CN114347010A - Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece - Google Patents
Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece Download PDFInfo
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- CN114347010A CN114347010A CN202210136148.2A CN202210136148A CN114347010A CN 114347010 A CN114347010 A CN 114347010A CN 202210136148 A CN202210136148 A CN 202210136148A CN 114347010 A CN114347010 A CN 114347010A
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Abstract
The invention provides a pneumatic clamping mechanical arm device for a reinforced modified grinding workpiece, which comprises: a machine base; the main arm is horizontally arranged on one side of the top of the base and can rotate along the radial direction of the base; the auxiliary arm is perpendicular to the main arm and can move along the extending direction of the main arm, and the auxiliary arm can move along the direction perpendicular to the extending direction of the main arm; the clamping device is arranged at the end part of the auxiliary arm and can rotate along the axial direction of the auxiliary arm, and the telescopic auxiliary arm capable of moving along the extending direction of the main arm and the rotatable clamping device are arranged, so that the multi-freedom-degree grinding machine has higher applicability, can automatically convey workpieces to a grinding station on the reinforced modified grinding machine, not only can reduce the labor intensity of workers, but also has high working efficiency and higher production yield.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a pneumatic clamping mechanical arm device for a reinforced modified grinding workpiece.
Background
The principle of the reinforced modified grinding processing is that steel balls, grinding powder, grinding fluid and compressed gas are mixed and sprayed to the surface of a workpiece to be processed, and the mixed jet flow sprayed obliquely and at high speed generates random equal probability collision (plastic processing and residual compressive stress generation) and micro-cutting (grinding) on the surface of the workpiece to be processed, so that the metal workpiece obtains lower surface roughness and consistency (shape control) thereof, and simultaneously obtains an oil pocket which is beneficial to lubrication and high performances of small friction, corrosion resistance, wear resistance, fatigue resistance and the like. When the mixed jet impacts the surface of the workpiece, the surface plastic strengthening and two-stage grinding and cutting effects are simultaneously performed on the workpiece, so that the surface strength of the workpiece is improved, the surface roughness of the workpiece is improved, and the service life of the workpiece is prolonged.
According to the assembly line distribution of the reinforced modified grinding workshop, the two processes of clamping the workpiece and carrying out the reinforced modified grinding can be realized through artificial intelligence. However, the worker needs to complete the work-piece clamping process all the time, which is too inefficient, only wastes manpower and material resources for the light parts, and increases the burden of the worker for the heavy parts, and the workshop of the enhanced modified grinding production line has great noise, and some absorbable dust leaks during the enhanced modified grinding process, which is harmful to the health of the worker.
Disclosure of Invention
The invention aims to provide a pneumatic clamping mechanical arm device for a reinforced modified grinding workpiece, which can solve the problems;
the invention provides a pneumatic clamping mechanical arm device for a reinforced modified grinding workpiece, which comprises:
a machine base;
the main arm is horizontally arranged on one side of the top of the base and can rotate along the radial direction of the base;
the auxiliary arm is perpendicular to the main arm and can move along the extending direction of the main arm, and the auxiliary arm can move along the direction perpendicular to the extending direction of the main arm;
and the clamping device is arranged at the end part of the auxiliary arm and can rotate along the axial direction of the auxiliary arm.
In a preferred embodiment, a rocker mechanism for driving the main arm to rotate is arranged on the opposite side of the machine base on the side provided with the main arm, and the rocker mechanism can drive the main arm to rotate in two directions, wherein the maximum unidirectional rotation angle of the rocker mechanism is 90 degrees.
In a preferred embodiment, the main arm is connected to the rocker mechanism by a rotating shaft horizontally disposed on top of the housing.
In a preferred embodiment, the rocker mechanism comprises a connecting seat, a first air cylinder and a motor, the top of the connecting seat is connected with the rotating shaft, an arc-shaped slideway which is bent upwards is arranged at the lower part of the connecting seat, the motor is arranged at the bottom of the base and is parallel to the rotating shaft, the telescopic end of the first air cylinder is connected with the arc-shaped slideway in a sliding mode, and the fixed end of the first air cylinder is connected with the motor.
In a preferred embodiment, the main arm includes a support frame and a main arm cylinder, a first slide rail whose extending direction is the same as the extending direction of the support frame is arranged in the support frame, a mounting seat for mounting the auxiliary arm is connected to the first slide rail in a sliding manner, the mounting seat is connected to the main arm cylinder, and the extending direction of the main arm cylinder is the same as the extending direction of the support frame.
In a preferred embodiment, the first slide rail is a slide bar, and the two first slide rails are arranged on two sides of the support frame in parallel relatively.
In a preferred embodiment, the mounting seat is provided with a through hole for the auxiliary arm to pass through, and a sliding block is fixedly arranged in the through hole.
In a preferred embodiment, the auxiliary arm comprises a second slide rail and an auxiliary arm cylinder, the second slide rail is in sliding connection with the slide block, the auxiliary arm cylinder is arranged on one side of the second slide rail and parallel to the second slide rail, one end of the second slide rail is detachably connected with the clamping device through a connecting plate, and the telescopic end of the auxiliary arm cylinder penetrates through the mounting seat and is connected with the connecting plate to drive the second slide rail to slide.
In a preferred embodiment, the gripping device is connected to the connecting plate by a revolving cylinder that is rotatable in the axial direction of the second slide rail.
In a preferred embodiment, the grasping device is a pneumatic gripper.
According to the technical scheme, the rotatable main arm, the telescopic auxiliary arm capable of moving along the extension direction of the main arm and the rotatable clamping device are arranged, so that the multi-freedom-degree grinding machine is high in applicability, the workpiece can be automatically conveyed to the grinding station on the reinforced modified grinding machine, the labor intensity of workers can be reduced, the working efficiency is high, and the production yield is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a front view of a pneumatic clamping robot apparatus for enhanced modified abrasive work pieces in accordance with the present invention;
FIG. 2 is a side view of a pneumatic pick-up robot apparatus for enhanced modified abrasive work pieces in accordance with the present invention;
FIG. 3 is a top view of a main arm according to the present invention;
FIG. 4 is a schematic structural view of a rocker mechanism according to the present invention;
description of reference numerals:
1. a machine base; 2. a support frame; 3. a main arm cylinder; 4. an auxiliary arm cylinder; 5. a connecting plate; 6. a rotary cylinder; 7. a gripping device; 8. a rocker mechanism; 9. a motor; 10. a second slide rail; 11. a mounting seat; 12. a first slide rail; 13. a slider; 14. a middle frame; 15. a buffer; 16. a rotating shaft; 17. a connecting seat; 18. an arc-shaped slideway; 19. a first cylinder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. 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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of 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 considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-4, the present invention provides a pneumatic clamping arm device for enhanced modified grinding workpiece, comprising:
the engine base 1 is a box body, and the lower end of the engine base can be directly connected to a foundation through bolts;
the main arm is horizontally arranged on one side of the top of the machine base 1 and can rotate along the radial direction of the machine base 1;
the auxiliary arm is arranged perpendicular to the main arm, is arranged on the main arm and can move along the extending direction of the main arm, namely move horizontally, and can move along the direction perpendicular to the extending direction of the main arm, namely move up and down;
and the clamping device 7 is used for clamping a workpiece, is arranged at the end part of the auxiliary arm and can rotate along the axial direction of the auxiliary arm.
The main arm is rotatable, and the fly jib is improved level and is reciprocated, and it is rotatable to press from both sides and get device 7, all is used for adjusting the position and the angle of getting device 7, and the work piece of different positions is convenient for press from both sides to get to a plurality of degrees of freedom, convenient to use, application range is wide.
The opposite side of one side of the main arm, on which the base 1 is arranged, is provided with a rocker mechanism 8 for driving the main arm to rotate, the rocker mechanism 8 can drive the main arm to rotate bidirectionally, the unidirectional maximum rotation angle of the rocker mechanism is 90 degrees, the original position of the main arm is horizontally arranged, the auxiliary arm is in a vertical state, the rocker mechanism drives the main arm to rotate upwards towards one side, the maximum angle is 90 degrees, the main arm rotates 90 degrees, the auxiliary arm is in a horizontal state and then resets, the opposite side is the same, and the main arm can rotate bidirectionally by 180 degrees maximally.
The main arm is connected with a rocker mechanism 8 through a rotating shaft 16 horizontally arranged at the top of the machine base 1, and the rocker mechanism 8 drives the rotating shaft 16 to rotate so as to drive the main arm to rotate.
As shown in fig. 4, the rocker mechanism 8 includes a connecting seat 17, a first cylinder 19 and a motor 9, the connecting seat 17 is preferably triangular, one vertex angle is connected with the rotating shaft 16, the top of the connecting seat 17 is connected with the rotating shaft 16, an arc-shaped slideway 18 which is bent upwards is arranged at the lower part of the connecting seat 17, the radian of the arc-shaped slideway 18 is consistent with the swinging arc of the telescopic end of the first cylinder 19, so that the first cylinder 19 can swing left and right along the arc-shaped slideway 18; the motor 9 is arranged at the bottom of the base 1 and is parallel to the rotating shaft 16, the motor 9 is used for driving the first cylinder 19 to swing, the telescopic end of the first cylinder 19 is connected with the arc-shaped slideway 18 in a sliding mode, the fixed end of the first cylinder is connected with the motor 9, the telescopic end of the first cylinder 19 in an original state is located at one end of the arc-shaped slideway 18, the telescopic end is in the minimum stroke, when the main arm needs to rotate, the telescopic end of the first cylinder 19 extends out to drive the connecting seat 17 to rotate to one side, the telescopic end is retracted and then reset, the end portion of the telescopic end is provided with a cylindrical roller which is connected with the arc-shaped slideway 18 in a sliding mode, and the cylindrical roller can rotate in the arc-shaped slideway 18 to form hinge joint; when the main arm needs to rotate towards the other side, the motor 9 rotates to drive the first air cylinder 19 to swing to the other end of the arc-shaped slideway along the arc-shaped slideway 18, and the operation is repeated.
As shown in fig. 3, the main arm includes a support frame 2 and a main arm cylinder 3, the support frame 2 is a rectangular frame, the extending direction of the support frame extends from a side close to the base 1 to a side away from the base 1, a side of the frame close to the base 1 is connected to a rotating shaft 16, a first sliding rail 12 having an extending direction consistent with the extending direction of the support frame 2 is arranged in the support frame 2, a mounting seat 11 for mounting the auxiliary arm is slidably connected to the first sliding rail 12, the auxiliary arm moves on the main arm through the mounting seat 11, the mounting seat 11 is connected to the main arm cylinder 3, the extending direction of the main arm cylinder 3 is consistent with the extending direction of the support frame 2, the main arm cylinder 3 drives the mounting seat 11 to slide along the first sliding rail 12 to drive the auxiliary arm to move, the main arm cylinder 3 is arranged on a side of the frame away from the base 1, an intermediate frame 14 is arranged on the support frame 2, the intermediate frame 14 is arranged below the fixed end of the main arm cylinder 3 for fixing the main arm cylinder 3, the middle frame 14 is perpendicular to the first slide rail 12, and a buffer 15 is arranged on the middle frame to slow down the impact of the air cylinder and reduce the damage rate of elements.
The first slide rail 12 is a slide bar, the slide bar passes through the mounting seat 11, and the first slide rail 12 is provided with two slide bars which are arranged on two sides of the support frame 2 in parallel relatively.
The through hole for the auxiliary arm to pass through is formed in the mounting seat 11, the through hole is formed in the center of the mounting seat 11, the sliding block 13 is fixedly arranged in the through hole, and the sliding block 13 is a ball type sliding block and can reduce friction force between the sliding block and the second sliding rail 10.
The fly jib includes second slide rail 10 with slider 13 sliding connection and sets up the fly jib cylinder 4 parallel with second slide rail 10 in second slide rail 10 one side, and the one end of second slide rail 10 is passed through connecting plate 5 and is got device 7 and can dismantle the connection with pressing from both sides, can be bolted connection, can dismantle and set up removable different clamp and get device 7 and adapt to different circumstances, and the flexible end of fly jib cylinder 4 passes mount pad 11 and is connected with connecting plate 5 and be used for driving second slide rail 10 and slide, and fly jib cylinder 4 is flexible to drive second slide rail 10 and reciprocates.
The clamping device 7 is connected with the connecting plate 5 through a rotary air cylinder 6 which can rotate along the axial direction of the second slide rail 10, and the rotation angle of the rotary air cylinder 6 is 90 degrees and is used for adjusting the angle of the clamping device 7.
The clamping device 7 is an air claw which is in the prior art, and is driven by an air source to be used for grabbing workpieces.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a pneumatic clamp of modified grinding work piece of reinforceing gets robotic arm device which characterized in that includes:
a machine base;
the main arm is horizontally arranged on one side of the top of the base and can rotate along the radial direction of the base;
the auxiliary arm is perpendicular to the main arm and can move along the extending direction of the main arm, and the auxiliary arm can move along the direction perpendicular to the extending direction of the main arm;
and the clamping device is arranged at the end part of the auxiliary arm and can rotate along the axial direction of the auxiliary arm.
2. The apparatus of claim 1, wherein the machine base is provided with a rocker mechanism for rotating the main arm on the opposite side of the main arm, and the rocker mechanism can rotate the main arm in two directions with a maximum unidirectional rotation angle of 90 °.
3. The apparatus of claim 2, wherein the main arm is connected to the rocker mechanism through a rotating shaft horizontally disposed on top of the base.
4. The pneumatic clamping mechanical arm device for the reinforced modified grinding workpiece according to claim 3, wherein the rocker mechanism comprises a connecting seat, a first cylinder and a motor, the top of the connecting seat is connected with the rotating shaft, the lower part of the connecting seat is provided with an arc-shaped slideway which is bent upwards, the motor is arranged at the bottom of the base and is parallel to the rotating shaft, the telescopic end of the first cylinder is slidably connected with the arc-shaped slideway, and the fixed end of the first cylinder is connected with the motor.
5. The device for pneumatically picking up a mechanical arm for intensively modified ground workpieces as claimed in claim 1, wherein the main arm comprises a support frame and a main arm cylinder, a first slide rail extending in the same direction as the support frame is provided in the support frame, a mounting seat for mounting the auxiliary arm is slidably connected to the first slide rail, the mounting seat is connected to the main arm cylinder, and the main arm cylinder extends in the same direction as the support frame.
6. The pneumatic clamping mechanical arm device for the enhanced modified grinding workpiece as claimed in claim 5, wherein the first slide rail is a slide bar, and two first slide rails are arranged on two sides of the supporting frame in parallel.
7. The pneumatic clamping mechanical arm device for the enhanced modified grinding workpiece as claimed in claim 5, wherein a through hole for the auxiliary arm to pass through is formed in the mounting base, and a sliding block is fixedly arranged in the through hole.
8. The pneumatic clamping mechanical arm device for the reinforced modified grinding workpiece as recited in claim 7, wherein the sub-arm comprises a second slide rail slidably connected to the slider and a sub-arm cylinder disposed on one side of the second slide rail and parallel to the second slide rail, one end of the second slide rail is detachably connected to the clamping device through a connecting plate, and a telescopic end of the sub-arm cylinder penetrates through the mounting seat and is connected to the connecting plate for driving the second slide rail to slide.
9. The pneumatic clamping robot arm device for enhanced modified grinding workpieces as claimed in claim 8, wherein the clamping device is connected to the connecting plate through a rotary cylinder capable of rotating along the axial direction of the second slide rail.
10. The apparatus of any one of claims 1 to 9, wherein the gripping device is a pneumatic gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210136148.2A CN114347010A (en) | 2022-02-15 | 2022-02-15 | Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210136148.2A CN114347010A (en) | 2022-02-15 | 2022-02-15 | Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114347010A true CN114347010A (en) | 2022-04-15 |
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ID=81093901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210136148.2A Pending CN114347010A (en) | 2022-02-15 | 2022-02-15 | Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece |
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| Country | Link |
|---|---|
| CN (1) | CN114347010A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863722A (en) * | 2017-04-12 | 2017-06-20 | 梧州学院 | Injection machine oblique-arm type manipulator |
| CN107030995A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with five degree of freedom |
| CN208949380U (en) * | 2018-10-15 | 2019-06-07 | 无锡市奕珺金属改性技术有限公司 | Part handling apparatus and part processing equipment |
| CN211388781U (en) * | 2019-12-13 | 2020-09-01 | 浙江普光窗饰有限公司 | Mechanical arm capable of being quickly disassembled and assembled |
-
2022
- 2022-02-15 CN CN202210136148.2A patent/CN114347010A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863722A (en) * | 2017-04-12 | 2017-06-20 | 梧州学院 | Injection machine oblique-arm type manipulator |
| CN107030995A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with five degree of freedom |
| CN208949380U (en) * | 2018-10-15 | 2019-06-07 | 无锡市奕珺金属改性技术有限公司 | Part handling apparatus and part processing equipment |
| CN211388781U (en) * | 2019-12-13 | 2020-09-01 | 浙江普光窗饰有限公司 | Mechanical arm capable of being quickly disassembled and assembled |
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