CN111923070A

CN111923070A - A terminal robotic arm that is used for quick change frock of many varieties small batch part board class

Info

Publication number: CN111923070A
Application number: CN202010878150.8A
Authority: CN
Inventors: 刘伟军; 王静; 蔡清华; 杨兰清
Original assignee: Shenyang Huiyuan Automation Equipment Co ltd
Current assignee: Shenyang Huiyuan Automation Equipment Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2020-11-13

Abstract

The invention discloses a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool, which comprises a bearing plate and a clamping mechanism, wherein a positioning structure is arranged on the side wall of the bearing plate; the clamping mechanism is provided with a welding frame, a pair of slide ways are arranged on the welding frame, a first sliding plate and a second sliding plate are respectively arranged on the pair of slide ways, the first sliding plate is connected with the second sliding plate through an air cylinder, and the first sliding plate and the second sliding plate are both provided with claws; two the hand claw all is equipped with protruding structure, and protruding structure and location structure cooperate. Through setting up the both sides clamping structure that is driven by the cylinder, realized the centre gripping effect to the loading board. And through the cooperation of the first lug and the vertical direction limiting groove and the cooperation of the second lug and the horizontal direction limiting groove, the accurate positioning and stable clamping of the bearing plate are realized, the bearing plate in the carrying process is prevented from moving in any direction, and the effect of stable carrying is realized.

Description

A terminal robotic arm that is used for quick change frock of many varieties small batch part board class

Technical Field

The invention relates to the technical field of automatic production line processing of various small-batch parts, in particular to a device capable of stably clamping, positioning and carrying plate parts

Background

With the development of the economic globalization, the market has been changed from the seller market to the buyer market. The market demand of the manufacturing industry begins to develop towards diversification and individuation in the last two thirty years, and the production of the manufacturing enterprise turns to multi-variety small-batch production.

Because the products produced by enterprises are various in variety and small in batch, the machined objects are frequently transported to another machine tool from one machine tool, and the use efficiency of the machine tool is difficult to guarantee. For further improvement production efficiency, manufacturing enterprises develop flexible manufacturing, wherein logistics transportation plays a key role before processing, and the enterprises put forward higher and higher requirements on logistics transportation of various small-batch parts: accurate positioning, good stability, high reliability, high carrying speed and the like.

Disclosure of Invention

The invention aims to provide a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool, and aims to solve the problems that in the prior art, the plate part conveying efficiency is low, the positioning accuracy is low, and the clamping process is unstable.

In order to achieve the purpose, the invention provides the following technical scheme: a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool comprises a bearing plate and a clamping mechanism, wherein a positioning structure is arranged on the side wall of the bearing plate;

the clamping mechanism is provided with a welding frame, a pair of slide ways are arranged on the welding frame, a first sliding plate and a second sliding plate are respectively arranged on the pair of slide ways, the first sliding plate is connected with the second sliding plate through an air cylinder, and the first sliding plate and the second sliding plate are both provided with claws;

two the hand claw all is equipped with protruding structure, and protruding structure and location structure cooperate.

Preferably, the positioning structure comprises a first positioning block and a second positioning block, the first positioning block is provided with a vertical direction limiting groove, and the second positioning block is provided with a horizontal direction limiting groove;

the protruding structure comprises a first protruding block and a second protruding block, the first protruding block is matched with the limiting groove in the vertical direction, and the second protruding block is matched with the limiting groove in the horizontal direction.

Preferably, the first positioning block and the second positioning block, and the first bump and the second bump are arranged in a crossed manner.

Preferably, the welding frame is provided with a top plate and a vertical plate which are vertically connected with each other, the pair of slideways are arranged on the front side wall of the vertical plate, a pair of outer side rib plates and a pair of inner side rib plates are arranged between the rear sides of the top plate and the vertical plate, rib plate grooves are formed in the front sides of the pair of inner side rib plates, the vertical plate is provided with an air cylinder groove, and the air cylinder is arranged in the air cylinder groove and the rib plate grooves.

Preferably, the left side and the right side of the cylinder groove are provided with opening limiting blocks, and buffering cushions are arranged in the opening limiting blocks.

Preferably, a transverse plate is installed between the pair of inner side rib plates, and an industrial camera is installed on the transverse plate.

Preferably, a gear assembly is arranged on the vertical plate, the first sliding plate and the second sliding plate are both provided with insection structures, and the gear assembly is matched with the insection structures.

Preferably, the gear assembly comprises:

a mounting bracket mounted to a front side of the vertical plate;

the gear is arranged on the rear side of the mounting frame.

Preferably, the insection structure comprises:

a pair of adjusting blocks respectively mounted on the first sliding plate and the second sliding plate;

the connecting block is connected with the adjusting block through a screw;

and the rack is arranged on the connecting block and matched with the gear.

Compared with the prior art, the invention has the beneficial effects that: through setting up the both sides clamping structure that is driven by the cylinder, realized the centre gripping effect to the loading board. And through the cooperation of the first lug and the vertical direction limiting groove and the cooperation of the second lug and the horizontal direction limiting groove, the bearing plate is accurately positioned and stably clamped, the bearing plate is prevented from moving in any direction during the carrying process, and the effect of stable carrying is realized. The positioning device has the advantages of being accurate in positioning, good in stability, high in reliability, capable of clamping and carrying the plate quick-change tool, capable of automatically centering the tool and the like on the whole.

Through the welding frame that sets up the cavity, guarantee that the cylinder can wholly set up in fixture's inside to make the whole thickness of robotic arm diminish, compact structure provides the condition for the robot carries out the wide-angle gesture.

Through setting up the gear structure with sliding plate department rack toothing, the in-process of guaranteeing that the cylinder is opened, the rack displacement distance that is driven by the pivoted gear is the same to guarantee that the displacement distance of hand claw is the same, just so can guarantee the symmetrical displacement of hand claw on the weld holder, further guaranteed fixture to the fixed stability of loading board.

Through setting up the connecting block that has vertical height adjustment for rack height installed thereon also can obtain the adjustment, can guarantee the meshing stability of rack and gear like this, avoids the centre gripping that leads to because of the gear dropout not hard up.

Drawings

Fig. 1 is a schematic structural diagram of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool.

Fig. 2 is a schematic structural diagram of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool.

Fig. 3 is a schematic structural diagram of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool.

Fig. 4 is a schematic structural diagram of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool.

Fig. 5 is a schematic view of a bearing plate of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool according to the invention.

Fig. 6 is a schematic view of a welding frame of a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool.

1. A carrier plate; 2. a clamping mechanism; 3. a first positioning block; 4. a second positioning block; 5. welding a frame; 501. a top plate; 502. a vertical plate; 503. a pair of outer rib plates; 504. a pair of inner ribs; 505. a rib plate groove; 506. a cylinder groove; 507. opening the limiting block; 508. a cushion pad; 6. a pair of slide ways; 7. a first sliding plate; 8. a cylinder; 9. a second sliding plate; 10. a paw; 11. a vertical direction limiting groove; 12. a horizontal direction limiting groove; 13. a first bump; 14. a second bump; 15. a transverse plate; 16. a mounting frame; 17. a gear; 18. a pair of adjusting blocks; 19. connecting blocks; 20. a rack; 21. an industrial robot; 22. a transition plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: a tail end mechanical arm for a multi-variety small-batch part plate quick-change tool comprises a bearing plate 1 and a clamping mechanism 2, wherein a positioning structure is arranged on the side wall of the bearing plate 1;

the clamping mechanism 2 is provided with a welding frame 5, the welding frame 5 is provided with a pair of slide ways 6, the pair of slide ways 6 are respectively provided with a first sliding plate 7 and a second sliding plate 9, the first sliding plate 7 is connected with the second sliding plate 9 through an air cylinder 8, so that opposite or reverse displacement is realized, the first sliding plate 7 and the second sliding plate 9 are both provided with claws 10, and when the air cylinder 8 stretches out and draws back, the first sliding plate 7 and the second sliding plate 9 drive the claws 10 at two sides to realize grabbing. Meanwhile, the two claws 10 are provided with protruding structures, and the protruding structures are matched with the positioning structures. Therefore, the paw 10 can stably grab and accurately position the bearing plate 1, and accordingly, the carrying of parts on the bearing plate 1 is realized.

An industrial robot 21, for example, can be selected as the operating means, and the industrial robot 21 and the welding stand 5 are connected by a transition plate 22. Thus, the multi-angle displacement of the clamping mechanism 2 in the construction space can be completed.

In order to realize the stable clamping of the bearing plate 1 and avoid the problem of accidental falling of the bearing plate, the positioning structure comprises a first positioning block 3 and a second positioning block 4, wherein the first positioning block 3 is provided with a vertical direction limiting groove 11, and the second positioning block 4 is provided with a horizontal direction limiting groove 12; the protruding structure comprises a first bump 13 and a second bump 14, wherein the first bump 13 is matched with the vertical limiting groove 11, and the second bump 14 is matched with the horizontal limiting groove 12. Through the arrangement of the positioning structure, the clamping stability of the paw 10 to the bearing plate 1 is ensured. And through the cooperation of the first positioning block 3 arranged in the vertical direction and the second positioning block 4 arranged in the horizontal direction with the limiting groove, the bearing plate 1 is prevented from deviating in the carrying process, and therefore stable supply of parts is achieved.

Meanwhile, the first positioning block 3, the second positioning block 4, the first bump 13 and the second bump 14 are arranged in a crossed manner. Further guarantee to press from both sides to get stability to loading board 1, avoid it to appear the skew of any angle in the horizontal and vertical direction.

The welding frame 5 is provided with a top plate 501 and a vertical plate 502 which are connected in a mutually perpendicular mode, the pair of slideways 6 are arranged on the front side wall of the vertical plate 502, a pair of outer side rib plates 503 and a pair of inner side rib plates 504 are arranged between the rear sides of the top plate 501 and the vertical plate 502, the overall stability of the welding frame 5 is guaranteed, rib plate grooves 505 are formed in the front sides of the pair of inner side rib plates 504, air cylinder grooves 506 are formed in the vertical plate 502, and the air cylinder 8 is arranged in the air cylinder grooves 506 and the rib plate grooves 505. The cylinder 8 just will wholly arrange the inside of weld holder 5 like this to reduce whole fixture 2's occupation of land space, conveniently carry out the frock transport under the multi-gesture in the space, and have safety and stability.

In order to prevent the cylinder 8 from impacting the cylinder groove 506 during expansion and contraction, and the problem of damage is caused. Opening limit blocks 507 are arranged on the left side and the right side of the cylinder groove 506, buffering cushions 508 are arranged in the opening limit blocks 507, and the impact force is buffered through the arrangement of the buffering cushions 508.

In order to monitor the whole carrying process, a transverse plate 15 is arranged between the pair of inner side rib plates 504, an industrial camera is arranged on the transverse plate 15, trial shooting is carried out by matching with the movement of the clamping mechanism 2, the structure is compact, and conditions are provided for carrying out large-angle postures on the industrial robot 21.

When the two-sided gripper 10 is controlled by the air cylinder 8 to perform gripping, it is difficult to ensure that the first sliding plate 7 and the second sliding plate 9 slide on the slideway 6 at the same distance, thereby possibly affecting the stability of the whole gripping process. The vertical plate 502 is provided with a gear assembly, the first sliding plate 7 and the second sliding plate 9 are both provided with a insection structure, and the gear assembly is matched with the insection structure, so that the first sliding plate 7 and the second sliding plate 9 move reversely and synchronously, and the displacement of the first sliding plate 7 and the displacement of the second sliding plate 9 are both influenced by the gear assembly, so that the displacement distance of the first sliding plate 7 and the displacement distance of the second sliding plate 9 are the same along with the rotation of the gear assembly, and the gripper 10 can also ensure that the clamping distance is the same.

The gear assembly includes:

a mounting bracket 16, the mounting bracket 16 being mounted to a front side of the vertical plate 502;

and a gear 17, wherein the gear 17 is rotatably connected to the rear center of the mounting frame 16.

The insection structure includes:

a pair of adjusting blocks 18, the pair of adjusting blocks 18 being respectively mounted on the first sliding plate 7 and the second sliding plate 9;

the connecting block 19, connecting block 19 and regulating block 18 pass through bolted connection, still are equipped with the orientation structure that cylinder and round hole cooperation set up on connecting block 19 and the regulating block 18 simultaneously. In this way, the overall height of the connecting piece 19 can be adjusted during the turning of the screw.

The rack 20 and the rack 20 are mounted on the connecting block 19, and the rack 20 is matched with the gear 17, since the connecting block 19 mounted on the rack 20 can be adjusted in the up-down direction, the engagement between the rack 20 and the gear 17 can be adjusted, in the rotating process of a single gear 17, the reverse displacement distances of the racks 20 on two sides are the same, the first sliding plate 7 and the second sliding plate 9 drive the claws 10 on two sides to displace in the same distance, and thus the clamping stability of the whole clamping mechanism 2 is ensured.

The working principle is as follows: through the position of industrial robot 21 adjustment fixture 2, make both sides hand claw 10 aim at loading board 1 preliminarily, ventilate for cylinder 8 and make it contract, both sides hand claw 10 just will produce the displacement in opposite directions like this, first lug 13 wholly inserts vertical direction spacing groove 11, second lug 14 wholly inserts behind horizontal direction spacing groove 12, fixture 2 has just accomplished the fixing to loading board 1, and because the lug that sets up on two directions, also guaranteed the fixed loading board 1 back of centre gripping, any activity in the angle can not appear in loading board 1, and then guarantee the stability of whole handling.

In the process of the displacement of the two-side paw 10, the racks 20 on the two sides are driven to reversely displace, and the racks 20 on the two sides and the single gear 17 are in a meshed state, so that the displacement distances of the racks 20 on the two sides are the same, and the displacement distances of the paws 10 on the two sides are the same. The clamping of the carrier plate 1 is also more stable, avoiding the problem of the gripper 10 deviating from the welding stand 5.

After the clamping mechanism 2 clamps the bearing plate 1 and finishes the transportation, the cylinder 8 is controlled to extend, and the two-side claws 10 loosen the bearing plate 1, so that a stable transportation process is obtained.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a terminal robotic arm that is used for many varieties small batch part board class quick change frock which characterized in that: the clamping device comprises a bearing plate (1) and a clamping mechanism (2), wherein a positioning structure is arranged on the side wall of the bearing plate (1);

the clamping mechanism (2) is provided with a welding frame (5), a pair of slide ways (6) are arranged on the welding frame (5), a first sliding plate (7) and a second sliding plate (9) are respectively arranged on the pair of slide ways (6), the first sliding plate (7) is connected with the second sliding plate (9) through an air cylinder (8), and the first sliding plate (7) and the second sliding plate (9) are both provided with a paw (10);

the two paws (10) are provided with protruding structures, and the protruding structures are matched with the positioning structures.

2. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 1, and is characterized in that: the positioning structure comprises a first positioning block (3) and a second positioning block (4), wherein the first positioning block (3) is provided with a vertical direction limiting groove (11), and the second positioning block (4) is provided with a horizontal direction limiting groove (12);

the protruding structure comprises a first protruding block (13) and a second protruding block (14), the first protruding block (13) is matched with the vertical limiting groove (11), and the second protruding block (14) is matched with the horizontal limiting groove (12).

3. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 2, and is characterized in that: the first positioning block (3), the second positioning block (4), the first bump (13) and the second bump (14) are arranged in a crossed manner.

4. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 1, and is characterized in that: the welding frame (5) is provided with a top plate (501) and a vertical plate (502) which are connected in a mutually perpendicular mode, the pair of slide ways (6) is arranged on the front side wall of the vertical plate (502), a pair of outer rib plates (503) and a pair of inner rib plates (504) are arranged between the rear sides of the top plate (501) and the vertical plate (502), rib plate grooves (505) are formed in the front sides of the pair of inner rib plates (504), a cylinder groove (506) is formed in the vertical plate (502), and the cylinder (8) is arranged in the cylinder groove (506) and the rib plate grooves (505).

5. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 4, characterized in that: the left side and the right side of the cylinder groove (506) are provided with opening limit blocks (507), and cushion pads (508) are arranged in the opening limit blocks (507).

6. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 4, characterized in that: a transverse plate (15) is arranged between the pair of inner side rib plates (504), and an industrial camera is arranged on the transverse plate (15).

7. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 4, characterized in that: the vertical plate (502) is provided with a gear assembly, the first sliding plate (7) and the second sliding plate (9) are both provided with insection structures, and the gear assembly is matched with the insection structures.

8. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 7, characterized in that: the gear assembly includes:

a mounting bracket (16), the mounting bracket (16) being mounted to a front side of the vertical plate (502);

a gear (17), the gear (17) is arranged at the rear side of the mounting rack (16).

9. The tail end mechanical arm for the multi-variety small-batch part plate quick-change tool according to claim 8, characterized in that: the insection structure includes:

a pair of adjusting blocks (18), wherein the adjusting blocks (18) are respectively arranged on the first sliding plate (7) and the second sliding plate (9);

the connecting block (19) is connected with the adjusting block (18) through a screw;

the rack (20), rack (20) are installed in connecting block (19), and rack (20) and gear (17) cooperate.