Mechanical hand structure for feeding and discharging drill blank

Abstract

The utility model relates to the technical field of manipulator, disclose a kind of manipulator structure for drill blank feeding and discharging, including rotating seat, two groups of gripper assembly being arranged on rotating seat along circumference, and rotating power connected with rotating seat;The gripper assembly includes two groups of oppositely distributed clamping arm assemblies, and drive clamping arm assembly is synchronously close or synchronously away from clamping power;Two groups of gripper assembly are configured as first gripper assembly, second gripper assembly, and the rotating power is configured as reciprocating rotation of rotating seat between first state, second state;In first state, the first gripper assembly is in vertical downward state, and second gripper assembly is in inclined state;In second state, the second gripper assembly is rotated to coincide with the position of first gripper assembly in first state, and the first gripper assembly is in inclined state.The utility model has the beneficial effects of stable drill blank clamping, feeding and discharging conveniently, reducing processing waiting time.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm structure for loading and unloading drill bit blanks. Background Technology

[0002] In the drill bit manufacturing process, the round bar workpiece is first machined into drill bit blanks using ordinary machine tools, and then the drill bit blanks are precision machined using high-precision machine tools such as machining centers. Currently, manual loading and unloading are usually performed during the processing, which is inefficient. To improve the processing efficiency of drill bit blanks, robots are also used for loading and unloading. However, conventional robotic grippers require two operations for loading and unloading: first, the machined drill bit is removed from the chuck and placed into the hopper, and then a drill bit blank to be processed is picked up and sent to the chuck of the machining center's worktable. During the process of moving the machined drill bit blank to the hopper, the machining center is in a waiting state, resulting in wasted time. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a robotic arm structure for loading and unloading drill bit blanks, which adopts two sets of gripper components to work together, making it more convenient to load and unload drill bit blanks and reducing processing waiting time.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robotic arm structure for loading and unloading drill bit blanks includes a rotating base, two sets of gripper assemblies circumferentially arranged on the rotating base, and a rotational power connected to the rotating base. Each gripper assembly includes two sets of opposing clamping arm assemblies and a driving force that synchronously moves the clamping arm assemblies closer to or further away from the clamping assembly. The two sets of gripper assemblies are configured as a first gripper assembly and a second gripper assembly. The rotational power is configured to drive the rotating base to reciprocate between a first state and a second state. In the first state, the first gripper assembly is in a vertically downward state, and the second gripper assembly is in an inclined state. In the second state, the second gripper assembly rotates to coincide with the position of the first gripper assembly in the first state, and the first gripper assembly is in an inclined state.

[0006] By adopting the above technical solution: this robotic arm can be used in conjunction with a three-axis or five-axis robot, or with a gantry robot (capable of movement along the XYZ axes); in use, the first gripper assembly in the first state grips the drill bit blank to be processed, moves it to the worktable of the machining center, and then the rotating seat rotates to the second state, where the second gripper assembly grips the processed drill bit held by the chuck on the worktable. After that, the rotating seat rotates back to the first state, at which point the position of the first gripper assembly coincides with the position of the second gripper assembly in the second state, which is just right for direct docking with the chuck for loading; by using two sets of gripper assemblies to work together, and the two sets of grippers can rotate and switch between the first and second states while maintaining their positions, the time spent on repeated positioning is reduced, greatly improving the convenience of loading and unloading drill bit blanks.

[0007] Preferably, the clamping arm assembly includes a connecting arm and clamping seats at both ends of the connecting arm. The inner surface of the clamping seats is provided with clamping grooves. The clamping power is configured as a double-headed actuating cylinder, and the two ends of the double-headed actuating cylinder are respectively connected to the middle part of the connecting arm on the two sets of clamping arm assemblies. Each clamping arm assembly is provided with two clamping seats, which clamp and position the drill bit blank at two points, making the positioning more accurate, stable, and less prone to loosening, and facilitating precise alignment with the chuck on the worktable of the machining center.

[0008] Preferably, the clamping base includes a clamping arm and a clamping block disposed on the inner side of the clamping arm. The clamping groove is disposed on the clamping block, and the clamping block is detachably connected to the clamping arm. The clamping block is prone to wear and tear after long-term use, and the detachable connection allows for convenient replacement.

[0009] Preferably, the clamping block is made of copper alloy or aluminum alloy, and the clamping groove is configured as a V-groove. The drill bit blank is usually made of tungsten steel or high-hardness alloy steel, and the clamping block is made of metals with low hardness such as copper alloy or aluminum alloy. When clamping the drill bit, it is not easy to damage the drill bit, nor is it easy to produce indentations or scratches on the drill bit surface.

[0010] Preferably, both ends of the connecting arm are provided with elongated slots, and the end of the clamping arm corresponding to the elongated slots is provided with threaded holes. The elongated slots and threaded holes are fastened together by bolts. The elongated slots facilitate adjustment of the spacing between the clamping arms to meet the clamping and positioning needs of drill bits of different lengths, thus providing strong versatility.

[0011] Preferably, the lower side of the connecting arm is configured with a toothed surface, and the upper end face of the clamping arm is provided with a limiting tooth that matches the toothed surface. The limiting tooth engages with the toothed surface and is then secured with bolts. The limiting tooth and the toothed surface cooperate to provide more stable positioning and prevent loosening.

[0012] Preferably, the outer surface of the connecting arm is provided with symmetrically distributed graduations for indicating the position of the clamping seat. The graduations facilitate intuitive, quantitative, and accurate adjustment of the position of the connecting arm.

[0013] Preferably, a first limiting seat is provided on one side of the rotating power source, and a first limiting component is provided on the first limiting seat; a second limiting seat is provided on the other side of the rotating power source, and a second limiting component is provided on the second limiting seat; the rotating seat is provided with a first limiting surface and a second limiting surface; when the first limiting surface rotates to abut against the first limiting component, the rotating seat is in a first state; when the second limiting surface rotates to abut against the second limiting component, the rotating seat is in a second state. The first and second limiting components allow for precise control of the rotating seat's position in the first and second states, ensuring the positional accuracy of the positioning gripper assembly.

[0014] Preferably, the first limiting seat is provided with a first damping element, and the second limiting seat is provided with a second damping element. The first damping element and the second damping element buffer the rotating seat and prevent the rotating seat from violently colliding with the first limiting seat and the second limiting seat when switching between the first state and the second state.

[0015] Preferably, the first limiting seat is provided with a first sensor, and the second limiting seat is provided with a second sensor; when the first limiting surface abuts against the first limiting component, the first sensor is triggered; when the second limiting surface abuts against the second limiting component, the second sensor is triggered. When the rotating seat (first gripper assembly, second gripper assembly) rotates to a preset position, the signals generated by the triggering of the first and second sensors control the action of the clamping power, ensuring that the drill bit can be gripped or released only after the first and second gripper assemblies are fully in position, thus improving the stability of the operation.

[0016] Therefore, this utility model has the beneficial effects of stable clamping of drill bit blanks, convenient loading and unloading, and reduced processing waiting time. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0018] Figure 2 This is a schematic diagram showing the rotating seat in its first state.

[0019] Figure 3 This is a schematic diagram showing the rotating seat rotating to its second state.

[0020] Figure 4 for Figure 2 Sectional view at point AA.

[0021] Figure 5 for Figure 4A magnified view of a portion of point B in the middle.

[0022] Figure 6 for Figure 1 Another perspective view.

[0023] Figure 7 This is a diagram showing the utility model in use when installed on a gantry robot. Detailed Implementation

[0024] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0025] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0026] like Figures 1-6 The illustrated robotic arm structure for loading and unloading drill bit blanks includes a rotating base 10, two sets of gripper assemblies 20 arranged circumferentially on the rotating base 10, and a rotational power 30 connected to the rotating base 10. Each gripper assembly 20 includes two sets of opposing clamping arm assemblies 23 and a clamping power 24 that drives the clamping arm assemblies 23 to move closer or further away synchronously. The two sets of gripper assemblies 20 are configured as a first gripper assembly 21 and a second gripper assembly 22. The rotational power 30 is configured to drive the rotating base 10 to reciprocate between a first state and a second state. In the first state (e.g., ... Figure 2 As shown), the first gripper assembly 21 is in a vertically downward state, and the second gripper assembly 22 is in an inclined state; in the second state (as shown) Figure 3 As shown), the second gripper assembly 22 rotates to coincide with the position of the first gripper assembly 21 in the first state, and the first gripper assembly 21 is in an inclined state.

[0027] The clamping arm assembly 23 includes a connecting arm 230 and clamping seats 231 disposed at both ends of the connecting arm 230. The inner surface of the clamping seat 231 is provided with a clamping groove 232. The clamping power 24 is configured as a double-headed actuating cylinder, with both ends of the double-headed actuating cylinder connected to the middle portion of the connecting arm 230 on each of the two clamping arm assemblies 23. The clamping seat 231 includes a clamping arm 233 and a clamping block 234 disposed on the inner surface of the clamping arm 233. The clamping groove 232 is disposed on the clamping block 234, and the clamping block 234 is detachably connected to the clamping arm 233. In some embodiments, the clamping block 234 and the clamping arm 233 are detachably connected by bolts.

[0028] In some embodiments, the clamping block 234 is made of copper alloy or aluminum alloy, and the clamping groove 232 is configured as a V-shaped groove; the double-headed actuating cylinder is any one of a double-headed air cylinder, a double-headed hydraulic cylinder, or a double-headed electric cylinder. In this embodiment, the double-headed actuating cylinder is a double-headed air cylinder, and the rotational power is provided by a rotary cylinder.

[0029] Both ends of the connecting arm 230 are provided with elongated slots 235, and the end of the clamping arm 233 is provided with a threaded hole 236 corresponding to the elongated slot 235. The elongated slot 235 and the threaded hole 236 are fastened together by bolts 237. The lower side of the connecting arm 230 is configured with a toothed surface 237, and the upper end face of the clamping arm 233 is provided with a limiting tooth 238 adapted to the toothed surface 237. The limiting tooth 238 is engaged with the toothed surface 237 and then fastened by bolts 240. The outer side of the connecting arm 230 is provided with symmetrically distributed graduations 239 for indicating the position of the clamping seat 231.

[0030] The rotating power source 30 has a first limiting seat 31 on one side, and a first limiting component 310 on the first limiting seat 31. The rotating power source 30 also has a second limiting seat 32 on the other side, and a second limiting component 320 on the second limiting seat 32. The rotating seat 10 has a first limiting surface 11 and a second limiting surface 12. When the first limiting surface 11 rotates to abut against the first limiting component 310, the rotating seat 10 is in a first state. When the second limiting surface 12 rotates to abut against the second limiting component 320, the rotating seat 10 is in a second state. The first limiting seat 31 has a first damping element 311, and the second limiting seat 32 has a second damping element 321. The first limiting seat 31 is provided with a first sensor 312, and the second limiting seat 32 is provided with a second sensor 322. When the first limiting surface 11 abuts against the first limiting component 310, the first sensor 312 is triggered; when the second limiting surface 12 abuts against the second limiting component 320, the second sensor 322 is triggered. In some embodiments, the first sensor 312 and the second sensor 322 are proximity sensors.

[0031] like Figure 7 As shown, this type of robotic arm is mounted on a gantry robot 4. The gantry robot is a simple robot that can drive the robotic arm to move along the X, Y, and Z directions. The gantry robot can drive the robotic arm to move between the drill bit storage area and the machining center. In the first state, the first gripper assembly holds a drill bit blank. Then, the rotational power drives the rotating seat to rotate to the second state, and the robotic arm moves to the machining center. The second gripper assembly grabs the processed drill bit, and the rotating seat rotates back to the first state. At this time, the first gripper assembly loads the drill bit blank to be processed into the chuck of the worktable of the machining center, thus realizing the loading and unloading of drill bits in a single movement. The two sets of gripper assemblies work together, and the two sets of grippers can rotate and switch between the first and second states while maintaining overlapping positions, reducing the time of repeated positioning and greatly improving the convenience of loading and unloading drill bit blanks.

[0032] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0033] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A robotic arm structure for loading and unloading drill bit blanks, characterized in that, It includes a rotating base (10), two sets of gripper assemblies (20) arranged circumferentially on the rotating base (10), and a rotational power (30) connected to the rotating base (10). The gripper assembly (20) includes two sets of opposing gripper arm assemblies (23) and a gripping force (24) that drives the gripper arm assemblies (23) to move closer or further away simultaneously. The two gripper assemblies (20) are configured as a first gripper assembly (21) and a second gripper assembly (22), and the rotational power (30) is configured to drive the rotating seat (10) to reciprocate between the first state and the second state; In the first state, the first gripper assembly (21) is in a vertically downward state and the second gripper assembly (22) is in an inclined state; in the second state, the second gripper assembly (22) rotates to coincide with the position of the first gripper assembly (21) in the first state and the first gripper assembly (21) is in an inclined state.

2. The robotic arm structure for loading and unloading drill bit blanks according to claim 1, characterized in that, The clamping arm assembly (23) includes a connecting arm (230) and clamping seats (231) located at both ends of the connecting arm (230). The inner side of the clamping seat (231) is provided with a clamping groove (232). The clamping power (24) is configured as a double-headed actuating cylinder. The two ends of the double-headed actuating cylinder are respectively connected to the middle part of the connecting arm (230) on the two sets of clamping arm assemblies (23).

3. The robotic arm structure for loading and unloading drill bit blanks according to claim 2, characterized in that, The clamping seat (231) includes a clamping arm (233) and a clamping block (234) disposed on the inner side of the clamping arm (233). The clamping groove (232) is disposed on the clamping block (234). The clamping block (234) and the clamping arm (233) are detachably connected.

4. The robotic arm structure for loading and unloading drill bit blanks according to claim 3, characterized in that, The clamping block (234) is made of copper alloy or aluminum alloy, and the clamping groove (232) is configured as a V-shaped groove.

5. The robotic arm structure for loading and unloading drill bit blanks according to claim 3, characterized in that, Both ends of the connecting arm (230) are provided with long slots (235), and the end of the clamping arm (233) is provided with a threaded hole (236) corresponding to the long slot (235). The long slot (235) and the threaded hole (236) are fastened together by bolts (240).

6. The robotic arm structure for loading and unloading drill bit blanks according to claim 5, characterized in that, The lower side of the connecting arm (230) is configured as a toothed surface (237), and the upper end face of the clamping arm (233) is provided with a limiting tooth (238) that is adapted to the toothed surface (237). The limiting tooth (238) is engaged with the toothed surface (237) and then fastened by a bolt (240).

7. The robotic arm structure for loading and unloading drill bit blanks according to claim 5 or 6, characterized in that, The outer side of the connecting arm (230) is provided with symmetrically distributed scales (239) for indicating the position of the clamping seat (231).

8. The robotic arm structure for loading and unloading drill bit blanks according to claim 1, characterized in that, A first limiting seat (31) is provided on one side of the rotational power (30), and a first limiting component (310) is provided on the first limiting seat (31). A second limiting seat (32) is provided on the other side of the rotational power (30), and a second limiting component (320) is provided on the second limiting seat (32). The rotating seat (10) is provided with a first limiting surface (11) and a second limiting surface (12). When the first limiting surface (11) rotates to abut against the first limiting component (310), the rotating seat (10) is in a first state. When the second limiting surface (12) rotates to abut against the second limiting component (320), the rotating seat (10) is in a second state.

9. The robotic arm structure for loading and unloading drill bit blanks according to claim 8, characterized in that, The first limiting seat (31) is provided with a first damping element (311), and the second limiting seat (32) is provided with a second damping element (321).

10. The robotic arm structure for loading and unloading drill bit blanks according to claim 8 or 9, characterized in that, The first limiting seat (31) is provided with a first sensor (312), and the second limiting seat (32) is provided with a second sensor (322). When the first limiting surface (11) comes into contact with the first limiting component (310), the first sensor (312) is triggered; when the second limiting surface (12) comes into contact with the second limiting component (320), the second sensor (322) is triggered.

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