CN121199146A

CN121199146A - An auxiliary mechanism and operating method for clamping a robotic arm on a CNC lathe

Info

Publication number: CN121199146A
Application number: CN202511356292.7A
Authority: CN
Inventors: 祝先锋; 黄奇峰; 王蒙蒙
Original assignee: Suzhou Haze Industrial Equipment Co ltd
Current assignee: Suzhou Haze Industrial Equipment Co ltd
Priority date: 2025-09-22
Filing date: 2025-09-22
Publication date: 2025-12-26

Abstract

This invention relates to the field of CNC lathe equipment technology, specifically to an auxiliary mechanism and operating method for a CNC lathe clamping robotic arm, comprising: a robotic arm body, a support base, and an end effector. The support base has adjustable support components at its four corners and auxiliary transfer mechanisms on both sides; the end effector has auxiliary clamping mechanisms on both sides, including two symmetrical sets of grippers. The bottom of the grippers is rotatably mounted on a U-shaped plate, and the top is connected to a second drive component for opening and closing. The U-shaped plate is fixed to a moving block, which is connected to a second adjustment component to adjust the distance to the end effector, adapting to different workpieces. The equipment achieves rapid switching between stable and mobile states through foldable wheel sets and an adjustable support structure, improving transfer efficiency. Simultaneously, the auxiliary grippers can open and close synchronously and adjust their spacing, solving the problem of wobbling and instability in traditional clamping, enhancing adaptability to complex workpieces, and improving loading and unloading accuracy and operational safety.

Description

Auxiliary mechanism for clamping mechanical arm of numerical control lathe and operation method

Technical Field

The invention relates to the technical field of numerical control lathe equipment, in particular to an auxiliary mechanism for a clamping mechanical arm of a numerical control lathe and an operation method.

Background

The clamping mechanical arm of the numerical control lathe is automation equipment widely applied to the field of modern intelligent manufacturing, and has the main function of replacing manual feeding and discharging operation of the numerical control lathe, so that the production efficiency and the automation level are improved. The robot arm system is generally composed of a support base, a forearm, a wrist, an end effector, and other core components. The support base is used as a basis of the whole mechanical arm to provide a stable mounting platform for each moving part of the mechanical arm, the large arm and the small arm are connected through joints and driven by the driving device to perform rotation or pitching motion, so that the mechanical arm can extend and position in a space range, the wrist is connected to the tail end of the small arm and is used for adjusting the posture of an end effector, and the end effector is usually a clamping jaw module and is a part which directly contacts with a workpiece and performs grabbing operation. When the automatic clamping device works, the control system coordinates the movement of each joint shaft, so that the end effector can accurately move to the position of the material rack, then the clamping jaw is closed to clamp a workpiece, then the workpiece is transported to the center of the lathe chuck through the matched movement of each arm and is installed, after machining is finished, the finished product is taken down and returned to the position by executing the opposite process, and full-automatic circulation is realized.

In the prior art, in order to ensure the rigidity and stability of the mechanical arm during high-speed and high-load operation, a support base at the bottom of the mechanical arm is generally rigidly connected to the ground, for example, by fastening a bolt or the like to firmly fix the mechanical arm to a foundation or a large-sized mounting platform. This design provides a solid foundation for the overall operation of the robotic arm. Meanwhile, an end effector of a mechanical arm is generally provided with a jaw which can be opened and closed, and the jaw is driven to be opened and closed by means of electric, pneumatic or hydraulic modes. Through controlling the cooperative motion of the big arm, the small arm and the wrist, the mechanical arm can accurately position the clamping jaw to a target workpiece, and stable and reliable clamping and transferring of the workpiece are realized through the closing action of the clamping jaw.

However, the current technical solution also faces some limitations in practical application. On the one hand, when the mechanical arm is required to be subjected to large-range position transfer due to production layout adjustment, the fasteners for fixing the mechanical arm on the ground are required to be disassembled, then the mechanical arm is lifted by large-scale equipment such as a forklift or a crane, the process is complicated, and when only a small-range position fine adjustment is required, a plurality of operators are required to cooperatively carry, so that the mechanical arm is inconvenient to operate and has potential safety hazards, and the transfer and deployment efficiency of the mechanical arm is generally reduced. On the other hand, the existing articulated arm is matched with the design of the clamping jaw, and the existing articulated arm is good for clamping a workpiece with a regular shape and moderate length, and the clamping point of the existing articulated arm is usually positioned in the middle of the workpiece to ensure balance. However, when a work piece whose clamping cannot be performed due to the special-shaped structure exists in the middle portion of the face, the clamping jaw is forced to clamp only one end of the work piece. For long workpieces, the single-point clamping mode is easy to shake and unstable in posture due to cantilever effect in the carrying process, so that the clamping and placing precision is affected, potential risks are formed for safety of equipment and personnel, and the safety and reliability of the whole system are reduced. Therefore, the invention provides an auxiliary mechanism for a clamping mechanical arm of a numerical control lathe and an operation method thereof, which are used for solving the problems.

Disclosure of Invention

The invention aims to provide an auxiliary mechanism for a clamping mechanical arm of a numerical control lathe and an operation method thereof, so as to solve the problems in the background art.

The auxiliary mechanism for the numerical control lathe clamping mechanical arm comprises a numerical control lathe clamping mechanical arm body, a support base fixedly arranged at the bottom of the numerical control lathe clamping mechanical arm body and an end effector movably arranged at the top of the numerical control lathe clamping mechanical arm body, wherein adjustable support assemblies are arranged at four corners of the support base, auxiliary transfer mechanisms are arranged at two sides of the support base, and auxiliary clamping mechanisms are arranged at two sides of the end effector;

the auxiliary transfer mechanism comprises a bearing universal wheel, the top of the bearing universal wheel is fixedly connected with one side of a connecting plate through a connecting block, a counterweight plate is arranged on the other side of the connecting plate, a first adjusting component is arranged between two sides of the counterweight plate and the connecting plate and used for adjusting folding and opening of the connecting plate, a first driving component is arranged in the middle of the counterweight plate and used for driving the first adjusting component so as to enable the connecting plate to realize folding and opening;

The auxiliary clamping mechanism comprises two groups of clamping jaws symmetrically arranged on two sides of the end effector, one side of the bottom of each group of clamping jaw is rotatably arranged at the bottom of the U-shaped plate, each group of clamping jaw is connected with a second driving assembly, the second driving assemblies are used for driving the two clamping jaws to rotate relatively, one side of the top of the U-shaped plate is fixedly connected with the bottom end of the moving block, the top end of the moving block is connected with a second adjusting assembly, and the second adjusting assembly is used for adjusting the distance between the moving block and the end effector so that the clamping jaws adapt to workpieces with different lengths and shapes.

Preferably, the support assembly comprises four limiting blocks, the four limiting blocks are arranged in a direction relative to the bottom of the support base, one side of each limiting block is fixedly welded with the side wall of the support base, the inner threads of each limiting block are sleeved with a supporting rod, the bottom end of each supporting rod is fixedly connected with an anti-slip disc, and a twisting sleeve is fixedly sleeved at the top end of each supporting rod.

Preferably, the limiting plates are fixedly connected to two sides of the upper surface of the weight plate, the first driving assembly comprises a hand wheel, the hand wheel is fixedly connected to one end face of a worm, the worm is rotatably sleeved in a supporting seat fixedly connected with the upper surface of the weight plate, a worm wheel is meshed to the upper side of the worm, and a connecting shaft is fixedly sleeved in the middle of the worm wheel.

Preferably, the first adjusting component comprises a first connecting rod, two ends of the connecting shaft penetrate through the top of the limiting plate and are fixedly connected with one end of the first connecting rod, the other end of the first connecting rod is rotationally connected with one end of the second connecting rod through the limiting shaft, one side of the second connecting rod is fixedly connected with the connecting plate, the other end of the second connecting rod is rotationally connected with one end of the third connecting rod through the limiting shaft, and the other end of the third connecting rod is rotationally connected with the bottom of the limiting plate through the limiting shaft.

Preferably, the second adjusting component comprises a double-shaft motor, the double-shaft motor is fixedly arranged on one side of the end effector, two output ends of the double-shaft motor are fixedly connected with one end of an adjusting rod, the other end of the adjusting rod is rotationally sleeved in an L-shaped frame fixedly arranged on one side of the end effector, two sections of threads are symmetrically arranged on the adjusting rod and oppositely rotated, the top of the moving block is sleeved with the threads of the adjusting rod, a guide rod is arranged on one side of the adjusting rod, one end of the guide rod is fixedly arranged on the end effector, the guide rod is slidably connected with the top of the guide block, and the bottom of the guide block is fixedly connected with two sides of the top of the U-shaped plate.

Preferably, the second driving assembly comprises a synchronous cylinder, the synchronous cylinder is fixedly arranged in the middle of the top of the U-shaped plate, the output end of the synchronous cylinder penetrates through the U-shaped plate and is fixedly connected with the top of the U-shaped frame, two sides of the bottom of the U-shaped frame are rotationally connected with one end of the transmission plate through connecting pins, the other end of the transmission plate is rotationally connected with one side of the top of the clamping jaw through limiting pins, the other side of the top of the clamping jaw is rotationally connected with the U-shaped plate through fixing pins, and the U-shaped frame is in sliding connection with a sliding hole formed in the U-shaped plate through a sliding pin fixedly connected with the U-shaped plate.

An operation method of an auxiliary mechanism for a clamping mechanical arm of a numerical control lathe comprises the following steps:

preferably, when placing numerical control lathe centre gripping arm body, support it through supporting component, when needs transport numerical control lathe centre gripping arm body, at this moment through the cooperation of first actuating assembly and first adjusting part, make the connecting plate by originally personally submitting the vertical state and change to the horizontality with the level, bearing universal wheel and ground contact this moment, thereby be convenient for whole device transport, each part drive through numerical control lathe centre gripping arm body, make the gripper jaw that end effector drove its installation snatch the work piece, when snatching special-shaped work piece, need snatch its both ends etc. position when snatching, through second adjusting part and second actuating assembly cooperation, realize the snatching of clamping jaw, the flexibility has been improved.

Preferably, the support rod in the limiting block is screwed, so that the support rod is lifted and adjusted, the anti-slip disc is adjusted conveniently, the anti-slip disc is attached to or away from the ground, and the follow-up whole device is convenient to move.

Preferably, the support rod drives the anti-slip disc to be far away from the ground, the connection plate is driven to rotate from the original vertical state with the ground to the horizontal state with the ground under the running fit of the three connecting rods until the bearing universal wheel is contacted with the ground, and then the support rod is operated to drive the anti-slip disc to be far away from the ground, so that the whole device can be transported.

Preferably, the adjusting rod is driven by the double-shaft motor, so that the adjusting rod drives the moving block to move along the axial direction of the adjusting rod, the distance between the two groups of clamping jaws is adjusted, the clamping jaw is adapted to longer workpieces, the output end of the synchronous cylinder extends out, and clamping of the clamping jaws is indirectly controlled, so that the clamping jaw is adapted to grabbing of special-shaped workpieces.

Compared with the prior art, the invention has the beneficial effects that:

1. Through setting up but support assembly and the folding supplementary transport mechanism of expansion in both sides of support base four corners independent regulation, effectively improved the inconvenient problem of removal that traditional arm brought because of fixed mounting mode. The supporting component can flexibly lift to realize the stable contact or separation of the device and the ground, and the bearing universal wheels in the auxiliary transfer mechanism can be unfolded to contact the ground when the device needs to move and are matched with the design of the counterweight plate, so that the integral balance in the moving process is ensured, and the anti-overturning capability in fixed-point operation is also ensured. The structure enables operators to easily and rapidly complete position adjustment or station migration of the mechanical arm, does not depend on hoisting equipment or multi-person cooperative transportation, improves flexibility and operation efficiency of equipment deployment, and reduces safety risks and time cost caused by transportation.

2. By additionally arranging auxiliary clamping mechanisms capable of adjusting distance and linking on two sides of the end effector, the problem of unstable grabbing of special-shaped workpieces or long workpieces due to limited clamping points is effectively solved. The mechanism can adjust the intervals of clamping jaws at two sides through motor drive to adapt to workpieces with different lengths, and controls the clamping jaws to realize stable and synchronous opening and closing actions through pushing the linkage mechanism by the air cylinder, so that a reliable envelope is formed for the end parts of the workpieces or other non-ideal clamping positions. The design enhances the adaptability to workpieces with complex shapes, avoids shaking or slipping in the carrying process, improves the clamping precision and the placement accuracy, thereby guaranteeing the processing quality and the safety and reliability in the operation process and expanding the application range of the mechanical arm.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic top view of the internal structure of the present invention;

FIG. 4 is a schematic view of the internal structure of the present invention;

FIG. 5 is an enlarged schematic view of the structure A in FIG. 3 according to the present invention;

FIG. 6 is an enlarged schematic view of the structure of FIG. 3B according to the present invention;

FIG. 7 is an enlarged schematic view of the structure of FIG. 4 at C in accordance with the present invention;

Fig. 8 is an enlarged schematic view of the structure of fig. 4D according to the present invention.

The numerical control lathe clamping mechanical arm body comprises a mechanical arm body, a supporting base, a3 end effector, a 4 bearing universal wheel, a 5 connecting block, a 6 connecting plate, a 7 counterweight plate, an 8 clamping jaw, a 9U-shaped plate, a 10 moving block, an 11 limiting block, a 12 supporting rod, a 13 anti-slip plate, a 14, a hand wheel, a 15, a worm, a 16, a torsion sleeve, a 17, a sliding hole, a 18, a worm wheel, a 19, a connecting shaft, a 20, a first connecting rod, a 21, a limiting shaft, a 22, a second connecting rod, a 23, a third connecting rod, a 24, a double-shaft motor, a 25, an adjusting rod, a 26, an L-shaped frame, a 27, a guide rod, a 28, a guide block, a 29, a synchronous cylinder, a 30, a U-shaped frame, a 31, a transmission plate, a 32, a connecting pin, a 33, a limiting pin, a 34, a limiting plate, a 35, a fixing pin, a 36 and a sliding pin.

Detailed Description

In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.

Referring to figures 1 to 8, the invention provides a technical scheme, an auxiliary mechanism for a numerically controlled lathe clamping mechanical arm and an operation method, the auxiliary mechanism comprises a numerically controlled lathe clamping mechanical arm body 1, a support base 2 fixedly installed at the bottom of the numerically controlled lathe clamping mechanical arm body 1 and an end effector 3 movably installed at the top of the numerically controlled lathe clamping mechanical arm body 1, the support base 2 supports the bottom of the numerically controlled lathe clamping mechanical arm body 1, thereby guaranteeing the stability of the whole numerically controlled lathe clamping mechanical arm body 1, four corners of the support base 2 are provided with adjustable support components, the support base 2 is further supported by the support components, auxiliary transfer mechanisms are arranged at two sides of the support base 2 and are convenient for transferring the support base 2, so that the numerically controlled lathe clamping mechanical arm body 1 is convenient to transfer, the two sides of the end effector 3 are provided with auxiliary clamping mechanisms, the auxiliary clamping mechanisms assist when clamping special-shaped workpieces, the auxiliary clamping mechanisms comprise bearing universal wheels 4, the tops of the bearing universal wheels 4 are fixedly connected with one side of a connecting plate 6 through connecting block 5, the whole numerically controlled lathe clamping mechanical arm body 1 is convenient to carry out stability in the moving process, one side of the connecting plate 6 is provided with a counterweight plate 7, the counterweight plate 7 is fixedly connected with one side of the connecting plate 7, the connecting plate 7 is arranged at one side of the connecting plate 6, the other side of the connecting plate 7 is fixedly connected with the connecting plate 7, the two sides of the connecting plate 7 are arranged at the other side of the connecting plate 6 are used for adjusting the first side of the connecting plate 6, and the connecting plate is arranged at the middle part is used for adjusting the first connecting plate 6, and is used for adjusting and is arranged at the middle part to be used for adjusting and is used for adjusting and is arranged at the connecting plate 6, and is used for adjusting and is arranged at two sides. The auxiliary clamping mechanism comprises two groups of clamping jaws 8 symmetrically arranged on two sides of the end effector 3, each group of clamping jaws 8 are rotatably arranged at the bottom of a U-shaped plate 9 on one side of the bottom of each clamping jaw 8, the U-shaped plate 9 limits the clamping jaws 8, each group of clamping jaws 8 are connected with a second driving assembly on the top of each clamping jaw 8, the second driving assemblies are used for driving the two clamping jaws 8 to rotate relatively, so that the clamping of a special-shaped workpiece is facilitated, one side of the top of each U-shaped plate 9 is fixedly connected with the bottom end of a moving block 10, the top end of the moving block 10 is connected with a second adjusting assembly, and the second adjusting assembly is used for adjusting the distance between the moving block 10 and the end effector 3 so that the clamping jaws 8 adapt to workpieces with different lengths and shapes and the applicability of clamping workpieces is improved.

When placing numerical control lathe centre gripping arm body 1, support it through supporting component, the counter weight of the counter weight board 7 of again, support stability when this improves support base 2 to whole device placement, avoid center skew, when needs transport numerical control lathe centre gripping arm body 1, first through first actuating component and first adjusting component's cooperation, make connecting plate 6 by originally personally submitting the vertical state and change to the horizontality, bearing universal wheel 4 and ground contact this moment, release supporting component again and support base 2's support, thereby make whole device transport of cooperation bearing universal wheel 4, avoid the trouble of manual handling, the operation convenience has been improved, each part drive cooperation through numerical control lathe centre gripping arm body 1, make the gripper jaw that installs on it snatch the work piece, when snatch special-shaped work piece, gripper jaw can't be to the centre gripping of work piece, when need snatch in both ends etc. position, through second adjusting component and second actuating component cooperation, make gripper jaw 8 move in opposite directions, thereby snatch both sides to the work piece, the work piece snatch flexibility has been improved, and the fail safe reliability of whole system has been improved simultaneously.

The support component includes four stopper 11, four stopper 11 is the direction with supporting base 2 bottom and arranges, stopper 11 one side and supporting base 2 lateral wall welded fastening, and stopper 11 internal thread has cup jointed bracing piece 12 to it is spacing to bracing piece 12, bracing piece 12 bottom fixedly connected with anti-skidding dish 13, improves with ground frictional force, and the fixed cover in bracing piece 12 top is equipped with the twist sleeve 16.

Through twisting the twist sleeve 16, make it drive bracing piece 12 and rotate, bracing piece 12 is because stopper 11 screw thread cooperation to adjust bracing piece 12 lift, be convenient for then adjust skid-proof disc 13, make it and ground laminating or keep away from, and then be convenient for follow-up whole device's removal or support stability.

The two sides of the upper surface of the weight plate 7 are fixedly connected with a limiting plate 34, the first driving component comprises a hand wheel 14, the hand wheel 14 is fixedly connected to one end face of a worm 15, the worm 15 is driven to rotate by twisting the hand wheel 14, the worm 15 is rotationally sleeved in a supporting seat fixedly connected to the upper surface of the weight plate 7, the rotation stability of the worm 15 is improved, a worm wheel 18 is meshed to the upper side of the worm 15, the worm 15 is meshed with the worm wheel 18 for transmission, a connecting shaft 19 is fixedly sleeved in the middle of the worm wheel 18, the first adjusting component comprises a first connecting rod 20, two ends of the connecting shaft 19 penetrate through the top of the limiting plate 34 and are fixedly connected with one end of the first connecting rod 20, the other end of the first connecting rod 20 is rotationally connected with one end of a second connecting rod 22 through a limiting shaft 21, one side of the second connecting rod 22 is fixedly connected with the connecting plate 6, the other end of the second connecting rod 22 is rotationally connected with one end of a third connecting rod 23 through the limiting shaft 21, and the other end of the third connecting rod 23 is rotationally connected with the bottom of the limiting plate 34 through the limiting shaft 21.

When the feeding position is changed or the mechanical arm body 1 is required to be clamped by a numerically controlled lathe, the hand wheel 14 is twisted to drive the worm 15 to rotate, the worm 15 is meshed with the worm wheel 18 to drive the connecting shaft 19 to rotate, the connecting shaft 19 rotates under the limit of the top of the limit plate 34, so that the first connecting rod 20 fixedly connected with the two ends of the connecting shaft is driven to rotate towards the direction close to the support base 2, then the connecting plate 6 is driven to synchronously rotate under the connection action of the second connecting rod 22, the connecting plate 6 moves towards the direction close to the support base 2 through the rotating fit of the second connecting rod 22 and the third connecting rod 23, meanwhile, the connecting plate 6 is turned towards the direction close to the ground under the rotating connection between the third connecting rod 23 and the limit plate 34, the connecting shaft 19 continuously drives the first connecting rod 20 and the second connecting rod 22 to rotate, under the limit of the third connecting rod 23, the second connecting rod 22 drives the connecting plate 6 to rotate from the original vertical state with the ground to the horizontal state until the load-bearing universal wheel 4 contacts the ground, and then the support rod 12 drives the disc 13 to move away from the ground through the rotating fit of the third connecting rod 22, and the universal wheel 13 can conveniently rotate towards the whole mechanical arm body through the rotating device, namely the hand wheel 1 can be reset through the rotating support plate, and the whole mechanical arm is convenient to move the whole mechanical arm body through the support device through the reset device, and the reverse support device, and the whole mechanical arm is convenient to move the support device, and the support device is convenient to move the load-carrying device, and the whole support device, and has a high load when the support device is in a load has a high load and can reach a high load and a high load.

The second adjusting component comprises a double-shaft motor 24, the double-shaft motor 24 is electrically connected with external control equipment, the double-shaft motor 24 is fixedly arranged on one side of the end effector 3, two output ends of the double-shaft motor 24 are fixedly connected with one end of an adjusting rod 25, the other end of the adjusting rod 25 is rotationally sleeved in an L-shaped frame 26 fixedly arranged on one side of the end effector 3, the L-shaped frame 26 is used for limiting and supporting the adjusting rod 25, so that the rotation stability of the adjusting rod 25 is improved, two sections of threads are symmetrically arranged on the adjusting rod 25 and oppositely rotated, the top of the moving block 10 is in threaded sleeve joint with the adjusting rod 25, one side of the adjusting rod 25 is provided with a guide rod 27, one end of the guide rod 27 is fixedly arranged on the end effector 3, the guide rod 27 is in sliding connection with the top of the guide rod 28, the guide rod 27 is used for limiting and guiding the guide rod 28, the bottom end of the guide rod 28 is fixedly connected with two sides of the top of the U-shaped plate 9, thereby make guide block 28 drive U template 9 synchronous motion second actuating assembly include synchronous cylinder 29, synchronous cylinder 29 and external control equipment electric connection, through external control equipment, can make the output of two synchronous cylinders 29 synchronous flexible, synchronous cylinder 29 fixed mounting is in the middle of U template 9 top, synchronous cylinder 29's output runs through U template 9 and with U type frame 30 top fixed connection, U type frame 30 bottom both sides are rotated with drive plate 31 one end through connecting pin 32, drive plate 31 other end is rotated with clamping jaw 8 top one side through spacer pin 33 and is connected, clamping jaw 8 top other side is rotated with U template 9 through fixed pin 35 and is connected, U type frame 30 is through fixed connection's slide hole 17 sliding connection who offers on its smooth pin 36 and the U template 9.

When the workpiece which cannot be clamped by the special-shaped structure exists in the middle of the workpiece, the special-shaped structure is started through the double-shaft motor 24, the driving adjusting rod 25 is driven to rotate, the adjusting rod 25 is driven to move through threaded fit with the moving block 10, the moving block 10 moves along the axial direction of the guide block 28 and the guide rod 27 under the limit of the guide rod 27, the distance between the two groups of clamping jaws 8 is adjusted, the two groups of clamping jaws 8 can be controlled to move oppositely or back to move so as to adapt to workpieces with different lengths, then the output end of the synchronous cylinder 29 stretches out, the U-shaped frame 30 is driven to move in the U-shaped plate 9, the U-shaped frame 30 moves under the cooperation of the sliding pin 36 and the sliding hole 17, then the driving plate 31 moves away from the synchronous cylinder 29 through the connecting pin 32, the driving plate 31 drives the clamping jaws 8 to synchronously move under the connection of the limiting pin 33, and the two clamping jaws 8 move oppositely through the limit of the fixing pin 35, so that the end of the workpiece is clamped, the special-shaped workpiece is controlled to be clamped, the special-shaped workpiece is adapted to the special-shaped workpiece is further improved, the safety risk of the equipment and the whole safety risk system can be further improved.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The auxiliary mechanism for the numerical control lathe clamping mechanical arm comprises a numerical control lathe clamping mechanical arm body (1), a support base (2) fixedly installed at the bottom of the numerical control lathe clamping mechanical arm body (1) and an end effector (3) movably installed at the top of the numerical control lathe clamping mechanical arm body (1), and is characterized in that adjustable support assemblies are installed at four corners of the support base (2), auxiliary transfer mechanisms are arranged at two sides of the support base (2), and auxiliary clamping mechanisms are installed at two sides of the end effector (3);

The auxiliary transfer mechanism comprises a bearing universal wheel (4), the top of the bearing universal wheel (4) is fixedly connected with one side of a connecting plate (6) through a connecting block (5), a counterweight plate (7) is arranged on the other side of the connecting plate (6), a first adjusting component is arranged between two sides of the counterweight plate (7) and the connecting plate (6) and used for adjusting folding and opening of the connecting plate (6), a first driving component is arranged in the middle of the counterweight plate (7) and used for driving the first adjusting component so as to enable the connecting plate (6) to realize folding and opening and closing;

The auxiliary clamping mechanism comprises two groups of clamping jaws (8) symmetrically arranged on two sides of the end effector (3), each group of clamping jaws (8) are rotatably arranged on one side of the bottom of the U-shaped plate (9), each group of clamping jaws (8) are connected with a second driving assembly at the top, the second driving assemblies are used for driving the two clamping jaws (8) to rotate relatively, one side of the top of the U-shaped plate (9) is fixedly connected with the bottom end of the moving block (10), the top end of the moving block (10) is connected with a second adjusting assembly, and the second adjusting assembly is used for adjusting the distance between the moving block (10) and the end effector (3) so that the clamping jaws (8) adapt to workpieces with different lengths and shapes.

2. The auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the supporting assembly comprises four limiting blocks (11), the four limiting blocks (11) are arranged in a direction relative to the bottom of the supporting base (2), one side of each limiting block (11) is fixedly welded with the side wall of the supporting base (2), a supporting rod (12) is sleeved with an internal thread of each limiting block (11), an anti-slip disc (13) is fixedly connected to the bottom end of each supporting rod (12), and a twisting sleeve (16) is fixedly sleeved at the top end of each supporting rod (12).

3. The auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that limiting plates (34) are fixedly connected to two sides of the upper surface of the weight plate (7), the first driving assembly comprises a hand wheel (14), the hand wheel (14) is fixedly connected to one end face of a worm (15), the worm (15) is rotatably sleeved in a supporting seat fixedly connected with the upper surface of the weight plate (7), a worm wheel (18) is meshed to the upper side of the worm (15), and a connecting shaft (19) is fixedly sleeved in the middle of the worm wheel (18).

4. The auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the first adjusting component comprises a first connecting rod (20), two ends of a connecting shaft (19) penetrate through the top of a limiting plate (34) and are fixedly connected with one end of the first connecting rod (20), the other end of the first connecting rod (20) is rotatably connected with one end of a second connecting rod (22) through a limiting shaft (21), one side of the second connecting rod (22) is fixedly connected with a connecting plate (6), the other end of the second connecting rod (22) is rotatably connected with one end of a third connecting rod (23) through a limiting shaft (21), and the other end of the third connecting rod (23) is rotatably connected with the bottom of the limiting plate (34) through the limiting shaft (21).

5. The auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the second adjusting component comprises a double-shaft motor (24), the double-shaft motor (24) is fixedly arranged on one side of an end effector (3), two output ends of the double-shaft motor (24) are fixedly connected with one end of an adjusting rod (25), the other end of the adjusting rod (25) is rotatably sleeved in an L-shaped frame (26) fixedly arranged on one side of the end effector (3), two sections of threads are symmetrically arranged on the adjusting rod (25) and are opposite in rotation direction, the top of the moving block (10) is in threaded sleeve connection with the adjusting rod (25), a guide rod (27) is arranged on one side of the adjusting rod (25), one end of the guide rod (27) is fixedly arranged on the end effector (3), the guide rod (27) is in sliding connection with the top of the guide block (28), and the bottom end of the guide block (28) is fixedly connected with two sides of the top of the U-shaped plate (9).

6. The auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the second driving assembly comprises a synchronous cylinder (29), the synchronous cylinder (29) is fixedly arranged in the middle of the top of the U-shaped plate (9), the output end of the synchronous cylinder (29) penetrates through the U-shaped plate (9) and is fixedly connected with the top of the U-shaped frame (30), two sides of the bottom of the U-shaped frame (30) are rotatably connected with one end of a transmission plate (31) through connecting pins (32), the other end of the transmission plate (31) is rotatably connected with one side of the top of a clamping jaw (8) through limiting pins (33), the other side of the top of the clamping jaw (8) is rotatably connected with the U-shaped plate (9) through fixing pins (35), and the U-shaped frame (30) is slidably connected with sliding holes (17) formed in the U-shaped plate (9) through sliding pins (36) fixedly connected with the synchronous cylinder.

7. The method for operating the auxiliary mechanism for the numerically controlled lathe clamping mechanical arm according to claim 6, comprising the following steps:

When placing numerical control lathe centre gripping arm body (1), support it through supporting component, when needs are transported numerical control lathe centre gripping arm body (1), at this moment through the cooperation of first actuating assembly and first adjusting part, make connecting plate (6) by originally personally submitting the vertical state with the level and change to the horizontality, bearing universal wheel (4) and ground contact this moment, thereby be convenient for whole device transportation, each part drive through numerical control lathe centre gripping arm body (1), make end effector (3) drive the gripper jaw of installing on it snatch the work piece, when snatching special-shaped work piece, need snatch when snatching its both ends equiposition through second adjusting part and second actuating assembly cooperation, the snatch of realization clamping jaw (8), the flexibility has been improved.

8. The operation method of the auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the supporting rod (12) in the limiting block (11) is screwed, so that the supporting rod (12) is adjusted in a lifting mode, the anti-slip disc (13) is adjusted conveniently, and the anti-slip disc is attached to or separated from the ground conveniently, and further the follow-up whole device is moved conveniently.

9. The operation method of the auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that before the support rod (12) drives the anti-slip disc (13) to be far away from the ground, the connection plate (6) is driven to rotate from the original vertical state with the ground to the horizontal state with the ground under the rotation fit of the three connection rods through the meshing transmission of the worm wheel (18) and the worm (15) until the bearing universal wheel (4) is contacted with the ground, and then the support rod (12) is operated to drive the anti-slip disc (13) to be far away from the ground, so that the whole device can be transported.

10. The operation method of the auxiliary mechanism for the numerically controlled lathe clamping mechanical arm is characterized in that the adjusting rod (25) is driven by the double-shaft motor (24), the adjusting rod (25) drives the moving block (10) to move along the axis direction of the adjusting rod, so that the distance between the two groups of clamping jaws (8) is adjusted, a longer workpiece is adapted, the output end of the synchronous cylinder (29) extends out, and the clamping of the clamping jaws (8) is indirectly controlled, so that the clamping of the irregularly-shaped workpiece is adapted.