CN117464572B - Feeding and discharging clamping mechanical arm for closed water cutting machine tool - Google Patents
Feeding and discharging clamping mechanical arm for closed water cutting machine tool Download PDFInfo
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- CN117464572B CN117464572B CN202311833466.5A CN202311833466A CN117464572B CN 117464572 B CN117464572 B CN 117464572B CN 202311833466 A CN202311833466 A CN 202311833466A CN 117464572 B CN117464572 B CN 117464572B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 20
- 238000007599 discharging Methods 0.000 title claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000005192 partition Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/08—Abrasive blasting machines or devices; Plants essentially adapted for abrasive blasting of travelling stock or travelling workpieces
- B24C3/10—Abrasive blasting machines or devices; Plants essentially adapted for abrasive blasting of travelling stock or travelling workpieces for treating external surfaces
- B24C3/12—Apparatus using nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/04—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass
- B24C1/045—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass for cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/08—Abrasive blasting machines or devices; Plants essentially adapted for abrasive blasting of travelling stock or travelling workpieces
- B24C3/083—Transfer or feeding devices; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a loading and unloading clamping mechanical arm for a closed water cutting machine tool, which relates to the technical field of mechanical arms. According to the invention, the support position supporting piece is arranged, when two clamping jaws move in opposite directions, the uppermost plate in the pile is clamped, meanwhile, the pushing block is jacked up through the oblique connecting plate, so that the guide frame moves towards the center of the positioning frame, at the moment, the L-shaped supporting plate cannot move due to the obstruction of the second plate, meanwhile, the pulling spring stretches, when the plate is clamped, the L-shaped supporting plate loses the blocking of the pile plate, at the moment, the pulling spring recovers, so that the horizontal part of the L-shaped supporting plate is attached to the bottom of the plate, the clamped plate is supported, the clamping load of the clamping jaw is reduced, and the clamping and moving stability of the plate by the mechanical arm is increased.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a loading and unloading clamping mechanical arm for a closed water cutting machine tool.
Background
Water cutting is also called water jet cutting, i.e. high-pressure water jet cutting technology. The water cutting machine tool is a machine for cutting by utilizing jet flow of high-pressure water mixed abrasive (such as sand), and when water cutting is performed on a workpiece, the workpiece can be grabbed and conveyed according to a fixed program through a mechanical arm in order to improve the cutting efficiency of the equipment, so that quick feeding is realized.
When the plate to be cut is clamped, the weight of the plate can be completely acted on the clamping jaw, the clamping jaw is positioned by the friction force between the clamping jaw and the plate, the stabilizing effect is poor, abrasion of the clamping jaw is easy to cause after long-time use, the service life of the clamping jaw is influenced, meanwhile, the position of the clamping jaw needs to be calibrated before the plate is subjected to the calibration, but the calibration is poor and the time is long, and the subsequent cutting efficiency of the plate can be influenced.
Disclosure of Invention
The invention aims at: in order to solve the problems that the stability effect of the clamped plate is poor and the clamping jaw is inconvenient to quickly correct the position of the clamping jaw, the feeding and discharging clamping mechanical arm for the closed water cutting machine tool is provided.
In order to achieve the above purpose, the present invention provides the following technical solutions: the feeding and discharging clamping mechanical arm for the closed water cutting machine tool comprises a first movable arm, wherein a second movable arm is arranged at the bottom end of the first movable arm, a clamping device is fixed at the bottom of the second movable arm, two clamping jaws are arranged at the bottom of the clamping device, and the two clamping jaws are symmetrically arranged along the vertical central axis of the clamping device; the utility model discloses a clamping device, including first movable arm, locating column, clamping device, locating frame, support piece, L type layer board, support piece and support piece.
As still further aspects of the invention: the L-shaped supporting plates are composed of two plate-shaped connecting blocks with edges connected vertically, two L-shaped supporting plates are arranged in the same number, and the two L-shaped supporting plates and the two clamping jaws are arranged in a cross staggered mode.
As still further aspects of the invention: the support position supporting piece comprises an oblique connecting plate which is rotationally connected to two sides of a clamping jaw through a rotating shaft, the top end of the oblique connecting plate is rotationally connected with a position pushing block through the rotating shaft, the top of the position pushing block is fixedly provided with an oblique connecting guide rail which is positioned at the inner side of a positioning frame, the outer side of the positioning frame is inserted with a guide frame which extends to the inner side of the positioning frame, one end of the guide frame which is positioned at the inner side of the positioning frame is fixedly provided with a guide pin which is positioned at the inner side of the oblique connecting rail, two sides of the guide frame are fixedly provided with position connecting plates which are arranged side by side with the guide pin, the outer side of the positioning frame is inserted with slave connecting rods which are positioned at two sides of the guide frame, one end of each master connecting rod, which is far away from the slave connecting rod, is provided with a pull position spring which is connected with the inner wall of the slave connecting rod, one end, which is far away from the position connecting plate, of each slave connecting rod is fixedly provided with a distance adjusting block, the bottom of each distance adjusting block is inserted with an L-shaped shifting frame, each L-shaped shifting frame is formed by a connecting block which is vertically connected with two edges of a cuboid-shaped connecting block, each L-shaped shifting frame is fixedly arranged on the two sides of the guide frame, each L-shaped shifting frame is provided with a slave connecting rod which is arranged at the side of the guide rod, each L-shaped shifting frame is arranged at the side of the position connecting plate, and the position connecting plate is provided with a pull-shaped spring, and the one end of each connecting plate, which is far from the position.
As still further aspects of the invention: the positioning frame is characterized in that through holes matched with the guide frames are formed in two sides of the positioning frame, the guide pins are matched with the inner sides of the oblique connecting guide rails, and grooves matched with the oblique connecting guide rails are formed in the inner sides of the guide frames.
As still further aspects of the invention: the utility model provides a novel automatic adjusting device for the position of the automobile, including being fixed in the inboard threaded rod of distance adjusting piece, the top of threaded rod extends to the top of distance adjusting piece, the bottom of threaded rod is located the inboard of L type displacement frame, the top of threaded rod is fixed with second transmission bevel gear, the distance adjusting piece is kept away from one side from the connecting rod and is fixed with the fixed plate, the fixed plate top is connected with along with changeing the sleeve pipe through the bearing rotation, one end along with changeing the sleeve pipe is fixed with the first transmission bevel gear that meshes with second transmission bevel gear, one side of second movable arm is connected with the hexagonal connecting rod that runs through to second movable arm opposite side through the bearing rotation, and leading truck, first transmission bevel gear cup joint in the outside of hexagonal connecting rod, the screens guiding groove that is located the fixed plate below has been seted up to one side of distance adjusting piece, the outer wall imprinting of distance adjusting piece has the scale mark that is located screens guiding groove one side, the outside of L type displacement frame is fixed with the instruction mark that is located the screens inboard.
As still further aspects of the invention: the top of L type shifting frame is offered and is had threaded hole with threaded rod assorted, the through-hole that agrees with L type shifting frame top is offered to the bottom of roll adjustment piece.
As still further aspects of the invention: the side clamping piece is including being fixed in the guide block that presss from both sides and get the ware both sides, the bottom grafting of guide block has the U type frame that is located the clamp and get the ware below, the top of U type frame is fixed with the cross connection board, the top of cross connection board is fixed with the knot that is located the clamp and get the ware top and links the frame, the top of knot links the frame is fixed with T type picture peg, T type picture peg comprises first connecting plate and second connecting plate, the terminal surface of first connecting plate links to each other perpendicularly with the second connecting plate side and forms the T type picture peg that the cross-section is "T" type, and T type picture peg is pegged graft in one side of side linking the board, T type picture peg top both sides are provided with the reset spring who links to each other with the side linking the board, one side of knot links to each other one side of frame is fixed with the sleeve, one side that the clamping jaw kept away from the U type frame is fixed with the guide bar, the top of guide bar is fixed with the bolt, the second contact piece is installed to telescopic inner wall, the inner wall of sleeve is fixed with the benefit apart from the spring in the second contact piece outside, the baffle is installed to one end of baffle, the baffle is installed to one side that is close to the second contact piece installs the first buzzer movable arm.
As still further aspects of the invention: the first contact piece is electrically connected with an external power supply through a wire, and the second contact piece is electrically connected with the buzzer through a wire.
As still further aspects of the invention: the initial horizontal height of sleeve equals with the horizontal height of bolt, the diameter of sleeve inner wall equals with the diameter size of bolt, the outside of baffle is laminated with the sleeve inner wall mutually.
As still further aspects of the invention: and through holes matched with the hexagonal connecting rods are formed in the inner sides of the first transmission bevel gear and the rotation following sleeve.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up and holding in the palm the position support piece, can carry out the centre gripping to the plate that piles up in the top when two clamping jaws move in opposite directions, push away the position piece jack-up through the oblique linking board simultaneously for the leading truck moves towards the center of locating frame, and L type layer board receives the unable removal of hindrance of second piece plate at this moment, draws a position spring simultaneously and stretches, and L type layer board loses the jam of pile up the plate when pressing from both sides the plate, draws a position spring to recover this moment, so alright make L type layer board horizontal part and plate bottom laminating, thereby support the plate that presss from both sides, alleviateed the centre gripping burden of clamping jaw, increased this arm to the stability that plate was pressed from both sides, was moved;
2. through setting up the position regulator, before carrying out clamping to the plate, rotate the hexagonal connecting rod earlier for the hexagonal connecting rod rotates through driving first transmission bevel gear along with rotating the sleeve pipe, and the threaded rod can be rotated relative to the distance adjusting piece when first transmission bevel gear rotates, so that make L type shift frame move up or down relative to the distance adjusting piece, thereby adjust the height of L type layer board according to the thickness of plate, horizontal position is laminated with the plate bottom all the time when making L type layer board move towards the plate after the centre gripping, so not only improved the stability that equipment was clamped to the plate, also increased the application scope of equipment simultaneously;
3. through setting up the side folder, press from both sides and get the ware and move down behind the top of plate for the bottom and the plate contact of U type frame, along with pressing from both sides the ware move down, U type frame moves up relatively, T type picture peg drives reset spring and stretches this moment, the sleeve misplaces the bolt simultaneously, if press from both sides and get ware and piled up plate and take place the skew, press from both sides and get the ware and just can not receive the hindrance of plate when moving down this moment, the clamping jaw moves in opposite directions this moment, the bolt just inserts in the sleeve and promotes the baffle, thereby make first contact and second contact, thereby make the buzzer function, thereby remind the staff to press from both sides and get the position of ware and take place the dislocation between the plate, thereby correction for pressing from both sides and get the ware position is convenient.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram showing the connection of the positioning frame and the fastening frame according to the present invention;
FIG. 3 is a schematic view of the internal structure of the sleeve according to the present invention;
FIG. 4 is a schematic diagram of the connection of the positioning frame and the guide frame of the present invention;
FIG. 5 is a schematic diagram of the connection of the guide frame and the diagonal guide rail of the present invention;
FIG. 6 is a schematic view of the internal structure of the slave link of the present invention;
FIG. 7 is a schematic illustration of the connection of a hexagonal connecting rod to a threaded rod according to the present invention;
fig. 8 is a schematic diagram of connection between the distance adjusting block and the L-shaped shifting frame.
In the figure: 1. a first movable arm; 2. a second movable arm; 3. a gripper; 4. a clamping jaw; 501. a side connecting plate; 502. a positioning frame; 503. a buckling frame; 504. a U-shaped frame; 505. a guide block; 506. a transverse connecting plate; 507. an L-shaped shifting frame; 508. an L-shaped supporting plate; 509. a distance adjusting block; 510. a fixed plate; 511. a hexagonal connecting rod; 512. positioning columns; 513. a buzzer; 514. a return spring; 515. a plug pin; 516. a guide rod; 517. a sleeve; 518. a slant connecting plate; 519. a pushing block; 520. t-shaped plugboard; 521. a partition plate; 522. a first contact; 523. a distance compensating spring; 524. a second contact; 525. a guide rail is connected obliquely; 526. a first drive bevel gear; 527. a slave link; 528. scale marks; 529. drag reduction roller; 530. rotating the sleeve; 531. a guide frame; 532. a main connecting rod; 533. a positioning plate; 534. a guide pin; 535. a pull position spring; 536. a clamping guide groove; 537. an indicator; 538. a threaded rod; 539. and a second drive bevel gear.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
As shown in fig. 1 to 8, in the embodiment of the invention, a loading and unloading clamping mechanical arm for a closed water cutting machine tool comprises a first movable arm 1, wherein a second movable arm 2 is installed at the bottom end of the first movable arm 1, a clamping device 3 is fixed at the bottom of the second movable arm 2, two clamping jaws 4 are installed at the bottom of the clamping device 3, and the two clamping jaws 4 are symmetrically arranged along the vertical central axis of the clamping device 3; the both sides of first movable arm 1 are fixed with reference column 512, and the one end that reference column 512 kept away from first movable arm 1 is fixed with side link plate 501, and the locating frame 502 that is located the outside of second movable arm 2 is installed to the bottom of side link plate 501, and locating frame 502 is located the top of gripping ware 3, and the outside of locating frame 502 is provided with holds in the palm a position support, and locating frame 502 is connected with L type layer board 508 through holding in the palm a position support, and the both sides of second movable arm 2 are provided with the positioner that links to each other with L type layer board 508, and the below of gripping ware 3 is provided with the side clamp that is located between two clamping jaws 4.
In this embodiment, before clamping a board, the height of the L-shaped supporting plate 508 is adjusted by operating the positioner, then the external controller controls the operations of the first movable arm 1 and the second movable arm 2 to move the clamping device 3 to the upper portion of the to-be-cut workpiece, and then the two clamping jaws 4 are moved towards each other by the operation of the internal device of the clamping device 3, so as to clamp two sides of the board, in this process, the position of the clamping device 3 can be accurately detected by the side clamping pieces, so as to increase the clamping accuracy, and meanwhile, the clamping jaws 4 are moved to operate the supporting device, at this time, the L-shaped supporting plate 508 is blocked by stacking the boards, and then the L-shaped supporting plate 508 is clamped by the operations of the first movable arm 1 and the second movable arm 2, so that the supporting device moves down to the lower portion of the boards, thereby supporting the boards, not only reducing the burden of the clamping jaws 4, but also increasing the stability of loading and unloading of the boards.
As shown in fig. 1 and 4, the L-shaped supporting plates 508 are composed of plate-shaped connecting blocks with two edges connected perpendicularly to each other, two L-shaped supporting plates 508 are provided, and the two L-shaped supporting plates 508 are arranged in a cross-shaped staggered manner with the two clamping jaws 4.
In this embodiment, the stability of the support of the plate by the L-shaped pallet 508 is increased by providing this structure.
As shown in fig. 1, fig. 2, fig. 4, fig. 5, fig. 6, the supporting member comprises a diagonal connection plate 518 rotatably connected to two sides of the clamping jaw 4 through a rotation shaft, a position pushing block 519 is rotatably connected to the top end of the diagonal connection plate 518 through the rotation shaft, a diagonal connection guide rail 525 located at the inner side of the positioning frame 502 is fixed to the top of the position pushing block 519, a guide frame 531 extending to the inner side of the positioning frame 502 is inserted at the outer side of the positioning frame 502, a guide pin 534 located at the inner side of the diagonal connection guide rail 525 is fixed to one end of the guide frame 531, two side of the guide frame 531 is fixed with a position receiving plate 533 arranged side by side with the guide pin 534, slave connecting rods 527 located at two sides of the guide frame 531 are inserted at the outer side of the positioning frame 502, a main connecting rod 532 extending to the inner side of the slave connecting rod 527 is fixed to the position receiving plate 533, a position pulling spring 535 connected to the inner wall of the slave connecting rod 527 is arranged at one end of the main connecting rod 532, a distance adjusting block 509 is fixed to the bottom of the distance adjusting block 509 is inserted at the bottom of the guide frame 531, an L-shaped shift frame 507 is fixed to the bottom of the guide frame 507, the L-shaped shift frame 507 is vertically connected to the L-shaped support plate 508 at the two side edges of the guide frame 508, and is vertically connected to the L-shaped support plate 531, and is vertically arranged at the lower side of the support plate is far from the support plate by the guide frame 508.
In this embodiment, when two clamping jaws 4 move towards each other, the uppermost plate in the stack is clamped, and the pushing block 519 is lifted up by the oblique connecting plate 518, at this time, the oblique connecting rail 525 moves up relative to the positioning frame 502, and when the oblique connecting rail 525 moves up, the guide frame 531 is pulled by the guide pin 534, so that the guide frame 531 moves towards the center of the positioning frame 502, at this time, the L-shaped supporting plate 508 is blocked by the second plate, so that the guide frame 531 drives the main connecting rod 532 to move, so that the main connecting rod 532 moves relatively to the slave connecting rod 527, and meanwhile, the pulling spring 535 stretches, and when the plate is clamped, the L-shaped supporting plate 508 loses the blocking of the stacked plates, at this time, the pulling spring 535 recovers, so that the slave connecting rod 527 moves towards the receiving plate 533, so that the horizontal part of the L-shaped supporting plate 508 is attached to the bottom of the plate, the clamped plate is supported, the clamping load of the mechanical arm is reduced, the clamping jaw is increased, the stability of the plate clamping jaw is moved to the plate 508 is moved away from the center of the clamping jaw 3, and the clamping jaw 508 is moved away from the cutting jaw 3, so that the clamping jaw is moved away from the cutting jaw 3.
As shown in fig. 5 and 6, through holes are formed in both sides of the positioning frame 502 to be engaged with the guide frames 531, the guide pins 534 are engaged with the inner sides of the diagonal guide rails 525, and grooves engaged with the diagonal guide rails 525 are formed in the inner sides of the guide frames 531.
In the present embodiment, the guide 531 is moved relative to the positioning frame 502 by providing this structure such that the diagonal guide 525 pulls the guide pin 534 when the diagonal guide 525 moves relative to the positioning frame 502.
As shown in fig. 1, fig. 2, fig. 5, fig. 7 and fig. 8, the positioner includes a threaded rod 538 fixed on the inner side of the distance adjusting block 509, the top of the threaded rod 538 extends to the upper side of the distance adjusting block 509, the bottom of the threaded rod 538 is located on the inner side of the L-shaped displacement frame 507, a second transmission bevel gear 539 is fixed on the top of the threaded rod 538, a fixed plate 510 is fixed on one side of the distance adjusting block 509 far away from the connecting rod 527, a rotating sleeve 530 is rotatably connected on the top of the fixed plate 510 through a bearing, a first transmission bevel gear 526 meshed with the second transmission bevel gear 539 is fixed on one end of the rotating sleeve 530, a hexagonal connecting rod 511 penetrating through the other side of the second movable arm 2 is rotatably connected on one side of the second movable arm 2 through a bearing, the guide frame 531 and the first transmission bevel gear 526 are sleeved on the outer side of the hexagonal connecting rod 511, a clamping guide groove 536 is formed on one side of the distance adjusting block 509 and positioned below the fixed plate 510, a scale mark 528 positioned on one side of the clamping guide groove 536 is imprinted on the outer wall of the distance adjusting block 509, and the clamping guide groove 536 is positioned on the inner side of the fixed guide groove 537.
In this embodiment, before the plate is clamped, the hexagonal connecting rod 511 is rotated first, so that the hexagonal connecting rod 511 drives the first transmission bevel gear 526 to rotate along with the rotating sleeve 530, and when the first transmission bevel gear 526 rotates, the threaded rod 538 can rotate relative to the distance adjusting block 509, so that the L-shaped shifting frame 507 moves upwards or downwards relative to the distance adjusting block 509, and the height of the L-shaped supporting plate 508 is adjusted according to the thickness of the plate, so that the horizontal position of the L-shaped supporting plate 508 is always attached to the bottom of the plate when the L-shaped supporting plate 508 moves towards the clamped plate, thereby not only improving the stability of clamping the plate by the device, but also increasing the application range of the device.
As shown in fig. 8, the top of the L-shaped displacement frame 507 is provided with a threaded hole matching the threaded rod 538, and the bottom of the distance adjusting block 509 is provided with a through hole matching the top of the L-shaped displacement frame 507.
In this embodiment, by providing this structure to move the threaded rod 538 relative to the adjustment block 509, the L-shaped displacement frame 507 moves along the L-shaped support plate 508, so that the height of the L-shaped support plate 508 can be precisely adjusted by viewing the position of the indicator 537 relative to the scale mark 528.
As shown in fig. 1 to 3, the side clamping piece comprises a guide block 505 fixed on two sides of the clamping device 3, a U-shaped frame 504 positioned below the clamping device 3 is inserted at the bottom of the guide block 505, a transverse connection plate 506 is fixed at the top end of the U-shaped frame 504, a buckling frame 503 positioned above the clamping device 3 is fixed at the top end of the transverse connection plate 506, a T-shaped plugboard 520 is fixed at the top end of the buckling frame 503, the T-shaped plugboard 520 consists of a first connecting plate and a second connecting plate, the end surface of the first connecting plate is vertically connected with the side surface of the second connecting plate to form a T-shaped plugboard 520 with a T-shaped section, the T-shaped plugboard 520 is inserted at one side of the side connecting plate 501, a reset spring 514 connected with the side connecting plate 501 is arranged at two sides of the top of the T-shaped plugboard 520, a sleeve 517 is fixed at one side of the clamping jaw 4 far from the U-shaped frame 504, a pin 515 is fixed at the top of the guiding rod 516, a second contact piece 524 is installed on the inner wall of the sleeve 517, a compensating spring 523 positioned at the outer side of the second contact piece 524 is fixed, a compensating spring 523 is spaced from the second contact piece 521 is installed at one side of the first contact arm 521, and a movable arm 521 is installed near the first contact arm 521.
In this embodiment, the gripper 3 moves above the plate, and then moves downward, so that the bottom of the U-shaped frame 504 contacts with the plate, and as the gripper 3 moves downward, the U-shaped frame 504 moves upward relative to the gripper 3, at this time, the T-shaped insertion plate 520 drives the return spring 514 to extend, and the sleeve 517 misaligns the pins 515, if the gripper 3 and the stacked plates shift, at this time, the U-shaped frame 504 cannot be blocked by the plates when the gripper 3 moves downward, at this time, the pins 515 will be inserted into the sleeve 517 and push the partition 521 when the clamping jaws 4 move in opposite directions, so that the first contact piece 522 contacts with the second contact piece 524, so that the buzzer 513 operates, thereby reminding a worker that the position of the gripper 3 is misaligned with the plates, and thus providing convenience for correcting the position of the gripper 3.
As shown in fig. 1 and 3, the first contact 522 is electrically connected to the external power source through a wire, and the second contact 524 is electrically connected to the buzzer 513 through a wire.
In the present embodiment, the structure is configured such that the buzzer 513 is operated when the first contact 522 is in contact with the second contact 524, so as to control the operation timing of the buzzer 513.
As shown in fig. 1 and 3, the initial horizontal height of the sleeve 517 is equal to the horizontal height of the plug 515, the diameter of the inner wall of the sleeve 517 is equal to the diameter of the plug 515, and the outer side of the partition 521 is fitted to the inner wall of the sleeve 517.
In this embodiment, the structure is provided such that the partition 521 moves stably with respect to the sleeve 517 when the plug 515 is inserted into the sleeve 517, so as to increase the accuracy of the abutting of the first contact 522 with the second contact 524.
As shown in fig. 8, the first drive bevel gear 526 and the follower 530 are each provided with a through hole that is engaged with the hexagonal connecting rod 511.
In the present embodiment, this structure is provided to prevent the hexagonal link 511 from obstructing the movement of the pitch block 509, and at the same time, to allow the hexagonal link 511 to rotate the first drive bevel gear 526 when rotated.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The feeding and discharging clamping mechanical arm for the closed water cutting machine tool comprises a first movable arm (1) and is characterized in that a second movable arm (2) is installed at the bottom end of the first movable arm (1), a clamping device (3) is fixed at the bottom of the second movable arm (2), two clamping jaws (4) are installed at the bottom of the clamping device (3), and the two clamping jaws (4) are symmetrically arranged along the vertical central axis of the clamping device (3); the positioning device comprises a first movable arm (1), positioning columns (512) are fixed on two sides of the first movable arm (1), a side connecting plate (501) is fixed at one end, far away from the first movable arm (1), of the positioning columns (512), a positioning frame (502) positioned on the outer side of a second movable arm (2) is installed at the bottom end of the side connecting plate (501), the positioning frame (502) is positioned above a clamping device (3), a supporting position supporting piece is arranged on the outer side of the positioning frame (502), an L-shaped supporting plate (508) is connected to the positioning frame (502) through the supporting position supporting piece, a position adjuster connected with the L-shaped supporting plate (508) is arranged on two sides of the second movable arm (2), and a side clamping piece positioned between two clamping jaws (4) is arranged below the clamping device (3);
the support position supporting piece comprises an oblique connecting plate (518) which is rotationally connected to two sides of a clamping jaw (4) through a rotating shaft, the top end of the oblique connecting plate (518) is rotationally connected with a position pushing block (519) through the rotating shaft, the top of the position pushing block (519) is fixedly provided with an oblique connecting guide rail (525) which is positioned at the inner side of a positioning frame (502), the outer side of the positioning frame (502) is inserted with a guide frame (531) which is extended to the inner side of the positioning frame (502), one end of the guide frame (531) which is positioned at the inner side of the positioning frame (502) is fixedly provided with a guide pin (534) which is positioned at the inner side of the oblique connecting guide rail (525), two sides of the guide frame (531) are fixedly provided with a connecting plate (533) which is arranged side by side with the guide pin (534), the outer side of the positioning frame (502) is inserted with a slave connecting rod (527) which is positioned at two sides of the guide frame (531), one end of the master connecting rod (532) which is far away from the inner wall of the positioning frame (502) is fixedly provided with a guide frame (531), one end of the master connecting rod (532) which is far away from the inner wall of the slave connecting rod (527) is connected with a guide rod (509), one end of the slave connecting rod (509) which is far away from the guide frame (509), the L-shaped shifting frame (507) consists of two cuboid-shaped connecting blocks with edges vertically connected, an L-shaped supporting plate (508) is fixed on the L-shaped shifting frame (507), the L-shaped supporting plate (508) is positioned below the guide frame (531), and one end of the L-shaped supporting plate (508) far away from the L-shaped shifting frame (507) is rotationally connected with a drag reduction roller (529) through a bearing;
the positioner comprises a threaded rod (538) fixed on the inner side of a distance adjusting block (509), the top of the threaded rod (538) extends to the upper side of the distance adjusting block (509), the bottom of the threaded rod (538) is positioned on the inner side of an L-shaped shifting frame (507), a second transmission bevel gear (539) is fixed on the top of the threaded rod (538), a positioning plate (510) is fixed on one side of the distance adjusting block (509) far away from a slave connecting rod (527), the top of the positioning plate (510) is rotationally connected with a rotating sleeve (530) through a bearing, one end of the rotating sleeve (530) is fixedly provided with a first transmission bevel gear (526) meshed with the second transmission bevel gear (539), one side of a second movable arm (2) is rotationally connected with a hexagonal connecting rod (511) penetrating through the other side of the second movable arm (2) through a bearing, a guide frame (531) and the first transmission bevel gear (526) are sleeved on the outer side of the hexagonal connecting rod (511), one side of the distance adjusting block (509) is provided with a clamping guide groove (536) positioned below the positioning plate (510), one side of the clamping groove (536) is positioned on the lower side of the positioning block (509) and is positioned on the outer side of the scale marking (528), an indicator (537) positioned at the inner side of the clamping guide groove (536) is fixed at the outer side of the L-shaped shifting frame (507);
the side clamping piece comprises a guide block (505) fixed on two sides of the clamping device (3), a U-shaped rack (504) with a cross connecting plate (506) arranged below the clamping device (3) is inserted at the bottom of the guide block (505), a buckling frame (503) arranged above the clamping device (3) is fixed at the top of the cross connecting plate (506), a T-shaped inserting plate (520) is fixed at the top of the buckling frame (503), the T-shaped inserting plate (520) consists of a first connecting plate and a second connecting plate, the end face of the first connecting plate is vertically connected with the side face of the second connecting plate to form a T-shaped inserting plate (520) with a T-shaped section, the T-shaped inserting plate (520) is inserted at one side of the side connecting plate (501), reset springs (514) connected with the side connecting plate (501) are arranged at two sides of the top of the T-shaped inserting plate (520), a sleeve (517) is fixed at one side of the buckling frame (503), a clamping jaw (4) is far away from one side of the U-shaped rack (504) and is fixed with a guide rod (516), a patch (521) is arranged at the outer side of the inner wall (523) of the patch (523) and is fixed at the inner wall (521) of the patch (521), a first contact piece (522) is arranged on one side, close to the second contact piece (524), of the partition plate (521), and a buzzer (513) is arranged on one side of the first movable arm (1).
2. The feeding and discharging clamping mechanical arm for the closed water cutting machine tool according to claim 1 is characterized in that the L-shaped supporting plates (508) are composed of plate-shaped connecting blocks with two edges connected vertically, two L-shaped supporting plates (508) are arranged in number, and the two L-shaped supporting plates (508) and the two clamping jaws (4) are arranged in a cross staggered mode.
3. The feeding and discharging clamping mechanical arm for the closed water cutting machine tool according to claim 1, wherein through holes which are matched with guide frames (531) are formed in two sides of the positioning frame (502), the guide pins (534) are matched with the inner sides of the oblique connecting guide rails (525), and grooves which are matched with the oblique connecting guide rails (525) are formed in the inner sides of the guide frames (531).
4. The feeding and discharging clamping mechanical arm for the closed water cutting machine tool according to claim 3, wherein a threaded hole matched with a threaded rod (538) is formed in the top of the L-shaped shifting frame (507), and a through hole matched with the top of the L-shaped shifting frame (507) is formed in the bottom of the distance adjusting block (509).
5. The feeding and discharging clamping mechanical arm for the closed water cutting machine tool according to claim 4, wherein the first contact piece (522) is electrically connected with an external power supply through a wire, and the second contact piece (524) is electrically connected with the buzzer (513) through a wire.
6. The loading and unloading clamping mechanical arm for a closed water cutting machine tool according to claim 5, wherein the initial horizontal height of the sleeve (517) is equal to the horizontal height of the bolt (515), the diameter of the inner wall of the sleeve (517) is equal to the diameter of the bolt (515), and the outer side of the partition plate (521) is attached to the inner wall of the sleeve (517).
7. The loading and unloading clamping mechanical arm for the closed water cutting machine tool according to claim 6, wherein through holes matched with the hexagonal connecting rods (511) are formed in the inner sides of the first transmission bevel gear (526) and the rotation following sleeve (530).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311833466.5A CN117464572B (en) | 2023-12-28 | 2023-12-28 | Feeding and discharging clamping mechanical arm for closed water cutting machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311833466.5A CN117464572B (en) | 2023-12-28 | 2023-12-28 | Feeding and discharging clamping mechanical arm for closed water cutting machine tool |
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| Publication Number | Publication Date |
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| CN117464572A CN117464572A (en) | 2024-01-30 |
| CN117464572B true CN117464572B (en) | 2024-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311833466.5A Active CN117464572B (en) | 2023-12-28 | 2023-12-28 | Feeding and discharging clamping mechanical arm for closed water cutting machine tool |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1657018A1 (en) * | 2004-11-10 | 2006-05-17 | Serra Soldadura, S.A. | Automatic compensation method and apparatus for welding clamp |
| CN218285533U (en) * | 2022-07-28 | 2023-01-13 | 深圳市万至达电机制造有限公司 | Mechanical arm with flexible movement |
| CN116038668A (en) * | 2023-03-31 | 2023-05-02 | 深圳博尚精密制造有限公司 | Grabbing manipulator for processing precise electronic device |
| KR102526985B1 (en) * | 2022-06-21 | 2023-05-02 | 주식회사 비즈플러스글로벌 | robot bending system for factory automation |
| CN117245634A (en) * | 2023-11-15 | 2023-12-19 | 云南师范大学 | Six-degree-of-freedom high-precision mechanical arm |
-
2023
- 2023-12-28 CN CN202311833466.5A patent/CN117464572B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1657018A1 (en) * | 2004-11-10 | 2006-05-17 | Serra Soldadura, S.A. | Automatic compensation method and apparatus for welding clamp |
| KR102526985B1 (en) * | 2022-06-21 | 2023-05-02 | 주식회사 비즈플러스글로벌 | robot bending system for factory automation |
| CN218285533U (en) * | 2022-07-28 | 2023-01-13 | 深圳市万至达电机制造有限公司 | Mechanical arm with flexible movement |
| CN116038668A (en) * | 2023-03-31 | 2023-05-02 | 深圳博尚精密制造有限公司 | Grabbing manipulator for processing precise electronic device |
| CN117245634A (en) * | 2023-11-15 | 2023-12-19 | 云南师范大学 | Six-degree-of-freedom high-precision mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN117464572A (en) | 2024-01-30 |
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