CN108621182B - Manipulator clamp capable of blowing and automatically cleaning and using method thereof - Google Patents

Manipulator clamp capable of blowing and automatically cleaning and using method thereof Download PDF

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Publication number
CN108621182B
CN108621182B CN201810618439.9A CN201810618439A CN108621182B CN 108621182 B CN108621182 B CN 108621182B CN 201810618439 A CN201810618439 A CN 201810618439A CN 108621182 B CN108621182 B CN 108621182B
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motor
rotating
manipulator
arm
claw
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CN201810618439.9A
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CN108621182A (en
Inventor
王正才
胡滨
蔡仁禹
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/005—Devices for removing chips by blowing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a manipulator clamp capable of blowing and automatically cleaning and a using method thereof, which are designed for solving the technical problems that the existing like products lack blowing cleaning design and the six-axis robot is poor in structural design. The manipulator clamp comprises a six-axis robot and a manipulator, wherein the manipulator is arranged at the operation end of the six-axis robot; the mechanical arm center servo rotating motor is characterized in that a motor shaft of a servo rotating motor at the center of the mechanical arm is connected with a claw seat, claw heads which are arranged in a pairwise symmetry mode are arranged on the outer diameters of two sides of a groove of the claw seat respectively, an inserting tip is arranged on one side of the end portion of each claw head respectively, air blowing holes are formed in the claw seat above the gap between the claw heads on one side respectively, an air valve is arranged on the claw seat in each air blowing hole, a control inductor is arranged on the edge of the other side of each claw seat, the air blowing holes are aligned with products on the claw heads, an RFID radio frequency identifier is arranged in the control inductor, an RFID identification label is arranged on a bottom pallet of a product to be processed.

Description

Manipulator clamp capable of blowing and automatically cleaning and using method thereof
Technical Field
The invention relates to an automatic cleaning manipulator clamp, in particular to a manipulator clamp capable of blowing and automatically cleaning and a using method thereof.
Background
Articulated robots are one of the most common forms of industrial robots in today's industrial field, and are suitable for mechanical automation operations in many industrial fields, such as: automatic assembly, painting, carrying, welding and the like. The six-axis robot is more common and widely applied, and provides higher production and movement flexibility, and the six-axis robot is applied, for example, the application number 201720653379.5 disclosed in the Chinese patent document, the grant notice date 2017.12.22, and the utility model discloses a flexible deburring and polishing system of robot. Meanwhile, some existing six-axis robots are also applied to automatic cleaning operation, such as application number 201520212865.4 disclosed in chinese patent literature, publication number 2015.10.07, and utility model name "intelligent automatic cleaning unit cleaning manipulator"; however, the robot has less automatic blowing cleaning function, and meanwhile, the existing similar six-axis robot has poor structural design and needs to be further improved, and the six-axis robot has less intelligent processing and automatic production of products in a machine tool, and lacks of blowing cleaning structural design of products before and after processing of the machine tool.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide an automatic blowing cleaning manipulator clamp and a using method thereof for the field, so that the technical problems that the existing similar products are less in application in intelligent management and machining of a machine tool, lack of blowing cleaning design, poor in structural design of a six-axis robot and low in flexibility to be further improved are solved. The purpose is realized by the following technical scheme.
A manipulator clamp capable of blowing and automatically cleaning comprises a six-axis robot and a manipulator, wherein the manipulator is arranged at the operation end of the six-axis robot; the mechanical arm is structurally characterized in that a servo rotating motor is arranged at the center of the mechanical arm, a motor shaft of the servo rotating motor is connected with a claw seat, the outer diameters of two sides of a groove of the claw seat are respectively provided with claw heads which are symmetrically arranged in pairs, the opposite sides of the symmetrical claw heads on one side are respectively provided with a groove which is symmetrically arranged, one side of each claw head is respectively provided with an insertion tip, the other side of each claw head is fixedly buckled with a wedge groove of the claw seat through a wedge head, the claw seat above the gap between the claw heads on one side is respectively provided with an air blowing hole, the claw seat in the air blowing hole is provided with an air valve, the air valves on the two sides are connected with an air supply hole of an air compressor through air pipes, the other side edge of the claw seat is provided with a control inductor, the, and the corresponding motors of the processing table machine tool and the six-axis robot are respectively connected with the computer of the control table through lines. Therefore, in the machining process, the two claw heads on one side of the manipulator are used for taking out the machined products, after the manipulator is rotated through the servo rotating motor, the products to be machined on the other side of the manipulator are placed into a machining table of the machine tool through the other two claw heads, the machined products are placed in a product placing frame, the products to be machined are placed into the claw heads on the side, after the products are machined, the machining table repeats the operations of scanning out of a warehouse, taking out the materials, machining the machine tool, changing the materials and scanning and warehousing. Meanwhile, in the operation process, the mechanical arm clamp automatically cleans the processed product and the product to be processed through the air blowing holes on the two sides.
The manipulator is characterized in that an RFID radio frequency identifier is arranged in a control inductor of the manipulator, RFID identification tags are respectively arranged on bottom pallets of products to be processed, and the products to be processed are inserted into the bottom pallets through claw heads of the manipulator to be driven to move. Therefore, the scanning operation of the product is realized through the RFID technology, and the data reading and recording of the processed product are convenient.
The base of the six-axis robot is provided with a rotating base, a first rotating motor is arranged at the center of the joint of the rotating base and the base and is fixed on the rotating base, the motor shaft of the first rotating motor is connected with the base, one side of the rotating base is provided with a first rotating arm, the first rotating arm of the rotating base is provided with a first motor which is fixed on the rotating base, the motor shaft of the first motor is connected with one end of the first rotating arm, one side of the first motor at the other end of the first rotating arm is provided with a second motor which is fixed on the first rotating arm, the motor shaft of the second motor is connected with one end of a joint arm of the second rotating motor through the first rotating arm, the rear part of the joint arm at the second rotating motor is provided with an electric header pipe, a second rotating motor is arranged in a shell at the other end of the joint arm, the motor shaft of the second rotating motor is connected with one end of the second rotating arm, and, the inner diameters of the two ends of the notch are respectively hinged with one end of a third rotating arm, the third rotating arm at the hinged position is also provided with a U-shaped notch, and the center of the bottom of the U-shaped notch at the other end of the third rotating arm is provided with a manipulator.
The spiral upward protruding mounting plate is arranged on one side of the top groove of the rotary seat, the first motor is arranged on the mounting plate on one side of the protruding end, the first rotary motor is arranged in the top groove, the first motor control box is arranged on the other side of the symmetry of the top groove, and the circuit controller is arranged on one side of the base at the bottom of the rotary seat. The six-axis robot with the manipulator clamp has the advantages that the structure is more compact, and the structure and the component arrangement are more reasonable.
The first rotating arm arches towards one side, the first motor and the second motor are respectively positioned at two ends of the inward bending side of the first rotating arm, and the second motor control box and the air valve control box on one side of the second rotating motor are positioned at the outer side of one end of the first rotating arm. The six-axis robot of the manipulator clamp is further compact in structure and further reasonable in structure and component arrangement due to the structure.
The outer diameter of the second rotating arm on one side of the hinged position of the second rotating arm and the third rotating arm is provided with a third motor, the third motor is fixed on the second rotating arm, and a motor shaft of the third motor is connected with the third rotating arm through the second rotating arm. Therefore, the drooping type material exchanging operation is carried out through the six-axis robot in the original structure, the lifting type material exchanging operation is converted, and the manipulator has the lifting operation function and is used for operating a higher processing table.
According to the above structural feature, the use method of the manipulator fixture is as follows: the manipulator is characterized in that a claw head at one side of the manipulator is inserted into a bottom saddle of a product to be processed in the product placing frame, the product to be processed is grabbed and simultaneously scanned, the product to be processed with the bottom saddle is moved to the front of a processing table of a machine tool through a six-axis robot, the manipulator of the six-axis robot rotates to the other side and is inserted into the bottom saddle of the processing table through the claw head of the manipulator, and the product with the bottom saddle after processing is taken out; and then, rotating the manipulator of the six-axis robot to the claw head on one side of the product to be processed, putting the product to be processed with the bottom pallet into a processing platform of the machine tool through the claw head of the manipulator, moving the six-axis robot to the product placing rack, putting the product with the bottom pallet back into the product placing rack, and simultaneously performing scanning operation.
The invention has reasonable structural design, convenient use and operation, high intelligent and automatic processing degree, accurate data reading and inputting, and simple cleaning of blowing before and after processing of products on a machine tool; the automatic air blowing cleaning manipulator clamp is suitable for being used as a manipulator clamp with air blowing automatic cleaning and is suitable for structural improvement of similar products.
Drawings
FIG. 1 is a first schematic view of the present invention, with the framing parts enlarged.
Fig. 2 is an enlarged schematic view of a manipulator portion of the present invention.
FIG. 3 is a second schematic structural diagram of the present invention.
Fig. 4 is a third schematic structural diagram of the present invention.
Figure number and name: 1. the manipulator 101, cleft hand seat, 102, control inductor, 103, gas hole, 104, claw head, 2, third swinging boom, 3, second swinging boom, 4, second rotating electrical machines, 5, first swinging boom, 6, roating seat, 7, base, 8, first rotating electrical machines, 9, first electrical machines, 10, second electrical machines.
Detailed Description
The structure of the present invention will now be further described with reference to the accompanying drawings. As shown in fig. 1 to 4, the manipulator clamp comprises a six-axis robot and a manipulator 1, wherein the manipulator is arranged at the working end of the six-axis robot; namely, a servo rotating motor is arranged at the center of the manipulator, a motor shaft of the servo rotating motor is connected with a claw seat 101, the outer diameters of two sides of a groove of the claw seat are respectively provided with claw heads 104 which are symmetrically arranged in pairs, the opposite sides of the symmetrical claw heads on one side are respectively provided with a groove which is symmetrically arranged, one side of each claw head is respectively provided with an insertion tip, the other side of each claw head is fixedly buckled with a wedge groove of the claw seat through a wedge head, the claw seat above the space between the claw heads on one side is respectively provided with an air blowing hole 103, the claw seat in the air blowing hole is provided with an air valve, the air valves on the two sides are connected with an air supply hole of an air compressor through an air pipe, the other side edge of the claw seat is provided with a control inductor 102, the air blowing hole is aligned with a product on the claw head, and the air compressor, the air valve, the servo. An RFID radio frequency identifier is arranged in a control inductor of the manipulator, RFID identification tags are respectively arranged on bottom pallets of products to be processed, and the products to be processed are inserted into the bottom pallets through claw heads of the manipulator to be driven to move.
The six-axis robot has the following specific structure: a base 7 of the six-axis robot is provided with a rotating base 6, a first rotating motor 8 is arranged at the center of the joint of the rotating base and the base, the first rotating motor is fixed on the rotating base, the motor shaft of the first rotating motor is connected with the base, one side of the rotating base is provided with a first rotating arm 5, a first motor 9 is arranged at the first rotating arm of the rotating base, the first motor is fixed on the rotating base, the motor shaft of the first motor is connected with one end of the first rotating arm, one side of the first motor at the other end of the first rotating arm is provided with a second motor 10, the second motor is fixed on the first rotating arm, the motor shaft of the second motor is connected with one end of a joint arm of a second rotating motor 4 through the first rotating arm, the rear part of the joint arm at the second rotating motor is provided with an electric header pipe, a second rotating motor is arranged in a shell at the other end of the joint arm, the other end of second swinging boom is equipped with U font notch, and the internal diameter at notch both ends is articulated with the one end of third swinging boom 2 respectively, and the third swinging boom of articulated department also is equipped with U font notch, and the U font notch bottom center of the third swinging boom other end is equipped with manipulator 1. The spiral upward protruding mounting plate is arranged on one side of the top groove of the rotary seat, the first motor is arranged on the mounting plate on one side of the protruding end, the first rotary motor is arranged in the top groove, the first motor control box is arranged on the other side of the symmetry of the top groove, and the circuit controller is arranged on one side of the base at the bottom of the rotary seat. The first rotating arm arches towards one side, the first motor and the second motor are respectively positioned at two ends of the inward bending side of the first rotating arm, and the second motor control box and the air valve control box at one side of the second rotating motor are positioned at the outer side of one end of the first rotating arm.
The working principle is as follows: a claw head at one side of the manipulator is inserted into a bottom saddle of a product to be processed in the product placing frame, scanning operation is carried out while the product to be processed is grabbed, the product to be processed with the bottom saddle is moved to the front of a processing table of a machine tool through a six-axis robot, the manipulator of the six-axis robot rotates to the other side and is inserted into the bottom saddle of the processing table through the claw head of the manipulator, the product with the bottom saddle after processing is taken out, and meanwhile, an air blowing hole of the manipulator blows and cleans the product; and then, rotating the manipulator of the six-axis robot to a claw head on one side of the product to be processed, placing the product to be processed with the bottom pallet into a processing platform of the machine tool through the claw head of the manipulator, simultaneously blowing air to clean the product to be processed and the processing platform through an air blowing hole of the manipulator, moving the six-axis robot to a product placing frame, placing the product with the bottom pallet back to the product placing frame, and simultaneously performing scanning operation, wherein after the operation is completed, after an instruction that the product to be processed is processed on the processing platform of the machine tool is received, the six-axis robot repeats the operations of scanning out of the warehouse, taking materials, processing the machine tool, changing materials and scanning in the warehouse again.
According to the structural characteristics and the working principle, a third motor can be arranged on the outer diameter of the second rotating arm on one side of the hinged position of the second rotating arm and the third rotating arm, the third motor is fixed on the second rotating arm, and a motor shaft of the third motor is connected with the third rotating arm through the second rotating arm so as to control the rotation of the third rotating arm through the third motor.

Claims (2)

1. A manipulator clamp capable of blowing and automatically cleaning comprises a six-axis robot and a manipulator (1), wherein the manipulator is arranged at the operation end of the six-axis robot; it is characterized in that a servo rotating motor is arranged at the center of the manipulator (1), a motor shaft of the servo rotating motor is connected with a paw seat (101), two symmetrical paw heads (104) are respectively arranged on the outer diameters of the two sides of a groove of the paw seat, symmetrically arranged grooves are respectively arranged on the opposite sides of one side symmetrical paw head, an inserting tip is respectively arranged on one side of the paw head, the other side of the paw head is buckled and fixed with a wedge groove of the paw seat through a wedge head, an air blowing hole (103) is respectively arranged on the paw seat above the gap of one side paw head, an air valve is arranged on the paw seat in the air blowing hole, the air valves on the two sides are connected with an air supply hole of an air compressor through an air pipe, a control inductor (102) is arranged on the edge of the other side of the paw seat, the air blowing hole is aligned with a, the processing table machine tool and the corresponding motors of the six-axis robot are respectively connected with the computer of the control table through lines; an RFID radio frequency identifier is arranged in a control inductor (102) of the manipulator (1), RFID identification tags are respectively arranged on bottom pallets of products to be processed, and the products to be processed are inserted into the bottom pallets through claw heads (104) of the manipulator to be driven to move;
the base (7) of the six-axis robot is provided with a rotating base (6), a first rotating motor (8) is arranged at the center of the joint of the rotating base and the base, the first rotating motor is fixed on the rotating base, the motor shaft of the first rotating motor is connected with the base, one side of the rotating base is provided with a first rotating arm (5), the first rotating arm of the rotating base is provided with a first motor (9), the first motor is fixed on the rotating base, the motor shaft of the first motor is connected with one end of the first rotating arm, one side of the first motor at the other end of the first rotating arm is provided with a second motor (10), the second motor is fixed on the first rotating arm, the motor shaft of the second motor is connected with one end of a joint arm of a second rotating motor (4) through the first rotating arm, the rear part of the joint arm at the second rotating motor is provided with an electric header pipe, a second rotating motor is arranged in the shell at the other end of the joint arm, the other end of the second rotating arm is provided with a U-shaped notch, the inner diameters of two ends of the notch are respectively hinged with one end of a third rotating arm (2), the third rotating arm at the hinged position is also provided with a U-shaped notch, and the center of the bottom of the U-shaped notch at the other end of the third rotating arm is provided with a manipulator (1);
a mounting plate which is spirally and upwards protruded is arranged on one side of a top groove of the rotating seat (6), a first motor (9) is arranged on the mounting plate on one side of the protruded end, a first rotating motor (8) is arranged in the top groove, a first motor control box is arranged on the other symmetrical side of the top groove, and a circuit controller is arranged on one side of a base (7) at the bottom of the rotating seat; a third motor is arranged on the outer diameter of the second rotating arm at one side of the hinged position of the second rotating arm (3) and the third rotating arm (2), the third motor is fixed on the second rotating arm, and a motor shaft of the third motor is connected with the third rotating arm through the second rotating arm;
a claw head (104) on one side of the manipulator (1) is inserted into a bottom pallet of a product to be processed in the product placing rack, scanning operation is carried out while the product to be processed is grabbed, the product to be processed with the bottom pallet is moved to the front of a processing table of a machine tool through a six-axis robot, the manipulator of the six-axis robot rotates to the other side and is inserted into the bottom pallet of the processing table through the claw head of the manipulator, and the product with the bottom pallet after processing is taken out; and then, rotating the manipulator of the six-axis robot to the claw head at one side of the product to be processed, placing the product to be processed with the bottom pallet into a processing platform of the machine tool through the claw head of the manipulator, moving the six-axis robot to a product placing frame, placing the product with the bottom pallet back into the product placing frame, and simultaneously performing scanning operation.
2. A robot gripper for automatic insufflation cleaning in accordance with claim 1 wherein the first rotary arm (5) is arched to one side, the first motor (9) and the second motor (10) are located at both ends of the inwardly curved side of the first rotary arm respectively, and the second motor control box and the air valve control box at one side of the second rotary motor (4) are located outside one end of the first rotary arm.
CN201810618439.9A 2018-06-15 2018-06-15 Manipulator clamp capable of blowing and automatically cleaning and using method thereof Active CN108621182B (en)

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CN201810618439.9A CN108621182B (en) 2018-06-15 2018-06-15 Manipulator clamp capable of blowing and automatically cleaning and using method thereof

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Application Number Priority Date Filing Date Title
CN201810618439.9A CN108621182B (en) 2018-06-15 2018-06-15 Manipulator clamp capable of blowing and automatically cleaning and using method thereof

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CN108621182B true CN108621182B (en) 2021-02-26

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CN109571146B (en) * 2018-11-16 2021-09-07 北京敬一科技有限公司 Workpiece cleaning device of intelligent robot hand of numerical control equipment
CN109331379B (en) * 2018-11-18 2020-07-17 温州安普消防科技有限公司 Remote control method and control system of fire fighting equipment
CN209868633U (en) * 2018-12-30 2019-12-31 沈阳自动化研究所(昆山)智能装备研究院 Power starting device for workpiece machining clamp
CN112059210B (en) * 2020-08-19 2023-11-21 宁波三韩合金材料有限公司 Intelligent production line of lathe tool bit cavity and use method
CN114654291B (en) * 2022-04-01 2023-06-16 广东长盈精密技术有限公司 CNC automatic processing system and CNC processing method capable of automatically feeding and discharging
CN115837600B (en) * 2023-02-21 2023-05-26 江苏威泽智能科技股份有限公司 Automatic feeding and loading device of numerical control machine tool

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