CN112454401A

CN112454401A - Mechanical arm convenient for quick positioning and used for machining mechanical parts

Info

Publication number: CN112454401A
Application number: CN202011494692.1A
Authority: CN
Inventors: 王文豪
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-03-09

Abstract

The invention provides a mechanical hand for machining mechanical parts, which is convenient for quick positioning and comprises a base, 2 self-adaptive clamping side bases, a hole supporter and a motor shell, wherein a cavity and an oil storage cavity are formed in each self-adaptive clamping side base, a power electric push rod is fixedly installed in each cavity, a total pushing piston is movably installed in each oil storage cavity, a through hole is formed between each cavity and each oil storage cavity, an output shaft of each power electric push rod penetrates through each through hole to be fixedly connected with the total pushing piston, the mechanical hand for machining the mechanical parts, which is convenient for quick positioning, is reasonable in design, a plurality of telescopic self-adaptive clamping rods are installed on one side of the bottom of each self-adaptive clamping side base, when the mechanical parts are clamped, the self-adaptive clamping rods of the mechanical parts stop extending, and the other self-adaptive clamping rods continue to extend until all the self-adaptive clamping rods are attached to the mechanical parts, can effectively improve the firmness and stability of clamping.

Description

Mechanical arm convenient for quick positioning and used for machining mechanical parts

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a manipulator for machining mechanical parts, which is convenient for quick positioning.

Background

In the process of machining mechanical parts, the positioning of the mechanical parts is of great importance, so that the mechanical parts can be placed on equipment such as a machine tool and the like in an accurate posture, so as to be able to carry out machining operations such as drilling, etc. in suitable positions on the mechanical parts, in particular for parts of different type, on the one hand, when clamping, if the clamping angle is not right or the clamping surface is small, the clamping is unstable or skew is generated, which is not beneficial to the top of the mechanical part, on the other hand, the posture of the part when clamped cannot be rapidly determined, and furthermore, when the machine part with holes is clamped, the deformation is easily caused by overlarge clamping force, the unstable clamping is easily caused by overlarge clamping force, however, the conventional mechanical hand for machining mechanical parts cannot solve the above-described problems, and therefore the present invention provides a mechanical hand for machining mechanical parts, which facilitates quick positioning.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides the mechanical hand for machining the mechanical parts, which is convenient for quick positioning, is reasonable in design, the plurality of telescopic self-adaptive clamping rods are arranged on one side of the bottom of the self-adaptive clamping side seat, when the mechanical parts are clamped, the self-adaptive clamping rods of the mechanical parts stop extending firstly, and the other self-adaptive clamping rods continue extending until all the self-adaptive clamping rods are attached to the mechanical parts, so that the firmness and the stability of clamping can be effectively improved.

In order to achieve the purpose, the invention is realized by the following technical scheme: a mechanical arm for machining mechanical parts convenient for quick positioning comprises a base, 2 self-adaptive clamping edge seats, a hole supporter and a motor shell, wherein a cavity and an oil storage cavity are formed in each self-adaptive clamping edge seat, a power electric push rod is fixedly installed in each cavity, a total push piston is movably installed in each oil storage cavity, a through hole is formed between each cavity and each oil storage cavity, an output shaft of each power electric push rod penetrates through the through hole to be fixedly connected with the total push piston, a plurality of convex clamping telescopic grooves are formed in one side of the bottom of each self-adaptive clamping edge seat, a connecting pipe is connected between each convex clamping telescopic groove and the bottom of each oil storage cavity, an electric flow valve is installed on each connecting pipe, a clamping push piston is movably installed in each convex clamping telescopic groove, one end of each self-adaptive clamping rod penetrates through the opening end of each convex clamping telescopic groove and is fixedly connected with the corresponding clamping, the self-adaptive clamping rods on the two self-adaptive clamping edge seats correspond to each other one by one, transverse distance electric push rods are arranged at two ends of the base, one side of the top of each self-adaptive clamping edge seat is fixedly connected with an output shaft of each transverse distance electric push rod, each hole supporter comprises a top seat and a supporting seat, an oil conveying rod is fixedly connected to the top of each supporting seat, a buffer groove is formed in the bottom of each top seat, a buffer spring is fixedly connected to the inner side wall of the top of each buffer groove, one end of each buffer spring is fixedly connected with a movable buffer seat, one end of each oil conveying rod is movably installed in the opening end of each buffer groove, an oil conveying channel is formed in the central position of each oil conveying rod, a plurality of convex supporting telescopic grooves are formed in the outer side of each supporting seat, the oil conveying channels are communicated with one ends of the convex supporting telescopic grooves, supporting push pistons are movably installed in, the one end of self-adaptation bracing piece passes protruding type and supports the open end in flexible groove and with support promotion piston fixed connection, the mounting groove has been seted up to the bottom of base, the top of footstock is passed through external screw thread and is installed in the mounting groove with interior screw-thread fit.

As a preferred embodiment of the present invention, a connecting seat is fixedly installed at a central position of the top of the base, a convex connecting groove is formed at the central position of the connecting seat, a limiting edge seat is fixedly sleeved at the bottom of the motor casing, the limiting edge seat is movably installed in the convex connecting groove, a stepping motor is fixedly installed in the motor casing, an output shaft of the stepping motor is fixedly connected with the central position of the top of the base, and a ball is movably installed between the top of the limiting edge seat and an inner side wall of the top of the convex connecting groove.

As a preferred embodiment of the present invention, a mounting flange is fixedly mounted on the top of the motor casing.

As a preferred embodiment of the present invention, the other ends of the adaptive clamping rod and the adaptive support rod are fixedly mounted with non-slip mats.

As a preferred embodiment of the present invention, a spring groove is formed at the bottom of the top seat, a return spring is fixedly connected to an inner side wall of the top of the spring groove, a limit rod is fixedly installed at the top of the support seat, and one end of the limit rod passes through an opening end of the spring groove and is fixedly connected to the return spring.

As a preferred embodiment of the present invention, the number of the electric transverse distance push rods is 4, and hydraulic oil is filled between the movable buffer seat and the oil delivery rod, the oil delivery channel, the bottom of the oil storage chamber, the connecting pipe and one end of the convex clamping telescopic slot.

The invention has the beneficial effects that: the invention discloses a mechanical hand for machining mechanical parts and components convenient for quick positioning, which comprises a base, a self-adaptive clamping edge seat, a hole supporter, a motor shell, a cavity, an oil storage cavity, a power electric push rod, a total push piston, a convex clamping telescopic groove, a connecting pipe, an electric flow valve, a clamping push piston, a self-adaptive clamping rod, a transverse distance electric push rod, a top seat, a supporting seat, a spring groove, a reset spring, a limiting rod, an oil conveying rod, a buffer groove, a buffer spring, a movable buffer seat, an oil conveying channel, a convex supporting telescopic groove, a supporting push piston, a self-adaptive supporting rod, an anti-skid pad, a mounting groove, a connecting seat, a convex connecting groove, a limiting edge seat, a stepping motor and a mounting flange.

1. This be convenient for quick location's self-adaptation centre gripping side seat bottom for mechanical parts processing one side has installed the self-adaptation supporting rod that a plurality of can stretch out and draw back, when carrying out the centre gripping to mechanical parts, the self-adaptation supporting rod that meets mechanical parts earlier stops extending, other continuation extend, on all self-adaptation supporting rods laminate mechanical parts, and, the centre gripping is stable the back, each self-adaptation supporting rod is the same to mechanical parts's pressure, can improve the fastness and the stability of centre gripping effectively.

2. Install electric flow valve on this mechanical parts processing manipulator's of being convenient for quick location protruding type centre gripping flexible groove rear side's connecting pipe, can detect the volume that gets into the flexible inslot of protruding type centre gripping hydraulic oil, thereby confirm the length that the self-adaptation supporting rod extends, confirm the width of centre gripping department with the self-adaptation supporting rod cooperation that corresponds, each group's self-adaptation supporting rod cooperation can confirm the gesture of mechanical parts after by the centre gripping, from the position adjustment that can carry out the accuracy, reach the purpose of quick location, the efficiency of mechanical parts processing is improved.

3. This supporting seat of mechanical parts processing manipulator's hole eyelidretractor convenient to quick location can stretch out and draw back from top to bottom at the certain limit, on the one hand, when not having the hole on the mechanical parts, can suppress mechanical parts, prevent that mechanical parts from removing when the centre gripping, on the other hand, when having the hole on the mechanical parts, the supporting seat is downthehole, the supporting seat pushes up the oil transportation pole in the dashpot when touching the end, hydraulic oil in the dashpot is impressed protruding type support flexible groove through the oil transportation passageway, hydraulic oil promotes the piston through the support and is ejecting with the self-adaptation bracing piece, stop extending behind the self-adaptation bracing piece contact pore wall, the self-adaptation bracing piece that does not contact the pore wall continues to extend, until contacting the pore wall, when guaranteeing clamping-force, prevent mechanical parts from warping.

4. This mechanical parts processing of being convenient for quick location has installed the activity cushion socket through buffer spring in with the dashpot of manipulator, and after whole self-adaptation bracing piece contact pore wall, the activity cushion socket provides sufficient space to the entering of oil conveying pole to can improve the adaptability to the aperture to the inside removal of dashpot.

Drawings

FIG. 1 is a schematic structural view of a manipulator for machining mechanical parts, which facilitates quick positioning according to the present invention;

FIG. 2 is a schematic cross-sectional view of a robot for machining mechanical parts according to the present invention, which facilitates quick positioning;

FIG. 3 is a cross-sectional view of an adaptive clamping side mount of a manipulator for machining mechanical parts, which facilitates quick positioning according to the present invention;

FIG. 4 is a schematic cross-sectional view of a hole holder of a robot for machining mechanical parts, which facilitates quick positioning according to the present invention;

in the figure: 1. a base; 2. self-adaptive clamping side seats; 3. a bore supporter; 4. a motor housing; 5. a cavity; 6. an oil storage chamber; 7. a powered electric push rod; 8. a total push piston; 9. the convex clamping telescopic slot; 10. a connecting pipe; 11. an electrically operated flow valve; 12. clamping and pushing the piston; 13. a self-adaptive clamping rod; 14. a transverse distance electric push rod; 15. a top seat; 16. a supporting seat; 17. a spring slot; 18. a return spring; 19. a limiting rod; 20. an oil conveying rod; 21. a buffer tank; 22. a buffer spring; 23. a movable buffer seat; 24. an oil delivery passage; 25. the convex support telescopic slot; 26. supporting and pushing the piston; 27. a self-adaptive support bar; 28. a non-slip mat; 29. mounting grooves; 30. a connecting seat; 31. a convex connecting groove; 32. a limiting side seat; 33. a stepping motor; 34. and (7) mounting a flange.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Referring to fig. 1 to 4, the present invention provides a technical solution: the utility model provides a mechanical part processing manipulator for convenient to quick location, includes base 1, 2 self-adaptation centre gripping limit seat 2, hole eyelidretractor 3 and motor casing 4, cavity 5 and oil storage chamber 6 have been seted up in the self-adaptation centre gripping limit seat 2, fixed mounting has power electric putter 7 in the cavity 5, movable mounting has total promotion piston 8 in the oil storage chamber 6, the through-hole has been seted up between cavity 5 and the oil storage chamber 6, power electric putter 7's output shaft passes the through-hole and always promotes piston 8 fixed connection, the flexible groove 9 of the flexible groove of the protruding type centre gripping of a plurality of has been seted up to one side of self-adaptation centre gripping limit seat 2 bottom, be connected with connecting pipe 10 between the flexible groove 9 of protruding type centre gripping and the bottom in oil storage chamber 6, install electronic flow valve 11 on the connecting pipe 10, movable mounting has centre gripping to promote piston 12 in the flexible inslot 9 of protruding type centre gripping, and the one end of the protruding type centre gripping pole 13 of self The hole support device comprises a top seat 15 and a support seat 16, wherein the top of the support seat 16 is fixedly connected with an oil conveying rod 20, the bottom of the top seat 15 is provided with a buffer groove 21, the inner side wall of the top of the buffer groove 21 is fixedly connected with a buffer spring 22, one end of the buffer spring 22 is fixedly connected with a movable buffer seat 23, one end of the oil conveying rod 20 is movably arranged in the opening end of the buffer groove 21, the central position of the oil conveying rod 20 is provided with an oil conveying channel 24, the outer side of the support seat 16 is provided with a plurality of convex supporting telescopic grooves 25, and the oil conveying channel 24 is communicated with one end of the convex supporting telescopic grooves 25, movable mounting has the support to promote piston 26 in the flexible groove 25 of protruding type support, and the one end of self-adaptation bracing piece 27 passes the protruding type open end that supports flexible groove 25 and promotes piston 26 fixed connection with supporting, mounting groove 29 has been seted up to the bottom of base 1, the top of footstock 15 is passed through external screw thread and interior screw-thread fit and is installed in mounting groove 29.

As a preferred embodiment of the present invention, a connection seat 30 is fixedly installed at a central position of the top of the base 1, a convex connection groove 31 is formed at the central position of the connection seat 30, a limit edge seat 32 is fixedly sleeved at the bottom of the motor casing 4, the limit edge seat 32 is movably installed in the convex connection groove 31, a step motor 33 is fixedly installed in the motor casing 4, an output shaft of the step motor 33 is fixedly connected with the central position of the top of the base 1, a ball is movably installed between the top of the limit edge seat 32 and an inner side wall of the top of the convex connection groove 31, and the limit edge seat 32 and the connection seat 30 are matched to bear the gravity of a manipulator and mechanical parts, so as to prevent the step motor 33 from being damaged.

In a preferred embodiment of the present invention, a mounting flange 34 is fixedly mounted on the top of the motor housing 4, and the mounting flange 34 is used for connecting the robot arm to the robot arm.

In a preferred embodiment of the present invention, the other ends of the adaptive clamping rod 13 and the adaptive supporting rod 27 are fixedly mounted with a non-slip mat 28, and the non-slip mat 28 can prevent mechanical parts from being damaged and has a non-slip function.

As a preferred embodiment of the present invention, a spring groove 17 is formed at the bottom of the top seat 15, a return spring 18 is fixedly connected to an inner side wall of the top of the spring groove 17, a limiting rod 19 is fixedly mounted at the top of the supporting seat 16, one end of the limiting rod 19 passes through an opening end of the spring groove 17 and is fixedly connected to the return spring 18, and the return spring 18 can provide an elastic force when a mechanical component is put down, so as to reset each part of the hole supporter 3.

In a preferred embodiment of the present invention, the number of the electric distance measuring push rods 14 is 4, and hydraulic oil is filled between the movable buffer seat 23 and the oil delivery rod 20, the oil delivery channel 24, the bottom of the oil storage chamber 6, the connecting pipe 10 and one end of the convex clamping expansion groove 9.

As a preferred embodiment of the invention, a plurality of telescopic self-adaptive clamping rods 13 are arranged on one side of the bottom of the self-adaptive clamping side seat 2, the mechanical arm is arranged on a mechanical arm on a production line through an installation flange 34 before use, each electric part is connected to a production line control system and a power supply system, when the mechanical part is clamped, the control system controls a transverse distance electric push rod 14 to work according to the specification of the mechanical part, the distance between the two self-adaptive clamping side seats 2 is adjusted to a proper value, the mechanical arm drives the mechanical arm to move to the top of the mechanical part, so that the mechanical part is positioned between the two self-adaptive clamping side seats 2, a power electric push rod 7 drives a total push piston 8 to move downwards in an oil storage cavity 6, hydraulic oil in the oil storage cavity 6 enters a convex clamping telescopic groove 9 through a connecting pipe 10 and pushes the self-adaptive clamping rods 13 to extend through a clamping push piston 12, when the self-adaptive clamping rods 13 of the mechanical part stop extending, hydraulic oil enters the convex clamping telescopic groove 9 through the connecting pipes 10 corresponding to other self-adaptive clamping rods 13, so that the corresponding self-adaptive clamping rods 13 continue extending until all the self-adaptive clamping rods 13 are attached to the mechanical part, and after clamping is stable, the pressure of each self-adaptive clamping rod 13 on the mechanical part is the same, the clamping firmness and stability can be effectively improved, the supporting seat 16 of the hole support 3 can extend and retract up and down within a certain range, when no hole is formed in the mechanical part, the mechanical part can be pressed, the mechanical part is prevented from moving during clamping, when the hole is formed in the mechanical part, the supporting seat 16 enters the hole, the oil conveying rod 20 is pushed into the buffer groove 21 when the supporting seat 16 touches the bottom, the hydraulic oil in the buffer groove 21 is pressed into the supporting telescopic groove 25 through the oil conveying channel 24, hydraulic oil promotes piston 26 through the support and ejecting with self-adaptation bracing piece 27, stop extending behind the self-adaptation bracing piece 27 contact pore wall, the self-adaptation bracing piece 27 that does not contact the pore wall continues to extend, until contacting the pore wall, when guaranteeing clamping-force, prevent mechanical parts deformation, movable cushion socket 23 has been installed through buffer spring 22 in the dashpot 21, behind whole self-adaptation bracing piece 27 contact pore wall, movable cushion socket 23 is to the inside removal of dashpot 21, provide sufficient space for oil transportation pole 20's entering, thereby can improve the adaptability to the aperture.

As a preferred embodiment of the present invention, an electric flow valve 11 is installed on a connecting pipe 10 at the rear side of the convex clamping telescopic groove 9, and is capable of detecting the amount of hydraulic oil entering the convex clamping telescopic groove 9, thereby determining the extending length of the adaptive clamping rod 13, determining the width of a clamping position in cooperation with a corresponding adaptive clamping rod 13 on another adaptive clamping side seat 2, determining the posture of a mechanical part after being clamped in cooperation with each group of adaptive clamping rods 13, and performing accurate position adjustment to achieve the purpose of fast positioning, thereby improving the machining efficiency of the mechanical part, after the clamping is stable, the control system controls the stepping motor 33 to work, adjust the angles of the base 1 and the adaptive clamping side seat 2, and move the mechanical part to a next process, such as a machine tool, in a fixed posture through a mechanical arm.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The mechanical arm convenient for quick positioning for machining mechanical parts is characterized by comprising a base (1), 2 self-adaptive clamping side bases (2), a hole support (3) and a motor shell (4), wherein a cavity (5) and an oil storage cavity (6) are formed in each self-adaptive clamping side base (2), a power electric push rod (7) is fixedly installed in each cavity (5), a total pushing piston (8) is movably installed in each oil storage cavity (6), a through hole is formed between each cavity (5) and each oil storage cavity (6), an output shaft of each power electric push rod (7) penetrates through the through hole to be fixedly connected with the total pushing piston (8), a plurality of convex clamping telescopic grooves (9) are formed in one side of the bottom of each self-adaptive clamping side base (2), and a connecting pipe (10) is connected between each convex clamping telescopic groove (9) and the bottom of each oil storage cavity (6), an electric flow valve (11) is installed on the connecting pipe (10), clamping pushing pistons (12) are movably installed in the convex clamping telescopic grooves (9), one ends of self-adaptive clamping rods (13) penetrate through the open ends of the convex clamping telescopic grooves (9) and are fixedly connected with the clamping pushing pistons (12), the self-adaptive clamping rods (13) on the self-adaptive clamping side seats (2) correspond to one another one by one, transverse distance electric push rods (14) are arranged in both ends of the base (1), one side of the top of each self-adaptive clamping side seat (2) is fixedly connected with an output shaft of each transverse distance electric push rod (14), the hole support (3) comprises a top seat (15) and a supporting seat (16), an oil conveying rod (20) is fixedly connected to the top of the supporting seat (16), a buffer groove (21) is formed in the bottom of the top seat (15), and a buffer spring (22) is fixedly connected to the inner side wall of the top of the buffer groove (21), one end of the buffer spring (22) is fixedly connected with a movable buffer seat (23), one end of the oil conveying rod (20) is movably arranged in the opening end of the buffer groove (21), an oil conveying channel (24) is arranged at the center of the oil conveying rod (20), a plurality of convex supporting telescopic grooves (25) are arranged at the outer side of the supporting seat (16), the oil delivery channel (24) is communicated with one end of the convex support telescopic groove (25), a supporting and pushing piston (26) is movably arranged in the convex supporting and stretching groove (25), one end of the self-adaptive supporting rod (27) passes through the opening end of the convex supporting and stretching groove (25) and is fixedly connected with the supporting and pushing piston (26), mounting groove (29) have been seted up to the bottom of base (1), the top of footstock (15) is passed through the external screw thread and is installed in mounting groove (29) with the internal thread cooperation.

2. The mechanical hand for machining mechanical parts, which facilitates quick positioning, according to claim 1, wherein: the utility model discloses a motor, including base (1), fixed connection seat (30) and motor casing (4), the central point at base (1) top puts fixed mounting of department has connecting seat (30), the central point of connecting seat (30) puts the department and has seted up protruding type spread groove (31), the bottom fixed cover of motor casing (4) is equipped with spacing limit seat (32), spacing limit seat (32) movable mounting is in protruding type spread groove (31), fixed mounting has step motor (33) in motor casing (4), the output shaft of step motor (33) puts fixed connection of department with the central point at base (1) top, movable mounting has the ball between the inside wall at the top of spacing limit seat (32) and protruding type spread groove (31) top.

3. The mechanical hand for machining mechanical parts, which facilitates quick positioning, according to claim 1, wherein: and a mounting flange (34) is fixedly mounted at the top of the motor shell (4).

4. The mechanical hand for machining mechanical parts, which facilitates quick positioning, according to claim 1, wherein: and the other ends of the self-adaptive clamping rods (13) and the self-adaptive supporting rods (27) are fixedly provided with non-slip mats (28).

5. The mechanical hand for machining mechanical parts, which facilitates quick positioning, according to claim 1, wherein: spring groove (17) have been seted up to the bottom of footstock (15), fixedly connected with reset spring (18) on the inside wall at spring groove (17) top, the top fixed mounting of supporting seat (16) has gag lever post (19), the open end and reset spring (18) fixed connection of spring groove (17) are passed to the one end of gag lever post (19).

6. The mechanical hand for machining mechanical parts, which facilitates quick positioning, according to claim 1, wherein: the number of the transverse distance electric push rods (14) is 4, and hydraulic oil is filled between the movable buffer seat (23) and the oil conveying rod (20), in the bottom of the oil conveying channel (24), the oil storage cavity (6), the connecting pipe (10) and one end of the convex clamping telescopic groove (9).