CN114714130A - Die insert manipulator transferring structure and manipulator transferring system - Google Patents
Die insert manipulator transferring structure and manipulator transferring system Download PDFInfo
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- CN114714130A CN114714130A CN202210632754.3A CN202210632754A CN114714130A CN 114714130 A CN114714130 A CN 114714130A CN 202210632754 A CN202210632754 A CN 202210632754A CN 114714130 A CN114714130 A CN 114714130A
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- 210000000078 claw Anatomy 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000012546 transfer Methods 0.000 claims abstract description 20
- 230000006698 induction Effects 0.000 claims abstract description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 21
- 238000003754 machining Methods 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
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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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
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Abstract
The invention provides a mould insert mechanical arm transfer structure and a mechanical arm transfer system, which comprise a tray assembly and a mechanical arm assembly, wherein the tray assembly comprises a tray, a positioning induction chip and at least three positioning connecting pieces, the tray is used for fastening elements to be processed, the tray is provided with at least one plug-in hole matched with the mechanical arm assembly, the mechanical arm assembly comprises a driving mechanism, an executing mechanism, a base, a mechanical arm and a rotating control shaft, the base, the mechanical arm and the rotating control shaft are sequentially hinged, the executing mechanism comprises a fastening support assembly, a chip reading device and at least one mechanical arm holding claw, and a plug-in connector of the mechanical arm and the rotating control shaft driven by the driving mechanism to drive the mechanical arm and the rotating control shaft to extend into the plug-in hole so as to transfer the elements to be processed, which are fastened to the top of the tray. According to the invention, the grabbing and transferring precision can be greatly improved through the mutually matched positioning induction chip and the chip reading device, and the transferring precision and the application capability can be further improved through the arrangement of the tray assembly.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator transferring structure and a manipulator transferring system for a die insert.
Background
The manipulator arm clamping device is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the manipulator arm clamping device can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like.
In the die insert machining industry, because the work environment is abominable and the required precision is high, the control precision of manipulator clamping device self among the prior art is limited, but control range and angle are limited, for example, traditional manipulator clamping device generally adopts the manipulator centre gripping mode or adopts the mode of snatching of sucking disc, in the in-process of carrying out the robotic arm upset, treat that the processing element takes place to slide easily or the pine takes off, lead to snatching the transportation precision and be difficult to guarantee, can not realize the centre gripping and the transportation action of good firm to the processing element, finally lead to the die insert machining precision not enough, low working efficiency, the phenomenon of doing over again is serious. In addition, the manipulator clamping device in the prior art can only process processing elements in a specific size range due to the limitation of the structure of the manipulator clamping device, and has the problems of low application range and high production and manufacturing cost.
In view of the above, there is a need for a transfer structure of a nest structure robot and a transfer system of the robot to solve or at least alleviate the above-mentioned drawbacks.
Disclosure of Invention
The invention mainly aims to provide a die insert mechanical arm transferring structure and a mechanical arm transferring system, and aims to solve the problem that the precision of an existing mechanical arm clamping device is insufficient in grabbing and transferring elements to be processed.
In order to achieve the purpose, the invention provides a mould insert mechanical arm transferring structure which comprises a tray assembly and a mechanical arm assembly, wherein the tray assembly is detachably connected with the mechanical arm assembly; wherein the content of the first and second substances,
the tray assembly comprises a tray, a positioning induction chip and at least three positioning connecting pieces; the top of the tray is used for fastening elements to be processed, and one side of the tray, which is close to the manipulator assembly, is provided with at least one plug-in hole matched with the manipulator assembly; the positioning induction chip is arranged on the fixed end of the tray, the positioning connecting pieces are fixedly connected to the bottom of the tray, and the positioning connecting pieces are used for being matched and connected with a zero positioning base arranged on a machining lathe;
the manipulator assembly comprises a driving mechanism, an actuating mechanism, a base, a mechanical large arm and a rotary control shaft which are sequentially hinged; the base is used for mounting the manipulator assembly on a conveying guide rail, the actuating mechanism is arranged at the tail end of the rotating control shaft, one end of the mechanical large arm is arranged on the base, the other end of the mechanical large arm is connected with the fixed end of the rotating control shaft, and the mechanical large arm and the rotating control shaft are in transmission connection with the driving mechanism;
the actuating mechanism comprises a fastening support assembly, a chip reading device and at least one manipulator holding claw, the manipulator holding claw is fixed at the tail end of the rotating control shaft through the fastening support assembly, the chip reading device is installed on the fastening support assembly and is matched with the positioning sensing chip in position, and the actuating end of the manipulator holding claw is provided with plug-in connectors which are arranged in one-to-one correspondence with the plug-in holes; the driving mechanism drives the mechanical large arm and the rotary control shaft to drive the plug-in connector of the mechanical hand holding claw to extend into the plug-in hole so as to transfer an element to be processed, which is fastened to the top of the tray.
Preferably, the tray comprises a tray body and a positioning connecting block; the positioning connecting block is fixedly connected to one side, close to the manipulator holding claw, of the tray body, the inserting holes are formed in the positioning connecting block, and the positioning sensing chip is installed on the positioning connecting block.
Preferably, a first sliding groove extending along a first direction and a second sliding groove extending along a second direction are recessed downwards at the top of the tray body, and the first direction is perpendicular to the second direction; at least one first fixed block which is arranged along the first sliding groove in a sliding manner is arranged in the first sliding groove, and at least one second fixed block which is arranged along the second sliding groove in a sliding manner is arranged in the second sliding groove; the cross sections of the first sliding groove and the second sliding groove are in an inverted T shape, and the first fixed block and the second fixed block are both T-shaped blocks; the first fixed block and the second fixed block are used for connecting the element to be processed, and fixing portions used for fixing the corresponding first sliding groove and the second sliding groove are arranged on the first fixed block and the second fixed block so as to fasten the element to be processed on the top surface of the tray.
Preferably, the fastening support assembly comprises a reinforcing connecting plate, a base plate and at least one zero point chuck, and the zero point chucks are arranged in one-to-one correspondence with the manipulator gripping claws; the middle part of the zero point chuck is provided with a mounting hole for the execution end of the manipulator holding claw to penetrate through, the manipulator holding claw is fixedly connected with the zero point chuck through the mounting hole, the base plate is provided with a mounting groove matched with the zero point chuck, and the zero point chuck is fixedly connected with the base plate through the mounting groove; the base plate is fixedly connected with the reinforcing connecting plate, and the reinforcing connecting plate is fixedly connected with the driving mechanism.
Preferably, the number of the positioning connecting pieces is four, and the four positioning connecting pieces are arranged in a rectangular array and comprise a zero-point centering blind rivet, a zero-point straightening blind rivet and two zero-point tensioning blind rivets; wherein two of the zero point tensioning tacks are adjacently disposed and the zero point centering tack and the zero point straightening tack are adjacently disposed.
Preferably, the base plate comprises a base plate body and two oppositely arranged direction correcting pins, the direction correcting pins are convexly arranged on one side, close to the reinforcing connecting plate, of the base plate, and two positioning holes corresponding to the direction correcting pins one to one are formed in the reinforcing connecting plate.
Preferably, the chip reading device comprises a chip reading head and a reading head fixing ring; the chip reading head comprises a reading end and a mounting end which are oppositely arranged, a through hole for the reading end to penetrate through is formed in the substrate, and a groove for the mounting end to penetrate through is formed in the reinforcing connecting plate; the outer surface of the mounting end is provided with an external thread, the inner wall of the reading head fixing ring is provided with an internal thread matched with the external thread, and the reading head fixing ring is connected with the chip reading head through the internal thread and the external thread so as to fixedly connect the chip reading head on the substrate.
Preferably, the number of the manipulator holding claws, the number of the insertion holes and the number of the zero-point chucks are two, and the two manipulator holding claws are arranged side by side.
Preferably, each T-shaped block is provided with a threaded connection hole extending in the vertical direction.
The invention also provides a manipulator transferring system which comprises a material platform, a conveying guide rail for mounting the manipulator assembly, a plurality of machining lathes arranged at intervals and the mould insert manipulator transferring structure, wherein each machining lathe is provided with a zero positioning base matched with the tray, and the zero positioning base is provided with a plurality of blind rivet grooves corresponding to the positioning connecting pieces one by one.
Compared with the prior art, the invention has the following beneficial effects:
according to the die insert mechanical arm transferring structure and the mechanical arm transferring system, the overall structure is set to be the mode that the tray assembly and the mechanical arm assembly are matched with each other, the grabbing mode of a traditional mechanical arm such as clamping and sucking discs is changed, the grabbing and transferring errors can be controlled within 0.2mm by arranging the positioning sensing chip on the tray and arranging the corresponding chip reading device on the mechanical arm assembly, the positioning accuracy can be further improved by arranging at least three positioning connecting pieces at the top of the tray and matching the positioning connecting pieces with the zero positioning base arranged on a machining lathe, and high-accuracy repeated positioning within 0.005mm is achieved. In addition, through the mode of will treating that the processing element is set up on the tray, can increase application scope, be suitable for the transportation of the component of treating of multiple not equidimension, can guarantee to insert the uniformity and the stability of processing assembly effect under large batch work to work efficiency has been improved.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a diagram of an application scenario in one embodiment of the present invention;
FIG. 2 is a schematic view of a transfer structure of a nest insert robot in an embodiment of the present invention in cooperation with a transfer rail;
FIG. 3 is a schematic view of the assembled tray assembly, fastening bracket assembly and zero point positioning base in one embodiment of the present invention;
FIG. 4 is an exploded view of the tray assembly, fastening bracket assembly and zero point positioning base in one embodiment of the present invention;
FIG. 5 is an enlarged view of the point A in FIG. 4;
FIG. 6 is a schematic view of the assembled tray assembly and the component to be processed according to one embodiment of the present invention;
FIG. 7 is an exploded view of a tray assembly and a component to be processed in accordance with an embodiment of the present invention;
FIG. 8 is a schematic structural view of a tray body according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an assembled substrate and chip reading device in an embodiment of the invention.
The achievement of the objects, the characteristics and the advantages of the energy supply are further explained by combining the embodiments and referring to the attached drawings.
The reference numbers illustrate:
10. a tray assembly; 110. a tray; 111. a tray body; 1111. a first chute; 1112. a second chute; 1113. a first fixed block; 1114. a second fixed block; 1115. connecting a threaded hole; 112. positioning a connecting block; 113. inserting holes; 120. positioning the induction chip; 130. positioning the connecting piece; 131. zero-point centering blind rivet; 132. zero straightening pull nails; 133. tensioning the blind rivet at the zero point;
20. a manipulator assembly; 210. a drive mechanism; 211. a main control motor; 212. the big arm controls the motor; 213. a rotating shaft control motor; 220. an actuator; 221. fastening a support assembly; 2211. reinforcing the connecting plate; 2212. positioning holes; 2213. a groove; 2214. a substrate; 2216. a substrate body; 2217. a straightening pin; 2218. mounting grooves; 2219. a zero chuck; 222. a chip reading device; 2221. a chip reading head; 2222. a reading head fixing ring; 223. a mechanical arm holding claw; 2231. a plug-in connector; 230. a base; 240. a mechanical big arm; 250. rotating the control shaft; 260. a cable;
30. a zero point positioning base; 310. a rivet pulling groove; 40. a transfer rail; 50. an element to be processed; 60. a material table; 70. and (5) processing a lathe.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 9, in an embodiment of the present invention, a transfer structure of a nest insert robot includes a tray assembly 10 and a robot assembly 20, where the tray assembly 10 is detachably connected to the robot assembly 20. Firstly, it should be noted that the nest structure for transferring a mold insert mechanical arm in the present application adopts the tray assembly 10 and the mechanical arm assembly 20 to cooperate with each other to achieve the purpose of transferring the element 50 to be processed with high precision. It is clear and definite that, among the prior art, to the manipulator device of grabbing transportation of die insert, generally adopt to press from both sides the mode of getting or set up the sucking disc through the end of grabbing at the manipulator and snatch the form, this kind of snatch the transportation form, on the one hand the control accuracy of itself is limited, controllable scope is limited, the angle scope of guaranteeing the high accuracy is limited, for example, in the in-process that carries out the manipulator upset, wait to take place easily between processing element 50 and the manipulator device and slide, even the slippage to be difficult to guarantee the high accuracy requirement of whole transportation process. And, the fixed structure of manipulator device among the prior art is difficult to adapt to the snatching of the not die insert of equidimension and transports, and single manipulator device's application range, service plane are narrower, and the suitability is not enough.
This application has a great deal of problem to prior art, change current manipulator snatch the transportation mode, through tray assembly 10 and manipulator assembly 20 matched with form, whole transportation's precision has been improved effectively, and through setting up tray assembly 10, fix the mode at tray assembly 10 through treating to process component 50, can adapt to not equidimension processing element, its application range has been improved by a wide margin, can satisfy not unidimensional location assembly of treating to process component 50, and the cooperation is effectual. As will be explained in further detail below:
the tray assembly 10 comprises a tray 110, a positioning induction chip 120 and at least three positioning connectors 130; the top of the tray 110 is used for fastening the element 50 to be processed, and one side of the tray 110 close to the manipulator assembly 20 is provided with at least one plug-in hole 113 matched with the manipulator assembly 20; the positioning sensing chip 120 is disposed on a fixed end of the tray 110, the fixed end of the tray 110 is an end of the tray 110 close to the manipulator assembly 20, the plurality of positioning connectors 130 are fixedly connected to a bottom of the tray 110, and the positioning connectors 130 are configured to be connected to a zero point positioning base 30 disposed on the processing lathe 70 in a matching manner.
Specifically, the top of the tray 110 is used for fastening the element 50 to be processed, and the fixed connection manner of the element 50 to be processed and the top of the tray 110 can be set according to actual needs, for example, the element 50 to be processed can be fastened on the tray 110 before the material table 60 is lifted, which can be determined according to actual needs.
The positioning connecting member 130 is used for being matched and connected with the zero point positioning base 30 arranged on the processing lathe 70, and here, it should be noted that, in order to further improve the transferring precision, the manipulator transferring system in the present application further arranges the zero point positioning base 30 on the processing table of the processing lathe 70, the zero point positioning base 30 provides a mechanical coordinate fixing origin with the working table of the processing lathe 70 and the three-coordinate measuring instrument, and the precision can be further improved by matching and connecting the zero point positioning base 30 with the positioning connecting member 130.
The manipulator assembly 20 comprises a driving mechanism 210, an actuating mechanism 220, a base 230, a mechanical big arm 240 and a rotary control shaft 250 which are sequentially hinged; the base 230 is used for installing the manipulator assembly 20 on the conveying guide rail 40, the actuating mechanism 220 is arranged at the tail end of the rotating control shaft 250, one end of the mechanical large arm 240 is arranged on [12] the base 230, the other end of the mechanical large arm is connected with the fixed end of the rotating control shaft 250, and the mechanical large arm 240 and the rotating control shaft 250 are both in transmission connection with the driving mechanism 210. It will be appreciated by those skilled in the art that the drive mechanism 210 can provide a drive force, such as a conventionally used control motor, and that the base 230, the robotic arm 240 and the rotation control shaft 250 can be components of a conventional robot. For example, as a specific example: the driving mechanism 210 comprises a master control motor 211, a big arm control motor 212 and a rotating shaft control motor 213, the base 230 is mounted on the conveying guide rail 40 and slidably arranged along the conveying guide rail 40, the master control motor 211 controls the rotating shaft control motor 213 and the big arm control motor 212 through a cable 260, the mechanical big arm 240 and the rotating control shaft 250 are hinged with each other, and the mechanical big arm 240 and the rotating control shaft 250 can be controlled to move by controlling the master control motor 211, so that the execution mechanism 220 is controlled.
The actuating mechanism 220 comprises a fastening support assembly 221, a chip reading device 222 and at least one manipulator gripper 223, wherein the manipulator gripper 223 is fixed at the tail end of the rotating control shaft 250 through the fastening support assembly 221, the chip reading device 222 is mounted on the fastening support assembly 221 and is matched with the positioning sensing chip 120 in position, and the actuating end of the manipulator gripper 223 is provided with plug-in connectors 2231 which are arranged in one-to-one correspondence with the plug-in holes 113; the driving mechanism 210 drives the mechanical arm 240 and the rotation control shaft 250 to drive the plug 2231 of the mechanical gripper 223 to extend into the plug hole 113, so as to transfer the component 50 to be processed fastened to the top of the tray 110.
Specifically, the positioning sensing chip 120 is used for providing a function of high-precision automatic identification and alignment, and the positioning sensing chip 120 is correspondingly arranged on the manipulator assembly 20 by arranging the positioning sensing chip 120 on the fixed end of the tray 110, and when the manipulator holding claw 223 of the robot grips the material table 60 to grab, the positioning sensing chip 120 is automatically sensed by the chip reading device 222 in a chip positioning manner, so that the position information of the bound tray assembly 10 is recorded and the grabbing is accurately positioned. Specifically, when the positioning sensing chip 120 is aligned with the chip reading device 222, it can be ensured that the plug-in connector 2231 of the manipulator holding claw 223 can be accurately inserted into the corresponding plug-in hole 113, and at this time, a conventional manipulator gas path fastening manner can be started, so that the plug-in connector 2231 of the manipulator holding claw 223 is outwardly expanded and clamped in the plug-in hole 113, thereby realizing the fixed connection between the manipulator holding claw 223 and the tray 110, and further realizing the high-precision grabbing.
As a preferred embodiment of the present invention, the tray 110 includes a tray body 111 and a positioning connection block 112; the positioning connecting block 112 is fixedly connected to one side of the tray body 111 close to the manipulator holding claw 223, the inserting hole 113 is formed in the positioning connecting block 112, and the positioning sensing chip 120 is installed on the positioning connecting block 112. Through setting up location connecting block 112, when actual manipulator holds claw 223 and snatchs, hold claw 223 and location connecting block 112's rapid fit through the manipulator and use, can let whole transport error control within 0.2mm to can accomplish the work of snatching of weight within 250KG, satisfy actual multiple die insert's use needs.
As a preferred embodiment of the present invention, a first sliding slot 1111 extending along a first direction and a second sliding slot 1112 extending along a second direction are recessed downward from the top of the tray body 111, and the first direction is perpendicular to the second direction; at least one first fixed block 1113 slidably arranged along the first sliding groove 1111 is arranged in the first sliding groove 1111, and at least one second fixed block 1114 slidably arranged along the second sliding groove 1112 is arranged in the second sliding groove 1112; the cross sections of the first sliding groove 1111 and the second sliding groove 1112 are both in an inverted T shape, and the first fixing block 1113 and the second fixing block 1114 are both T-shaped blocks; the first fixing block 1113 and the second fixing block 1114 are both used for connecting the to-be-processed element 50, and fixing portions for fixing the to-be-processed element 50 to the corresponding first sliding groove 1111 and the corresponding second sliding groove 1112 are respectively arranged on the first fixing block 1113 and the second fixing block 1114, so as to fasten the to-be-processed element 50 to the top surface of the tray 110.
Specifically, in order to further adapt to the elements 50 to be processed with different sizes and shapes and provide the connection strength between the elements 50 to be processed and the tray 110, and solve the problem that the prior art is difficult to adapt to the use requirements of different elements 50 to be processed, the present application provides a first sliding groove 1111 and a second sliding groove 1112 which are vertically arranged at the top of the tray body 111, a first fixing block 1113 which can slide along the first sliding groove 1111 is correspondingly arranged at the first sliding groove 1111, a second fixing block 1114 which can slide along the second sliding groove 1112 is correspondingly arranged in the second sliding groove 1112, when in actual use, according to the shapes and sizes of the elements 50 to be processed, an appropriate number of first fixing blocks 1113 are respectively arranged at the first sliding groove 1111, an appropriate number of second fixing blocks 1114 are arranged at the second sliding groove 1112, and simultaneously, according to the needs, the position of the first fixing block 1113 in the first sliding groove 1111 and the position of the second fixing block 1114 in the second sliding groove 1112 are moved, and by providing the first fixing block 1113 and the second fixing block 1114 in the form of T-shaped blocks, the element 50 to be processed is only fixedly connected to the first fixing block 1113 and the second fixing block 1114, and when in a fastened state, the stepped surface of the T-shaped block abuts against the top wall of the corresponding chute, thereby fastening the element 50 to be processed on the tray 110. It is understood that in other embodiments, the directions of the first sliding slot 1111 and the second sliding slot 1112 can be set to other forms according to actual needs, as long as the element to be processed 50 is fastened to the top surface of the tray body 111.
Further, the fastening bracket assembly 221 comprises a reinforcing connection plate 2211, a base plate 2214 and at least one zero point chuck 2219; the zero point chucks 2219 are arranged in one-to-one correspondence with the manipulator claws 223, a mounting hole for the execution end of the manipulator claw 223 to pass through is formed in the middle of the zero point chuck 2219, the manipulator claw 223 is fixedly connected with the zero point chuck 2219 through the mounting hole, an installation groove 2218 matched with the zero point chuck 2219 is formed in the base plate 2214, and the zero point chuck 2219 is fixedly connected with the base plate 2214 through the installation groove 2218; the base plate 2214 is fixedly connected to the reinforcing connecting plate 2211, and the reinforcing connecting plate 2211 is fixedly connected to the driving mechanism 210. In this embodiment, the robot gripper 223 is mounted in the mounting groove 2218 of the zero point chuck 2219, whereby the connection strength can be further improved and the transfer accuracy can be ensured.
As an optional embodiment, the number of the positioning connection pieces 130 is four, and the four positioning connection pieces 130 are arranged in a rectangular array, and include one zero-point centering blind rivet 131, one zero-point straightening blind rivet 132, and two zero-point tensioning blind rivets 133; wherein two of said zero point tensioning tacks 133 are disposed adjacently and said zero point centering tack 131 and said zero point straightening tack 132 are disposed adjacently. It should be noted that the zero point centering rivet 131 can perform centering connection between the tray body 111 and the zero point positioning base 30, the zero point straightening pull-up can perform directional connection between the tray body 111 and the zero point positioning base 30, and the zero point tensioning rivet 133 starts fastening connection between the tray body 111 and the zero point positioning base 30, and more particularly, by using a rivet connection mode, high-precision repeated positioning within 0.005mm can be realized, consistency between three-coordinate measurement data and lathe processing data can be ensured, and processing precision of a workpiece and stability of clamping can be ensured. When the tray is used, the tray body 111 is only required to be aligned to the zero point positioning base 30 and then is pressed downwards, and the high-precision positioning connection between the tray body 111 and the zero point positioning base 30 can be completed.
In a preferred embodiment, the base 2214 includes a base 2216 and two oppositely disposed alignment pins 2217, the alignment pins 2217 are protruded from one side of the base 2214 close to the reinforcing connecting plate 2211, and the reinforcing connecting plate 2211 is opened with two positioning holes 2212 corresponding to the alignment pins 2217 one by one. In this embodiment, two oppositely arranged alignment pins 2217 are provided on the substrate body 2216, corresponding positioning holes 2212 are provided on the reinforcing connecting plate 2211, and the substrate 2214 and the reinforcing connecting plate 2211 can be quickly positioned and connected by the cooperation of the alignment pins 2217 and the positioning holes 2212.
Further, the chip reading device 222 includes a chip reading head 2221 and a reading head fixing ring 2222; the chip reading head 2221 comprises a reading end (not shown) and a mounting end (not shown) which are oppositely arranged, a through hole (not shown) for the reading end to pass through is formed in the substrate 2214, and a groove 2213 for the mounting end to pass through is formed in the reinforcing connecting plate 2211; an external thread is formed on the outer surface of the mounting end, an internal thread matched with the external thread is formed on the inner wall of the reading head fixing ring 2222, and the reading head fixing ring 2222 is connected with the chip reading head 2221 through the internal thread and the external thread so as to fixedly connect the chip reading head 2221 to the substrate 2214. Specifically, the positioning sensing chip 120 in the present application adopts an ID chip, which has the characteristics of high identification precision, rapidness and reliability, and records the information of the binding tray 110 and the to-be-processed component 50 through the mutual cooperation between the positioning sensing chip 120 and the chip reading device 222.
As a specific embodiment, the number of the manipulator gripping claws 223, the number of the insertion holes 113, and the number of the zero-point chucks 2219 are two, and the two manipulator gripping claws 223 are arranged side by side. It is understood that in other embodiments, the number of the robot gripping claws 223, the number of the insertion holes 113, and the number of the zero chucks 2219 can be adaptively set according to actual needs.
Further, each T-shaped block is provided with a threaded connection hole 1115 extending in the vertical direction. It should be noted that, through the threaded connection hole 1115 extending in the vertical direction formed in the T-shaped block, and the bolt connection hole (not shown) corresponding to the threaded connection hole is formed in the element 50 to be processed, specifically, when the element 50 to be processed is fastened, the bolt only needs to penetrate through the threaded connection hole 1115 in the element 50 to be processed and the bolt connection hole in the T-shaped block, and along with continuous tightening of the bolt, the stepped surface of the T-shaped block will abut against the top wall of the sliding groove, and the bottom of the element 50 to be processed will abut against the top of the tray 110, so that the element 50 to be processed is stably fixed on the tray 110.
The invention further provides a manipulator transferring system, which comprises a material table 60, a conveying guide rail 40 for mounting the manipulator assembly 20, a plurality of machining lathes 70 arranged at intervals, and the above mold insert manipulator transferring structure, wherein each machining lathe 70 is provided with a zero point positioning base 30 matched with the tray 110, and the zero point positioning base 30 is provided with a plurality of blind rivet grooves 310 corresponding to the positioning connecting pieces 130 one by one. Through the cooperation of the zero point positioning base 30 and the positioning connecting piece 130 of the tray assembly 10, high-precision positioning connection can be realized, so that the precision in the whole transfer process is improved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The mold insert mechanical arm transferring structure is characterized by comprising a tray assembly and a mechanical arm assembly, wherein the tray assembly is detachably connected with the mechanical arm assembly; wherein the content of the first and second substances,
the tray assembly comprises a tray, a positioning induction chip and at least three positioning connecting pieces; the top of the tray is used for fastening elements to be processed, and one side of the tray, which is close to the manipulator assembly, is provided with at least one plug-in hole matched with the manipulator assembly; the positioning induction chip is arranged on the fixed end of the tray, the positioning connecting pieces are fixedly connected to the bottom of the tray, and the positioning connecting pieces are used for being matched and connected with a zero positioning base arranged on a machining lathe;
the manipulator assembly comprises a driving mechanism, an actuating mechanism, a base, a mechanical large arm and a rotary control shaft which are sequentially hinged; the base is used for mounting the manipulator assembly on a conveying guide rail, the actuating mechanism is arranged at the tail end of the rotating control shaft, one end of the mechanical large arm is arranged on the base, the other end of the mechanical large arm is connected with the fixed end of the rotating control shaft, and the mechanical large arm and the rotating control shaft are in transmission connection with the driving mechanism;
the actuating mechanism comprises a fastening support assembly, a chip reading device and at least one manipulator holding claw, the manipulator holding claw is fixed at the tail end of the rotating control shaft through the fastening support assembly, the chip reading device is installed on the fastening support assembly and is matched with the positioning sensing chip in position, and the actuating end of the manipulator holding claw is provided with plug-in connectors which are arranged in one-to-one correspondence with the plug-in holes; the driving mechanism drives the mechanical large arm and the rotary control shaft to drive the plug-in connector of the mechanical hand holding claw to extend into the plug-in hole so as to transfer an element to be processed, which is fastened to the top of the tray.
2. The nest insert robot transfer structure of claim 1, wherein the pallet includes a pallet body and a positioning connection block; the positioning connecting block is fixedly connected to one side, close to the manipulator holding claw, of the tray body, the inserting holes are formed in the positioning connecting block, and the positioning sensing chip is installed on the positioning connecting block.
3. The nest structure of claim 2, wherein the tray body has a first slot extending in a first direction and a second slot extending in a second direction recessed downward from a top thereof, the first direction being perpendicular to the second direction; at least one first fixed block which is arranged along the first sliding groove in a sliding manner is arranged in the first sliding groove, and at least one second fixed block which is arranged along the second sliding groove in a sliding manner is arranged in the second sliding groove; the cross sections of the first sliding groove and the second sliding groove are in an inverted T shape, and the first fixed block and the second fixed block are both T-shaped blocks; the first fixed block and the second fixed block are used for connecting the element to be processed, and fixing portions used for fixing the corresponding first sliding groove and the second sliding groove are arranged on the first fixed block and the second fixed block so as to fasten the element to be processed on the top surface of the tray.
4. The nest structure of claim 1, wherein the fastening bracket assembly comprises a reinforcing web, a base plate, and at least one zero point chuck, the zero point chucks being in one-to-one correspondence with the robot gripping claws; the middle part of the zero point chuck is provided with a mounting hole for the execution end of the manipulator holding claw to penetrate through, the manipulator holding claw is fixedly connected with the zero point chuck through the mounting hole, the base plate is provided with a mounting groove matched with the zero point chuck, and the zero point chuck is fixedly connected with the base plate through the mounting groove; the base plate is fixedly connected with the reinforcing connecting plate, and the reinforcing connecting plate is fixedly connected with the driving mechanism.
5. The transfer structure of the die insert mechanical arm according to claim 1, wherein the number of the positioning connecting pieces is four, and the four positioning connecting pieces are arranged in a rectangular array and comprise a zero-point centering blind rivet, a zero-point straightening blind rivet and two zero-point tensioning blind rivets; wherein two of the zero point tensioning tacks are adjacently disposed and the zero point centering tack and the zero point straightening tack are adjacently disposed.
6. The transfer structure of the nest die manipulator of claim 4, wherein the base plate includes a base plate body and two oppositely disposed direction-rectifying pins, the direction-rectifying pins are protruded from one side of the base plate close to the reinforcing connecting plate, and the reinforcing connecting plate is provided with two positioning holes corresponding to the direction-rectifying pins one to one.
7. The nest structure of claim 6, wherein the chip reader comprises a chip reader and a reader retainer ring; the chip reading head comprises a reading end and a mounting end which are oppositely arranged, a through hole for the reading end to penetrate through is formed in the substrate, and a groove for the mounting end to penetrate through is formed in the reinforcing connecting plate; the outer surface of the mounting end is provided with an external thread, the inner wall of the reading head fixing ring is provided with an internal thread matched with the external thread, and the reading head fixing ring is connected with the chip reading head through the internal thread and the external thread so as to fixedly connect the chip reading head on the substrate.
8. The nest structure of claim 4, wherein the number of the robot gripping claws, the number of the insert holes, and the number of the zero-point chucks are two, and the two robot gripping claws are arranged side by side.
9. The transfer structure of the nest structure of claim 3, wherein each T-block is provided with a threaded connection hole extending in a vertical direction.
10. A manipulator transfer system is characterized by comprising a material platform, a conveying guide rail for mounting a manipulator assembly, a plurality of machining lathes arranged at intervals and the manipulator transfer structure as claimed in any one of claims 1 to 9, wherein each machining lathe is provided with a zero-point positioning base matched with a tray, and the zero-point positioning base is provided with a plurality of rivet grooves corresponding to the positioning connecting pieces in a one-to-one mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632754.3A CN114714130A (en) | 2022-06-07 | 2022-06-07 | Die insert manipulator transferring structure and manipulator transferring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632754.3A CN114714130A (en) | 2022-06-07 | 2022-06-07 | Die insert manipulator transferring structure and manipulator transferring system |
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| CN114714130A true CN114714130A (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210632754.3A Pending CN114714130A (en) | 2022-06-07 | 2022-06-07 | Die insert manipulator transferring structure and manipulator transferring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2818554C1 (en) * | 2023-10-09 | 2024-05-02 | Публичное Акционерное Общество "Одк-Сатурн" | System for manipulating and securing of processed blade |
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