagram of the installation structure of the connecting arm and the operating frame of this utility model.

[0025] Figure 6 This is a schematic diagram of the structure of the drive gear of this utility model when it meshes with an incomplete gear.

[0026] Figure 7 This is a schematic diagram of the installation structure of the detection auxiliary mechanism and operating frame of this utility model.

[0027] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0028] 1. Support base; 101. Limiting auxiliary groove; 2. Positioning frame; 201. Mounting seat; 3. Drive shaft; 301. Drive disc; 302. Drive block; 303. Positioning block; 304. Drive worm gear; 305. Drive rod; 306. Drive worm; 307. Limiting post; 4. Rotating frame; 5. Connecting arm; 6. Operating frame; 601. Connecting shaft; 7. Electric actuator; 701. Piston rod; 702. Drive gear; 703. Driven gear; 704. Incomplete gear; 705. Limiting protrusion. Detailed Implementation

[0029] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0030] Example 1:

[0031] As attached Figure 1 To be continued Figure 4 As shown:

[0032] This utility model provides a robotic arm structure for CNC machine tool modification, including a support base 1, a positioning frame 2, a positioning auxiliary mechanism, a rotating frame 4, a connecting arm 5, and an operating frame 6. The positioning frame 2 is inserted into the outer side of the top end face of the support base 1. The positioning auxiliary mechanism is disposed between the support base 1 and the positioning frame 2, and includes a transmission shaft 3, which is rotatably connected to the inner end of the support base 1. The rotating frame 4 is rotatably disposed on the outer side of the top end face of the positioning frame 2. The connecting arm 5 is hinged to the outer side of the rotating frame 4, and the support shaft in the connecting arm 5 is fixedly connected to the rotating shaft of the drive motor. The operating frame 6 is hinged to the outer end of the connecting arm 5, and a connecting shaft 601 is fixedly connected to the rear end of the operating frame 6. A detection auxiliary mechanism is provided between the connecting arm 5 and the connecting shaft 601, and includes an electric push rod 7, which is rotatably disposed on the inner side of the upper end of the connecting arm 5, and the outer end of the electric push rod 7 is coaxially fixedly connected to the outer side of the drive shaft of the transmission motor.

[0033] The bottom end face of the positioning frame 2 is fixedly connected to the mounting base 201, which is a convex block structure.

[0034] The positioning auxiliary mechanism also includes: a transmission disk 301, a transmission block 302, and a positioning block 303. The transmission disk 301 is coaxially fixedly connected to the outer side of the top end face of the transmission shaft 3. There are multiple transmission blocks 302, which are threadedly connected to the outer side of the transmission disk 301. The transmission disk 301 and the transmission blocks 302 together form a lead screw and nut transmission pair. There are multiple positioning blocks 303, which are fixedly connected to the outer side of the top end face of the transmission block 302. All positioning blocks 303 are arc-shaped plate structures.

[0035] Among them, multiple limiting auxiliary grooves 101 are evenly arranged on the inner side of the top end face of the support base 1;

[0036] A limiting post 307 is fixedly connected to the top end face of the transmission block 302, and the limiting post 307 is aligned with the limiting auxiliary groove 101.

[0037] The positioning auxiliary mechanism also includes a drive worm wheel 304, a drive rod 305, and a drive worm 306. The drive worm wheel 304 is coaxially fixedly connected to the outer side of the bottom end face of the transmission shaft 3. The drive rod 305 is rotatably disposed on the outer side of the drive worm wheel 304. The drive worm 306 is coaxially fixedly connected to the inner end face of the drive rod 305. The drive worm 306 and the drive worm wheel 304 mesh with each other. The drive worm wheel 304 and the drive worm 306 together constitute a worm gear transmission mechanism.

[0038] The specific usage and function of this embodiment are as follows:

[0039] In use, after the mounting base 201 is inserted into the support base 1, the drive rod 305 is pushed to rotate. When the drive rod 305 rotates, the drive worm 306 pushes the drive worm wheel 304 and the transmission shaft 3 to rotate. During the rotation of the transmission shaft 3, the transmission disc 301 pushes multiple transmission blocks 302 to slide inward simultaneously. When the transmission blocks 302 slide inward simultaneously, the positioning block 303 clamps and positions the mounting base 201, realizing the quick installation and positioning between the positioning frame 2 and the support base 1. It eliminates the need for operators to rotate multiple bolts sequentially to achieve the positioning and installation between the positioning frame 2 and the support base 1. The limiting post 307 and the limiting auxiliary groove 101 guide and limit the sliding of the positioning block 303 and the transmission block 302.

[0040] Example 2:

[0041] Based on Example 1, such as Figures 5 to 7 As shown:

[0042] Among them, the outer side of the inner end face of the electric actuator 7 is slidably connected to the piston rod 701; the outer end of the piston rod 701 is coaxially fixedly connected to the drive gear 702.

[0043] A driven gear 703 is coaxially fixedly connected to the outer side of the connecting shaft 601. When the driving gear 702 and the driven gear 703 are aligned, the driven gear 703 and the driving gear 702 mesh with each other, and the driving gear 702 and the driven gear 703 together constitute a gear transmission mechanism.

[0044] Among them, an incomplete gear 704 is coaxially fixedly connected to the outer end face of the connecting shaft 601. When the driving gear 702 and the incomplete gear 704 are aligned, the incomplete gear 704 and the driving gear 702 mesh with each other.

[0045] A limiting protrusion 705 is fixedly connected to the outer side of the piston rod 701; a limiting groove is provided in the electric actuator 7 at the alignment position with the limiting protrusion 705.

[0046] The specific usage and function of this embodiment are as follows:

[0047] In use, the clamping control frame is installed on the outer end of the operating frame 6. After the replacement part is clamped by the clamping control frame, when the electric push rod 7 is started, the piston rod 701 slides outward. After the drive gear 702 and the incomplete gear 704 are aligned, the transmission motor is started. When the transmission motor drives the electric push rod 7 and the drive gear 702 to rotate, it realizes the pushing assistance of the incomplete gear 704 and the connecting shaft 601. During the continuous rotation of the electric push rod 7 and the drive gear 702, the operating frame 6 and the replacement part reciprocate. During the frequent reciprocating swing of the operating frame 6 and the replacement part, the clamping effect of the part is detected. When the part is still firmly clamped after multiple swings, the piston rod 701 is retracted, so that the drive gear 702 and the driven gear 703 are aligned. When the drive gear 702 rotates, it pushes the driven gear 703 and the operating frame 6 to rotate, realizing the lifting and transfer of the replacement part.

Claims

1. A robotic arm structure for CNC machine tool retrofitting, comprising a support base, a positioning frame, a positioning auxiliary mechanism, a rotating frame, a connecting arm, and an operating frame, wherein the positioning frame is inserted into the outer side of the top end face of the support base; characterized in that: The positioning auxiliary mechanism is disposed between the support base and the positioning frame. The positioning auxiliary mechanism includes: a drive shaft, which is rotatably connected to the inner end of the support base; a rotating frame, which is rotatably disposed on the outer side of the top end face of the positioning frame; a connecting arm, which is hinged to the outer side of the rotating frame, and a support shaft in the connecting arm is fixedly connected to the rotating shaft of the drive motor; an operating frame, which is hinged to the outer end of the connecting arm, and a connecting shaft is fixedly connected to the rear end of the operating frame; and a detection auxiliary mechanism is disposed between the connecting arm and the connecting shaft. The detection auxiliary mechanism includes: an electric push rod, which is rotatably disposed on the inner side of the upper end of the connecting arm, and the outer end of the electric push rod is coaxially fixedly connected to the outer side of the drive shaft of the drive motor.

2. The robotic arm structure for CNC machine tool retrofitting as described in claim 1, characterized in that: The bottom end face of the positioning frame is fixedly connected to a mounting base with a convex block structure; The positioning auxiliary mechanism also includes: a transmission disk, multiple transmission blocks, and multiple positioning blocks. The transmission disk is coaxially and fixedly connected to the outer side of the top end face of the transmission shaft. The multiple transmission blocks are respectively threaded to the outer side of the transmission disk, and the transmission disk and transmission blocks together form a lead screw and nut transmission pair. The multiple positioning blocks with an arc-shaped plate structure are respectively fixedly connected to the outer side of the top end face of the transmission block.

3. The robotic arm structure for CNC machine tool retrofitting as described in claim 2, characterized in that: Multiple limiting auxiliary grooves are evenly arranged on the inner side of the top end face of the support base; The top end face of the transmission block is fixedly connected to a limiting post, and the limiting post is aligned with the limiting auxiliary groove.

4. The robotic arm structure for CNC machine tool retrofitting as described in claim 1, characterized in that: The positioning auxiliary mechanism further includes: a drive worm wheel, a drive rod, and a drive worm. The drive worm wheel is coaxially and fixedly connected to the outer side of the bottom end face of the transmission shaft; the drive rod is rotatably disposed on the outer side of the drive worm wheel; the drive worm is coaxially and fixedly connected to the inner end face of the drive rod, and the drive worm and the drive worm wheel mesh with each other. The drive worm wheel and the drive worm together constitute a worm gear transmission mechanism.

5. The robotic arm structure for CNC machine tool retrofitting as described in claim 1, characterized in that: A piston rod is slidably connected to the outer side of the inner end face of the electric actuator; a drive gear is coaxially fixedly connected to the outer end of the piston rod. A driven gear is coaxially fixedly connected to the outside of the connecting shaft. When the driving gear and the driven gear are aligned, the driven gear and the driving gear mesh with each other, and the driving gear and the driven gear together constitute a gear transmission mechanism.

6. The robotic arm structure for CNC machine tool retrofitting as described in claim 5, characterized in that: An incomplete gear is coaxially fixedly connected to the outer end face of the connecting shaft. When the driving gear and the incomplete gear are aligned, the incomplete gear and the driving gear mesh with each other. A limiting protrusion is fixedly connected to the outside of the piston rod; a limiting groove is provided in the electric push rod at the position aligned with the limiting protrusion.

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