阅读说明：本技术 一种数控车床机器人抓取定位机构 (Grabbing and positioning mechanism of numerical control lathe robot ) 是由 肖斌 于 2020-11-16 设计创作，主要内容包括：本发明涉及数控机床技术领域,尤其为一种数控车床机器人抓取定位机构,包括壳体、机器人底座、机械臂、抓取装置和控制器,所述壳体内腔顶部的前后两侧均栓接有竖板,所述竖板的表面贯穿设置有轴承,所述壳体的内部设置有转动杆,且转动杆与轴承的内圈栓接；本发明能够在加工件的底部为其提供支撑和定位,使加工件不易掉落,且能够在加工件竖直掉落的过程中对其进行接料,并使加工件不易受损,解决了目前由于数控车床机器人在对加工件进行运输的过程中,加工件的底部往往缺少支撑,一旦加工件与机器人的机械爪发生打滑的现象,容易造成加工件掉落,进而导致加工件受损甚至损坏的问题。(The invention relates to the technical field of numerical control machines, in particular to a grabbing and positioning mechanism of a numerical control lathe robot, which comprises a shell, a robot base, a mechanical arm, a grabbing device and a controller, wherein vertical plates are bolted on the front side and the rear side of the top of an inner cavity of the shell, a bearing penetrates through the surface of each vertical plate, a rotating rod is arranged in the shell, and the rotating rod is bolted with an inner ring of the bearing; the numerically controlled lathe robot can provide support and positioning for the machined part at the bottom of the machined part, so that the machined part is not easy to fall off, and can be received in the process of vertically falling the machined part, and the machined part is not easy to damage.)

1. The utility model provides a numerical control lathe robot snatchs positioning mechanism, includes casing (1), robot base (2), arm (3), grabbing device (4) and controller (7), its characterized in that: riser (5) are bolted to the front side and the rear side of the top of an inner cavity of the shell (1), a bearing (6) is arranged on the surface of the riser (5) in a penetrating mode, a rotating rod (8) is arranged in the shell (1), an inner ring of the rotating rod (8) and the bearing (6) is bolted, a driving mechanism (9) matched with the rotating rod (8) for use is arranged in the shell (1), the front end and the rear end of the rotating rod (8) are both penetrated to the outer side of the shell (1) and are bolted with a rotating disc (10), a first hydraulic rod (12) is bolted to the surface of the rotating disc (10), a limiting mechanism (11) is arranged on the front side of the shell (1) and below the rotating disc (10), a connecting block (13) is bolted to an output shaft of the first hydraulic rod (12), one side, far away from the first hydraulic rod (12), of the connecting block (13), is welded with a positioning, second hydraulic stem (15) are installed to the below of casing (1) inner chamber, the output shaft of second hydraulic stem (15) runs through to the outside of casing (1) and bolted connection has and connects workbin (16), the below that connects workbin (16) inner chamber is provided with diaphragm (17), the top of diaphragm (17) bonds and has shock pad (18), a plurality of damping spring (19) are installed to the bottom of diaphragm (17), and damping spring (19) the bottom and the inner wall fixed mounting that connects workbin (16).

2. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: actuating mechanism (9) include step motor (92), first bevel gear (91) and second bevel gear (93), step motor (92) pass through the mounting panel reciprocal anchorage with the inner wall of casing (1), second bevel gear (93) and the output shaft reciprocal anchorage of step motor (92), first bevel gear (91) bolt is on the surface of dwang (8), and first bevel gear (91) and second bevel gear (93) intermeshing.

3. The numerical control lathe robot grabbing positioning mechanism according to claim 2, is characterized in that: step motor (92) are located between front and back both sides riser (5), the output of controller (7) is connected with step motor (92)'s input one-way electricity.

4. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: the limiting mechanism (11) comprises limiting rods (111), a fixing plate (112) and pressure sensors (113), wherein the number of the limiting rods (111) is 2, the limiting rods are bolted to the surface of the rotating disc (10), the fixing plate (112) is bolted to the surface of the shell (1), the number of the pressure sensors (113) is 2, the pressure sensors are respectively installed on the left side and the right side of the fixing plate (112), and the output ends of the pressure sensors (113) are in one-way electric connection with the input end of the controller (7).

5. The numerical control lathe robot grabbing positioning mechanism according to claim 4, is characterized in that: the material of gag lever post (111) is plastics, and the contained angle between two gag lever posts (111) is 90.

6. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: the left and right sides of diaphragm (17) all are bolted connection has slider (21), connect the left and right sides of workbin (16) inner chamber and all seted up spout (20), and the inner wall sliding connection of slider (21) and spout (20).

7. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: an anti-collision pad (22) is bonded above the inner wall of the material receiving box (16), and a rubber sleeve (23) is bonded on the surface of the positioning rod (14).

8. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: the right side of arm (3) is installed first infrared sensor (25), the surface mounting of grabbing device (4) has second infrared sensor (26).

9. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: four corners of the bottom of the shell (1) are provided with universal wheels (24), and the universal wheels (24) are connected with the surface of the robot base (2) in a rolling manner.

10. The numerical control lathe robot grabbing positioning mechanism according to claim 1, is characterized in that: the area of shock pad (18) is the same with the area of diaphragm (17), and has the clearance between the inner wall of shock pad (18) and material receiving box (16).

Technical Field

The invention relates to the technical field of numerical control machines, in particular to a grabbing and positioning mechanism of a numerical control machine robot.

Background

The numerical control technology is mainly characterized in that the digital signals are used for effectively controlling equipment and a mechanical operation machining process, so that the automation of machining is facilitated, manual operation is not needed, the numerical control technology is relatively mature under the background of the current era, and meanwhile, the numerical control technology is widely applied to the field of machining and plays an important role. Related programs can be set for mechanical processing by using a computer technology, so that the processing technology and the processing flow are strictly controlled, and the processing quality and the processing efficiency are comprehensively improved. The numerical control machine tool is a digital control machine tool for short, and is an automatic machine tool provided with a program control system. The control system is capable of logically processing and decoding a program defined by a control code or other symbolic instructions, represented by coded numbers, which are input to the numerical control device via the information carrier. The numerical control device sends various control signals through operation processing to control the action of the machine tool, the parts are automatically machined according to the shape and the size required by a drawing, and meanwhile, the numerical control lathe robot can grab the machined parts and transport the machined parts after grabbing, so that workers can carry the heavy machined parts.

At present, because the numerical control lathe robot is in the process of transporting the machined parts, the bottom of the machined parts is often lack of support, once the machined parts slip with the mechanical claw of the robot, the machined parts drop easily, and further the machined parts are damaged or even damaged, so that the bottom of the machined parts can be supported and positioned, the machined parts are not easy to drop, the machined parts can be received in the vertical dropping process of the machined parts, and the problem can be solved by a grabbing and positioning mechanism which enables the machined parts to be not easy to damage.

Disclosure of Invention

The invention aims to provide a grabbing and positioning mechanism of a numerical control lathe robot, which can support and position a workpiece at the bottom of the workpiece, so that the workpiece is not easy to fall off, and can be received in the process that the workpiece vertically falls off, and the workpiece is not easy to damage, and the problem that the workpiece is damaged because the bottom of the workpiece lacks support and the workpiece is easy to fall off after slipping in the transportation process at present is solved.

In order to achieve the purpose, the invention provides the following technical scheme: a grabbing and positioning mechanism of a numerical control lathe robot comprises a shell, a robot base, a mechanical arm, a grabbing device and a controller, wherein vertical plates are bolted on the front side and the rear side of the top of an inner cavity of the shell, bearings are arranged on the surfaces of the vertical plates in a penetrating mode, a rotating rod is arranged inside the shell and is bolted with an inner ring of each bearing, a driving mechanism matched with the rotating rod for use is arranged inside the shell, the front end and the rear end of the rotating rod are both penetrated to the outer side of the shell and are bolted with a rotating disc, a first hydraulic rod is bolted on the surface of the rotating disc, a limiting mechanism is arranged on the front side of the shell and below the rotating disc, an output shaft of the first hydraulic rod is bolted with a connecting block, a positioning rod is welded on one side of the connecting block, which is far away from the first hydraulic rod, a second hydraulic rod is arranged below the inner cavity of the shell, an output shaft of the second, connect the below of workbin inner chamber to be provided with the diaphragm, the top of diaphragm bonds there is the shock pad, a plurality of damping spring is installed to the bottom of diaphragm, and damping spring's bottom and the inner wall fixed mounting who connects the workbin.

Preferably, actuating mechanism includes step motor, first bevel gear and second bevel gear, step motor passes through the mounting panel reciprocal anchorage with the inner wall of casing, second bevel gear and step motor's output shaft reciprocal anchorage, first bevel gear bolt is on the surface of dwang, and first bevel gear and second bevel gear intermeshing.

Preferably, the stepping motor is located between the front side vertical plate and the rear side vertical plate, and the output end of the controller is in one-way electric connection with the input end of the stepping motor.

Preferably, the limiting mechanism comprises limiting rods, a fixing plate and pressure sensors, the number of the limiting rods is 2, the limiting rods are bolted to the surface of the rotating disc, the fixing plate is bolted to the surface of the shell, the number of the pressure sensors is 2, the pressure sensors are respectively installed on the left side and the right side of the fixing plate, and the output ends of the pressure sensors are in one-way electric connection with the input end of the controller.

Preferably, the limiting rods are made of plastic, and the included angle between the two limiting rods is 90 degrees.

Preferably, the left side and the right side of diaphragm all bolted connection have the slider, connect the left and right sides of workbin inner chamber and all seted up the spout, and the inner wall sliding connection of slider and spout.

Preferably, the upper part of the inner wall of the material receiving box is bonded with an anti-collision pad, and the surface of the positioning rod is bonded with a rubber sleeve.

Preferably, a first infrared sensor is installed on the right side of the mechanical arm, and a second infrared sensor is installed on the surface of the grabbing device.

Preferably, the four corners of the bottom of the shell are provided with universal wheels, and the universal wheels are connected with the surface of the robot base in a rolling manner.

Preferably, the area of shock pad is the same with the area of diaphragm, and has the clearance between the inner wall of shock pad and material receiving box.

Compared with the prior art, the invention has the following beneficial effects:

the numerically controlled lathe robot can provide support and positioning for the machined part at the bottom of the machined part, so that the machined part is not easy to fall off, and can be received in the process of vertically falling the machined part, and the machined part is not easy to damage.

Drawings

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is an enlarged view of a portion of the present invention at B of FIG. 1;

FIG. 4 is a structural front sectional view of the housing of the present invention;

FIG. 5 is a right side sectional view of the housing of the present invention;

FIG. 6 is a front sectional view of the structure of the material receiving box of the present invention;

FIG. 7 is a schematic perspective view of the structure of the material receiving box of the present invention;

FIG. 8 is a top view of a portion of the housing of the present invention;

fig. 9 is a schematic diagram of the system of the present invention.

In the figure: 1. a housing; 2. a robot base; 3. a mechanical arm; 4. a gripping device; 5. a vertical plate; 6. a bearing; 7. a controller; 8. rotating the rod; 9. a drive mechanism; 91. a first bevel gear; 92. a stepping motor; 93. a second bevel gear; 10. rotating the disc; 11. a limiting mechanism; 111. a limiting rod; 112. a fixing plate; 113. a pressure sensor; 12. a first hydraulic lever; 13. connecting blocks; 14. positioning a rod; 15. a second hydraulic rod; 16. a material receiving box; 17. a transverse plate; 18. a shock pad; 19. a damping spring; 20. a chute; 21. a slider; 22. an anti-collision pad; 23. a rubber sleeve; 24. a universal wheel; 25. a first infrared sensor; 26. a second infrared sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-9, a grabbing and positioning mechanism of a numerically controlled lathe robot comprises a housing 1, a robot base 2, a mechanical arm 3, a grabbing device 4 and a controller 7, wherein vertical plates 5 are bolted on the front side and the rear side of the top of an inner cavity of the housing 1, a bearing 6 is arranged on the surface of each vertical plate 5 in a penetrating manner, a rotating rod 8 is arranged inside the housing 1, the rotating rod 8 is bolted with the inner ring of the bearing 6, a driving mechanism 9 matched with the rotating rod 8 is arranged inside the housing 1, the front end and the rear end of the rotating rod 8 are both penetrated to the outer side of the housing 1 and are bolted with a rotating disc 10, a first hydraulic rod 12 is bolted on the surface of the rotating disc 10, a limiting mechanism 11 is arranged on the front side of the housing 1 and below the rotating disc 10, a connecting block 13 is bolted on an output shaft of the first hydraulic rod 12, a positioning rod 14 is welded on one side of the connecting block 13 far away from, the output shaft of second hydraulic stem 15 runs through to the outside of casing 1 and bolted connection has the workbin 16 that connects, the below of the workbin 16 inner chamber is provided with diaphragm 17, diaphragm 17's top bonds there is the shock pad 18, a plurality of damping spring 19 is installed to diaphragm 17's bottom, and damping spring 19's bottom and the inner wall fixed mounting who connects workbin 16, this mechanism can support and fix a position for it in the bottom of machined part, make the machined part be difficult for dropping, and can connect its material at the vertical in-process that drops of machined part, and make the machined part be difficult for impaired, solved at present because numerical control lathe robot is in the in-process of transporting the machined part, the bottom of machined part often lacks the support, in case the machined part takes place the phenomenon of skidding with the gripper of robot, cause the machined part to drop easily, and then lead to the damaged problem of machined part even.

As shown in fig. 5, the driving mechanism 9 includes a stepping motor 92, a first bevel gear 91 and a second bevel gear 93, the stepping motor 92 and the inner wall of the housing 1 are fixed to each other through a mounting plate, the second bevel gear 93 and the output shaft of the stepping motor 92 are fixed to each other, the first bevel gear 91 is bolted to the surface of the rotating rod 8, and the first bevel gear 91 and the second bevel gear 93 are meshed with each other, and the stepping motor 92, the first bevel gear 91 and the second bevel gear 93 are arranged to cooperate with each other to provide power for the rotation of the rotating rod 8 and the rotating disk 10.

As shown in fig. 5 and 9, the stepping motor 92 is located between the front and rear vertical plates 5, the output end of the controller 7 is unidirectionally electrically connected with the input end of the stepping motor 92, and the controller 7 controls the stepping motor 92 by designing the electrical connection relationship between the controller 7 and the stepping motor 92.

As shown in fig. 1, 3, 5 and 9, the limiting mechanism 11 includes limiting rods 111, a fixing plate 112 and pressure sensors 113, the number of the limiting rods 111 is 2, and the limiting rods are bolted on the surface of the rotary disc 10, the fixing plate 112 is bolted on the surface of the housing 1, the number of the pressure sensors 113 is 2, and the pressure sensors 113 are respectively installed on the left and right sides of the fixing plate 112, the output ends of the pressure sensors 113 are unidirectionally and electrically connected with the input end of the controller 7, through the arrangement of the limiting rods 111, the fixing plate 112 and the pressure sensors 113, when the limiting rods 111 contact with the pressure sensors 113 in the process of rotating with the rotary disc 10, the pressure sensors 113 transmit electric signals to the controller 7, and then the controller 7 controls the rotary disc 10 to be shut down, so as to achieve the effect of limiting the rotation range of the rotary disc 10 and the first hydraulic.

As shown in fig. 1, the limiting rod 111 is made of plastic, and an included angle between the two limiting rods 111 is 90 °, and by designing the limiting rod 111 made of plastic, it can be avoided that the limiting rod 111 is damaged when colliding with the pressure sensor 113 due to too hard material.

As shown in fig. 6, the left and right sides of the transverse plate 17 are all bolted with the sliding blocks 21, the sliding grooves 20 are formed in the left and right sides of the inner cavity of the material receiving box 16, the sliding blocks 21 are connected with the inner walls of the sliding grooves 20 in a sliding manner, the sliding blocks 21 can move up and down in the sliding grooves 20 along with the transverse plate 17 through the arrangement of the sliding grooves 20 and the sliding blocks 21, the stability of the transverse plate 17 can be improved through the matched use of the sliding grooves 20 and the sliding blocks 21, and the transverse plate 17 can only move in the vertical direction.

As shown in fig. 1, 2, 6, 7 and 8, a crash pad 22 is bonded above the inner wall of the material receiving box 16, a rubber sleeve 23 is bonded on the surface of the positioning rod 14, the crash pad 22 can protect a workpiece from colliding with the inner wall of the material receiving box 16 through the arrangement of the crash pad 22 and the rubber sleeve 23, the rubber sleeve 23 can increase the friction force between the positioning rod 14 and the workpiece, and meanwhile, the surface of the workpiece can be prevented from being damaged by the positioning rod 14.

As shown in fig. 1, a first infrared sensor 25 is installed on the right side of the mechanical arm 3, a second infrared sensor 26 is installed on the surface of the gripping device 4, and the first infrared sensor 25 and the second infrared sensor 26 are arranged and used together to facilitate the detection of the position of the workpiece by the worker, so that the worker can adjust the inclination angle of the first hydraulic rod 12 and the position of the positioning rod 14.

As shown in fig. 1, universal wheels 24 are installed at four corners of the bottom of the housing 1, and the universal wheels 24 are connected with the surface of the robot base 2 in a rolling manner, and through the arrangement of the universal wheels 24, the bottom of the housing 1 can support the housing, and the stability of the housing 1 in the rotating process is increased.

As shown in fig. 6, the area of the cushion pad 18 is the same as the area of the transverse plate 17, and there is a gap between the cushion pad 18 and the inner wall of the material receiving box 16, because the transverse plate 17 and the cushion pad 18 move downward when being impacted by the workpiece, by designing the gap between the cushion pad 18 and the inner wall of the material receiving box 16, the cushion pad 18 and the inner wall of the material receiving box 16 can be prevented from being rubbed.

The working principle is as follows: when the workpiece is in operation, the driving mechanical arm 3 and the gripping device 4 are used for gripping the workpiece, before the workpiece is transported, the stepping motor 92 is firstly started to drive the first bevel gear 91, the second bevel gear 93 and the rotating rod 8 to start rotating, then the rotating disc 10 and the first hydraulic rod 12 start rotating, the inclination angle of the first hydraulic rod 12 starts increasing, meanwhile, the first hydraulic rod 12 is started to extend the output shaft thereof, the connecting block 13 and the positioning rod 14 start moving, and the positioning rod 14 starts moving obliquely upwards until the rubber sleeve 23 on the surface thereof contacts with the bottom of the workpiece, at this time, the positioning rod 14 can support and position the bottom of the workpiece, so that the workpiece is not easy to fall from the inner side of the mechanical claw, meanwhile, the second hydraulic rod 15 is started, the output shaft thereof extends and drives the material receiving box 16 to start moving, when the material receiving box 16 is positioned below the workpiece, stop second hydraulic stem 15, if the machined part accident caused its vertical drop downwards, the machined part can drop to the inside that connects workbin 16, and the machined part contacts each other with shock pad 18 afterwards, and shock pad 18 can carry out shock attenuation protection to the machined part, and shock pad 18 and diaphragm 17 can displacement downwards under the effect of the impact force of machined part simultaneously, and it makes damping spring 19 begin to shrink to inhale the shake at the shrink in-process, make the machined part not fragile.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.