CN217620594U - Multi-degree-of-freedom mechanical arm for transferring operation of circumferential installation sleeve - Google Patents
Multi-degree-of-freedom mechanical arm for transferring operation of circumferential installation sleeve Download PDFInfo
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- CN217620594U CN217620594U CN202222463866.9U CN202222463866U CN217620594U CN 217620594 U CN217620594 U CN 217620594U CN 202222463866 U CN202222463866 U CN 202222463866U CN 217620594 U CN217620594 U CN 217620594U
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Abstract
The utility model relates to an automated processing field specifically discloses a multi freedom arm that is used for circumference installation sleeve to transport operation. The multi-degree-of-freedom mechanical arm comprises a clamping assembly, a transverse translation assembly, a rotating assembly and a longitudinal translation assembly, wherein the clamping assembly comprises a clamping base, a clamping driving unit and two chucks, the two chucks are oppositely arranged, and a clamping interval is formed between the two chucks; the transverse translation assembly comprises a transverse driving unit and a transverse mounting seat, and the transverse driving unit is arranged on the transverse mounting seat; the rotating assembly comprises a rotating seat and a rotating driving unit, and the rotating driving unit is arranged on the rotating seat; the longitudinal translation assembly comprises a longitudinal mounting seat and a longitudinal driving unit. The multi-degree-of-freedom mechanical arm can clamp the circumferential installation sleeve and perform feeding and discharging operations, and conditions are created for automatic machining of the circumferential installation sleeve.
Description
Technical Field
The utility model relates to an automated processing field, concretely relates to multi freedom arm that is used for circumference installation sleeve to transport operation.
Background
The circumference installation sleeve that this application was directed to is an automobile parts. As shown in fig. 1, the circumferential installation sleeve 1 includes a sleeve body 01 and an installation wing plate 02 disposed outside the sleeve body, the sleeve body is provided with a through hole, and the installation wing plate is provided with an installation hole. When the sleeve is processed, the end face of the sleeve body and the positioning face of the installation wing plate need to be processed, and meanwhile, a through hole and an installation hole need to be processed.
Because the machined surface of circumference installation sleeve all sets up along the axial, as shown in fig. 2, adopt the circumference centre gripping form in the course of working, but the circumference shape of circumference installation sleeve is irregular, and needs carry out axial positioning, realizes that the degree of difficulty of automatic centre gripping is great.
The utility model discloses an aim at is to the telescopic structure of circumference installation promptly, designs a multi freedom's arm for the telescopic transportation of circumference installation with go up the unloading operation, create the condition for the telescopic reliable centre gripping of circumference installation.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a multi freedom arm for operation is transported to circumference installation sleeve, can carry out the centre gripping to circumference installation sleeve and go up the unloading operation, create the condition for the telescopic automated processing of circumference installation.
In order to solve the technical problem, the utility model provides a technical scheme as follows: a multi-degree-of-freedom robotic arm for circumferentially mounting sleeve transfer operations, comprising at least:
the clamping assembly comprises a clamping base, a clamping driving unit and two chucks, wherein the clamping driving unit is arranged on the clamping base; the two chucks are oppositely arranged, and a clamping interval is formed between the two chucks; the clamping driving unit is used for driving the two clamping heads to relatively approach or move away;
the transverse translation assembly comprises a transverse driving unit and a transverse mounting seat, and the transverse driving unit is arranged on the transverse mounting seat and drives the clamping assembly to transversely translate;
the rotating assembly comprises a rotating seat and a rotating driving unit, and the rotating driving unit is arranged on the rotating seat; the rotary driving unit drives the transverse mounting seat to rotate, and the rotation center of the transverse mounting seat is perpendicular to the translation direction of the clamping assembly;
the longitudinal translation assembly comprises a longitudinal mounting seat and a longitudinal driving unit, and the longitudinal driving unit drives the longitudinal mounting seat to translate longitudinally; the rotating seat is arranged on the longitudinal mounting seat;
the translation direction of the longitudinal installation seat is perpendicular to or inclined to the translation direction of the clamping assembly.
When the transfer operation of the circumferential installation sleeve is carried out, firstly, the transverse translation assembly, the rotating assembly and the longitudinal translation assembly are matched with a workpiece, and the clamping assembly moves to a sleeve body corresponding to the circumferential installation sleeve and enters a clamping space; the two chucks are close to each other until the chucks are contacted with the end part of the sleeve body and clamp the sleeve body after the clamping driving unit works; and finally, the transverse translation assembly, the rotating assembly and the longitudinal translation assembly are matched with a workpiece, the circumferential installation sleeve is transferred to a processing station, the clamping driving unit works, and the two chucks are far away from each other to loosen the sleeve body.
The clamping is carried out through the contact of the ejector head and the end face of the sleeve body, the clamping effect is reliable, the clamping assembly is not in contact with the circumferential direction of the sleeve body, and enough space is reserved for circumferential clamping of the circumferential installation sleeve at the machining station on the next step. In addition, the chuck is in contact with the end face of the sleeve body, so that the axial positioning precision in the transferring process of the circumferential installation sleeve can be effectively guaranteed, and the processing precision is further improved.
Preferably, the clamping driving unit and the transverse driving unit are telescopic air cylinders; the rotary driving unit is a rotary cylinder.
Preferably, the longitudinal translation assembly further comprises a base and a guide rail arranged on the base, the longitudinal mounting seat is connected with the guide rail, and the longitudinal driving unit is arranged on the base.
Preferably, the longitudinal driving unit comprises a motor and a screw transmission mechanism.
Preferably, one end of the chuck facing the clamping area is provided with a top head, and the free end of the top head is provided with a chamfer.
The blank of circumference installation sleeve can form the depressed area at least one terminal surface of sleeve body in the course of working, and the chamfer and the depressed area cooperation of top can effectively improve the centre gripping reliability.
Preferably, the clamping base is detachably connected with an intermediate block, and the clamping head is arranged on the intermediate block.
Can adapt to the circumference installation sleeve of different specifications through the form of changing chuck and middle block, enlarge application scope.
Preferably, the clamping assembly further comprises an adjusting drive and a circumferential positioning unit, wherein the adjusting drive drives at least one clamp head to rotate around the axis; the circumferential positioning unit is arranged on the clamping base and is arranged towards the clamping area.
And under the condition that the chuck reliably clamps the sleeve body, the driving piece is adjusted to drive the chuck to rotate and further drive the circumferential installation sleeve to rotate until one of installation wing plates of the circumferential installation sleeve rotates to face the circumferential positioning unit, and the driving piece is adjusted to stop working. Through the cooperation of the adjusting driving piece and the axial positioning unit, the postures of the circumferential installation sleeve fed into the machining station can be ensured to be consistent, and the circumferential installation sleeve can be reliably and stably clamped in the machining station.
Drawings
FIG. 1 is a schematic view of a circumferentially mounted sleeve;
FIG. 2 is a view of the clamping of the circumferentially mounted sleeve at a processing station;
FIG. 3 is a schematic structural diagram of the multi-degree-of-freedom mechanical arm for the transfer operation of the circumferential installation sleeve according to the embodiment;
FIG. 4 is a schematic structural diagram of another state of the multi-degree-of-freedom mechanical arm for the transfer operation of the circumferential installation sleeve in the embodiment;
FIG. 5 is a schematic structural diagram of a clamping assembly of the multi-degree-of-freedom mechanical arm for a circumferential mounting sleeve transfer operation according to the present embodiment;
FIG. 6 is a schematic structural diagram of a second form of clamping assembly in the multi-degree-of-freedom robotic arm for circumferential mounting sleeve transfer operations according to the present embodiment;
fig. 7 is a flowchart illustrating operation of the second form of clamping assembly in the multi-degree-of-freedom mechanical arm for transporting the circumferential installation sleeve according to the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
As shown in fig. 3 and 4, the multi-degree-of-freedom mechanical arm for the circumferential installation sleeve transfer operation comprises a clamping assembly 2, a transverse translation assembly, a rotating assembly and a longitudinal translation assembly.
As shown in fig. 5, the clamping assembly 2 includes a clamping base 22, a clamping driving unit 21, and two clamping heads 24, wherein the clamping driving unit 21 is disposed on the clamping base 22. The two clamping heads 24 are oppositely arranged, and a clamping interval is formed between the two clamping heads 24. The clamp driving unit 21 is used for driving the two clamping heads 24 to relatively move close to or away from each other. Specifically, the clamping driving unit 21 is a telescopic cylinder.
Specifically, as shown in fig. 5, one end of the chuck 24 facing the clamping area is provided with a plug, and a free end of the plug is provided with a chamfer. The blank of circumference installation sleeve can form the depressed area at least one terminal surface of sleeve body in the course of working, and the chamfer and the depressed area cooperation of top can effectively improve the centre gripping reliability.
Specifically, as shown in fig. 5, an intermediate block 23 is detachably connected to the clamping base 22, and the clamping head 24 is disposed on the intermediate block 23. The form that can change chuck 24 and middle piece 23 adapts to the circumference installation sleeve of different specifications, enlarges application scope.
As shown in fig. 3 and 4, the lateral translation assembly includes a lateral driving unit 8 and a lateral mounting base 3, and the lateral driving unit 8 is disposed on the lateral mounting base 3 and drives the clamping assembly 2 to translate laterally. Specifically, the transverse driving unit 8 is a telescopic cylinder.
As shown in fig. 3 and 4, the rotating assembly includes a rotating base 6 and a rotating driving unit 7, and the rotating driving unit 7 is disposed on the rotating base 6. The rotation driving unit 7 drives the transverse installation seat 3 to rotate, and the rotation center of the transverse installation seat 3 is perpendicular to the translation direction of the clamping assembly 2. Specifically, the rotation driving unit 7 is a rotation cylinder.
As shown in fig. 3 and 4, the longitudinal translation assembly includes a longitudinal mounting base 5 and a longitudinal driving unit 4, and the longitudinal driving unit 4 drives the longitudinal mounting base 5 to translate longitudinally. The rotating seat 6 is arranged on the longitudinal installation seat 5. The translation direction of the longitudinal mounting seat 5 and the translation direction of the clamping component 2 are mutually perpendicular or inclined.
Specifically, as shown in fig. 3 and 4, the longitudinal translation assembly further includes a base and a guide rail 9 disposed on the base, the longitudinal mounting base 5 is connected to the guide rail 9, and the longitudinal driving unit 4 is disposed on the base. The longitudinal driving unit 4 comprises a motor and a screw rod transmission mechanism.
When the circumferential installation sleeve 1 is transported, firstly, the transverse translation assembly, the rotation assembly and the longitudinal translation assembly are matched with a workpiece, and the clamping assembly 2 moves to a sleeve body corresponding to the circumferential installation sleeve and enters a clamping space; following the operation of the gripping drive unit 21, the two jaws 24 approach each other until the jaws 24 contact the end of the sleeve body and grip the sleeve body; and finally, the transverse translation assembly, the rotation assembly and the longitudinal translation assembly are matched with a workpiece to transfer the circumferential installation sleeve to a processing station, the clamping driving unit 21 works, and the two clamping heads 24 are far away from each other to loosen the sleeve body.
The clamping is carried out through the contact of the ejector head and the end face of the sleeve body, the clamping effect is reliable, the clamping assembly 2 is not in contact with the circumferential direction of the sleeve body, and enough space is reserved for circumferential clamping of the circumferential installation sleeve at the machining station on the next step. In addition, as the chuck 24 is in contact with the end face of the sleeve body, the axial positioning precision in the transferring process of the circumferential installation sleeve can be effectively ensured, and the processing precision is further improved.
Further, as shown in fig. 6 and 7, the clamping assembly 2 further includes an adjusting driver 26 and a circumferential positioning unit 25, wherein the adjusting driver 26 drives at least one clamping head 24 to rotate around an axis; the circumferential positioning unit 25 is disposed on the clamping base 22 and faces the clamping area. Specifically, the circumferential positioning unit is a proximity sensor or a travel switch arranged on the clamping base, and the adjusting driving piece is a motor arranged on the middle block.
In the state that the chuck 24 is reliably clamping the sleeve body, the adjusting driving member 26 drives the chuck 24 to rotate, and further drives the circumferential installation sleeve 1 to rotate until one of the installation wing plates 02 of the circumferential installation sleeve 1 rotates to face the circumferential positioning unit 5, and the adjusting driving member 26 stops working, that is, the state is adjusted from the state a in fig. 7 to the state B in fig. 7. By adjusting the matching of the driving piece 26 and the axial positioning unit, the postures of the circumferential installation sleeve sent into the processing station can be ensured to be consistent, and the circumferential installation sleeve can be reliably and stably clamped in the processing station.
In summary, the above description is only a preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (7)
1. A multi-degree-of-freedom mechanical arm for circumferential installation sleeve transfer operation is characterized by at least comprising:
the clamping assembly comprises a clamping base, a clamping driving unit and two chucks, wherein the clamping driving unit is arranged on the clamping base; the two chucks are oppositely arranged, and a clamping interval is formed between the two chucks; the clamping driving unit is used for driving the two clamping heads to relatively approach or move away;
the transverse translation assembly comprises a transverse driving unit and a transverse mounting seat, and the transverse driving unit is arranged on the transverse mounting seat and drives the clamping assembly to transversely translate;
the rotating assembly comprises a rotating seat and a rotating driving unit, and the rotating driving unit is arranged on the rotating seat; the rotary driving unit drives the transverse mounting seat to rotate, and the rotation center of the transverse mounting seat is vertical to the translation direction of the clamping assembly;
the longitudinal translation assembly comprises a longitudinal mounting seat and a longitudinal driving unit, and the longitudinal driving unit drives the longitudinal mounting seat to translate longitudinally; the rotating seat is arranged on the longitudinal mounting seat;
the translation direction of the longitudinal installation seat is perpendicular to or inclined to the translation direction of the clamping assembly.
2. The multi-degree-of-freedom robotic arm of claim 1, wherein: the clamping driving unit and the transverse driving unit are telescopic air cylinders; the rotary driving unit is a rotary cylinder.
3. The multi-degree-of-freedom robotic arm of claim 1, wherein: the longitudinal translation assembly further comprises a base and a guide rail arranged on the base, the longitudinal installation seat is connected with the guide rail, and the longitudinal driving unit is arranged on the base.
4. The multi-degree-of-freedom robotic arm of claim 3, wherein: the longitudinal driving unit comprises a motor and a screw rod transmission mechanism.
5. The multi-degree-of-freedom robotic arm of claim 1, wherein: the chuck is equipped with the top towards the interval one end of centre gripping, the free end of top is equipped with the chamfer.
6. The multi-degree-of-freedom robotic arm of claim 1, wherein: the clamping base is detachably connected with an intermediate block, and the chuck is arranged on the intermediate block.
7. The multi-degree-of-freedom robotic arm of any one of claims 1-6, wherein: the clamping assembly further comprises an adjusting driving piece and a circumferential positioning unit, wherein the adjusting driving piece drives at least one clamping head to rotate around the axis; the circumferential positioning unit is arranged on the clamping base and is arranged towards the clamping area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222463866.9U CN217620594U (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom mechanical arm for transferring operation of circumferential installation sleeve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222463866.9U CN217620594U (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom mechanical arm for transferring operation of circumferential installation sleeve |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217620594U true CN217620594U (en) | 2022-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222463866.9U Active CN217620594U (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom mechanical arm for transferring operation of circumferential installation sleeve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217620594U (en) |
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2022
- 2022-09-19 CN CN202222463866.9U patent/CN217620594U/en active Active
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