CN217317126U

CN217317126U - Feeding and discharging mechanical arm for machining and corresponding automatic machining system

Info

Publication number: CN217317126U
Application number: CN202221248030.0U
Authority: CN
Inventors: 周志修
Original assignee: Shenzhen Jingdiao Cnc Equipment Co ltd
Current assignee: Shenzhen Jingdiao Cnc Equipment Co ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-08-30
Anticipated expiration: 2032-05-20

Abstract

The utility model provides a feeding mechanical arm and corresponding automated processing system on machining, feeding mechanical arm includes the digging arm and snatchs the subassembly on machining, snatchs the terminal that the subassembly is connected at the digging arm, snatchs the subassembly and includes link, connecting rod, regulation pole and sucking disc spare, and the link is connected with the terminal end of digging arm, and the connecting rod is adjustable to be connected in the bottom of link, and sucking disc spare is connected with the connecting rod through adjusting the pole, is connected with a plurality of sucking disc spares along the extending direction of connecting rod; the sucking disc spare is connected in the one end of adjusting the pole, and the other end of adjusting the pole is provided with the bar groove, and set screw passes bar groove connection regulation pole and connecting rod. The utility model discloses a feeding mechanical arm passes through the adjustment and adjusts the pole and be connected of connecting rod in the machine tooling, can be so that have different distribution pattern between a plurality of sucking disc spare to can snatch the product of different shape specifications, and the automation snatchs goes up unloading, and work efficiency is high, and safe and reliable more.

Description

Feeding and discharging mechanical arm for machining and corresponding automatic machining system

Technical Field

The utility model relates to a machining equipment field, in particular to unloading manipulator and corresponding automated processing system in machining.

Background

With the development of Chinese industrial manufacturing, a plurality of products in China are processed and manufactured by mechanical equipment. Wherein, in prior art, because the product is diversified generally, the machine tool of the overwhelming majority all goes up unloading by the manual work, and efficiency is lower, and still can the accident appear sometimes, injures operating personnel.

Therefore, it is necessary to provide a feeding and discharging manipulator for machining and a corresponding automatic machining system to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a feeding mechanical arm and corresponding automatic processing system in machining to the machine tool of solving among the prior art all goes on by the manual work and goes up the unloading, and efficiency is lower, the problem of accident appears easily.

In order to solve the technical problem, the utility model adopts the technical scheme that: a feeding and discharging mechanical arm for machining comprises a movable arm and a grabbing component, wherein the grabbing component is connected to the end part of the tail end of the movable arm;

the grabbing component comprises a connecting frame, a connecting rod, an adjusting rod and a sucker piece, the connecting frame is connected with the end part of the tail end of the movable arm, the connecting rod is adjustably connected to the bottom of the connecting frame, the sucker piece is connected with the connecting rod through the adjusting rod, and a plurality of sucker pieces are connected in the extending direction of the connecting rod;

the sucking disc spare is connected the one end of adjusting the pole, the other end of adjusting the pole is provided with the bar groove, and set screw passes the bar groove is connected adjust the pole with the connecting rod.

The utility model discloses in, the link includes two piece at least dead levers and connects two fixed plates between the dead lever, the both sides of dead lever all are provided with first spread groove, be provided with the second spread groove on the connecting rod, the connecting rod with connect through the connecting piece between the dead lever, the both ends of connecting piece respectively with first spread groove with the second spread groove is connected.

The connecting rod comprises a main body rod and a movable rod, the two ends of the main body rod are connected with the movable rod through first bolts in a rotating mode, the axis of each first bolt is perpendicular to the plurality of suction points of the sucker, and a grabbing plane is formed.

The utility model discloses in, it includes two sets ofly to snatch the subassembly the connecting rod, two sets of the connecting rod main part pole length varies.

The utility model discloses in, it includes two sets ofly to snatch the subassembly the connecting rod, two sets of on the connecting rod the sucking disc spare is located correspondingly respectively adjust the one end that the pole was kept away from each other.

The utility model discloses in, the link still includes the stiffener, the stiffener is connected two between the dead lever, be provided with on the stiffener with the vacuum generator that the sucking disc spare is connected.

The utility model discloses still include an automatic change system of processing, it uses above-mentioned machining to go up the unloading manipulator, still include first lathe, second lathe, go up the work or material rest and down the first lathe of work or material rest with second lathe subtend sets up, go up the work or material rest with the work or material rest subtend sets up down, the last unloading manipulator of machining sets up first lathe with between the second lathe, and is located go up the work or material rest with between the work or material rest.

The utility model discloses in, the unloading manipulator slides and sets up on the track seat on the machining, the unloading manipulator includes drive assembly and driving gear on the machining, the driving gear is located the bottom of the unloading manipulator on the machining, and with the drive assembly transmission is connected, the track seat includes slide rail and rack, the rack is located two between the slide rail, the driving gear with the rack drive cooperation.

The utility model discloses in, the both sides of track seat are provided with a plurality of connecting seats that are used for installing fixedly through the screw, the both ends of track seat are provided with and are used for the restriction the piece that blocks of the slip stroke of feeding mechanical arm on the machining.

The utility model discloses in, go up the work or material rest with the work or material rest all includes support body, upper charging tray and lower floor's charging tray down, wherein the upper charging tray with lower floor's charging tray all slides and sets up on the support body, the upper charging tray is located the top of lower floor's charging tray, just the upper charging tray with the slip orbit dislocation set of lower floor's charging tray, the upper charging tray with lower floor's charging tray carries out the drive of sliding through corresponding cylinder separately.

The utility model discloses compare in prior art, its beneficial effect is: the utility model discloses a feeding mechanical arm passes through the adjustment and adjusts the pole and be connected of connecting rod in the machine tooling, can be so that have different distribution pattern between a plurality of sucking disc spare to can snatch the product of different shape specifications, and the automation snatchs goes up unloading, and work efficiency is high, and safe and reliable more.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly described below, and the drawings in the following description are only corresponding drawings of some embodiments of the present invention.

Fig. 1 is a schematic structural diagram of the automated processing system of the present invention.

Fig. 2 is the structure schematic diagram of the feeding and discharging mechanical arm in the machine processing of the utility model.

Fig. 3 is the structure diagram of the feeding frame of the automatic processing system of the present invention.

Fig. 4 is the structural schematic diagram of the grabbing component of the feeding and discharging mechanical arm in machining.

Fig. 5 is a schematic structural view showing that the fixing rod and the connecting rod are connected by the connecting member.

FIG. 6 is a schematic view showing a connection structure of the main body lever and the movable lever

Fig. 7 is a schematic view showing another connection state of the main body lever and the movable lever of fig. 6.

Fig. 8 is a schematic structural view of the grabbing component provided with two groups of connecting rods.

Fig. 9 is a structural schematic diagram of two sets of connecting rods of the grabbing assembly arranged in opposite directions.

Fig. 10 is a schematic structural view of a first connecting protrusion provided on a fixing rod.

Fig. 11 is a schematic structural view of the connection of the movable rod and the first connecting protrusion.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the present invention, the directional terms, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", refer to the orientation of the drawings, and the directional terms are used for illustration and understanding, but not for limiting the present invention.

The terms "first," "second," and the like in the terms of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor should they be construed as limiting in any way.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly, e.g., the connection may be a detachable connection or a connection in a unitary structure; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In prior art, because the product is diversified generally, the machine tool of the overwhelming majority all goes up unloading by the manual work, and efficiency is lower, and still can the accident appear sometimes, injures operating personnel.

On the other hand, appear gradually using the manipulator to snatch the product among the prior art and go up unloading, nevertheless the subassembly that snatchs of every manipulator that has now all can snatch to a product, when product appearance, size specification difference are great, need correspond and change whole subassembly that snatchs, consequently need be equipped with the subassembly that snatchs of multiple different grade type, the cost is higher.

Following do the utility model provides a pair of feeding mechanical arm's on machining preferred embodiment can solve above technical problem.

Please refer to fig. 4, wherein fig. 4 is a schematic structural diagram of a grabbing component of the feeding and discharging manipulator for machining according to the present invention.

In the drawings, elements having similar structures are denoted by the same reference numerals.

The present embodiment provides a feeding and discharging robot 13 for machining, which includes a movable arm 131 and a grabbing component 132, wherein the grabbing component 132 is connected to the end of the movable arm 131. It should be noted that the movable arm 131 is formed by connecting a plurality of joint components, and has a plurality of degrees of freedom, and the movable arm is basically a relatively conventional structure, which is not described herein again.

The grabbing assembly 132 comprises a connecting frame, a connecting rod 23, an adjusting rod 24 and a sucker 25, the connecting frame is connected with the end portion of the tail end of the movable arm 131, the connecting rod 23 is adjustably connected to the bottom of the connecting frame, the sucker 25 is connected with the connecting rod 23 through the adjusting rod 24, and a plurality of suckers 25 are connected in the extending direction of the connecting rod 23.

Sucking disc spare 25 is connected in the one end of adjusting pole 24, and the other end of adjusting pole 24 is provided with bar groove 241, and set screw passes bar groove 241 and connects and adjust pole 24 and connecting rod 23, adjusts pole 24 and connecting rod 23's being connected through the adjustment, can make and have different distribution patterns between a plurality of sucking disc spare 25 to can snatch the product of different shape specifications, and the automation snatchs goes up unloading, and work efficiency is high, and safe and reliable more.

Referring to fig. 4 and 5, in the present embodiment, the connection frame includes at least two fixing rods 21 and a fixing plate 22 connected between the two fixing rods 21, first connection grooves are disposed on both sides of the fixing rods 21, second connection grooves are disposed on the connection rods 23, the connection rods 23 and the fixing rods 21 are connected by a connection member 28, and both ends of the connection member 28 are respectively connected with the first connection grooves and the second connection grooves. The connecting piece can be fixedly connected with the first connecting groove or the second connecting groove by using a bolt, and when the bolt is unscrewed, the relative position between the fixed rod 21 and the connecting rod 23 can be conveniently adjusted.

Referring to fig. 6 and 7, in the present embodiment, the connection rod 23 may include a main body rod 231 and a movable rod 232, the movable rod 232 is rotatably connected to both ends of the main body rod 231 through a first bolt 233, and an axis of the first bolt 233 is perpendicular to the suction points of the plurality of sucker members 25 to form a gripping plane. After the first bolt 233 is loosened, the relative position between the main body rod 231 and the movable rod 232 can be adjusted, so that products with different specifications can be better grabbed.

It can be understood that the main rod 231 and the movable rod 232 can be composed of profile rods with connecting grooves on four sides and connecting heads connected with the ends of the profile rods, and the connecting heads are used for rotating connection. The first bolt may be coupled with a nut or a corresponding threaded hole may be provided on the body bar 231.

Referring to fig. 8, optionally, the grabbing assembly 132 may include two sets of connecting rods 23, and the lengths of the main rods 231 of the two sets of connecting rods 23 are different. So that the sucking disc pieces 25 of the two groups of connecting rods 23 can form more diversified distribution patterns, and the compatibility of grabbing products is higher.

Referring to fig. 9, the grabbing assembly 132 may alternatively include two sets of connecting rods 23, the suction cup members 25 on the two sets of connecting rods 23 are respectively located at the ends of the corresponding adjusting rods 24, which are far away from each other, and the distribution area of the suction cup members 25 is wider.

Referring to fig. 10 and 11, a first connecting protrusion 234 may be further disposed on a side of the two fixed rods 21 away from each other, one end of the movable rod 232 away from the first bolt 233 is rotatably connected to the first connecting protrusion 234 through a second bolt 235, and an axis of the second bolt 235 is perpendicular to a suction point of the plurality of sucker members 25 to form a gripping plane.

One end of the movable rod 232 is provided with a first connection hole for being connected with the first bolt 233, the other end is provided with a second connection hole for being connected with the second bolt 235, the main body rod 231 is provided with a fourth connection hole for being connected with the first bolt 233, the first connection convex portion 234 is provided with a fourth connection hole for being connected with the second bolt 235, and a distance between the first connection hole and the second connection hole is equal to a distance between the third connection hole and the fourth connection hole.

When the connection of the main body lever 231 and the movable lever 232 is made in the state shown in fig. 10, the first bolt 233 may be loosened, then the movable lever 232 may be controlled to rotate about the first bolt 233, then one end of the movable lever 232 may be rotated to be engaged with the first coupling protrusion 234, and then the movable lever 232 may be connected with the first coupling protrusion 234 using the second bolt 235, and the connected state shown in fig. 11 may be formed. Conversely, the movable lever 232 can also be rotated about the second bolt 235 to switch the movable lever 232 into connection with the main body lever 231. The operation of deforming the coupled state of the main body lever 231 and the movable lever 232 is very convenient. The suction cup members 25 may be formed in a more versatile distribution pattern with greater compatibility for grasping products.

In this embodiment, the connection frame further comprises a reinforcing rod 26, the reinforcing rod 26 is connected between the two fixing rods 21, and the reinforcing rod 26 is provided with a vacuum generator 27 connected with the suction cup member 25.

Referring to fig. 1, the feeding and discharging robot 13 for machining in this embodiment can also be applied to an automated machining system, the automated machining system further includes a first machine tool, a second machine tool, a feeding frame 14, and a discharging frame 15, the first machine tool and the second machine tool are arranged oppositely, and both the first machine tool and the second machine tool are denoted by reference numeral 11 in fig. 1. The feeding frame 14 and the discharging frame 15 are arranged oppositely, and the machining feeding and discharging manipulator 13 is arranged between the first machine tool and the second machine tool and is positioned between the feeding frame 14 and the discharging frame 15. The machining feeding and discharging mechanical arm 13 can grab a product from the feeding frame 14 and place the product on the first machine tool or the second machine tool for machining, and then place the machined product on the feeding frame 15 from the first machine tool or the second machine tool, so that the working efficiency is high, and the machine tool is safe and reliable.

Referring to fig. 2, the machining loading and unloading manipulator 13 is slidably disposed on the rail seat 12, the machining loading and unloading manipulator 13 includes a driving assembly 133 and a driving gear, the driving gear is located at the bottom of the machining loading and unloading manipulator 13 and is in transmission connection with the driving assembly 133, the rail seat 12 includes a sliding rail 122 and a rack 121, the machining loading and unloading manipulator 13 is slidably connected to the sliding rail 122, the rack 121 is located between two sliding rails 122, and the driving gear is in transmission fit with the rack 121, so that the machining loading and unloading manipulator 13 slides.

In this embodiment, a plurality of connection seats 123 for fixing by screws are provided on both sides of the rail seat 12, and stoppers 124 for limiting the sliding stroke of the machining loading/unloading robot 13 are provided on both ends of the rail seat 12.

Referring to fig. 3, in the present embodiment, each of the feeding frame 14 and the discharging frame 15 includes a frame body 141, an upper tray 143, and a lower tray 142, wherein the upper tray 143 and the lower tray 142 are slidably disposed on the frame body 141, the upper tray 143 is located above the lower tray 142, the sliding tracks of the upper tray 143 and the lower tray 142 are disposed in a staggered manner, and the upper tray 143 and the lower tray 142 are slidably driven by corresponding cylinders. As shown in fig. 3, the lower tray 142 is driven by the air cylinder 144 to slide, and the upper tray 143 is driven by the air cylinder 145 to slide. The upper tray 143 is located the rotation of sliding of lower floor's charging tray 142, makes things convenient for operating personnel to take the product, and operating personnel's operation can not form the conflict with the work of the last feeding mechanical arm 13 of machining.

When the automatic processing system in this embodiment works, the feeding and discharging mechanical arm 13 for machining can grab a product from the feeding rack 14 and place the product on the first machine tool or the second machine tool for processing, and then place the processed product on the discharging rack 15 from the first machine tool or the second machine tool.

Aiming at different products, the connection between the adjusting rod 24 and the connecting rod 23 can be adjusted, so that a plurality of sucker pieces 25 can have different distribution patterns, and the products with different shapes and specifications can be grabbed.

In addition, the connecting rod 23 may be configured to include a main body rod 231 and a movable rod 232, and the distribution pattern of the plurality of sucker members 25 may be changed by adjusting the relative position between the main body rod 231 and the movable rod 232, so as to grasp different products. The grabbing compatibility is high, the cost is low, the working efficiency is high, and the safety and the reliability are realized.

The movable rod 232 can be movably connected to the main rod 231, or the movable rod 232 can be switched to be connected to the first connecting protrusion 234 on one side of the fixed rod 21, and the orientation of the movable rod 232 can be adjusted by rotation, so that the adjustability is strong.

The connecting rod of unloading manipulator on machining of this embodiment includes main part pole and with main part pole swing joint's movable rod, all is connected with the sucking disc spare on main part pole and the movable rod, through the shape of transform connecting rod for the sucking disc spare can form more various distribution pattern, conveniently snatchs the product of different specifications, and it is higher to snatch the compatibility of product, and work efficiency is high, and safe and reliable

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that the scope of the present invention shall be determined by the scope of the appended claims.

Claims

1. A feeding and discharging mechanical arm for machining is characterized by comprising a movable arm and a grabbing component, wherein the grabbing component is connected to the end part of the tail end of the movable arm;

2. The loading and unloading manipulator in machining of claim 1, wherein the link includes at least two fixed rods and a fixed plate connected between the two fixed rods, the fixed rods are provided with first connecting grooves on both sides, the connecting rod is provided with second connecting grooves, the connecting rod and the fixed rods are connected by a connecting piece, and both ends of the connecting piece are respectively connected with the first connecting grooves and the second connecting grooves.

3. The loading and unloading mechanical arm of processing of claim 2, wherein the connecting rod comprises a main body rod and a movable rod, both ends of the main body rod are rotatably connected with the movable rod through a first bolt, and the axis of the first bolt is perpendicular to the suction points of the plurality of sucker members to form a grabbing plane.

4. A machining loading and unloading robot arm as claimed in claim 3, wherein said grasping assembly comprises two sets of said connecting rods, said main rods of said two sets of connecting rods being of unequal lengths.

5. A machining loading and unloading robot arm according to claim 3, wherein said gripping assembly comprises two sets of said connecting rods, and said suction disc members of said two sets of connecting rods are located at ends of said adjusting rods which are far away from each other.

6. The loading and unloading manipulator for machining of claim 3, wherein the link further comprises a reinforcing rod connected between the two fixing rods, and a vacuum generator connected to the suction cup is provided on the reinforcing rod.

7. An automated processing system, characterized in that the loading and unloading mechanical arm for machining according to any one of claims 1 to 6 is used, and further comprises a first machine tool, a second machine tool, a loading frame, a unloading frame, a first machine tool and a second machine tool which are arranged in an opposite manner, wherein the loading frame and the unloading frame are arranged in an opposite manner, and the loading and unloading mechanical arm for machining is arranged between the first machine tool and the second machine tool and is positioned between the loading frame and the unloading frame.

8. The automated processing system of claim 7, wherein the feeding and discharging mechanical arm is slidably disposed on a rail seat, the feeding and discharging mechanical arm comprises a driving assembly and a driving gear, the driving gear is disposed at a bottom of the feeding and discharging mechanical arm and is in transmission connection with the driving assembly, the rail seat comprises a slide rail and a rack, the rack is disposed between the two slide rails, and the driving gear is in transmission connection with the rack.

9. The automated processing system according to claim 8, wherein a plurality of connecting seats for fixing by screws are provided on both sides of the rail seat, and stoppers for limiting a sliding stroke of the feeding and discharging robot in machining are provided on both ends of the rail seat.

10. The automated processing system according to claim 8, wherein the upper material tray and the lower material tray each comprise a frame body, an upper material tray and a lower material tray, wherein the upper material tray and the lower material tray are slidably disposed on the frame body, the upper material tray is located above the lower material tray, sliding tracks of the upper material tray and the lower material tray are arranged in a staggered manner, and the upper material tray and the lower material tray are slidably driven by corresponding cylinders.