CN114012772B

CN114012772B - Manipulator device for machine tool

Info

Publication number: CN114012772B
Application number: CN202210008712.2A
Authority: CN
Inventors: 李景平; 余丕亮; 梅欣; 邢慧
Original assignee: Dongguan Baoke Precision Machinery Co ltd
Current assignee: Dongguan Baoke Precision Machinery Co ltd
Priority date: 2022-01-06
Filing date: 2022-01-06
Publication date: 2022-03-18
Anticipated expiration: 2042-01-06
Also published as: CN114012772A

Abstract

The invention discloses a manipulator device for a machine tool, and belongs to the technical field of numerical control machine tools. A robot apparatus for a machine tool, comprising a base plate, further comprising: the mechanical arm main body is connected to the bottom plate in a sliding mode; the mounting shell is assembled at the output end of the mechanical arm main body, wherein an adsorption clamping assembly for adsorbing and grabbing a workpiece is arranged on the mounting shell, and the bottom of the mounting shell is connected with a sealing box in a sliding manner; the electromagnet is arranged on the seal box; the iron plate is assembled in the sealed box, and a tension spring is connected between the iron plate and the sealed box; according to the invention, the slag attached to the first screw rod and the dust attached to the surface of the workpiece are cleaned, so that the workpiece is prevented from loosening and falling due to bumping when the mechanical arm main body clamps and moves the workpiece, and the effect of clamping and fixing the workpiece is improved by clamping the supporting plate at the bottom of the workpiece, thereby improving the safety of the mechanical arm main body during working.

Description

Manipulator device for machine tool

Technical Field

The invention relates to the technical field of numerical control machine tools, in particular to a manipulator device for a machine tool.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like.

The existing manipulator device for the machine tool usually adopts a sucker to grab when a workpiece is grabbed, and the workpiece is not clamped stably because dust and slag attached to the surface of the workpiece and a driving part cannot be cleaned.

Disclosure of Invention

The invention aims to solve the defects that in the prior art, dust and slag attached to the surface of a workpiece and a driving part cannot be cleaned, so that the workpiece is not clamped stably, and the workpiece is easy to loosen and fall off due to jolt in the process of driving a mechanical arm to move by the driving part, thereby causing potential safety hazards.

In order to achieve the purpose, the invention adopts the following technical scheme:

a robot apparatus for a machine tool, comprising a base plate, further comprising: the mechanical arm main body is connected to the bottom plate in a sliding mode; the mounting shell is assembled at the output end of the mechanical arm main body, wherein an adsorption clamping assembly for adsorbing and grabbing a workpiece is arranged on the mounting shell, and the bottom of the mounting shell is connected with a sealing box in a sliding manner; the electromagnet is arranged on the seal box; the iron plate is assembled in the sealed box, and a tension spring is connected between the iron plate and the sealed box; the connecting rod is arranged on the iron plate, and a supporting plate is arranged at one end, far away from the iron plate, of the connecting rod; the protective housing, the installation in the robotic arm main part, wherein, be equipped with the clearance subassembly that is used for clearing up workpiece surface dust or impurity on the installation shell, be equipped with the drive assembly that is used for driving the seal box and reciprocates on the installation shell, be equipped with the drive division that is used for driving the robotic arm main part and removes on the bottom plate, install the jet-propelled subassembly that is used for clearing up adhesion work piece disintegrating slag on the drive division on the protective housing.

In order to clear up the dust impurity on the work piece, preferably, the clearance subassembly is including assembling the second lead screw at the installation shell inner wall, be equipped with the mounting panel on the second lead screw, install the brush on the mounting panel, motor two is installed to the installation shell lateral wall, the second lead screw is fixed with motor two output end and is linked to each other.

In order to play spacing supporting role to the mounting panel, further, slide bar one is installed to the installation shell inner wall, mounting panel sliding connection is on slide bar one.

Adsorb the centre gripping for the work piece, preferably, adsorb the centre gripping subassembly including installing the vacuum chuck on the installation shell, install the aspirator pump on the installation shell, the aspirator pump input is linked together through pipe one with vacuum chuck, be equipped with the control valve that is used for controlling vacuum chuck and snatchs or put down the work piece on the pipe one.

In order to increase the cleaning effect on dust and impurities on the workpiece, a first spray head is further mounted on the mounting shell, and the output end of the suction pump is communicated with the first spray head through a guide pipe.

In order to control the opening and closing of the first conduit, furthermore, the control valve comprises a third conduit connected with the first conduit, and an electromagnetic valve is arranged on the third conduit.

In order to drive the seal box to move up and down, it is preferable that the driving assembly includes a cylinder mounted on the mounting case, and the seal box is mounted on an output end of the cylinder.

In order to play spacing supporting role to the seal box, it is further, install slide bar two on the installation shell, sliding connection has slide block two on the slide bar two, slide block two keeps away from the one end of slide bar two and links to each other with the seal box is fixed.

In order to drive the mechanical arm main body to move left and right, preferably, the driving part comprises a first screw rod installed on a bottom plate, a connecting seat is assembled on the first screw rod, the mechanical arm main body is assembled on the connecting seat, a first motor is installed on the side wall of the bottom plate, and the first screw rod is fixedly connected with one output end of the first motor.

In order to play spacing supporting role to the connecting seat, further, install the guide bar on the bottom plate, sliding connection has slider one on the guide bar, the one end that the guide bar was kept away from to slider one is fixed continuous with the connecting seat.

In order to clean the slag adhered to the first screw rod, preferably, the air injection assembly comprises a second spray nozzle installed on the protective shell, the first seal box is connected with a first pipeline, and the first seal box is communicated with the second spray nozzle through the second pipeline.

Compared with the prior art, the invention provides a manipulator device for a machine tool, which has the following beneficial effects: 1. this a manipulator device for lathe through adsorbing the centre gripping subassembly when carrying out the centre gripping to the work piece, through circular telegram for the electro-magnet, the electro-magnet produces magnetic force, and then adsorbs iron plate, and at this moment, the tensile extension spring of iron plate moves to the work piece center, and iron plate passes through the connecting rod simultaneously and drives layer board synchronous motion, and then makes the layer board joint in the work piece bottom to promote the fixed effect of work piece centre gripping.

2. This a manipulator device for lathe rotates through two drive second lead screws of motor, and the second lead screw passes through the mounting panel and drives brush laminating workpiece surface and remove, and then reaches and clear up adnexed dust on the workpiece surface, and vacuum chuck passes through the aspirator pump simultaneously when adsorbing the centre gripping to the work piece, and the gas of taking out is spout in carrying the shower nozzle one through pipe two, and then promotes the clearance effect to workpiece surface dust.

3. This a manipulator device for lathe closes the electro-magnet, and magnetic force disappears, and extension spring after the extension spring drives iron plate and removes to the both sides of installation shell, and then the gas in the compression seal box, and gaseous spout in carrying the shower nozzle two through pipeline one, and then adds the disintegrating slag that adheres to on first lead screw to the work piece and clear up man-hour, appears jolting when avoiding the robotic arm main part to remove the work piece centre gripping, causes not hard up to drop.

The device has the advantages that the slag attached to the first screw rod and the dust attached to the surface of the workpiece are cleaned, so that the workpiece is prevented from loosening and falling due to jolt when the mechanical arm main body clamps and moves the workpiece, the effect of clamping and fixing the workpiece is improved by clamping the supporting plate at the bottom of the workpiece, and the safety of the mechanical arm main body during working is improved.

Drawings

Fig. 1 is a first schematic structural diagram of a manipulator device for a machine tool according to the present invention;

fig. 2 is a schematic structural diagram of a robot apparatus for a machine tool according to the present invention;

fig. 3 is a schematic diagram of an internal structure of a manipulator device for a machine tool according to the present invention;

fig. 4 is an enlarged view of a portion a of fig. 1 of a robot apparatus for a machine tool according to the present invention;

fig. 5 is an enlarged view of a portion B of fig. 3 of a robot apparatus for a machine tool according to the present invention;

FIG. 6 is a first partial structural view of a robot apparatus for a machine tool according to the present invention;

fig. 7 is a schematic partial structural diagram of a robot apparatus for a machine tool according to the present invention;

fig. 8 is an enlarged view of a portion C of fig. 7 of a robot apparatus for a machine tool according to the present invention.

In the figure: 1. a base plate; 101. a guide bar; 2. a first lead screw; 201. a first motor; 202. a connecting seat; 203. a first sliding block; 3. a robot arm main body; 301. mounting a shell; 4. a second motor; 401. a second lead screw; 402. a first sliding rod; 403. mounting a plate; 404. a brush; 5. a getter pump; 501. a first conduit; 502. a vacuum chuck; 503. a second conduit; 504. a first spray nozzle; 505. an electromagnetic valve; 506. a third conduit; 6. a sealing box; 601. a support plate; 602. a second sliding rod; 603. a second sliding block; 604. a cylinder; 7. a tension spring; 701. an iron plate; 702. an electromagnet; 703. a connecting rod; 8. a first pipeline; 801. a second pipeline; 802. a protective shell; 803. and a second spray head.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1: referring to fig. 1 to 8, a robot apparatus for a machine tool includes a base plate 1, and further includes: a mechanical arm main body 3 connected to the base plate 1 in a sliding manner; the mounting shell 301 is assembled at the output end of the mechanical arm main body 3, wherein an adsorption clamping assembly for adsorbing and grabbing a workpiece is arranged on the mounting shell 301, and the bottom of the mounting shell 301 is connected with a sealing box 6 in a sliding manner; an electromagnet 702 mounted on the seal box 6; the iron plate 701 is assembled in the seal box 6, and a tension spring 7 is connected between the iron plate 701 and the seal box 6; the connecting rod 703 is arranged on the iron plate 701, and a supporting plate 601 is arranged at one end, far away from the iron plate 701, of the connecting rod 703; protective housing 802, on installation robotic arm main part 3, wherein, be equipped with the clearance subassembly that is used for clearing up workpiece surface dust or impurity on the installation shell 301, be equipped with the drive assembly that is used for driving seal box 6 and reciprocates on the installation shell 301, be equipped with the drive division that is used for driving robotic arm main part 3 and removes on the bottom plate 1, install the jet-propelled subassembly that is used for clearing up the adhesion work piece disintegrating slag on the drive division on the protective housing 802.

The cleaning assembly comprises a second screw rod 401 assembled on the inner wall of the mounting shell 301, a mounting plate 403 is assembled on the second screw rod 401, a brush 404 is mounted on the mounting plate 403, a second motor 4 is mounted on the side wall of the mounting shell 301, and the second screw rod 401 is fixedly connected with the output end of the second motor 4.

The air injection assembly comprises a second spray head 803 arranged on the protective shell 802, a first pipeline 8 is connected to the seal box 6, and the seal box 6 is communicated with the second spray head 803 through a second pipeline 801.

After a workpiece is machined on a machine tool, the electromagnet 702 is turned off, at the moment, the magnetic force disappears, the stretched tension spring 7 drives the iron plate 701 to move towards the two sides of the installation shell 301, so that gas in the sealing box 6 is compressed, the gas is conveyed into the second spray nozzle 803 through the first pipeline 8, a one-way valve is arranged in the first pipeline 8, the gas is sprayed out through the second spray nozzle 803, and then slag attached to the first screw rod 2 during workpiece machining is cleaned, so that the phenomenon that the iron plate 701 drives the supporting plate 601 to synchronously move through the connecting rod 703 when the mechanical arm main body 3 clamps and moves the workpiece is avoided, and the supporting plate 601 is reset;

meanwhile, the mounting shell 301 is moved above the workpiece through the mechanical arm main body 3, at the moment, the motor II 4 is started, the motor II 4 drives the second lead screw 401 to rotate, the second lead screw 401 drives the mounting plate 403 to move, the mounting plate 403 drives the brush 404 to be attached to the surface of the workpiece to move, and therefore dust attached to the surface of the workpiece is cleaned, and the situation that the vacuum chuck 502 is unstable in clamping when the workpiece is adsorbed and clamped is avoided.

Since the first duct 8 is a flexible tube that can be extended and contracted, the robot main body 3 does not interfere with rotation or angle adjustment.

Example 2: referring to fig. 2 and 7, a manipulator device for a machine tool is substantially the same as that in embodiment 1, and further, the suction clamping assembly includes a vacuum chuck 502 mounted on the mounting shell 301, the mounting shell 301 is mounted with a suction pump 5, an input end of the suction pump 5 is communicated with the vacuum chuck 502 through a first conduit 501, and the first conduit 501 is provided with a control valve for controlling the vacuum chuck 502 to grab or put down a workpiece.

The first nozzle 504 is installed on the installation shell 301, and the output end of the getter pump 5 is communicated with the first nozzle 504 through a second conduit 503.

After dust on the surface of a processed workpiece is cleaned, the dust is recycled into the mounting shell 301, interference with an adsorption clamping assembly is avoided when the workpiece is clamped, at the moment, the air suction pump 5 is started, the air suction pump 5 sucks air through the first guide pipe 501, meanwhile, the sucked air is conveyed into the first spray nozzle 504 through the second guide pipe 503, a one-way valve is arranged in the second guide pipe 503, the air is sprayed out through the first spray nozzle 504, the cleaning effect on the dust on the surface of the workpiece is further improved, at the moment, the vacuum chuck 502 is placed on the surface of the workpiece, the air suction pump 5 pumps the vacuum chuck 502 to perform negative vacuum pumping through the first guide pipe 501, and the vacuum chuck 502 is further adsorbed on the surface of the workpiece, so that the workpiece is clamped and fixed;

meanwhile, the electromagnet 702 is turned on, the electromagnet 702 generates magnetic force, and further adsorbs the iron plate 701, at the moment, the iron plate 701 stretches the tension spring 7 to move towards the center of the workpiece, so that the iron plate 701 sucks air through the first pipeline 8, meanwhile, the iron plate 701 drives the supporting plate 601 to move synchronously through the connecting rod 703, and further the supporting plate 601 in an L-shaped arrangement is clamped at the bottom of the workpiece, so that the effect of clamping and fixing the workpiece is improved.

Example 3: referring to fig. 1 and 2, a manipulator device for a machine tool is substantially the same as that of embodiment 1, and further, a driving part includes a first lead screw 2 mounted on a base plate 1, a connecting base 202 is mounted on the first lead screw 2, a manipulator body 3 is mounted on the connecting base 202, a first motor 201 is mounted on a side wall of the base plate 1, and the first lead screw 2 is fixedly connected with an output end of the first motor 201.

The guide rod 101 is installed on the bottom plate 1, the first sliding block 203 is connected to the guide rod 101 in a sliding mode, and one end, far away from the guide rod 101, of the first sliding block 203 is fixedly connected with the connecting seat 202.

The machined workpiece is taken down from the machine tool through the mechanical arm main body 3, then the single motor I201 is started, the motor I201 drives the first screw rod 2 to rotate, the first screw rod 2 drives the connecting seat 202 to move, meanwhile, the connecting seat 202 drives the mechanical arm main body 3 to move, and the machined workpiece is conveyed to a designated place;

meanwhile, when the main body 3 of the mechanical arm moves on the bottom plate 1, the main body 3 of the mechanical arm is limited and supported by the guide rod 101, so that the main body 3 of the mechanical arm can stably move on the guide rod 101 through the first sliding block 203.

Example 4: referring to fig. 7 and 8, a robot apparatus for a machine tool, substantially the same as in embodiment 1, further, the control valve includes a third conduit 506 connected to the first conduit 501, and the third conduit 506 is provided with a solenoid valve 505.

After moving to appointed ground, closing electromagnet 702, at this moment, magnetic force disappears, tensile extension spring 7 drives iron plate 701 to move to the both sides of installation shell 301, simultaneously iron plate 701 drives layer board 601 synchronous motion through connecting rod 703, and then makes layer board 601 move out from the work piece bottom, then, place the work piece that the processing is good on ground through robotic arm main body 3, meanwhile, open solenoid valve 505, at this moment, outside air passes through pipe three 506 and gets into in pipe one 501, and then makes vacuum chuck 502 be convenient for take off from the work piece through robotic arm main body 3.

Example 5: referring to fig. 3 and 4, a robot apparatus for a machine tool, substantially the same as in embodiment 1, further, the driving assembly includes a cylinder 604 mounted on the mounting case 301, and a seal box 6 is mounted on an output end of the cylinder 604.

The second sliding rod 602 is mounted on the mounting shell 301, the second sliding block 603 is connected to the second sliding rod 602 in a sliding manner, and one end, far away from the second sliding block 602, of the second sliding block 603 is fixedly connected with the seal box 6.

When workpieces with different heights are grabbed, the air cylinder 604 is started, the air cylinder 604 drives the seal box 6 to move up and down, and meanwhile, the seal box 6 drives the supporting plate 601 to be adjusted up and down, so that the supporting plate 601 can be conveniently adjusted according to the heights of the different workpieces;

when the seal box 6 moves on the mounting shell 301, the second sliding rod 602 further plays a role in limiting and supporting the seal box 6, so that the seal box 6 can stably move up and down on the second sliding rod 602 through the second sliding block 603.

Example 6: referring to fig. 3 and 5, a manipulator device for a machine tool is substantially the same as that of embodiment 1, and further, a first sliding rod 402 is installed on the inner wall of the installation shell 301, and an installation plate 403 is slidably connected to the first sliding rod 402; when the mounting plate 403 moves in the mounting shell 301, the first slide bar 402 further acts as a limit and a support for the mounting plate 403, so that the mounting plate 403 can move left and right stably on the first slide bar 402.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A manipulator device for a machine tool, comprising a base plate (1), characterized by further comprising:

a mechanical arm main body (3) connected to the bottom plate (1) in a sliding manner;

a mounting case (301) mounted on an output end of the robot arm main body (3),

the mounting shell (301) is provided with an adsorption clamping assembly for adsorbing and grabbing a workpiece, and the bottom of the mounting shell (301) is connected with a sealing box (6) in a sliding manner;

an electromagnet (702) mounted on the seal box (6);

the iron plate (701) is assembled in the seal box (6), and a tension spring (7) is connected between the iron plate (701) and the seal box (6);

the connecting rod (703) is arranged on the iron plate (701), and a supporting plate (601) is arranged at one end, far away from the iron plate (701), of the connecting rod (703);

a protective shell (802) mounted on the mechanical arm main body (3),

wherein, be equipped with the clearance subassembly that is used for clearing up workpiece surface dust or impurity on installation shell (301), be equipped with the drive assembly that is used for driving seal box (6) and reciprocates on installation shell (301), be equipped with the drive division that is used for driving robotic arm main part (3) and removes on bottom plate (1), install the jet-propelled subassembly that is used for clearing up adhesion work piece disintegrating slag on the drive division on protective housing (802).

2. The manipulator device for the machine tool is characterized in that the cleaning assembly comprises a second screw rod (401) assembled on the inner wall of a mounting shell (301), a mounting plate (403) is assembled on the second screw rod (401), a brush (404) is installed on the mounting plate (403), a second motor (4) is installed on the side wall of the mounting shell (301), and the second screw rod (401) is fixedly connected with the output end of the second motor (4).

3. The manipulator device for the machine tool according to claim 2, characterized in that a first sliding rod (402) is mounted on the inner wall of the mounting shell (301), and the mounting plate (403) is slidably connected to the first sliding rod (402).

4. The manipulator device for the machine tool according to claim 1, wherein the adsorption clamping assembly comprises a vacuum chuck (502) installed on a mounting shell (301), a suction pump (5) is installed on the mounting shell (301), the input end of the suction pump (5) is communicated with the vacuum chuck (502) through a first guide pipe (501), and a control valve for controlling the vacuum chuck (502) to grab or put down a workpiece is arranged on the first guide pipe (501).

5. The manipulator device for machine tools according to claim 4, characterized in that the mounting shell (301) is provided with a first nozzle (504), and the output end of the suction pump (5) is communicated with the first nozzle (504) through a second conduit (503).

6. The robot apparatus for a machine tool according to claim 4, wherein the control valve comprises a conduit three (506) connected to the conduit one (501), and the conduit three (506) is provided with a solenoid valve (505).

7. A robot device for machine tools according to claim 1, characterized in that the drive assembly comprises a cylinder (604) mounted on the mounting housing (301), the sealing box (6) being mounted on the output of the cylinder (604).

8. The manipulator device for the machine tool according to claim 7, characterized in that a second sliding rod (602) is mounted on the mounting shell (301), a second sliding block (603) is connected onto the second sliding rod (602) in a sliding manner, and one end, far away from the second sliding rod (602), of the second sliding block (603) is fixedly connected with the seal box (6).

9. The manipulator device for the machine tool according to claim 1, wherein the driving part comprises a first lead screw (2) installed on a base plate (1), a connecting seat (202) is installed on the first lead screw (2), the manipulator arm body (3) is installed on the connecting seat (202), a first motor (201) is installed on the side wall of the base plate (1), and the first lead screw (2) is fixedly connected with the output end of the first motor (201).

10. The manipulator device for the machine tool according to claim 9, characterized in that the base plate (1) is provided with a guide rod (101), a first sliding block (203) is slidably connected on the guide rod (101), and one end of the first sliding block (203) far away from the guide rod (101) is fixedly connected with the connecting seat (202).

11. The manipulator device for the machine tool according to claim 1, wherein the gas injection assembly comprises a second spray head (803) installed on the protective shell (802), a first pipeline (8) is connected to the seal box (6), and the seal box (6) is communicated with the second spray head (803) through a second pipeline (801).