WO2023138139A1

WO2023138139A1 - Cutting tool locking mechanism for mechanical arm

Info

Publication number: WO2023138139A1
Application number: PCT/CN2022/127704
Authority: WO
Inventors: 曾琨; 黄树有; 刘代伟; 莫玉麟; 杨博会; 白晋
Original assignee: 珠海格力智能装备技术研究院有限公司; 珠海格力智能装备有限公司; 珠海格力电器股份有限公司
Priority date: 2022-01-21
Filing date: 2022-10-26
Publication date: 2023-07-27
Also published as: CN114505707A

Abstract

A cutting tool locking mechanism for a mechanical arm, the cutting tool locking mechanism comprising a cutting tool arm (1), wherein an end portion of the cutting tool arm (1) is provided with a clamping opening (2) and a cutting tool handle locking rod (3); the cutting tool handle locking rod (3) extends in a lengthwise direction of the cutting tool arm (1); a head end (4) of the cutting tool handle locking rod (3) points to the clamping opening (2), and a tail end (5) of the cutting tool handle locking rod (3) is inserted into the cutting tool arm (1) and points to the middle of the cutting tool arm (1); and a limiting block (6) is provided in the middle of the cutting tool arm (1). When the cutting tool handle locking rod (3) is locked, the limiting block (6) ascends in a direction perpendicular to the cutting tool arm (1), and a side face of the limiting block (6) abuts against the tail end (5) of the cutting tool handle locking rod (3); and when the cutting tool handle locking rod (3) is unlocked, the limiting block (6) descends in the direction perpendicular to the cutting tool arm (1), and makes space for the movement of the cutting tool handle locking rod (3). The cutting tool locking mechanism for a mechanical arm can quickly lock and unlock a cutting tool, and has the advantages of a good locking effect and ease of operation.

Description

A mechanical arm tool locking mechanism

This disclosure claims the priority of the Chinese patent application with the application number 202210074670.2 and the title of the invention “A Mechanical Arm Tool Locking Mechanism” submitted to the China Patent Office on January 21, 2022, the entire contents of which are incorporated by reference in this disclosure.

technical field

The present disclosure relates to the technical field of numerical control machine tools, in particular to a tool locking mechanism of a mechanical arm.

Background technique

The development of modern CNC machine tools is rapid. With the continuous development of industry, the parts processed by machine tools are becoming more and more complex, and the processing capabilities required by machine tools are constantly improving. In order to meet the different processing techniques of the same part and the processing requirements of different parts, it is necessary to change the spindle tool frequently. Fast automatic tool change can greatly reduce working hours and improve production efficiency. Although the existing ATC double-arm tool changer can realize tool clamping, the tool change speed of the tool changer clamping mechanism is not fast enough.

Contents of the invention

The purpose of the present disclosure is to avoid the deficiencies in the related art and provide a mechanical arm tool locking mechanism, which is convenient for quickly locking and unlocking the tool, and has the advantages of good locking effect and easy operation.

To achieve the above purpose, the present disclosure provides the following technical solutions:

A mechanical arm tool locking mechanism is provided, comprising a knife arm, the end of the knife arm is provided with a jaw and a knife handle locking lever, the knife handle locking lever extends along the length direction of the knife arm, the head end of the knife handle locking lever points to the jaw, the tail end of the knife handle locking lever is inserted on the knife arm and points to the middle of the knife arm, and the middle of the knife arm is provided with a limit block;

When locking the knife handle locking lever, the limit block rises in a direction perpendicular to the knife arm and its side abuts against the tail end of the knife handle locking lever;

When the handle locking lever is unlocked, the limiting block descends in a direction perpendicular to the knife arm and leaves a space for the moving of the knife handle locking lever.

In some embodiments, an installation opening is opened in the middle of the knife arm, a bottom plate is provided at the bottom of the installation opening, a compression spring is fixed on the bottom, the limiting block is fixed on the compression spring, and the limiting block is pressed to make the limiting block press down against the compression spring, otherwise, the compression spring is lifted to make the limiting block rise.

In some embodiments, a shaft sleeve and a transmission shaft are arranged above the knife arm, and the shaft sleeve is fixedly arranged. The transmission shaft passes through the shaft sleeve and is fixedly connected to the installation port. The transmission shaft can pass through the shaft sleeve and move up and down. The transmission shaft drives the knife arm close to or away from the end face of the shaft sleeve. When the knife arm is close to the end face of the shaft sleeve, the limit block is pressed by the end face of the shaft sleeve.

In some embodiments, a pressure plate is fixedly attached to the end surface of the bushing close to the knife arm, and the transmission shaft passes through the pressure plate.

In some embodiments, a protrusion is provided on the top of the limiting block, and the protrusion extends above the knife arm and can be pressed by the pressing plate.

In some embodiments, an expansion sleeve assembly is provided in the installation opening, the outer circumference of the expansion sleeve assembly abuts against the inner wall of the installation opening, and the inner wall of the expansion sleeve assembly is passed through by the outer end of the transmission shaft and embraces the transmission shaft.

In some embodiments, the expansion sleeve assembly includes an outer expansion sleeve and an inner expansion sleeve. The inner expansion sleeve is located inside the outer expansion sleeve. A cavity is formed between the outer peripheral wall of the inner expansion sleeve and the inner peripheral wall of the outer expansion sleeve. The two ends of the cavity expand and the middle of the cavity narrows. Two ends of the cavity are respectively inserted with support blocks. The support blocks are plugged into the cavity.

In some embodiments, the cross section of the cavity is formed by splicing two inverted isosceles trapezoids.

In some embodiments, a shaft shoulder is provided on the peripheral side of the head end of the handle locking rod, and a retaining ring is fixed on the shoulder, and a spring ring is sleeved on the tail end of the handle locking rod, and the spring ring abuts against the retaining ring.

In some embodiments, a waist-shaped hole is opened at the tail end of the handle locking rod, and a positioning pin is inserted into the waist-shaped hole, and the positioning pin is fixedly arranged.

The beneficial effects of the present disclosure of a mechanical arm tool locking mechanism:

(1) In the tool locking mechanism of the mechanical arm of the present disclosure, a limiting block is provided in the middle of the knife arm, and the tail end of the handle locking rod can be quickly and firmly pushed up by driving the limiting block to achieve the effect of locking the locking rod of the handle; by driving the limiting block down, the space position for the locking rod of the handle can be moved, so that the locking rod of the locking handle can move freely, and the effect of unlocking the locking rod of the handle is achieved.

(2) The tool locking mechanism of the mechanical arm of the present disclosure has a simple structure and is easy to operate. It can quickly unlock or lock the locking lever of the tool handle, which improves the speed of tool switching and is beneficial to improving the working speed of the CNC machine tool.

Description of drawings

Fig. 1 is a structural schematic diagram of the tool locking mechanism of the mechanical arm of the embodiment.

Fig. 2 is a schematic diagram of an exploded structure of the tool locking mechanism of the robotic arm of the embodiment.

Fig. 3 is a cross-sectional view when the tool locking mechanism of the robotic arm of the embodiment presses the limit block.

Fig. 4 is a cross-sectional view of the embodiment of the tool locking mechanism of the robotic arm when the limit block is not pressed.

Fig. 5 is a diagram of the working state of the handle locking lever, retaining ring and spring ring of the heating device of the embodiment.

Fig. 6 is a cross-sectional view of the expansion sleeve assembly of the embodiment.

reference sign

Knife arm 1; jaw 2; handle locking rod 3; head end 4; tail end 5; limit block 6; installation port 7; bottom plate 8; compression spring 9; bushing 10; transmission shaft 11; 5; knife 26; pin 27.

Detailed ways

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only, and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a", "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first", "second", "third", etc. may be used in the present disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present disclosure, first information may also be called second information, and similarly, second information may also be called first information. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

Example

A mechanical arm tool locking mechanism disclosed in this embodiment, as shown in Figures 1-3, includes a knife arm 1, the end of the knife arm 1 is provided with a clamping mouth 2 and a handle locking lever 3, the knife handle locking lever 3 extends along the length direction of the knife arm 1, the head end 4 of the knife handle locking lever 3 points to the jaw 2, the tail end 5 of the knife handle locking lever 3 is inserted on the knife arm 1 and points to the middle of the knife arm 1, and the middle of the knife arm 1 is provided with a limit block 6; When the knife handle locking lever 3 is used, the stop block 6 rises in a direction perpendicular to the knife arm 1 and its side abuts against the tail end 5 of the knife handle locking lever 3;

By being provided with a stopper 6 in the middle part of the knife arm 1, by driving the stopper 6 to rise, the tail end 5 of the handle of a knife lock bar 3 can be quickly and firmly pressed to achieve the effect of locking the handle lock bar 3;

As shown in Figures 2-3, the middle part of the knife arm 1 is provided with an installation opening 7, the bottom of the installation opening 7 is provided with a bottom plate 8, and a compression spring 9 is fixed on the bottom, and the stop block 6 is fixed on the compression spring 9, and the stop block 6 is pressed so that the stop block 6 is pressed against the compression spring 9 to descend, otherwise the compression spring 9 is lifted to make the stop block 6 rise. The bottom plate 8 provides the installation position for the compression spring 9 and the stop block 6, and the installation opening 7 is located in the middle of the knife arm 1, so that the tail end 5 of the handle locking rod 3 is directly directed to the installation opening 7. As shown in FIG. 2 , a pin 27 is connected to the limiting block 6 , and the limiting block 6 can move up or down along the pin 27 , and the pin 27 plays a role of stabilizing the limiting block 6 .

As shown in Figures 3-4, a shaft sleeve 10 and a transmission shaft 11 are arranged above the knife arm 1, and the shaft sleeve 10 is fixedly arranged. The transmission shaft 11 passes through the shaft sleeve 10 and is fixedly connected to the installation port 7. The transmission shaft 11 can pass through the shaft sleeve 10 and move up and down. When the knife arm 1 is close to the end face of the bushing 10 (as shown in FIG. 3 ), the stopper 6 is pressed by the end face of the bushing 10;

As shown in FIGS. 3-4 , a pressure plate 12 is affixed to the end surface of the bushing 10 close to the knife arm 1 , and the transmission shaft 11 passes through the pressure plate 12 . The pressing plate 12 makes the shaft sleeve 10 better contact the limiting block 6 , so as to facilitate pressing the limiting block 6 .

As shown in FIGS. 3-4 , a protrusion 13 is provided on the top of the limiting block 6 , and the protrusion 13 extends above the knife arm 1 and can be pressed by the pressing plate 12 . The protrusion 13 makes the limiting block 6 better approach the pressing plate 12, improving the pressing sensitivity.

As shown in FIGS. 3-4 , an expansion sleeve assembly 14 is provided inside the installation opening 7 , and the outer periphery of the expansion sleeve assembly 14 abuts against the inner wall of the installation opening 7 , and the inner wall of the expansion sleeve assembly 14 is passed through by the outer end of the transmission shaft 11 and embraces the transmission shaft 11 . The transmission shaft 11 can be stably fixed in the installation opening 7 through the tightening action and the expansion action of the expansion sleeve assembly 14 . Specifically, as shown in FIG. 6, the expansion sleeve assembly 14 includes an outer expansion sleeve 15 and an inner expansion sleeve 16. The inner expansion sleeve 16 is located inside the outer expansion sleeve 15. A cavity 17 is formed between the outer peripheral wall of the inner expansion sleeve 16 and the inner peripheral wall of the outer expansion sleeve 15. The two ends of the cavity 17 are expanded and the middle of the cavity 17 is narrowed. Support blocks 19 are respectively inserted into the two ends of the cavity 17. The support block 19 is plugged in the cavity 17, and the support block 1 The area of the bottom of 9 gradually decreases from its insertion start end 20 to its insertion end end 21. The support blocks 19 at the two ends of the chamber position 17 press down. Since the bottom area of the support block 19 gradually decreases from its insertion start end 20 to its insertion end end 21, the more the support block 19 is pressed down, the more the side of the support block 19 close to the inner wall of the outer expansion sleeve 15 can stretch the outer expansion sleeve 15, so that the outer expansion sleeve 15 is stably against the inner wall of the installation port 7. Squeeze the inner expansion sleeve 16 toward the middle, so that the inner expansion sleeve 16 hugs the transmission shaft 11 tightly. Therefore, the expansion sleeve assembly 14 not only plays a role in abutting against the installation port 7, but also can hold the transmission shaft 11 tightly, so that the transmission shaft 11 is stably fixed on the installation port 7.

As shown in FIG. 6 , the cross section of the cavity 17 is formed by splicing two inverted isosceles trapezoids. The cross-section of the cavity 17 is two inverted isosceles trapezoids, which can better form the cavity 17 with both ends expanded and narrowed in the middle, and it is also convenient for the cross-section of the support block 19 to be designed as an inverted isosceles trapezoid, so that the support block 19 can quickly and better expand the outer expansion sleeve 15 and squeeze the inner expansion sleeve 16.

As shown in FIG. 5 , a shaft shoulder 22 is provided on the peripheral side of the head end 4 of the handle locking rod 3 , and a retaining ring 23 is fixed on the shoulder 22 . The retaining ring 23 is arranged on the shaft shoulder to stably fix the retaining ring 23 , and the retaining ring 23 can limit the position of the spring ring 24 .

As shown in FIG. 5 , a waist-shaped hole 25 is opened at the tail end 5 of the handle locking rod 3 , and a positioning pin is inserted in the waist-shaped hole 25 , and the positioning is slightly fixed. Because the waist-shaped hole 25 has a certain length, after the positioning pin is fixed, the knife handle locking lever 3 can still reciprocate with the positioning pin, and the positioning pin can prevent the knife handle locking lever 3 from turning over.

manual:

After the tool selection 26 on the cutter head is completed, the tool 26 arrives at the designated position to prepare for tool change. The driven transmission shaft 11 is driven by the motor, and the drive shaft 11 drives the knife arm 1 to rotate together. After the cutter 26 is clamped, the knife arm 1 descends along with the transmission shaft 11. At this time, the pressing plate 12 on the shaft sleeve 10 separates from the knife arm 1, and the stop block 6 rises under the lifting action of the compression spring 9. After the knife is drawn, the knife arm 1 rotates 180 degrees, the drive shaft 11 moves upwards, the pressure plate 12 fits the knife arm 1 again, the limit block 6 is pressed and moves down, the installation opening 7 gives way to the space position, and the tail end 5 of the knife handle locking rod 3 can move left and right in this space position.

Relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present disclosure, it should be understood that orientation words such as "front, back, up, down, left, right", "lateral, vertical, vertical, horizontal" and "top, bottom" indicate orientations or positional relationships are generally based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description. In the absence of a contrary statement, these orientational words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood To limit the protection scope of the present disclosure; the orientation words "inner and outer" refer to the inner and outer relative to the outline of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the upper surface", "on" and the like may be used herein to describe the spatial positional relationship between one device or feature and other devices or features as shown in the drawings. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "above" other devices or configurations would then be oriented "below" or "beneath" the other devices or configurations. Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define parts is only for the convenience of distinguishing corresponding parts. If there is no other statement, the above words have no special meaning, so they cannot be understood as limiting the protection scope of the present disclosure.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

A mechanical arm knife locking mechanism, comprising a knife arm, the end of the knife arm is provided with a jaw and a knife handle locking lever, the knife handle locking lever extends along the length direction of the knife arm, the head end of the knife handle locking lever points to the jaw, the tail end of the knife handle locking lever is inserted on the knife arm and points to the middle of the knife arm, and the middle of the knife arm is provided with a limit block;

When locking the knife handle locking lever, the limit block rises in a direction perpendicular to the knife arm and its side abuts against the tail end of the knife handle locking lever;

When the handle locking lever is unlocked, the limiting block descends in a direction perpendicular to the knife arm and leaves a space for the moving of the knife handle locking lever.
The mechanical arm tool locking mechanism according to claim 1, wherein an installation opening is opened in the middle of the knife arm, a bottom plate is provided at the bottom of the installation opening, a compression spring is fixed on the bottom, the limiting block is fixed on the compression spring, and the limiting block is pressed to make the limiting block press down against the compression spring, otherwise the compression spring is lifted to make the limiting block rise.
The mechanical arm tool locking mechanism according to claim 2, wherein a shaft sleeve and a transmission shaft are arranged above the knife arm, the shaft sleeve is fixedly arranged, the transmission shaft passes through the shaft sleeve and is fixedly connected to the installation port, the transmission shaft can pass through the shaft sleeve and move up and down, and the transmission shaft drives the knife arm close to or away from the end surface of the shaft sleeve. When the knife arm is close to the end surface of the shaft sleeve, the limit block is pressed by the end surface of the shaft sleeve. Raise the limit block.
The tool locking mechanism of the mechanical arm according to claim 3, wherein a pressing plate is fixedly connected to the end surface of the bushing close to the knife arm, and the transmission shaft passes through the pressing plate.
The knife locking mechanism of the mechanical arm according to claim 4, wherein a protrusion is provided on the top of the limiting block, and the protrusion extends above the knife arm and can be pressed by the pressing plate.
The mechanical arm tool locking mechanism according to claim 3, wherein an expansion sleeve assembly is provided in the installation opening, the outer periphery of the expansion sleeve assembly abuts against the inner wall of the installation opening, and the inner wall of the expansion sleeve assembly is passed through by the outer end of the transmission shaft and embraces the transmission shaft.
The mechanical arm tool locking mechanism according to claim 6, wherein the expansion sleeve assembly includes an outer expansion sleeve and an inner expansion sleeve, the inner expansion sleeve is located inside the outer expansion sleeve, a cavity is formed between the outer peripheral wall of the inner expansion sleeve and the inner peripheral wall of the outer expansion sleeve, the two ends of the cavity are expanded and the middle of the cavity is narrowed, support blocks are respectively inserted into the two ends of the cavity, the support blocks are plugged into the cavity, and the bottom area of the support block gradually decreases from the insertion start end to the insertion end end.
The tool locking mechanism of the robotic arm according to claim 7, wherein the cross-section of the cavity is formed by splicing two inverted isosceles trapezoids.
The tool locking mechanism of the mechanical arm according to claim 1, wherein a shaft shoulder is provided around the head end of the handle locking rod, a retaining ring is fixed on the shoulder, and a spring ring is sheathed at the tail end of the handle locking rod, and the spring ring abuts against the retaining ring.
The tool locking mechanism of the mechanical arm according to claim 9, wherein a waist-shaped hole is opened at the tail end of the handle locking rod, and a positioning pin is inserted into the waist-shaped hole, and the positioning pin is fixedly arranged.