A robotic arm mechanism that combines rotation and material handling functions

Abstract

This utility model belongs to the field of cold heading machines, specifically relating to a robotic arm mechanism that combines rotation and material handling functions. It includes a sliding component, a clamping component, and a rotating component. The sliding component moves between the material handling end and the material dispensing end. The clamping component includes a pull rod and a gripper, with the bottom of the pull rod hinged to the gripper. The gripper can open or close when the pull rod moves along its axial direction. The rotating component includes a rotating rod and a rotating block. Compared with existing technologies, the advantages of this utility model are that while the sliding component moves the part between the material handling end and the material dispensing end, the rotating block and rotating rod can simultaneously change the orientation of the part. This not only reduces investment in production equipment but also simplifies the processing flow and lowers manufacturing costs. Furthermore, the sliding component simultaneously performs rotational adjustment and clamping actions on the part during movement, improving work efficiency and reducing damage to parts caused by errors.

Description

Technical Field

[0001] This utility model belongs to the field of cold heading machines, specifically relating to a robotic arm mechanism that combines rotation and material handling functions. Background Technology

[0002] In the cold heading process, the initial wire needs to be processed through multiple steps to finally form the required part. During the processing of the workpiece, the workpiece is usually picked up by a gripper and transferred to the next station for further processing.

[0003] In existing technologies, the robotic arm mechanism of cold heading machines can only perform simple translation. After grabbing a part at the picking end, it can only move along a fixed path to the unloading end. It cannot simultaneously complete the rotation adjustment and stable clamping of the part during the movement. This means that after the part is transferred to the next station, it is necessary to set up a special rotation adjustment device or manually adjust the orientation of the part to meet the subsequent processing angle requirements. This not only increases the processing flow and equipment investment, prolongs the processing time, and reduces the working efficiency of the cold heading machine, but may also cause errors in the adjustment angle, resulting in the part's processing position shift, causing damage to the part, and increasing production and manufacturing costs. Utility Model Content

[0004] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a robotic arm mechanism that is stable, capable of high-speed movement, and combines rotation and material handling functions.

[0005] The objective of this utility model can be achieved through the following technical solution: a robotic arm mechanism combining rotation and material handling functions is proposed, comprising a sliding component, a clamping component, and a rotating component, wherein:

[0006] The sliding component is used to move between the material picking end and the material discharging end;

[0007] The clamping assembly includes a pull rod and a jaw, the bottom of the pull rod is hinged to the jaw, and the jaw can open or clamp when the pull rod moves along its axial direction.

[0008] The rotating assembly includes a rotating rod and a rotating block. The rotating rod is sleeved on the pull rod and movably connected to the sliding assembly. The rotating block is connected to the rotating rod to drive the rotating rod to rotate relative to the sliding assembly.

[0009] When the sliding assembly moves, the rotating rod can drive the pull rod to rotate relative to the sliding assembly, thereby changing the orientation of the part held by the gripper.

[0010] In the aforementioned robotic arm mechanism that combines rotation and material handling functions, the rotating block is equipped with a sector gear, which is connected to an external drive component to drive the rotating rod to rotate relative to the sliding assembly.

[0011] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, the sliding component includes a pull rod seat and a pull rod baffle. The pull rod seat is provided with a mounting hole, which is fitted onto the rotating rod. The pull rod baffle is provided with an arc groove, and the rotating rod is movably disposed within the arc groove.

[0012] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, the rotating rod includes a mounting part, a rotating part, and a limiting part. The top end of the mounting part is keyed to the rotating block. A bearing is mounted on the rotating part, and the outer ring of the bearing is interference-fitted with the inner wall of the mounting hole. The limiting part is movably disposed in the arc groove.

[0013] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, a limit ring is provided between the rotating block and the mounting hole, and a tie rod ball bearing socket is provided on the tie rod. The tie rod ball bearing socket abuts against the top of the rotating block, and the axial displacement of the rotating block is prevented by the cooperation of the limit ring and the tie rod ball bearing socket.

[0014] In the aforementioned robotic arm mechanism that combines rotation and material handling functions, a removable pad is provided on the side of the pull rod seat away from the rotating rod.

[0015] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, a gasket is provided between the limiting part and the mounting hole, and the gasket abuts against the inner ring of the bearing.

[0016] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, a mounting base is provided at the bottom of the limiting part, and the gripper is movably connected to the mounting base. The gripper can open or close within the mounting base.

[0017] In the aforementioned robotic arm mechanism that combines rotation and material handling functions, the gripper includes:

[0018] The left clamp arm is provided with a left clamp head, and a first rotating hole is provided in the middle of the side away from the left clamp head;

[0019] The right clamp arm is equipped with a right clamp head, and a second rotating hole is provided in the middle of the side away from the right clamp head;

[0020] The positioning shaft passes through the first rotating hole and the second rotating hole respectively and is movably connected to the mounting base.

[0021] In the above-mentioned robotic arm mechanism that combines rotation and material handling functions, the pull rod is provided with a transmission part, a first waist piece, and a second waist piece. The transmission part is located in the limiting part and a connecting groove is provided in the transmission part. The first waist piece and the second waist piece are both movably connected to the connecting groove. The other end of the first waist piece is hinged to the left clamp arm, and the other end of the second waist piece is hinged to the right clamp arm.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The present invention provides a robotic arm mechanism that combines rotation and material handling functions. During the process of clamping the part with the gripper, the sliding component can drive the part to move between the material handling end and the material handling end. At the same time, the rotation block and the rotating rod can be used to change the orientation of the part. This not only reduces the investment in production equipment, but also simplifies the processing flow and reduces the production cost. The sliding component can simultaneously complete the rotation adjustment and clamping action of the part during the movement, improve work efficiency, and reduce the damage to the part caused by errors.

[0024] (2) The mounting holes and tie rod baffles of the tie rod seat can guide and limit the rotation rod, prevent the rotation rod from axial displacement, and improve working stability.

[0025] (3) The gaskets set between the limiting part and the mounting hole can prevent the axial displacement of the rotating rod and the bearing from falling off, ensuring the stability of the rotating rod's operation, and at the same time ensuring the quality and accuracy of the robot's operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a robotic arm mechanism that combines rotation and material handling functions in this utility model;

[0027] Figure 2 This is a schematic diagram of the installation structure of the rotating rod and bearing;

[0028] Figure 3 This is a schematic diagram of the installation structure of the rotating block;

[0029] Figure 4 This is a schematic diagram of the installation structure of the tie rod bracket;

[0030] Figure 5 This is a cross-sectional view of a robotic arm mechanism that combines rotation and material handling functions according to this utility model.

[0031] Figure 6 This is a schematic diagram of the gripper installation structure.

[0032] In the diagram, 1 is the sliding component; 10 is the tie rod seat; 100 is the mounting hole; 101 is the pad; 11 is the tie rod baffle; and 110 is the arc groove.

[0033] 2. Clamping assembly; 20. Pull rod; 200. Transmission part; 201. Connecting groove; 21. Gripper; 210. Left clamp arm; 210a. Left clamp head; 210b. First rotating hole; 211. Right clamp arm; 211a. Right clamp head; 211b. Second rotating hole; 22. Positioning shaft; 220. Washer; 23. First waist piece; 24. Second waist piece; 25. Pull rod ball bearing socket;

[0034] 3. Rotating assembly; 30. Rotating rod; 300. Mounting part; 301. Rotating part; 302. Limiting part; 302a. Mounting base; 31. Rotating block; 310. Sector gear; 32. Bearing; 33. Limiting ring; 34. Gasket. Detailed Implementation

[0035] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical solutions of the present invention. However, the present invention is not limited to these embodiments.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0037] like Figure 1 As shown, this solution mainly describes a robotic arm mechanism with both rotation and material handling functions for use on a cold heading machine. However, this robotic arm mechanism with both rotation and material handling functions is not limited to use in cold heading machines, but can also be applied to other equipment that requires this function.

[0038] like Figures 1 to 6 As shown, a robotic arm mechanism with both rotation and material handling functions is used to transfer parts to be processed. It includes a sliding assembly 1, a clamping assembly 2, and a rotating assembly 3. The sliding assembly 1 moves between a picking end and a discharging end. The clamping assembly 2 includes a pull rod 20 and a gripper 21. The bottom of the pull rod 20 is hinged to the gripper 21, and the gripper 21 can open or close when the pull rod 20 moves along its axial direction. The rotating assembly 3 includes a rotating rod 30 and a rotating block 31. The rotating rod 30 is sleeved on the pull rod 20 and movably connected to the sliding assembly 1. The rotating block 31 is connected to the rotating rod 30 to drive the rotating rod 30 to rotate relative to the sliding assembly 1. When the sliding assembly 1 moves, the rotating rod 30 can drive the pull rod 20 to rotate relative to the sliding assembly 1, thereby changing the orientation of the parts held by the gripper 21.

[0039] The drive rod 20 moves along its axis, causing the gripper 21 to clamp the workpiece. The sliding assembly 1 moves from the picking end to the unloading end, simultaneously driving the rotating block to rotate. This allows the rotating rod 30 to rotate relative to the sliding assembly 1 as it moves. Since the rotating rod 30 is sleeved on the pull rod 20, its rotation causes the pull rod 20 to rotate relative to the sliding assembly 1, changing the orientation of the gripper 21. This allows the sliding assembly 1 to simultaneously perform rotational adjustment and clamping actions on the workpiece as it moves. When the sliding assembly 1 moves to the unloading end, the drive rod 20 moves along its axis again, causing the gripper 21 to release the workpiece and place it at the unloading end. The sliding assembly, clamping assembly, and rotating assembly work simultaneously, effectively improving work efficiency and increasing the processing capacity of the product.

[0040] The rotating block 31 is provided with a sector gear 310, which is connected to an external driving component to drive the rotating rod 30 to rotate relative to the sliding assembly 1.

[0041] The sector gear 310 on the rotating block is connected to the external driving component, which converts the external driving force into the rotational motion of the rotating block 31, thereby driving the rotating rod 30 to rotate relative to the sliding component 1. The sector gear 310 can effectively transmit and increase torque, which can improve the accuracy and transmission efficiency during operation.

[0042] Preferably, in this embodiment, the external drive component connected to the sector gear 310 is the sector gear at the other end. By meshing the sector gear 310 with the sector gear at the other end, the transmission efficiency and torque transmission capability can be improved, making it suitable for the processing of heavy parts.

[0043] The sliding assembly 1 includes a rod seat 10 and a rod baffle 11. The rod seat 10 is provided with a mounting hole 100, which is fitted onto the rotating rod 30. The rod baffle 11 is provided with an arc groove 110, and the rotating rod 30 is movably disposed in the arc groove 110.

[0044] When the mounting hole 100 is fitted onto the rotating rod 30, and the pull rod seat 10 moves from the material receiving end to the material discharging end, the rotating rod 30 can rotate relative to it at the same time, which can improve working efficiency. When the rotating rod 30 rotates on the pull rod seat 10, the rotating rod 30 is set in the arc groove 110 of the pull rod baffle 11, which can prevent the rotating rod 30 from axially displacing and limit it, which can effectively improve the stability of the rotating rod.

[0045] The rotating rod 30 includes a mounting part 300, a rotating part 301, and a limiting part 302. The top end of the mounting part 300 is keyed to the rotating block 31. A bearing 32 is mounted on the rotating part 301, and the outer ring of the bearing 32 is interference-fitted with the inner wall of the mounting hole 100. The limiting part 302 is movably disposed in the arc groove 110.

[0046] The mounting part 300 of the rotating rod 30 is connected to the torque of the transmission rotating block 31 via a key. The rotating part 301 reduces its rotational resistance in the mounting hole 100 by setting a bearing 32. The limiting part 302 is set in the arc groove 110 to guide and limit the rotating rod 30. The three parts have clear functions, ensuring the stability of the rotation of the rotating rod 30 and improving the working efficiency of the robot.

[0047] A limit ring 33 is provided between the rotating block 31 and the mounting hole 100. A tie rod ball bearing socket 25 is provided on the tie rod 20. The tie rod ball bearing socket 25 abuts against the top of the rotating block 31. The axial displacement of the rotating block 31 is prevented by the cooperation of the limit ring 33 and the tie rod ball bearing socket 25.

[0048] The limiting ring 33 and the ball bearing socket 25 of the tie rod are used to limit the rotation block 31 and prevent it from axially displacing during rotation. This ensures that the rotation block 31 is always tightly connected to the mounting part 301, completely transmitting torque and improving the stability of the rotating rod. On the other hand, the ball bearing socket 25 of the tie rod is used to assemble the tie rod 20 of the prior art. The assembly method and assembly principle are the same as those of the prior art, and will not be described in detail here.

[0049] A removable pad 101 is provided on the side of the pull rod seat 10 away from the rotating rod 30.

[0050] In this embodiment, the pull rod seat 10 will tilt due to the gravity of various components and the workpiece to be processed when it moves. Therefore, by setting a detachable pad 101, the stability of the pull rod seat 10 can be enhanced, and the detachable installation method makes the structure flexible to be applied to different working scenarios.

[0051] A gasket 11 is provided between the limiting part 302 and the mounting hole 100, and the gasket 11 abuts against the inner ring of the bearing 32.

[0052] When the rotating rod 30 rotates, it will undergo axial displacement, causing the limiting part 302 and the mounting hole 100 to abut against each other, resulting in damage to the rotating rod 30. The shim 11 can prevent axial displacement and the bearing 32 from falling off, improve the stability of the rotating rod, and ensure the quality and accuracy of the robot during operation.

[0053] The bottom end of the limiting part is provided with a mounting base 302a, and the gripper 21 is movably connected to the mounting base 302a. The gripper 21 can open or clamp within the mounting base 302a.

[0054] The mounting base 302a at the bottom of the limiting part 302 provides a movable connection fulcrum for the gripper 21, so that the gripper 21 can open or clamp within the constraint range of the mounting base 302a, ensuring the stability when clamping parts.

[0055] The gripper 21 includes: a left gripper arm 210 with a left gripper head 210a and a first rotating hole 210b in the middle of the side away from the left gripper head 210a; a right gripper arm 211 with a right gripper head 211a and a second rotating hole 211b in the middle of the side away from the right gripper head 211a; and a positioning shaft 22 that passes through the first rotating hole 210b and the second rotating hole 211b and is movably connected to the mounting base 302a. It should be noted that the clamping and opening structure and working principle of this gripper are the same as those in the prior art, and will not be described in detail here.

[0056] The left clamp arm 210 and the right clamp arm 211 are movably connected to the mounting base 302a via the positioning shaft 22, so that the left clamp arm 210 and the right clamp arm 211 can rotate around the positioning shaft 22 within the mounting base 302a, thereby opening or closing the gripper 21 and ensuring the stability of the clamping action.

[0057] Preferably, a washer 220 is provided on the positioning shaft 22. By providing the washer 220, the swing angle of the left clamp arm 210 or the right clamp arm 211 can be prevented from being too large, and the left clamp arm 210 or the right clamp arm 211 can be prevented from abutting against the positioning shaft 22, causing wear. This can increase the stability of the structure and extend the service life of the grippers.

[0058] The pull rod 20 is provided with a transmission part 200, a first waist piece 23 and a second waist piece 24. The transmission part 200 is located in the limiting part and a connecting groove 201 is provided in the transmission part 200. The first waist piece 23 and the second waist piece 24 are both movably connected to the connecting groove 201. The other end of the first waist piece 23 is hinged to the left clamp arm 210 and the other end of the second waist piece 24 is hinged to the right clamp arm 211.

[0059] When the pull rod 20 moves along its axis, the first waist plate 23 and the second waist plate 24 rotate the axis movement of the pull rod 20 into the swinging motion of the left clamp arm 210 and the right clamp arm 211 around the positioning axis 22, so that the left clamp arm 210 and the right clamp arm 211 open or clamp at the same time, ensuring the accuracy of the gripper 21 and completing the material picking and unloading actions.

[0060] The working principle of this utility model's robotic arm mechanism, which combines rotation and material handling functions, is as follows:

[0061] The drive lever 20 descends along its axis, causing the left clamp arm 210 and right clamp arm 211 to clamp the workpiece to be processed. The lever seat 10 moves from the take-up end to the unload end. The sector gear 310, connected to an external drive component, drives the rotating rod 30 and the lever 20 to rotate relative to the lever seat 10, adjusting the orientation of the workpiece. When the lever seat 10 reaches the unload end, the drive lever 20 is again driven to rise along its axis, causing the left clamp arm 210 and right clamp arm 211 to open the workpiece and place it on the unload end, effectively improving work efficiency and increasing the processing volume. It should be noted that in this embodiment, the driving force for the movement of the lever 20 along its axis is mainly achieved by the shift fork on the cold heading machine. Its structure and working principle are the same as those of the prior art, and will not be described in detail here.

[0062] It should be noted that the driving method for the pull rod to move along its axial direction in this embodiment is the same as the structure and working principle in the prior art, and will not be described in detail here.

[0063] It should be noted that in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0065] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A robotic arm mechanism combining rotation and material handling functions, used for transferring parts to be processed; characterized in that, It includes a sliding assembly, a clamping assembly, and a rotating assembly, wherein: The sliding component is used to move between the material picking end and the material discharging end; The clamping assembly includes a pull rod and a jaw, the bottom of the pull rod is hinged to the jaw, and the jaw can open or clamp when the pull rod moves along its axial direction. The rotating assembly includes a rotating rod and a rotating block. The rotating rod is sleeved on the pull rod and movably connected to the sliding assembly. The rotating block is connected to the rotating rod to drive the rotating rod to rotate relative to the sliding assembly. When the sliding assembly moves, the rotating rod can drive the pull rod to rotate relative to the sliding assembly, thereby changing the orientation of the part held by the gripper.

2. The robotic arm mechanism with both rotation and material handling functions according to claim 1, characterized in that, The rotating block is equipped with a sector gear, which is connected to an external driving component to drive the rotating rod to rotate relative to the sliding assembly.

3. The robotic arm mechanism with both rotation and material handling functions according to claim 1, characterized in that, The sliding assembly includes a pull rod seat and a pull rod baffle. The pull rod seat is provided with a mounting hole, which is fitted onto the rotating rod. The pull rod baffle is provided with an arc groove, and the rotating rod is movably disposed within the arc groove.

4. A robotic arm mechanism with both rotation and material handling functions according to claim 3, characterized in that, The rotating rod includes a mounting part, a rotating part, and a limiting part. The top end of the mounting part is keyed to the rotating block. A bearing is mounted on the rotating part, and the outer ring of the bearing is interference-fitted with the inner wall of the mounting hole. The limiting part is movably disposed in the arc groove.

5. A robotic arm mechanism with both rotation and material handling functions according to claim 4, characterized in that, A limit ring is provided between the rotating block and the mounting hole, and a tie rod ball bearing socket is provided on the tie rod. The tie rod ball bearing socket abuts against the top of the rotating block, and the axial displacement of the rotating block is prevented by the cooperation of the limit ring and the tie rod ball bearing socket.

6. A robotic arm mechanism with both rotation and material handling functions according to claim 3, characterized in that, A removable pad is provided on the side of the pull rod seat away from the rotating rod.

7. A robotic arm mechanism with both rotation and material handling functions according to claim 4, characterized in that, A gasket is provided between the limiting part and the mounting hole, and the gasket abuts against the inner ring of the bearing.

8. A robotic arm mechanism with both rotation and material handling functions according to claim 4, characterized in that, The bottom end of the limiting part is provided with a mounting base, and the gripper is movably connected to the mounting base. The gripper can open or close within the mounting base.

9. A robotic arm mechanism with both rotation and material handling functions according to claim 8, characterized in that, The gripper includes: The left clamp arm is provided with a left clamp head, and a first rotating hole is provided in the middle of the side away from the left clamp head; The right clamp arm is equipped with a right clamp head, and a second rotating hole is provided in the middle of the side away from the right clamp head; The positioning shaft passes through the first rotating hole and the second rotating hole respectively and is movably connected to the mounting base.

10. A robotic arm mechanism with both rotation and material handling functions according to claim 9, characterized in that, The pull rod is provided with a transmission part, a first waist piece and a second waist piece. The transmission part is located in the limiting part and a connecting groove is provided in the transmission part. The first waist piece and the second waist piece are both movably connected to the connecting groove. The other end of the first waist piece is hinged to the left clamp arm and the other end of the second waist piece is hinged to the right clamp arm.

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