CN204525002U - A kind of automatic mechanical arm - Google Patents

Abstract

The utility model relates to the field of mechanical arms, in particular to an automatic mechanical arm. Comprising a frame (100), the frame (100) is provided with a servo motor (300), and a mechanical arm (200) is also provided on the frame (100), and the mechanical arm (200) is positioned on the servo motor Driven by (300) telescopic movement, the end of described mechanical arm (200) is provided with fixture seat (500), and described fixture seat (500) is provided with feeding fixture (501) and material taking fixture ( 502), the mechanical arm (200) is also provided with a first cylinder (202) that controls the rotation of the clamp seat (500) and a second cylinder (203) that controls the horizontal movement of the clamp seat (500) . The fixture seat of the mechanical arm can rotate under the action of the cylinder, correspondingly control the intermittent position change of the feeding fixture and the retrieving fixture, respectively clamp the blank to be processed and the processed component, and perform corresponding processing, realizing automatic clamping , Feeding and retrieving can be a good substitute for labor.

Description

An automated robotic arm

technical field

The utility model relates to the field of mechanical arms, in particular to an automatic mechanical arm.

Background technique

The robotic arm is currently the most widely used automated mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and precisely locate a certain point in three-dimensional (or two-dimensional) space for operation. For the field of mechanical processing, due to the relatively large differences in the structures of lathes, machining centers, grinders, and planers, and the mechanical arm is limited by its own structure, the application of mechanical arms in the field of machining is very immature. Therefore, the existing The technologies are all special feeding equipment formulated by CNC lathes or machining centers. They are fixed and installed by professionals, and are manually picked up on lathes or machining centers for fixing and processing, and then the processed parts are manually dismantled and sent. to a specific location. This traditional manual work method has high requirements for operators, and the efficiency of manual operation is low, the cost is high and safety accidents are prone to occur.

Utility model content

In order to solve the above technical problems, the utility model provides a mechanical arm capable of automatic operation, which can completely replace manual operation and greatly improve production efficiency.

The technical scheme adopted by the utility model to solve the above technical problems is: an automatic mechanical arm, including a frame, a servo motor is arranged on the frame, a mechanical arm is also arranged on the frame, and the mechanical arm is The arm moves telescopically under the drive of the servo motor. A clamp seat is provided at the end of the mechanical arm. There is a first cylinder for controlling the rotation of the clamp base and a second cylinder for controlling the horizontal movement of the clamp base.

For an automated mechanical arm in the utility model, as an optional solution, a rack is provided on the mechanical arm, and a rack meshing with the rack is also provided on the frame. gear, the servo motor drives the gear to rotate.

For an automatic mechanical arm in the utility model, as a further improvement on the frame, the frame includes a base, a lifting seat, a lifting column and a working main table, and the lifting seat is arranged on the base On the above, the lifting column can be set on the lifting seat, the main work table is set on the lifting column, and the mechanical arm and the servo motor are both set on the on the working platform.

For the automatic mechanical arm in the utility model, as a further setting, sliding wheels and supporting feet are also provided at the bottom of the base.

For a kind of automatic mechanical arm in the utility model, as further setting, also be provided with feeding device on described frame, described feeding device also comprises vibrating plate, trough, pushing material cylinder and feeding track, One end of the feeding track is located in the vibrating plate, the other end is located in the trough, and the pushing cylinder is located at the trough, pushing the blank in the trough to the The feeding fixture.

For the above-mentioned automatic mechanical arm in the utility model, as a further setting, the horizontal height of the vibrating plate is greater than the horizontal height of the trough, so that the blank in the vibrating plate can be placed under the action of its own gravity Down through the feeding track into the trough.

For a kind of automatic mechanical arm in the utility model, as a further setting, the automatic mechanical arm also includes a control system, and a first induction switch and a second induction switch are respectively provided at the ends of the mechanical arm, An induction contactor is provided at the end of the mechanical arm close to the clamp seat.

For an automatic mechanical arm in the present utility model, as a further configuration, a motor support is provided on the frame, and the servo motor is fixed on the motor support.

For an automatic mechanical arm in the utility model, as a further setting, a slide rail is provided at the end of the mechanical arm close to the clamp seat, and the clamp seat is fixed on the On the slide rail, the second air cylinder controls the first air cylinder to slide on the slide rail.

As for the automatic mechanical arm in the present utility model, as a further setting, a speed reducer for regulating the conveying speed of the servo motor is also provided on the frame.

Using an automatic mechanical arm of the utility model has the following beneficial effects: since the automatic mechanical arm in the utility model is provided with a telescopic mechanical arm on the frame, the telescopic movement of the mechanical arm is controlled by a servo motor, and the A fixture seat is set at the end of the fixture seat, and a feeding fixture and a retrieving fixture are set on the fixture seat, which are used to clamp and send the blank to be processed to a specific position and clamp the processed parts to remove it from the lathe. Take it off and send it out. In the utility model, the clamp seat of the mechanical arm can rotate under the action of the cylinder, correspondingly control the intermittent position change of the feeding clamp and the picking clamp, and respectively clamp the blank to be processed and the processed component. Carry out corresponding processing, realize automatic clamping, feeding and retrieving, which can replace manual work well, and carry out the process of feeding and retrieving materials for lathes, machining centers, grinding machines and other machines, and the efficiency is extremely high, and it can be used 24 hours a day. Work, and can greatly reduce personnel injury accidents.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of automatic mechanical arm of the utility model;

Fig. 2 is the structural representation when a kind of automatic mechanical arm of the utility model is used on a common lathe;

Fig. 3 is a structural schematic diagram of an automatic mechanical arm of the present invention when it is used on a common machining center.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described implementation Example is a part of embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

A kind of automatic mechanical arm (hereinafter referred to as mechanical arm), as shown in Figure 1, comprises frame 100, and frame 100 among the utility model is made up of four parts, is respectively base 101, lifting seat 102, lifting column 103 and working The main platform 104, wherein the lifting base 102 is fixed on the base 101, the lifting column 103 is arranged in the lifting base 102, and the height can be adjusted up and down along the lifting base 102, and the working main platform 104 is fixed on the top of the lifting column 103. In order to move the mechanical arm better, a sliding wheel 105 and a supporting foot 106 can also be provided at the bottom of the base 101, the supporting foot 106 can be raised or lowered, and the frame 100 can be moved by the sliding wheel 105 until it is suitable. position, and then the support pin 106 is pulled down, and the mechanical arm is fixed on the ground.

A mechanical arm 200 and a servo motor 300 are arranged on the working main platform 104, and the mechanical arm 200 can telescopically move on the working main platform 104. For this, a slide rail (not marked in the figure) can be set on the working main platform 104, Set the mechanical arm 200 in the slide rail to make it telescopically move in the slide rail, and fix a rack 201 on the mechanical arm 200, and set a rack 201 engaged with the rack 201 on the output shaft of the servo motor 300 The gear (not shown in the figure) drives the rack 201 to move telescopically through the forward rotation and reverse rotation of the servo motor 300 . The speed reducer 400 can also be adorned on the servo motor 300 to control the output speed of the servo motor 300, so as to prevent the speed of the servo motor 300 from being too fast, difficult to control, or other accidents; Both the servo motor 300 and the reducer 400 are fixed on the motor support 301 .

For the way in which the above-mentioned servo motor 300 controls the telescopic movement of the mechanical arm 200 through the meshing of the gear and the rack 201, it can also be realized by other existing control methods. The stretching motion will not be repeated one by one here.

One end of the mechanical arm 200 is provided with a fixture seat 500. In the present utility model, the fixture seat 500 is preferably set to a cylindrical shape, and is fixed on the mechanical arm 200 in a rotatable manner. Feeding fixtures 501 and The pick-up jig 502, when in use, the feed jig 501 clamps the blank and sends the blank to the lathe or machining center with the extension of the mechanical arm 200, and the pick-up jig 502 picks up the blank processed in the lathe or machining center The workpiece is taken out, and the processed workpiece is moved out as the mechanical arm 200 shrinks.

In order to realize the rotation of the fixture base 500, and the clamping and retrieving process of the feeding fixture 501 and the retrieving fixture 502, a control cylinder is installed between the fixture base 500 and the mechanical arm 200, specifically, at the end of the mechanical arm 200 The first cylinder 202 and the second cylinder 203 are installed, and the fixture seat 500 is fixed on the first cylinder 202 through the rotating shaft 503, and the first cylinder 202 is slidably fixed on the end of the mechanical arm 200 through the slide rail structure, by The first cylinder 202 controls the rotation of the fixture seat 500, and the second cylinder 203 controls the horizontal movement of the fixture seat 500. When the fixture seat 500 enters the lathe or the machining center with the extension of the mechanical arm 200, the second cylinder 203 controls the movement of the fixture seat 500 in the horizontal direction so that it can be close to the tooling fixture of the lathe or the machining center, thereby removing the processed blank. The first cylinder 202 controls the rotation of the fixture seat 500 to make it rotate 180 degrees. The processed blank is sent to the tooling of the lathe or the machining center, and then the mechanical arm 200 exits, and the lathe or the machining center can start processing. This continuous cycle can realize automatic loading and unloading.

The utility model makes a fixture base 500, a feeding fixture 501, and a retrieving fixture 502 for the annular blank to be processed. As shown in FIG. The material clamps 502 are all in the shape of a split ring, which can be opened and closed under the action of pneumatic power, so as to clamp or put down the ring-shaped blank. Of course, when it is necessary to clamp blanks of other shapes, such as strip-shaped or long-axis-shaped blanks, the corresponding shapes of the clamp seat 500, the feeding clamp 501, and the retrieving clamp 502 can be modified according to actual needs.

The utility model is also provided with a control system to control the operation of the servo motor 300 and the first cylinder 202 and the second cylinder 203, and can specifically set the servo motor 300, the second cylinder 203 according to the working time and frequency of the lathe or machining center in the production process. Working parameters of the first cylinder 202, the second cylinder 203, etc. During the working process of the servo motor 300, the mechanical arm 200 rotates with it to realize the expansion and contraction process. An induction switch is provided, specifically: a first induction switch 204 is provided at one end of the mechanical arm 200 , and a second induction switch 205 is provided at the other end thereof. Under normal operating conditions, the first inductive switch 204 and the second inductive switch 205 do not work. When the control system has a small probability of failure, the first inductive switch 204 and the second inductive switch 205 are used as protective measures to prevent the inertia of the mechanical arm 200 from As a result, it crashes into a lathe or other devices, resulting in a safety accident. Its specific working principle is: when the mechanical arm 200 is in normal operation, the first induction switch 204 and the second induction switch 205 do not work. During the stretching process, since the mechanical arm 200 is out of the limit of the servo motor 300, it will exceed the upper and lower limits of its normal operating position. At this time, the first sensor switch 204 or the second sensor switch 205 It will pass through the inductive contactor 206, thereby sending a signal to the inductive contactor 206, and the inductive contactor 206 will respond to the control system after receiving the signal, and power off the circuit as a whole. Moreover, a buffer pad can also be installed under the end of the mechanical arm 200 to further prevent the hard collision of the mechanical arm 200 after it is out of control.

Fig. 2 is the structural schematic diagram of a kind of automatic mechanical arm of the present utility model when being used on common lathe, as shown in the figure, automatic mechanical arm 1000 is set beside lathe 800, when installing, ensure that the fixture seat of automatic mechanical arm 1000 can extend It enters the fixture of the lathe 800, and when its mechanical arm shrinks, the fixture seat can be located outside the lathe 800, and a conveyor belt 700 is also provided on the side of the lathe 800 close to the automatic mechanical arm 1000. When the mechanical arm exits the lathe After 800, the fixture seat above it takes out the tool processed by the lathe from the lathe and places it on the conveyor belt 700, collects it through the conveyor belt 700, and transports it to the designated position.

Fig. 3 is the structure schematic diagram of a kind of automatic manipulator arm of the present utility model when being used on common machining center, and lathe application is similar, promptly installs automation manipulator arm 1000 at machining center 900 places, same, will be next to machining center 900 A conveyor belt 700 is provided, so that the clamp seat on the mechanical arm can take out the workpiece processed in the machining center and then shrink it, and place it on the conveyor belt 700 after it reaches the top of the conveyor belt 700, and transport it to the designated position uniformly.

An automatic mechanical arm of the utility model is also provided with a feeding device 600, including a vibrating plate 601, a material trough 602, a material pushing cylinder 603 and a feeding track 604, which are used to deliver materials to be processed to a lathe or a processing center suitable for the mechanical arm. For the blank, the feeding device 600 is set on the working main table 104. When the mechanical arm is working, the blank to be processed is placed in the vibrating plate 601, and enters the material trough 602 through the feeding track 604, and the pushing cylinder 603 is set next to the material trough 602 , when the blank to be processed enters the material trough 602 from the vibrating plate 601 through the feeding track 604, the pushing cylinder 603 pushes the blank to be processed in the material trough 602 to the feeding fixture 501 of the fixture seat 500, and the feeding The clamp 501 clamps the blank and sends it to the fixture of the lathe or machining center for processing.

The working process of the utility model is that the control circuit of the mechanical arm control system is connected in series with the circuit of the lathe computer, and the lathe computer provides signals. The mechanical arm 200 moves to the center of the main shaft of the lathe, and after reaching the preset position (the feeding fixture 501 is consistent with the center of the main shaft of the computer lathe),

a. The blanking process in the computer lathe: the second cylinder 203 moves to the right (in the direction of the spindle of the computer lathe) with the pick-up fixture 502, and after clamping the workpiece on the spindle (the control program on the computer lathe loosens the spindle), take it out The material clamp 502 moves horizontally to the set position in the opposite direction;

b. The material loading process in the computerized lathe: the retrieving jig 502 and the feeding jig 501 are driven by the first cylinder 202 to rotate clockwise 180 degrees (direction reversed) and positioned; Move to the right (in the direction of the lathe spindle), and send the workpiece into the computer lathe spindle fixture, then the computer lathe spindle fixture clamps the workpiece, the robot feeding fixture 501 loosens the clamp, and the feeding fixture 501 is driven by the first cylinder 202 to move horizontally in the opposite direction to the setting fixed position;

c. Delivery of the workpiece after processing: the mechanical arm 200 of the robotic arm is then driven by the servo motor 300 to move backward (outside the door of the computer lathe) to the preset position (at the same time the door of the computer lathe is closed, the processing program starts and automatically processes according to the preset program ); the retrieving fixture 502 and the feeding fixture 501 are driven by the second cylinder 203 to rotate counterclockwise 90 degrees, the retrieving fixture 502 is loosened, and the workpiece automatically falls into the conveyor belt arranged below the fixture,

d. Automatic feeding end retrieving process: the retrieving jig 502 and feeding jig 501 are driven by the second cylinder 203 to rotate clockwise 90 degrees, and the feeding jig 501 is driven by the first cylinder 202 to move towards the direction of the chute 602 to the preset position Finally, the pushing cylinder 603 pushes the workpiece in the trough 602 into the feeding fixture 501, and the feeding fixture 501 clamps the workpiece, and then is driven by the second cylinder 203 to move in the opposite direction to the preset limit position (in the trough 602). Automatically add new workpieces from the vibrating plate 601), the feeding fixture 501 and the retrieving fixture 502 are rotated counterclockwise by the first cylinder 202 (the position of the retrieving fixture 502 and the feeding fixture 501 are reversed); after the first workpiece is processed by the computer lathe, the back door opens , the process can be cycled according to a-b-c-d

The first process is an empty cycle of unprocessed workpieces, and the second cycle begins to formally process products.

When machining centers or grinding machines, gantry planers, gear shaving machines, etc. are used in conjunction with this robot, it is only necessary to adjust the fixtures accordingly.

The utility model is a component of an automatic mechanical arm. The cylinder is not limited to a pneumatic tool, but can be replaced by a hydraulic tool; the fixture can be determined according to the shape of the workpiece, such as a long shaft type, a gear type, or a special-shaped tool, and can be made corresponding to it. Fixtures are used, and the feeding device is improved accordingly.

The specific implementation of the utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned implementation, and within the knowledge of those skilled in the art, it can also Make various changes below.

Claims (10)

1. an automatic mechanical arm, comprise frame (100), frame (100) is provided with servo motor (300), it is characterized in that: in described frame (100), be also provided with mechanical arm (200), described mechanical arm (200) stretching motion under the drive of described servo motor (300), clamping fixture seat (500) is provided with in the end of described mechanical arm (200), described clamping fixture seat (500) is provided with feed clamp (501) and feeding fixture (502), described mechanical arm (200) is also provided with the second cylinder (203) controlling described clamping fixture seat (500) the first cylinder (202) of rotating and the described clamping fixture seat of control (500) and move horizontally.

2. a kind of automatic mechanical arm according to claim 1, it is characterized in that: on described mechanical arm (200), be provided with tooth bar (201), described frame (100) is also provided with the gear that engage with described tooth bar (201), and the gear described in described servo motor (300) drives rotates.

3. a kind of automatic mechanical arm according to claim 1, it is characterized in that: described frame (100) comprises base (101), elevating bracket (102), lifting column (103) and work main (104), described elevating bracket (102) is arranged on described base (101), described lifting column (103) is liftable to be arranged on described elevating bracket (102), main of described work (104) is arranged on described lifting column (103), described mechanical arm (200) and described servo motor (300) are all arranged in main of described work (104).

4. a kind of automatic mechanical arm according to claim 3, is characterized in that: be also provided with movable pulley (105) and feet (106) in described base (101) bottom.

5. a kind of automatic mechanical arm according to claim 1 or 3, it is characterized in that: in described frame (100), be also provided with pay-off (600), involving vibrations dish (601) gone back by described pay-off (600), hopper (602), pusher cylinder (603) and feeding track (604), described feeding track (604) one end is positioned at described vibrating disk (601), the other end is arranged in described hopper (602), described pusher cylinder (603) is positioned at described hopper (602) place, blank in described hopper (602) is pushed into described feed clamp (501).

6. a kind of automatic mechanical arm according to claim 5, it is characterized in that: the level height being greater than described hopper (602) from the level height of described vibrating disk (601), make the blank in described vibrating disk (601) under self gravitation effect, described hopper (602) can be entered into by described feeding track (604).

7. a kind of automatic mechanical arm according to claim 1, it is characterized in that: described automatic mechanical arm also comprises control system, be respectively equipped with the first inductive switch (204) and the second inductive switch (205) in the end of described mechanical arm (200), be provided with induction contactor (206) at described mechanical arm (200) near one end of described clamping fixture seat (500).

8. a kind of automatic mechanical arm according to claim 1, it is characterized in that: in described frame (100), be also provided with motor bearing (301), described servo motor (300) is fixed on described motor bearing (301).

9. a kind of automatic mechanical arm according to claim 1, it is characterized in that: be provided with slide rail at described mechanical arm (200) near the end of described clamping fixture seat (500), described clamping fixture seat (500) is fixed on described slide rail by described the first cylinder (202), and described the second cylinder (203) controls the first cylinder (202) and slides on described slide rail.

10. a kind of automatic mechanical arm according to claim 1, is characterized in that: the reductor (400) being also provided with the conveying rotating speed for regulating and controlling described servo motor (300) in described frame (100).