阅读说明：本技术 台阶类零部件搬运机械臂 (Mechanical arm for carrying step parts ) 是由 王通 侯生树 陶祥玉 焦春 贺兵晖 肖顺峰 于 2021-07-02 设计创作，主要内容包括：本发明涉及台阶类零部件的搬运问题,也就是把台阶类零部件从转运框搬运至机床工作台上或者从工作台上转运至转运框里的搬运问题,对台阶类零部件的搬运提供了一种新的解决方案。一种台阶类零部件搬运机械臂,包括一个组合支架,所述组合支架包括中间框架以及对称连接在中间框架左右两侧的一对安装架；中间框架上竖直固定有一个套筒,套筒内自上而下活动套设有一个芯轴；左、右安装架下方都连接有一对滑道块；芯轴的底部左右两侧各转动连接有一个连杆,左右两个连杆分别与左右两个滑块靠近套筒的一侧转动连接；每个滑块上均固定有一个卡臂,两个卡臂的下端伸出滑块槽下方并相向弯折,弯折段的末端呈和台阶类零部件相配的卡位头。(The invention relates to a carrying problem of step parts, in particular to a carrying problem of carrying the step parts from a transfer frame to a machine tool workbench or from the workbench to the transfer frame, and provides a new solution for carrying the step parts. A mechanical arm for carrying step parts comprises a combined support, wherein the combined support comprises a middle frame and a pair of mounting frames symmetrically connected to the left side and the right side of the middle frame; a sleeve is vertically fixed on the middle frame, and a mandrel is movably sleeved in the sleeve from top to bottom; a pair of slide way blocks are connected below the left mounting frame and the right mounting frame; the left side and the right side of the bottom of the mandrel are respectively and rotatably connected with a connecting rod, and the left connecting rod and the right connecting rod are respectively and rotatably connected with one sides of the left sliding block and the right sliding block, which are close to the sleeve; each sliding block is fixed with a clamping arm, the lower ends of the two clamping arms extend out of the lower part of the sliding block groove and are bent oppositely, and the tail end of each bending section is a clamping head matched with a step-like part.)

1. A mechanical arm for carrying step parts comprises a combined support (1) and is characterized in that the combined support (1) comprises a middle frame and a pair of mounting frames symmetrically connected to the left side and the right side of the middle frame; a sleeve (2) is vertically fixed on the middle frame, a mandrel (3) is movably sleeved in the sleeve (2) from top to bottom, a rotating shaft is installed on the side wall of the sleeve (2), a gear is fixedly connected to the part of the rotating shaft located in the sleeve (2), an operating handle (4) is connected to the part of the rotating shaft located outside the sleeve (2), and a rack meshed with the gear is vertically fixed on the mandrel (3); the upper end and the lower end of the mandrel (3) respectively extend out of the top and the bottom of the sleeve (2), and the top of the mandrel (3) is connected with a flange cover (5); a pair of slideway blocks (6) are connected below the left and right mounting frames; the pair of slide way blocks (6) are arranged in parallel at intervals and are in the left-right direction, slide ways in the left-right horizontal direction are arranged on opposite sides of the pair of slide way blocks (6), the two slide ways form a slide block groove (7) together, and a slide block (8) is arranged in each slide block groove (7) in a sliding manner; the left side and the right side of the bottom of the mandrel (3) are respectively and rotatably connected with a connecting rod (9), and the left connecting rod (9) and the right connecting rod (9) are respectively and rotatably connected with one sides of the left sliding block (8) and the right sliding block (8) close to the sleeve (2); each sliding block (8) is fixed with a clamping arm (10), the lower ends of the left and right clamping arms (10) extend out of the lower part of the sliding block groove (7) and are bent towards each other, and the tail end of a bending section is a clamping head (11) matched with a step-like part; the side wall of the mandrel (3) is provided with a groove parallel to the axis of the mandrel (3), the outer wall of the sleeve (2) is provided with a set screw (12), and the end of the set screw (12) positioned inside the sleeve (2) is clamped into the groove of the mandrel (3).

2. The mechanical arm for carrying step parts as claimed in claim 1, wherein the middle part of the slide block (8) is provided with a through groove which is through up and down, and the rear part of the slide block (8) is provided with a long groove (13) which is communicated with the through groove and is consistent with the sliding direction of the slide block; the diameter of the through groove is larger than the width of the long groove (13), and the inside of the through groove is of a step-shaped contraction structure from top to bottom; the upper end of the clamping arm (10) is of a T-shaped structure (14), the T-shaped structure (14) is clamped at the step-shaped structure inside the through groove, and an end cover (15) is installed above the T-shaped structure.

3. The mechanical arm for carrying step parts as claimed in claim 2, wherein one side of the sliding block (8) close to the sleeve (2) is provided with a U-shaped opening, pin holes are formed in two sides of the U-shaped opening, and pin holes are also formed in the connecting rod (9); and a pin shaft penetrates through the pin hole to realize the rotary connection of the connecting rod (9) and the sliding block (8).

4. The step type part handling robot arm as set forth in claim 3, wherein the top of the end cap (15) is 1-2mm lower than the upper end surface of the slider (8), and the slider (8) as a whole is 1-2mm lower than the top of the slider groove (7).

5. The step type part handling robot arm as claimed in any one of claims 1 to 4, wherein a side of the slider groove (7) facing the link (9) is provided with a limit step (16).

6. The mechanical arm for carrying step type parts as claimed in any one of claims 1 to 4, wherein a slide seat (17) is connected to the lower end of each mounting frame, and the slide seat (17) is composed of a pair of supports which are spaced in parallel and a connecting plate connected to the tops of the supports; the pair of supports are in left-right trend, the bottoms of the pair of supports horizontally extend in opposite directions to form an extension section, the slide way block (6) is positioned on the extension section, and the side wall of the slide way block (6) is connected with the side wall of the support and the bottoms of the slide way block (6) are connected with the extension section through screws (18); the connecting plate is connected with the mounting bracket.

7. The mechanical arm for transporting step type parts as claimed in any one of claims 1 to 4, wherein the position-locking head (11) of the locking arm (10) is in a circular arc structure matching with the housing of the step type parts, and the position-locking head (11) is wrapped with plastic or padded with rubber.

8. The mechanical arm for carrying the step parts as claimed in claim 6, wherein the middle frame is a vertical square frame, the sleeve (2) is fixedly penetrated on the horizontal section at the bottom of the square frame, a lifting ring (19) is arranged at the top of the square frame, the left and right mounting frames are respectively formed by horizontally extending the bottom of the square frame to the left and right sides, the end parts of the left and right mounting frames are vertically bent downwards, and the slideway seat (17) is connected to the lower end of the vertical section of the mounting frames; the square frame, the left mounting frame and the right mounting frame are respectively connected with a rib plate at each bending part.

9. The mechanical arm for carrying step parts as claimed in any one of claims 1 to 4, wherein the left and right sides of the bottom of the mandrel (3) are connected with connecting sections, and the connecting sections are rotatably connected with the connecting rods (9).

Technical Field

The invention relates to a carrying problem of step parts, in particular to a carrying problem of carrying the step parts from a transfer frame to a machine tool workbench or from the workbench to the transfer frame, and provides a new solution for carrying the step parts.

Background

The step-type parts produced and machined by the method need to be conveyed to a working table of a machine tool from a transfer frame before being machined by a milling machine or a boring and milling machining center, and need to be conveyed into the transfer frame from the working table after being machined. For parts with smaller size or lighter weight, for convenience, an operator often directly moves a workpiece to an operation table of a machine tool by hands, and then directly moves the workpiece back by hands after finishing machining; however, for a workpiece with a large size or a heavy weight, the workpiece is difficult to directly move and rotate by hands, and an operator often uses a lifting belt or a steel wire rope to lift the workpiece onto a workbench. Because the hanging strip or the steel wire rope is used for binding the step of the workpiece or penetrates out of the inner hole of the workpiece, the workpiece can be inclined during hoisting, and when the workpiece is placed after being transported again, the part of the workpiece which firstly contacts the transporting frame is easy to collide due to the inclination of the workpiece; meanwhile, because the workpiece is bound by the hanging strip or the steel wire rope, the steel wire rope or the hanging strip is not easy to untie when the part is loosely bound, so that the waste of time is caused; moreover, the steel wire head on the steel wire rope can scratch the arm of an operator easily, and potential safety hazards exist.

Disclosure of Invention

The invention provides a mechanical arm for transporting step parts, which aims to solve the technical problems that the prior step parts are easy to incline and collide when being directly hoisted by using a steel wire rope in the transportation process.

The invention is realized by adopting the following technical scheme: a mechanical arm for carrying step parts comprises a combined support, wherein the combined support comprises a middle frame and a pair of mounting frames symmetrically connected to the left side and the right side of the middle frame; a sleeve is vertically fixed on the middle frame, a mandrel is movably sleeved in the sleeve from top to bottom, a rotating shaft is installed on the side wall of the sleeve, a gear is fixedly connected to the part of the rotating shaft located in the sleeve, an operating handle is connected to the part of the rotating shaft located outside the sleeve, and a rack meshed with the gear is vertically fixed on the mandrel; the upper end and the lower end of the mandrel respectively extend out of the top and the bottom of the sleeve, and the top of the mandrel is connected with a flange cover; a pair of slide way blocks are connected below the left mounting frame and the right mounting frame; the pair of slide way blocks are arranged in parallel at intervals and are in a left-right direction, slide ways in a left-right horizontal direction are arranged on opposite sides of the pair of slide way blocks, the two slide ways form a slide block groove together, and a slide block is arranged in each slide block groove in a sliding manner; the left side and the right side of the bottom of the mandrel are respectively and rotatably connected with a connecting rod, and the left connecting rod and the right connecting rod are respectively and rotatably connected with one sides of the left sliding block and the right sliding block, which are close to the sleeve; each sliding block is fixed with a clamping arm, the lower ends of the two clamping arms extend out of the lower part of the sliding block groove and are bent oppositely, and the tail end of the bending section is a clamping head matched with the step-like parts; the side wall of the mandrel is provided with a groove parallel to the axis of the mandrel, the outer wall of the sleeve is provided with a set screw, and the end of the set screw positioned in the sleeve is clamped into the groove of the mandrel.

During operation, through rotating the operating handle, the height of adjustment dabber, and then drive the slider through the connecting rod and slide in the slider groove, finally realize the regulation of a pair of card arm interval, the clamp of the step class work piece of convenient different specification models is got. When the step-type workpiece needs to be loosened, the operating handle is rotated in the opposite direction. The clamping head at the end part of the clamping arm is matched with the excircle of the step workpiece, so that the workpiece can be reasonably and reliably clamped, and the workpiece is prevented from colliding; two ends of the connecting rod are respectively and rotatably connected with the mandrel and the sliding block, so that the sliding block can slide left and right along the sliding block groove under the driving of the mandrel and the connecting rod; the flange cover can prevent the mandrel from completely falling into the sleeve; when the workpiece is transferred, the crane directly hangs the combined support, so that the direct contact with the workpiece is avoided. The connecting rod can pass through the clearance of slider groove (the interval between a pair of slide piece), is convenient for drive the slider motion and is not influenced. The holding screw can guarantee that the dabber can not take place to rotate, simultaneously after the work piece is cliied at the card arm, can pin the dabber through twisting the holding screw, the card arm just can be tight with the work piece clamp like this.

The clamping head is attached to the shape of the workpiece, the workpiece is square, the clamping head is of a long-strip square structure, the workpiece is circular, and the clamping head is of an arc-shaped structure. The clamping head is clamped below a certain layer of step of the step-like workpiece, so that the workpiece can be clamped and cannot fall off.

According to the invention, the two clamping arms directly clamp the outer circle below the step of the workpiece, the workpiece is placed on the workbench or in the transfer frame, and then the clamping arms are loosened, so that the bottom end surface of the workpiece is contacted with the workbench or the transfer frame, the workpiece is prevented from being obliquely placed, and the linear contact is changed into the surface contact, thereby avoiding the collision of the workpiece.

Furthermore, the middle part of the sliding block is provided with a through groove which is communicated up and down, and the rear part of the sliding block is provided with a long groove which is communicated with the through groove and is consistent with the sliding direction (left and right) of the sliding block; the diameter of the through groove is larger than the width of the long groove, and the inside of the through groove is of a step-shaped contraction structure from top to bottom; the upper end of the clamping arm is of a T-shaped structure, the T-shaped structure is clamped at the step-shaped structure inside the through groove, and an end cover is installed above the T-shaped structure.

The through groove is used for fixing a T-shaped structure of the clamping arm; during installation, the lower part of the T-shaped structure of the clamping arm can penetrate through the long groove, then the T-shaped structure falls into the step-shaped structure in the through groove, and the upper part of the T-shaped structure is fixed through the end cover. The structure facilitates the installation of the clamping arm, and the clamping arm can be prevented from rotating along with the sliding process of the sliding block.

The invention has the beneficial effects that:

the linear contact of the workpieces during the transfer is avoided, and the collision of the workpieces is reduced;

workers do not need to directly carry the workpiece by hands, so that the labor intensity of the workers is greatly reduced, and the damage of the workpiece to the workers is also reduced;

and the loading and unloading are convenient, and the transfer time is saved.

Drawings

FIG. 1 is a schematic view of a handling robot according to the present invention.

Fig. 2 is a schematic front view (cross section) structure of the slider.

FIG. 3 is a schematic top view of a slider.

Fig. 4 is a schematic front view of the slide block and the slide seat.

Fig. 5 is a schematic side view of the slide block and the slide seat.

Fig. 6 is a schematic structural diagram of the mandrel and the sleeve.

Fig. 7 is a schematic perspective view of the robot arm in operation.

Fig. 8 is a perspective view of the mandrel and sleeve structure.

FIG. 9 is a perspective view of the slider assembly and the slider slot.

1-a combined support, 2-a sleeve, 3-a mandrel, 4-an operating handle, 5-a flange cover, 6-a slide block, 7-a slide block groove, 8-a slide block, 9-a connecting rod, 10-a clamping arm, 11-a clamping head, 12-a set screw, 13-a long groove, 14-a T-shaped structure, 15-an end cover, 16-a limiting step, 17-a slide seat, 18-a screw, 19-a lifting ring and 20-a step workpiece.

Detailed Description

Example 1

A mechanical arm for carrying step parts comprises a combined support 1, wherein the combined support 1 comprises a middle frame and a pair of mounting frames symmetrically connected to the left side and the right side of the middle frame; a sleeve 2 is vertically fixed on the middle frame, a mandrel 3 is movably sleeved in the sleeve 2 from top to bottom, a rotating shaft is installed on the side wall of the sleeve 2, a gear is fixedly connected to the part of the rotating shaft located in the sleeve 2, an operating handle 4 is connected to the part of the rotating shaft located outside the sleeve 2, and a rack meshed with the gear is vertically fixed on the mandrel 3; the upper end and the lower end of the mandrel 3 respectively extend out of the top and the bottom of the sleeve 2, and the top of the mandrel 3 is connected with a flange cover 5; a pair of slideway blocks 6 are connected below the left mounting rack and the right mounting rack; the pair of slide way blocks 6 are arranged in parallel at intervals and are in a left-right direction, slide ways in a left-right horizontal direction are arranged on opposite sides of the pair of slide way blocks 6, the two slide ways form a slide block groove 7 together, and a slide block 8 is arranged in each slide block groove 7 in a sliding mode; the left side and the right side of the bottom of the mandrel 3 are respectively and rotatably connected with a connecting rod 9, and the left connecting rod 9 and the right connecting rod 9 are respectively and rotatably connected with one sides of the left sliding block 8 and the right sliding block 8 close to the sleeve 2; each sliding block 8 is fixedly provided with a clamping arm 10, the lower ends of the two clamping arms 10 extend out of the lower part of the sliding block slot 7 and are bent oppositely, and the tail end of the bent section is connected with a clamping head 11; the side wall of the mandrel 3 is provided with a groove parallel to the axis of the mandrel 3, the outer wall of the sleeve 2 is provided with a set screw 12, and the end of the set screw 12 positioned in the sleeve 2 is clamped into the groove of the mandrel 3.

Example 2

As shown in fig. 2 and 3, on the basis of embodiment 1, the middle part of the slider 8 is provided with a through groove which is through up and down, and the rear part of the slider is provided with a long groove 13 which is communicated with the through groove and is consistent with the sliding direction (left and right) of the slider; the diameter of the through groove is larger than the width of the long groove 13, and the inside of the through groove is of a step-shaped contraction structure from top to bottom; the upper end of the clamping arm is of a T-shaped structure 14, the T-shaped structure is clamped at a step-shaped structure inside the through groove, and an end cover 15 is installed above the T-shaped structure.

Example 3

As shown in fig. 3, on the basis of the foregoing embodiment, one side of the slider 8 close to the sleeve 2 is a U-shaped opening, pin holes are formed on both sides of the U-shaped opening, and the connecting rod 9 is also provided with pin holes; and a pin shaft penetrates through the pin hole to realize the rotary connection of the connecting rod 9 and the sliding block 8.

Example 4

As shown in fig. 4 and 5, on the basis of the foregoing embodiments, a chute seat 17 is connected to the lower end of each mounting frame, and the chute seat 17 is composed of a pair of supports spaced in parallel and a connecting plate connected to the tops of the supports; the pair of supports are in left-right trend, the bottoms of the pair of supports horizontally extend in opposite directions to form an extension section, the slide way block 6 is positioned on the extension section, and the side wall of the slide way block 6 is connected with the side wall of the support and the bottom of the slide way block 6 is connected with the extension section through screws 18; the connecting plate is connected with the mounting bracket.

Example 5

On the basis of the above embodiments, the position-locking head 11 of the arm 10 is in a circular arc structure matching with the housing of the step-like component, and the position-locking head 11 is wrapped with plastic or padded with rubber.

Example 6

On the basis of the previous embodiments, the middle frame is a vertical square frame, the sleeve 2 penetrates and is fixed on the horizontal section at the bottom of the square frame, the top of the square frame is provided with a hanging ring 19, the left mounting frame and the right mounting frame are respectively formed by horizontally extending the bottom of the square frame to the left side and the right side, the end parts of the left mounting frame and the right mounting frame are vertically bent downwards, and the slideway seat 17 is connected to the lower end of the vertical section of the mounting frame; the square frame, the left mounting frame and the right mounting frame are respectively connected with a rib plate at each bending part.

Example 7

On the basis of the above embodiments, the left and right sides of the bottom of the mandrel 3 are connected with connecting sections, and the connecting sections are rotatably connected with the connecting rods 9.

The following is a further description of the invention

First, the design principle of the invention

According to the invention, by utilizing a gear and rack meshing principle and a crank slider structure, the up-and-down reciprocating motion of the hoisting mandrel is converted into the front-and-back reciprocating motion of the clamping arm by rotating the operating handle anticlockwise or clockwise, so that the clamping arm loosens or clamps a workpiece, and the purpose of stably transferring the workpiece is achieved.

Supplementary explanation of the invention

Firstly, a through groove is arranged on a sliding block which drives a clamping arm to reciprocate, an end cover is arranged on the through groove, and the through groove is tightly pressed by a screw. The upper end of the clamping arm is of a T-shaped structure, so that the clamping arm can be prevented from rotating under the combined action of the through groove, the long groove, the T-shaped end and the end cover, the clamping arm can be prevented from falling off from the sliding block, and meanwhile, the clamping arm is convenient to assemble and disassemble; the end cover is 1-2mm lower than the upper end surface of the sliding block, and the whole sliding block is slightly 1-2mm lower than the sliding block groove, so that the sliding block can be smoothly assembled and disassembled, and the sliding block is easy to vibrate and does not stably move due to overlarge clearance; as shown in fig. 2, 3, 9;

the sliding block groove is composed of two same sliding ways, is open, and has an opening at one end, so that the sliding block can be smoothly installed from the opening end, and the installation and the maintenance are convenient; the other end (the end facing the sleeve) is provided with a limiting step (the upper side and the lower side of the slide way are both provided with the limiting step), so that the slide block can be prevented from falling off from the slide block groove in the working process; meanwhile, the sliding block cannot slide out of one end of the sliding block groove opening due to the connection of the connecting rod, as shown in fig. 4, 5 and 9;

the two slide way blocks are matched with an external support to form a slide way groove, the slide way and the support are fixedly connected through screws, the side faces are four, the bottom is three, the slide way is fixed on the support, and meanwhile, the parallelism between the slide way blocks and the support can be slightly adjusted through a gasket (which is arranged on an extension section) to ensure that the slide block can smoothly move back and forth during working, as shown in fig. 4, 5 and 9;

selecting a steel plate with good rigidity for the combined support or casting, preferably adding a rib plate, otherwise, the workpiece is easy to deform if being heavier, and the use effect is influenced, as shown in figure 1;

fifthly, wrapping plastic or padding rubber on the part of the clamping arm, which is contacted with the workpiece, so as to prevent the workpiece from being clamped in the transferring process;

sixthly, the mandrel which reciprocates up and down is provided with a groove parallel to the axis except for being used as a rack, and a set screw is arranged in the groove, so that the mandrel is prevented from rotating in the sleeve and moving up and down to play a role in locking, as shown in figures 6 and 8; the sleeve has a portion that bulges outward and in this region the gear and shaft are mounted, the gear being seen in fig. 6 to engage the rack on the mandrel;

the upper part of the mandrel is connected with a flange cover which is connected by screws, so that the mandrel is easily arranged in the sleeve, and the mandrel is prevented from falling off from the sleeve integrally to form potential safety hazards, as shown in figures 6 and 8.

Third, description of the invention

Rotating an operating handle clockwise to enable a mandrel to ascend; the core shaft drives the sliding block to slide inwards through the connecting rod;

secondly, the clamping arm is fixed with the sliding block, and the sliding block drives the clamping arm to move inwards to enable the clamping arm to contact the workpiece;

thirdly, the fastening screw is screwed to completely fix the mandrel and the sliding block, and then the whole equipment can be lifted;

when a workpiece is placed, the fastening screw is firstly loosened, the operating handle is rotated anticlockwise, the mandrel is lowered, and the connecting rod drives the sliding block and the clamping arm to loosen the workpiece.

The clamping effect is as shown in fig. 1 and 7, the workpiece is flatly placed on a workbench of a machine tool, and the contact position of the workpiece is end surface contact instead of line contact, so that the labor intensity of workers can be reduced, the collision to the workpiece can be reduced, and the processing quality of parts is ensured; the mechanical arm can be packed up fast after spare part is put, saves the transit time.