Collaborative robot arm

Abstract

The utility model relates to the technical field of industrial production, and specifically discloses a collaborative robot arm and robot, which comprises a mechanical arm main body, the mechanical arm main body comprises a front end support arm, a plurality of electric telescopic rods are fixed horizontally on the front end support arm, the telescopic ends of the plurality of electric telescopic rods are all rotationally connected with strip rods, the plurality of strip rods are all fixedly connected with a blocking film, a sleeve ring is coaxially fixed on the front end support arm, a plurality of slots are arranged on the sleeve ring, and the plurality of strip rods are respectively slidably installed in the plurality of slots. The mechanical arm body provided by the utility model can effectively reduce the situation that chips splash out of the numerical control machine tool equipment, thereby reducing the operation and maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of industrial production technology, and in particular to collaborative robotic arms and robots. Background Technology

[0002] Collaborative robotic arms are intelligent machines that integrate force-sensing control, human-machine interaction safety protocols, and a modular ecosystem. Through power / speed limiting, collision detection, and flexible joint design, they achieve seamless collaboration with humans in shared workspaces. With their flexible deployment, high-precision collaboration, and human-machine integration characteristics, collaborative robotic arms have become a core carrier for the automation upgrade of CNC machine tools, widely used in turning centers, five-axis machining units, flexible manufacturing lines, and other scenarios. Their main tasks include loading and unloading CNC machine tools.

[0003] Existing collaborative robotic arms include those with integrated blow nozzles at the gripping end. Their purpose is to address common problems in CNC machine tool machining, such as chips remaining on the fixture's positioning surface, which can easily cause errors in clamping and positioning. These chips can be cleaned by blowing them away, thus preventing errors. Similarly, chips or coolant adhering to the workpiece surface can affect machining quality; these can also be cleaned by blowing away the chips. However, existing robotic arms lack mechanisms to block chips. When blowing away chips, the high-pressure airflow (typically ≥0.6MPa) impacts irregular metal chips, causing some chips to be ejected secondaryly due to kinetic energy transfer, and some to splash outside the CNC machine tool. This affects the cleanliness of the machine tool's exterior and increases maintenance costs.

[0004] Therefore, we propose collaborative robotic arms and robots to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to solve the problems existing in the prior art, and to propose a collaborative robotic arm and robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A collaborative robotic arm and robot, including a robotic arm body, the robotic arm body including a front support arm, multiple electric telescopic rods are horizontally fixed on the front support arm, the telescopic ends of the multiple electric telescopic rods are rotatably connected to strip rods, the multiple strip rods are fixedly connected to a blocking membrane, a collar is coaxially fixed on the front support arm, the collar is provided with multiple slots, and the multiple strip rods are slidably installed in the multiple slots respectively.

[0008] Preferably, the end of the front support arm is also equipped with a mechanical gripper.

[0009] Preferably, a plurality of the electric telescopic rods are equidistantly arranged and mounted around the front support arm.

[0010] Preferably, the barrier film is annular, made of a flexible material, and capable of being expanded into a trumpet shape.

[0011] Preferably, a brush is detachably fixed to the edge of the collar, the brush is arranged around the edge of the collar, and the brush can abut against the side of the barrier membrane.

[0012] Preferably, a blowing head is also fixed to the side of the front support arm. The blowing head is bent and its end faces the end of the front support arm.

[0013] Collaborative robots include a trolley, with the main body of the robotic arm mounted on the trolley.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention features a barrier membrane on the front support arm of the robotic arm body. When the membrane is deployed, it effectively blocks flying chips. Specifically, when blowing away chips, the high-pressure airflow impacts irregular metal chips, and some chips are ejected a second time due to kinetic energy transfer, which may cause them to fly outside the CNC machine tool. By deploying the barrier membrane, the amount of chips flying out of the CNC machine tool can be effectively reduced, thereby reducing the frequency of manual cleaning and lowering maintenance costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is the first axonometric drawing of this utility model;

[0018] Figure 2 This is the second axonometric drawing of the present invention;

[0019] Figure 3 This is a schematic diagram of the collar structure of this utility model;

[0020] Figure 4 This is a cross-sectional view of the collar of this utility model;

[0021] Figure 5 This is a schematic diagram of the strip rod after adjustment according to this utility model;

[0022] Figure 6 This is a schematic diagram of the structure of the robotic arm body of this utility model, which is set on the side of a CNC machine tool.

[0023] In the figure: 1. Main body of the robotic arm; 2. Front support arm; 3. Electric telescopic rod; 4. Strip rod; 5. Barrier membrane; 6. Mechanical gripper; 7. Collar; 8. Brush; 9. Blowing head; 10. Trolley; 11. Grooving; 12. First rotating arm; 13. Second rotating arm; 14. Base; 15. CNC machine tool equipment. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of this utility model, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around" and other terms indicating orientation or positional relationship are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] Reference Figures 1-6 A collaborative robotic arm includes a main body 1, which includes a front support arm 2. Multiple electrically operated telescopic rods 3 are horizontally fixed to the front support arm 2. Each telescopic end of the telescopic rods 3 is rotatably connected to a strip-shaped rod 4. Each strip-shaped rod 4 is fixedly connected to a barrier membrane 5. Specifically, as shown... Figure 3 As shown. A collar 7 is coaxially fixed on the front support arm 2. The collar 7 has multiple slots 11, and multiple strip rods 4 are slidably installed inside the slots 11. Multiple electric telescopic rods 3 can control the multiple strip rods 4, so that the multiple strip rods 4 can slide and adjust synchronously, which can make the blocking membrane 5 expand and contract. One state of the strip rods 4 after adjustment is as follows. Figure 5 As shown, the synchronous telescopic movement of multiple electric telescopic rods 3 is controlled by an existing PLC.

[0027] As a technical optimization of this utility model, a mechanical gripper 6 is also installed at the end of the front support arm 2. The mechanical gripper 6 is used to clamp the parts and realize the handling operation of the parts. Existing plastic sleeves or rubber sleeves can be installed at the joint positions of the front support arm 2 and the mechanical gripper 6. Without affecting the movement, they can effectively prevent dirt and dust, and avoid the joints from being stuck or worn by flying chips.

[0028] As a technical optimization of this utility model, a plurality of the electric telescopic rods 3 are equidistantly arranged and mounted around the front support arm 2.

[0029] For the above example, those skilled in the art should know that the electric telescopic rod 3 can be an existing cylinder or threaded telescopic rod, and the number of electric telescopic rods 3 is set to 3 to 5.

[0030] As a technical optimization of this utility model, the blocking membrane 5 is annular, made of flexible material, and capable of expanding into a trumpet shape. That is, the multiple strip rods 4 can expand and contract the blocking membrane 5, as shown in the expanded state... Figure 3 As shown, the blocking membrane 5 is similar to a trumpet shape. When the strip rod 4 contracts, the state of the strip rod 4 is as follows: Figure 5 As shown, at this time, the barrier membrane 5 shrinks and adheres to the front support arm 2.

[0031] For the above example, those skilled in the art should know that the barrier membrane 5 is made of flexible plastic material, which can meet the operation of unfolding and shrinking, and the chips are not easy to adhere to the barrier membrane 5.

[0032] As a technical optimization of this utility model, a brush 8 is detachably fixed to the edge of the collar 7. The brush 8 is arranged around the edge of the collar 7 and can abut against the side of the barrier membrane 5. The brush 8 can clean up chips that may adhere to the barrier membrane 5, mainly by sweeping away chips that may exist on the inner surface of the barrier membrane 5 when the barrier membrane 5 shrinks. The brush 8 can also prevent chips from flowing out from the gap between the collar 7 and the barrier membrane 5.

[0033] As a technical optimization of this utility model, a blowing head 9 is also fixed to the side of the front support arm 2. The blowing head 9 is bent and its end faces the end of the front support arm 2. The pipeline of the blowing head 9 is set inside the front support arm 2. The blowing head 9 includes a high-pressure airflow blowing nozzle, or it can be a cleaning fluid nozzle. Multiple blowing heads 9 can be set. By moving the front support arm 2, the alignment and cleaning operation of the fixture positioning surface or the workpiece surface can be realized. An existing vision perception system can also be set at the front end of the front support arm 2 to realize the judgment of chips and achieve the effect of precise cleaning.

[0034] The collaborative robot includes a trolley 10, on which the robotic arm body 1 is mounted. The trolley 10, in conjunction with the robotic arm body 1, can be used with a CNC machine tool 15, positioned beside the CNC machine tool 15 to achieve seamless collaborative production with the operator within a shared workspace. The trolley 10 can be equipped with a tray for placing parts to be processed and parts to be processed. The trolley 10 has movable support wheels at its bottom, and its positioning is achieved via retractable support columns at the bottom. The robotic arm body 1 also includes a first rotating arm 12, a second rotating arm 13, and a base 14, all existing components. The robotic arm body 1 enables multi-joint rotation.

[0035] In this invention, the working principle of the device is as follows:

[0036] When chips remain on the fixture positioning surface or the workpiece surface, they can be blown away by the blowing nozzle to avoid any impact. Specifically, the movement of the front support arm 2 allows the blowing head 9 to align and clean the fixture positioning surface or workpiece surface. During blowing, multiple electric telescopic rods 3 control the movement of multiple strip rods 4, causing them to unfold the blocking membrane 5. The unfolded blocking membrane 5 is horn-shaped, effectively blocking flying chips. When blowing away chips, the high-pressure airflow impacts irregular metal chips, causing some chips to be ejected secondary due to kinetic energy transfer, and some to fly outside the CNC machine tool 15. The unfolding of the blocking membrane 5 effectively reduces the amount of chips flying out of the CNC machine tool 15, thus reducing the frequency of manual cleaning and lowering maintenance costs. When the mechanical gripper 6 holds the part and the front support arm 2 moves and transports it, the multiple strip rods 4 retract. At this time, the blocking membrane 5 shrinks and adheres to the front support arm 2, without obstructing its movement.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A collaborative robotic arm, comprising a robotic arm body (1), characterized in that, The main body (1) of the robotic arm includes a front support arm (2), on which multiple electric telescopic rods (3) are horizontally fixed. The telescopic ends of the multiple electric telescopic rods (3) are rotatably connected to strip rods (4). The multiple strip rods (4) are fixedly connected to a blocking membrane (5). A collar (7) is coaxially fixed on the front support arm (2). The collar (7) is provided with multiple slots (11). The multiple strip rods (4) are slidably installed inside the multiple slots (11).

2. The collaborative robotic arm according to claim 1, characterized in that, The end of the front support arm (2) is also equipped with a mechanical gripper (6).

3. The collaborative robotic arm according to claim 1, characterized in that, Multiple electric telescopic poles (3) are equidistantly arranged and mounted around the front support arm (2).

4. The collaborative robotic arm according to claim 1, characterized in that, The barrier membrane (5) is annular and made of flexible material. The barrier membrane (5) can be expanded to form a trumpet shape.

5. The collaborative robotic arm according to claim 1, characterized in that, A brush (8) is detachably fixed to the edge of the collar (7). The brush (8) is arranged around the edge of the collar (7) and can abut against the side of the barrier membrane (5).

6. The collaborative robotic arm according to claim 1, characterized in that, The front support arm (2) is also fixed with a blow head (9) on its side. The blow head (9) is bent and its end faces the end of the front support arm (2).

7. A collaborative robot, characterized in that, The invention includes the collaborative robotic arm as described in any one of claims 1-6, and a trolley (10), wherein the main body (1) of the robotic arm is mounted on the trolley (10).

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