CN114055227A - A terminal actuating mechanism for drilling automation mechanical arm - Google Patents
A terminal actuating mechanism for drilling automation mechanical arm Download PDFInfo
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- CN114055227A CN114055227A CN202111525205.8A CN202111525205A CN114055227A CN 114055227 A CN114055227 A CN 114055227A CN 202111525205 A CN202111525205 A CN 202111525205A CN 114055227 A CN114055227 A CN 114055227A
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- axis
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- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
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- Engineering & Computer Science (AREA)
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- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
本发明公开了一种用于钻孔自动化机械手臂的末端执行机构，包括基体(1)，所述的基体(1)上具有侧部板(2)和顶部板(3)，顶部板(3)的下部设有多个刀架(4)，刀架(4)内设有刀具(5)，侧部板(2)上设有Y轴调节机构(6)，Y轴调节机构(6)上设有X轴调节机构(7)，X轴调节机构(7)上设有刀具固定座(8)，刀具固定座(8)的下部设有Z轴电机(9)。本发明能够实现快速且有效地更换刀具，以便更好地进行钻扩铰铣，提升加工效率。
The invention discloses an end effector for a drilling automatic robotic arm, comprising a base body (1), the base body (1) is provided with a side plate (2) and a top plate (3), and the top plate (3) ) is provided with a plurality of tool holders (4) in the lower part, the tool holder (4) is provided with a tool (5), the side plate (2) is provided with a Y-axis adjustment mechanism (6), and the Y-axis adjustment mechanism (6) An X-axis adjusting mechanism (7) is provided on the X-axis adjusting mechanism (7), a tool fixing seat (8) is arranged on the X-axis adjusting mechanism (7), and a Z-axis motor (9) is arranged on the lower part of the tool fixing seat (8). The invention can realize quick and effective replacement of tools, so as to better perform drilling, expanding, reaming and milling, and improve processing efficiency.
Description
Technical Field
The invention relates to the field of processing devices, in particular to a tail end executing mechanism for an automatic drilling mechanical arm.
Background
The so-called mechanical arm, the most widely used automation machinery in the technical field of robots, can see its shadow in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing and space exploration, etc., although their forms are different, they all have a common characteristic that they can receive instructions and accurately locate to a certain point on a three-dimensional or two-dimensional space for operation, for example, the Chinese patent of publication No. CN108356830A discloses a drilling device for mechanical arm production, comprising a base, a fixed column welded at the top end of the base, a chute opened at the top end of the fixed column, a movable column connected in the chute, a first cylinder installed on the side wall at the bottom end of the chute, a piston rod of the first cylinder connected with the movable column, a first connecting column welded at one side of the top end of the movable column, one end of the first connecting column is hinged with a second connecting column, a fixed block is welded on the side wall of one side of the first connecting column, a second cylinder is hinged on the fixed block, a piston rod of the second cylinder is hinged with the second connecting column, and one end of the second connecting column is connected with a fixed plate. This kind of device can rotate a plurality of angles in a flexible way, realizes punching the work piece, nevertheless when changing the cutter, and the manual work change that ever needs has greatly reduced work efficiency and degree of automation.
Disclosure of Invention
The invention aims to provide an end executing mechanism for a drilling automatic mechanical arm. The invention can realize quick and effective cutter replacement so as to better perform drilling, expanding, reaming and milling and improve the processing efficiency.
The technical scheme of the invention is as follows: a tail end executing mechanism for an automatic drilling mechanical arm comprises a base body, wherein a side plate and a top plate are arranged on the base body, a plurality of tool rests are arranged on the lower portion of the top plate, tools are arranged in the tool rests, a Y-axis adjusting mechanism is arranged on the side plate, an X-axis adjusting mechanism is arranged on the Y-axis adjusting mechanism, a tool fixing seat is arranged on the X-axis adjusting mechanism, a Z-axis motor is arranged on the lower portion of the tool fixing seat, an extending portion is arranged on the tool fixing seat, a Z-axis sliding rail is arranged on the extending portion, a Z-axis sliding block is arranged on the Z-axis sliding rail, a Z-axis screw rod is arranged on the tool fixing seat through a bearing, the extending end of the Z-axis motor is connected with the Z-axis screw rod through belt transmission, a moving platform is arranged on the Z-axis sliding block and the Z-axis screw rod, a tool fixing support is arranged on the upper portion of the moving platform, a tool handle mounting frame is arranged in the tool fixing support, and a motor fixing support is arranged on the lower portion of the moving platform, be equipped with the drilling motor in the motor fixed bolster, the one end that stretches out through belt drive and handle of a knife mounting bracket of drilling motor is connected, and the lateral part of base member is equipped with a plurality of supporting mechanism.
In the above-mentioned end actuating mechanism for drilling automatic mechanical arm, the Y-axis adjusting mechanism includes the Y-axis motor that sets up on the lateral part board, and the inboard that just is close to the base member on the lateral part board is equipped with the Y-axis guide rail, is equipped with the Y-axis screw rod through the bearing on the lateral part board, is equipped with the Y-axis slider on the Y-axis guide rail, and the end that stretches out of Y-axis motor is connected with Y-axis screw rod one end through the belt drive.
In the terminal actuating mechanism for the automatic mechanical arm for drilling, the X-axis adjusting mechanism comprises an X-axis base arranged on the Y-axis adjusting mechanism, an X-axis motor is arranged on the rear side of the X-axis base, an X-axis sliding rail is arranged on the X-axis base, an X-axis sliding block is arranged on the X-axis sliding rail, an X-axis screw rod is arranged on the X-axis base through a bearing, and the extending end of the X-axis motor is connected with one end of the X-axis screw rod through belt transmission.
In the terminal actuating mechanism for the automatic mechanical arm for drilling, the supporting mechanism comprises a side support arranged on the side of the base body, a first steering engine is arranged on the side support, the first steering engine is hinged to a first supporting arm through the side support, a second steering engine is arranged at the end of the first supporting arm, and the second steering engine is hinged to a second supporting arm through the first supporting arm.
In the tail end executing mechanism for the automatic drilling mechanical arm, a camera is arranged at the end of the cutter fixing seat.
Compared with the prior art, the invention has the following advantages:
1. in the invention, an automatic mechanical arm is positioned on the surface of a workpiece, a supporting mechanism at the side part is started to carry out supporting operation, a drill bit is positioned in a specified hole on the working surface to drill, a tool needs to be replaced after drilling is finished, an X-axis adjusting mechanism is started to move a tool holder mounting frame to the lower part of an empty tool holder, a Y-axis adjusting mechanism is started, a main shaft tool vertically moves upwards, the main shaft tool is clamped in a tool holder, a Z-axis motor is started to drive a Z-axis screw rod to rotate, a moving platform and the tool holder mounting frame on the platform move towards the rear side, the tool is separated, then the X-axis adjusting mechanism is started to move a tool holder mounting seat to the tool to be replaced, the Z-axis motor is started again to drive the Z-axis screw rod to rotate the tool holder, the moving platform and the mounting frame on the platform move towards the front side to clamp the tool in the mounting frame, and the Y-axis adjusting mechanism starts the tool holder, the moving platform moves downwards to complete tool changing; through the moving mechanism who sets up a plurality of directions to set up the tool magazine at the work end, realized quick and tool changing operation effectively, promoted machining efficiency.
2. The support mechanism comprises a side support arranged on the side portion of the base body, a first steering engine is arranged on the side support, a first support arm is hinged to the first steering engine through the side support, a second steering engine is arranged at the end portion of the first support arm, a second support arm is hinged to the second steering engine through the first support arm, the two steering engines respectively achieve flexible swinging of the two support arms, when the support mechanism is positioned on the surface of a workpiece, the two support arms stretch out, support of the base body on the surface of the workpiece is achieved, and stable drilling, expanding, reaming and milling can be guaranteed.
3. The tip of cutter fixing base be equipped with the camera, the main cutting tool can scan through the camera when processing the location, scans the benchmark locating hole, the camera is fixed value with main shaft cutter's perpendicular distance, consequently only need with the fixed distance of location benchmark to fixed direction removal, what the drill bit aimed at is exactly the work hole site, has effectively promoted the precision of location.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a mobile platform;
FIG. 3 is a schematic view of a Y-axis adjustment mechanism;
FIG. 4 is a schematic view of an X-axis adjustment mechanism;
FIG. 5 is a schematic view of an X-axis motor;
fig. 6 is a schematic view of the support mechanism.
Description of the reference symbols in the drawings: 1-base body, 2-side plate, 3-top plate, 4-tool rest, 5-tool, 6-Y axis adjusting mechanism, 7-X axis adjusting mechanism, 8-tool fixing seat, 9-Z axis motor, 10-extension part, 11-Z axis slide rail, 12-Z axis slide block, 13-Z axis screw rod, 14-moving platform, 15-tool fixing support, 16-motor fixing support, 17-drilling motor, 18-supporting mechanism, 19-Y axis motor, 20-Y axis guide rail, 21-Y axis screw rod, 22-Y axis slide block, 23-X axis base seat, 24-X axis slide rail, 25-X axis slide block, 26-X axis screw rod, 27-side support, 28-first steering engine, 29-first supporting arm, 30-a second steering engine, 31-a second supporting arm, 32-a camera, 33-an X-axis motor and 34-a knife handle mounting rack.
Detailed Description
The invention is further illustrated by the following figures and examples, but is not to be construed as being limited thereto.
Example (b): a tail end executing mechanism for an automatic drilling mechanical arm comprises a base body 1, wherein a side plate 2 and a top plate 3 are arranged on the base body 1, a plurality of tool rests 4 are arranged on the lower portion of the top plate 3, tools 5 are arranged in the tool rests 4, a Y-axis adjusting mechanism 6 is arranged on the side plate 2, the Y-axis adjusting mechanism 6 comprises a Y-axis motor 19 arranged on the side plate 2, a Y-axis guide rail 20 is arranged on the side plate 2 and close to the inner side of the base body 1, as shown in fig. 3, a Y-axis screw 21 is arranged on the side plate 2 through a bearing, a Y-axis sliding block 22 is arranged on the Y-axis guide rail 20, the extending end of the Y-axis motor 19 is connected with one end of the Y-axis screw 21 through belt transmission, the Y-axis motor is started to enable the Y-axis screw to rotate, and the Y-axis sliding block slides on the Y-axis guide rail, so that up-down displacement of a moving platform is realized; an X-axis adjusting mechanism 7 is arranged on the Y-axis adjusting mechanism 6, the X-axis adjusting mechanism 7 comprises an X-axis base 23 arranged on the Y-axis adjusting mechanism 6, a moving block matched with a Y-axis screw rod is arranged on the X-axis base, an X-axis sliding rail 24 is arranged on the X-axis base 23, an X-axis sliding block 25 is arranged on the X-axis sliding rail 24, an X-axis screw rod 26 is arranged on the X-axis base 23 through a bearing, and an X-axis motor 33 is arranged on the rear side of the X-axis base 23, as shown in figures 4 and 5, as the X-axis base can be moved upwards and the X-axis motor also moves upwards, a hollow part is arranged on a side plate, and the reciprocating movement of the X-axis motor is facilitated; the extension end of an X-axis motor 33 is connected with one end of an X-axis screw 24 through belt transmission, the X-axis motor is started to drive the X-axis screw to rotate, and an X-axis sliding block slides on an X-axis sliding rail to drive the moving platform to move in the left and right directions; the X-axis adjusting mechanism 7 is provided with a cutter fixing seat 8, the cutter fixing seat is arranged on an X-axis screw rod and an X-axis sliding block, a moving block matched with the X-axis screw rod is arranged on the cutter fixing seat, and the end part of the cutter fixing seat 8 is provided with a camera 32. The main cutting tool can scan through the camera when processing location, scans the benchmark locating hole, and the camera is fixed value with main shaft cutter's perpendicular distance, consequently only need with the fixed distance of location datum point to fixed direction removal, what the drill bit aimed at is exactly the work hole site, has effectively promoted the precision of location. A Z-axis motor 9 is arranged at the lower part of the cutter fixing seat 8, an extending part 10 is arranged on the cutter fixing seat 8, a Z-axis slide rail 11 is arranged on the extending part 10, a Z-axis slide block 12 is arranged on the Z-axis slide rail 11, a Z-axis screw 13 is arranged on the cutter fixing seat 8 through a bearing, the extending end of the Z-axis motor 9 is connected with the Z-axis screw 13 through belt transmission, a moving platform 14 is arranged on the Z-axis slide block 12 and the Z-axis screw 13, the Z-axis motor is started, the screw is rotated through the belt transmission to drive the moving platform to move in the front and back directions, a cutter fixing support 15 is arranged at the upper part of the moving platform 14, a cutter handle mounting rack 34 is arranged in the cutter fixing support 15, as shown in figure 2, a motor fixing support 16 is arranged at the lower part of the moving platform 14, a drilling motor 17 is arranged in the motor fixing support 16, the extending end of the drilling motor 17 is connected with one end of the cutter handle 34 through the belt transmission, a plurality of supporting mechanisms 18 are arranged at the side part of the base body 1, as shown in fig. 6, the supporting mechanism 18 includes a side bracket 27 arranged on the side of the base body 1, a first steering gear 28 is arranged on the side bracket 27, the first steering gear 28 is hinged to a first supporting arm 29 through the side bracket 27, a second steering gear 30 is arranged at the end of the first supporting arm 29, and the second steering gear 30 is hinged to a second supporting arm 31 through the first supporting arm 29. The two steering engines respectively realize the flexible swing of the two supporting arms, when the drilling machine is positioned on the surface of a workpiece, the two supporting arms are extended, so that a base body is supported on the surface of the workpiece, and the stable drilling, expanding, reaming and milling can be ensured.
The working principle of the invention is as follows: an automatic mechanical arm is positioned on the surface of a workpiece, a supporting mechanism at the side part is started to carry out supporting operation, a drill bit is positioned in a specified hole on the working surface to drill, a cutter needs to be replaced after drilling is finished, an X-axis adjusting mechanism is started to move a cutter handle mounting frame to the position below an empty cutter handle, a Y-axis adjusting mechanism is started, a main shaft cutter vertically moves upwards, the main shaft cutter is clamped into a cutter handle, a Z-axis motor is started to drive a Z-axis screw rod to rotate, a moving platform and the cutter handle mounting frame on the platform move backwards, the cutter is separated, the X-axis adjusting mechanism is started to move, a cutter handle mounting seat is moved to the cutter to be replaced, the Z-axis motor is started again to drive the Z-axis screw rod to rotate, the moving platform and the cutter handle mounting frame on the platform move forwards, so that the cutter is clamped into the cutter handle mounting frame, the Y-axis adjusting mechanism is started, and the moving platform moves downwards, finishing tool changing; through the moving mechanism who sets up a plurality of directions to set up the tool magazine at the work end, realized quick and tool changing operation effectively, promoted machining efficiency.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525205.8A CN114055227A (en) | 2021-12-14 | 2021-12-14 | A terminal actuating mechanism for drilling automation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525205.8A CN114055227A (en) | 2021-12-14 | 2021-12-14 | A terminal actuating mechanism for drilling automation mechanical arm |
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| Publication Number | Publication Date |
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| CN114055227A true CN114055227A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111525205.8A Pending CN114055227A (en) | 2021-12-14 | 2021-12-14 | A terminal actuating mechanism for drilling automation mechanical arm |
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Application publication date: 20220218 |
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