A manipulator for assisting in the pick-and-place of workpieces in a numerically controlled milling machine

Abstract

The utility model discloses a kind of auxiliary pick-and-place workpiece manipulator of numerical control milling machine configuration, and its technical solution main point is, including numerical control milling machine body, numerical control milling machine body is equipped with manipulator arm body;Rotary motor is assembled on the side surface of manipulator arm body, rotary motor output end is equipped with sleeve, sleeve side surface is equipped with quick installation structure, and industrial vision camera is assembled and set on quick installation structure.Industrial vision camera can be opposite clamping by two clamping blocks in quick installation structure, to realize stable assembly on quick installation structure, compared with traditional multiple screw fixing mode, using the magnetic attraction between magnet piece and industrial vision camera shell, combined with the elastic insertion of clamping block to slot, so that the installation and disassembly process of industrial vision camera does not need to use tool or complex operation steps, greatly shorten assembly time, especially suitable for the scene needing to frequently replace equipment.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to an auxiliary robotic arm for picking up and placing workpieces on a CNC milling machine. Background Technology

[0002] A numerical control milling machine (NC milling machine) is a machine tool that uses a numerical control system to automatically control cutting tools to perform milling operations on workpieces. To improve the level of automation and production efficiency, it is usually equipped with a robotic arm to assist in picking up and placing workpieces.

[0003] A robotic arm, also known as a robot hand, is a mechanical device that simulates the movements of a human hand. It can perform actions such as grasping, handling, and assembling objects through mechanical structures and control systems. With the assistance of robotic arms, the automatic connection of pre- and post-processing steps on CNC milling machines can be achieved, reducing manual operation and improving production efficiency and processing safety.

[0004] When assembling industrial vision cameras on a robotic arm, several positioning screws are typically tightened to position the camera. This involves tightening multiple positioning screws on the robotic arm. While this method plays a role in ensuring the precise positioning and stability of the industrial vision camera, it also presents challenges in adapting to various specifications of industrial vision cameras. Different specifications of industrial vision cameras differ in size, shape, and mounting interface. Tightening the screws for positioning requires specific adjustments and adaptations for each camera, increasing the complexity of the assembly process. Furthermore, tightening multiple screws adds to the cumbersome process of easy replacement.

[0005] Therefore, an auxiliary manipulator for picking up and placing workpieces in a CNC milling machine is proposed to solve the above problems. Utility Model Content

[0006] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide an auxiliary picking and placing robot for CNC milling machines. By setting a quick installation structure, an industrial vision camera can be quickly installed, thereby facilitating the operation of the auxiliary picking and placing robot for CNC milling machines.

[0007] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0008] A robotic arm for picking up and placing workpieces on a CNC milling machine includes a CNC milling machine body, characterized in that: a robotic arm body is configured on the CNC milling machine body;

[0009] The robotic arm body is equipped with a rotary motor on its side, and a sleeve is equipped with the output end of the rotary motor. A quick-installation structure is equipped with the side of the sleeve, and an industrial vision camera is installed on the quick-installation structure.

[0010] The quick installation structure includes a limiting seat disposed on the side of the sleeve. The limiting seat is in the shape of an inverted U and its bottom two sides are vertically arranged. Both sides of the limiting seat are provided with slots and clamping blocks are slidably disposed therein.

[0011] The bottom of the limiting seat is provided with a surrounding groove, and a magnetic piece is installed in the surrounding groove;

[0012] The industrial vision camera has a housing, the top of which is made of metal and magnetically engages with the magnet sheet, and slots are provided on both sides of the housing.

[0013] Furthermore, the two slots are respectively provided for one of the clamping blocks and the two are adapted in size, and the slots are inserted into the clamping blocks.

[0014] Furthermore, positioning plates are provided on both sides of the bottom of the limiting seat, and the two positioning plates are U-shaped with their openings facing each other.

[0015] Furthermore, each side of the limiting seat is provided with two side rods, and two adjacent side rods on the same side form a group, and their ends are jointly equipped with positioning plates.

[0016] Furthermore, the positioning piece has a through hole and a push rod is slidably disposed within the hole. A spring sleeve is installed on the side of each of the two positioning pieces. The spring sleeve is a hollow cylinder with an opening on one side, and the openings of the two spring sleeves are oriented opposite to each other. A compression spring is installed inside each of the two spring sleeves. The diameter of the push rod is larger than the diameter of the compression spring. One end of the compression spring is connected to the inner wall of the spring sleeve, and the other end abuts against one end of the push rod.

[0017] Furthermore, the limiting seat is provided with bolt holes, and bolts are threaded into the bolt holes. The sleeve is provided with positioning holes on its side that correspond to the threaded holes on the limiting seat.

[0018] In summary, this utility model has the following beneficial effects:

[0019] 1. Through the movement coordination between multiple structures and industrial vision cameras set within the quick-mount structure, the industrial vision camera can be clamped by two opposing clamping blocks within the quick-mount structure, thereby achieving stable assembly on the quick-mount structure. Compared to the traditional multi-screw fixing method, the magnetic attraction between the magnetic sheet and the industrial vision camera housing, combined with the elastic insertion of the clamping blocks into the slot, makes the installation and disassembly of the industrial vision camera unnecessary for tools or complex operating steps, greatly shortening the assembly time. It is particularly suitable for scenarios that require frequent equipment replacement.

[0020] 2. The flexible clamping block is adaptable and can accommodate industrial vision cameras of different sizes and shapes. With the magnetic design, it allows for quick replacement of different camera models to meet diverse machining needs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure in this embodiment;

[0022] Figure 2 This is a schematic diagram of the overall installation of the quick-installation structure in this embodiment;

[0023] Figure 3 This is a schematic diagram of the spring sleeve and compression spring mounting structure within the quick-installation structure in this embodiment.

[0024] Figure 4 This is a schematic diagram of the industrial vision camera structure in this embodiment.

[0025] In the diagram, 10 is the CNC milling machine body; 1 is the robotic arm body; 11 is the rotary motor; 12 is the sleeve; 2 is the quick-mount structure; 21 is the limiting seat; 22 is the surrounding groove; 23 is the magnet; 24 is the positioning plate; 25 is the clamping block; 26 is the side rod; 27 is the positioning piece; 28 is the spring sleeve; 29 is the compression spring; 210 is the push rod; 3 is the industrial vision camera; and 31 is the slot. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific part, respectively.

[0028] First embodiment;

[0029] Reference Figure 1-4As shown, this is an auxiliary picking and placing robot arm for a CNC milling machine in a preferred embodiment of the present invention, including a CNC milling machine body 10, characterized in that: a robot arm body 1 is configured on the CNC milling machine body 10;

[0030] A rotary motor 11 is mounted on the side of the robotic arm body 1. A sleeve 12 is mounted on the output end of the rotary motor 11. A quick-mount structure 2 is mounted on the side of the sleeve 12. An industrial vision camera 3 is mounted on the quick-mount structure 2.

[0031] The quick installation structure 2 includes a limiting seat 21 set on the side of the sleeve 12. The limiting seat 21 is in the shape of an inverted U and its bottom two sides are vertically set. The limiting seat 21 has slots on both sides and a clamping block 25 is slidably set inside it.

[0032] The bottom of the limiting seat 21 is provided with a surrounding groove 22, and a magnetic piece 23 is installed in the surrounding groove 22;

[0033] The industrial vision camera 3 has a housing, the top of which is made of metal and magnetically engages with the magnet 23. Slots 31 are provided on both sides of the housing.

[0034] In this embodiment, through the movement coordination between multiple structures and the industrial vision camera 3 within the quick-mount structure 2, the industrial vision camera 3 can be clamped by two opposing clamping blocks 25 within the quick-mount structure 2, thereby achieving stable assembly on the quick-mount structure 2. Compared to the traditional multi-screw fixing method, the magnetic attraction between the magnet 23 and the surrounding seat 33, combined with the elastic insertion of the clamping blocks 25 into the slot 31, allows the installation and disassembly of the industrial vision camera 3 to proceed without the need for tools or complex operating steps, significantly shortening assembly time. This is particularly suitable for scenarios requiring frequent equipment replacement. At the same time, the elastically set clamping blocks 25 have a certain degree of adaptability, accommodating industrial vision cameras 3 of different sizes and shapes. Combined with the magnetic design, it allows for quick replacement of different camera models, meeting diverse machining needs.

[0035] Second embodiment;

[0036] Reference Figure 2-4 As shown, two slots 31 are respectively set for one of the clamping blocks 25 and the two are adapted in size. The slots 31 and the clamping blocks 25 are inserted and engaged.

[0037] In this embodiment, the two clamping blocks 25 can slide on the side of the limiting seat 21 until they are inserted into the slot 31. At this time, the elastic limit of the compression spring 29, combined with the insertion between the clamping block 25 and the slot 31, allows the quick installation structure 2 to quickly position the industrial vision camera 3.

[0038] Third embodiment;

[0039] Reference Figure 2-3 As shown, positioning plates 24 are provided on both sides of the bottom of the limiting seat 21. Both positioning plates 24 are U-shaped and their openings are opposite to each other.

[0040] In this embodiment, the two positioning plates 24 can be used to fit the two fitting slots 32 to support the top plate 31.

[0041] Fourth embodiment;

[0042] Reference Figure 2-3 As shown, two side rods 26 are provided on both sides of the limiting seat 21. Two adjacent side rods 26 on the same side form a group and their ends are jointly equipped with positioning pieces 27.

[0043] In this embodiment, the side rod 26 can be used to install the positioning piece 27.

[0044] Fifth embodiment;

[0045] Reference Figure 2-3 As shown, a hole is formed through the positioning piece 27, and a push rod 210 is slidably disposed in the hole. A spring sleeve 28 is installed on the side of each of the two positioning pieces 27. The spring sleeve 28 is a hollow cylinder with an opening on one side, and the openings of the two spring sleeves 28 are arranged in opposite directions. A compression spring 29 is installed inside each of the two spring sleeves 28. The diameter of the push rod 210 is larger than the diameter of the compression spring 29. One end of the compression spring 29 is connected to the inner wall of the spring sleeve 28, and the other end abuts against one end of the push rod 210.

[0046] In this embodiment, when the push rod 210 moves, its end can move into the spring sleeve 28 and compress the compression spring 29. At this time, the two clamping blocks 25 will move synchronously with the push rod 210 to one side of the spring sleeve 28 until the distance between the two clamping blocks 25 increases.

[0047] Sixth embodiment;

[0048] Reference Figure 2-3 As shown, the limiting seat 21 has bolt holes, and bolts are threaded into the bolt holes. The sleeve 12 has positioning holes on its side that correspond to the threaded holes on the limiting seat 21.

[0049] In this embodiment, and in a preferred embodiment, the limiting seat 21 can be positioned and installed on the sleeve 12 using bolts.

[0050] Furthermore, the configuration of the rotary motor 11 and the sleeve 12 allows the industrial vision camera 3 to achieve rotational motion, ensuring precise visual monitoring while maintaining the robot's freedom of movement.

[0051] Specific implementation process:

[0052] Step 1: When the user needs to assemble the industrial vision camera 3, first move the two push rods 210 and move them into the spring sleeve 28. When the push rods 210 move, their ends can move into the spring sleeve 28 and compress the compression spring 29. At this time, the two clamping blocks 25 will move synchronously to one side of the spring sleeve 28 with the push rods 210, and the distance between the two clamping blocks 25 will increase.

[0053] Step 2: When the distance between the two clamping blocks 25 is widened, the user holds the industrial vision camera 3 horizontally and inserts it laterally into the lower part of the surrounding groove 22 along the distance between the surrounding groove 22 and the positioning plate 24 until the industrial vision camera housing and the magnetic piece 23 magnetically engage. Through the magnetic attraction between the magnetic piece 23 and the housing, the industrial vision camera 3 can be initially positioned in the surrounding groove 22.

[0054] Step 3: After the industrial vision camera 3 is initially positioned by the magnet 23, the two positioning plates 24 arranged in a U-shape can be inserted into the slot 31 to further support and limit the industrial vision camera 3.

[0055] Step 4: After the industrial vision camera 3 is supported by the two positioning plates 24, the user releases the push rods 210 and the two compression springs 29 return to their elastic state, so that the two clamping blocks 25 can slide on the side of the limiting seat 21 until they are inserted into the slot 31. At this time, the compression springs 29 limit the movement, and the clamping blocks 25 are inserted into the slot 31, so that the quick installation structure 2 can be used to quickly position the industrial vision camera 3.

[0056] Step 5: After the industrial vision camera 3 is mounted on the robotic arm body 1, the user can then drive the robotic arm body 1 to perform operations.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

[0058] All standard parts used in this utility model can be purchased from the market. Irregular parts can be customized according to the description in the specification and the accompanying drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

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