CN221391112U - Mechanical arm for tool changing of machining center - Google Patents

Abstract

The utility model discloses a mechanical arm for changing a tool in a machining center, which belongs to the technical field of machine tool accessories and comprises the following components: the device comprises a supporting arm and a clamping mechanism, wherein the supporting arm comprises a main body part and two grabbing parts; the grabbing parts are fixedly arranged at two ends of the main body part in the length direction; the grabbing part is provided with a cutter handle groove for accommodating the cutter handle; the number of the clamping mechanisms is the same as that of the grabbing parts, and the clamping mechanisms are arranged at the positions of the cutter handle grooves; the clamping mechanism is connected with the supporting arm in a sliding way and can stretch and retract along a slideway of the clamping mechanism; the clamping mechanism is configured to secure the tool shank in the tool shank pocket in its extended state and to enable the tool shank to be removed from the tool shank pocket in its retracted state. The utility model has compact structure, low production cost and high efficiency of grabbing the cutter.

Description

Mechanical arm for tool changing of machining center

Technical Field

The utility model relates to the technical field of machine tool accessories, in particular to a mechanical arm for tool changing of a machining center.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and an arm, and is used for grabbing and carrying objects or operating tools according to a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

Modern machining centers are generally provided with tool magazines, and when machining workpieces, different tools in the tool magazines need to be grasped by a manipulator, and the corresponding tools are placed in the machining center. The existing mechanical arm generally utilizes a driving mechanism to drive corresponding parts to automatically grab, grabbing actions are complex, grabbing processes are long, and machining efficiency of a machining center can be lowered.

In view of the foregoing, it is necessary to provide a new solution to the above-mentioned problems.

Disclosure of utility model

In order to solve the technical problems, the application provides the mechanical arm for changing the cutter of the machining center, which has a simple structure and high cutter grabbing efficiency.

A robotic arm for machining center tool changing, comprising:

the support arm comprises a main body part and two grabbing parts; the length direction of the main body part is larger than the width direction of the main body part; the grabbing parts are fixedly arranged at two ends of the main body part in the length direction; the grabbing part is provided with a cutter handle groove for accommodating the cutter handle;

The number of the clamping mechanisms is the same as that of the grabbing parts, and the clamping mechanisms are arranged at the positions of the knife handle grooves; the clamping mechanism is connected with the supporting arm in a sliding way and can stretch and retract along a slideway of the supporting arm; the clamping mechanism is configured to secure the tool shank in the tool shank pocket in its extended state and to enable the tool shank to be removed from the tool shank pocket in its retracted state.

Preferably, the gripping part comprises a claw body; the cutter handle groove is arranged on the claw body and is of an arc-shaped structure with an opening; the knife handle groove is internally provided with an arc-shaped clamping block which is matched with the annular groove on the knife handle; the clamping block is fixedly arranged at the inner bottom of the cutter handle groove.

Preferably, the body portion includes a body arm; the main body arm is provided with a limiting slideway and a limiting shaft hole; the limiting slide way is arranged along the length direction of the main body arm; the limiting shaft hole is perpendicular to the limiting slide way, and the limiting shaft hole penetrates through the main body arm at the position of the limiting slide way.

Preferably, the clamping mechanism comprises a telescopic arm and a clamping ring; one end of the telescopic arm is arranged in the limiting slideway in a sliding way; the clamping ring is rotatably arranged at the other end of the telescopic arm.

Preferably, the clamping mechanism further comprises a limiting shaft for limiting the travel range of the clamping ring; a limiting groove is formed in the telescopic arm; the limiting shaft is inserted into the limiting shaft hole and penetrates through the limiting groove.

Preferably, the clamping mechanism further comprises a locking spring for enabling the clamping mechanism to be in an extended state.

Preferably, the edge position of the clamping ring, which is used for being contacted with the annular groove on the knife handle, corresponds to the corresponding surface of the clamping block.

Preferably, the mechanical arm further comprises a limiting mechanism; the limiting mechanism comprises a first state and a second state; when the limiting mechanism is in a first state, the clamping mechanism can be locked; when the limiting mechanism is in the second state, the clamping mechanism can be unlocked.

Preferably, the main body part is provided with a limiting mechanism mounting hole which is arranged in parallel with the limiting shaft hole; the limiting slide way is communicated with the limiting mechanism mounting hole; the limiting mechanism is partially installed in the limiting mechanism installation hole.

Preferably, the limiting mechanism comprises a moving body, a limiting rod, a reset spring and a limiting cap; the limit cap is arranged outside the limit mechanism mounting hole; the movable body is arranged in a cavity formed by the limit cap and the limit mechanism mounting hole in a sliding manner; the end part of the telescopic arm arranged in the limiting slideway is abutted against the movable body; the reset spring is arranged between the moving body and the limiting cap; the limiting rod is arranged at the far end of the moving body connected with the reset spring and is fixedly connected with the moving body; the end part of the limiting rod can extend out of the main body part; when the end part of the limiting rod extends out of the main body part, the limiting mechanism is in a first state; when the end part of the limiting rod is retracted into the main body part, the limiting mechanism is in a second state.

Compared with the prior art, the application has at least the following beneficial effects:

1. The utility model has compact structure, low production cost and high efficiency of grabbing the cutter;

2. the utility model has the limiting mechanism, can realize the locking and unlocking of the clamping mechanism, and effectively control the tool changing time.

Drawings

Some specific embodiments of the utility model will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale.

In the accompanying drawings:

fig. 1 is a schematic perspective view of embodiment 1 of the present utility model;

FIG. 2 is a schematic view of a support arm according to embodiment 1 of the present utility model;

FIG. 3 is a schematic cross-sectional view of a support arm according to embodiment 1 of the present utility model;

FIG. 4 is a schematic cross-sectional view showing the combination of the clamping mechanism and the support arm according to embodiment 1 of the present utility model;

Fig. 5 is a schematic perspective view of embodiment 2 of the present utility model;

FIG. 6 is a schematic view of a support arm according to embodiment 2 of the present utility model;

FIG. 7 is a schematic cross-sectional view of a support arm according to embodiment 2 of the present utility model;

FIG. 8 is a schematic cross-sectional view showing the combination of the clamping mechanism and the support arm according to embodiment 2 of the present utility model;

fig. 9 is a partial enlarged view of the position a in fig. 8.

Wherein the above figures include the following reference numerals:

100. A support arm; 110. a main body portion; 111. a main body arm; 112. a fixing hole; 113. limiting shaft holes; 114. limiting slide ways; 115. a limit mechanism mounting hole; 120. a gripping part; 121. a claw body; 122. a knife handle groove; 123. a clamping block;

200. A clamping mechanism; 201. a limiting shaft; 202. a limit groove; 203. a telescoping arm; 204. a clamping ring; 205. a fixing cap; 206. the clamping shaft; 207. a locking spring;

300. a limiting mechanism; 301. a limit rod; 302. a moving body; 303. a limit cap; 304. and a return spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Example 1

As shown in fig. 1-4, a robotic arm for tool changing in a machining center, comprising: a support arm 100 and a clamping mechanism 200. The support arm 100 includes a main body 110 and two grabbing parts 120, the length direction of the main body 110 is greater than the width direction of the main body, the grabbing parts 120 are fixedly arranged at two ends of the length direction of the main body 110, and the grabbing parts 120 are provided with a handle groove 122 for accommodating a handle.

The number of the clamping mechanisms 200 is the same as that of the grabbing parts 120, and the clamping mechanisms are arranged at the positions of the knife handle grooves 122. The clamping mechanism 200 is slidably connected to the support arm 100 and is capable of telescoping along its slide, the clamping mechanism 200 being configured to secure the tool shank in the tool shank pocket 122 in its extended state and to enable the tool shank to be removed from the tool shank pocket 122 in its retracted state.

Specifically, the grabbing portion 120 includes a claw body 121, and a shank groove 122 is disposed on the claw body 121 and has an open circular arc structure, so that when a tool in a tool magazine of a machining center is grabbed, the shank enters the shank groove 122 through an opening at the shank groove 122. The knife handle groove 122 is internally provided with a circular arc-shaped clamping block 123 which is matched with the annular groove on the knife handle, and the clamping block 123 is fixedly arranged at the inner bottom of the knife handle groove 122. The clamping block 123 is inserted into an annular groove in the shank when the tool is clamped.

The main body 110 includes a main body arm 111, and a limit slide 114 and a limit shaft hole 113 are provided on the main body arm 111. The limit slide 114 is disposed along the length of the body arm 111. The limiting shaft hole 113 is perpendicular to the limiting slide 114, and the limiting shaft hole 113 penetrates through the main body arm 111 at the position of the limiting slide 114. Further, the body arm 111 is provided with a fixing hole 112. The fixing hole 112 is fixedly connected with an external rotating device, so as to realize rotation of the support arm 100, and further realize grabbing and replacing of the tool in the machining center by the mechanical arm.

The clamping mechanism 200 comprises a telescopic arm 203, a clamping ring 204 and a locking spring 207, wherein one end of the telescopic arm 203 is slidably arranged in the limiting slide way 114. The clamping ring 204 is rotatably arranged at the other end of the telescopic arm 203 through the clamping shaft 206, and the fixing cap 205 is fixedly connected with the clamping shaft 206 to prevent the clamping shaft 206 from falling off. The edge position of the clamping ring 204, which is used for contacting with the annular groove on the knife handle, corresponds to the corresponding surface of the clamping block 123.

The locking spring 207 is a compression spring, is disposed in the limiting slide 114, is sleeved outside the telescopic arm 203, has one end abutting against the inner wall of the limiting slide 114, and the other end abutting against the axial surface of the telescopic arm 203, and is capable of being in an extended state by virtue of the elasticity of the locking spring 207.

In addition, the clamping mechanism 200 further includes a limiting shaft 201 for limiting the range of travel of the clamping ring 204. The telescopic arm 203 is provided with a limiting groove 202, the limiting shaft 201 is inserted into the hole 113 of the limiting shaft 201, and the limiting groove 202 is penetrated.

As another embodiment of the present utility model, the locking spring 207 may be replaced by other mechanisms capable of providing a telescopic force, so that the position of the clamping ring 204 can be changed, thereby realizing locking and unlocking of the tool handle. For example, a telescopic mechanism such as an air cylinder, a hydraulic cylinder, an electric push rod and the like is used for replacing the locking spring 207, and the telescopic arm 203 slides along the limit slideway 114 by means of external control force, so that the position change of the clamping ring 204 is ensured.

Working principle: the telescopic arm 203 is in an extended state when not subjected to other external forces due to the elastic force of the locking spring 207, and the telescopic arm 203 can only extend within a certain range due to the existence of the limiting shaft 201 and the limiting groove 202. When the support arm 100 is rotated by external force and gradually approaches the tool handle from the opening of the tool handle groove 122, the tool handle presses the clamping ring 204 against the elastic force of the locking spring 207, so that the telescopic arm 203 gradually retracts into the limiting slideway 114. As the tool shank moves further, when the tool shank gradually reduces in size between the clamping ring 204 and the claw body 121, the telescopic arm 203 gradually stretches under the action of the elastic force of the locking spring 207, and at this time, the clamping ring 204 tightly abuts against the annular groove of the tool shank. After the knife handle completely enters the knife handle groove 122, the clamping block 123 is clamped in the annular groove of the knife handle, and the knife handle is fixed in the knife handle groove 122 under the combined action of the clamping ring 204, the claw body 121 and the clamping block 123, so that the fixation of the knife is realized.

When the tool needs to be separated from the tool shank pocket 122, the support arm 100 is rotated in the opposite direction by an external force and undergoes a process exactly opposite to the tool fixing process, so that the tool is separated from the tool shank pocket 122.

Example 2

Example 2 is the same as example 1. The only difference is that, as shown in fig. 5-9, a mechanical arm for changing a tool in a machining center further includes a limiting mechanism 300, where the limiting mechanism 300 includes a first state and a second state; when the limiting mechanism 300 is in the first state, the clamping mechanism 200 can be locked; when the spacing mechanism 300 is in the second state, the chucking mechanism 200 can be unlocked.

Specifically, the main body 110 is provided with a limiting mechanism mounting hole 115 parallel to the limiting shaft hole 113, the limiting slideway 114 is communicated with the limiting mechanism mounting hole 115, and the limiting mechanism 300 is partially mounted in the limiting mechanism mounting hole 115.

The limit mechanism 300 includes a moving body 302, a limit lever 301, a return spring 304, and a limit cap 303; the limit cap 303 covers the outside of the limit mechanism mounting hole 115; the moving body 302 is slidably arranged in a cavity formed by the cover of the limit cap 303 and the limit mechanism mounting hole 115; the end part of the telescopic arm 203 arranged in the limiting slideway 114 is abutted against the moving body 302; the return spring 304 is provided between the movable body 302 and the limit cap 303; the limit rod 301 is arranged at the far end of the moving body 302 connected with the return spring 304 and is fixedly connected with the moving body 302; the end of the limit rod 301 can extend out of the main body 110; when the end of the limit lever 301 extends out of the main body 110, the limit mechanism 300 is in the first state; when the end of the stopper rod 301 is retracted into the main body 110, the stopper mechanism 300 is in the second state.

In the non-operating state, the movable body 302 is urged by the return spring 304, and the stopper 301 protrudes from the surface of the main body arm 111, and is in the first state. In the first state, the movable body 302 blocks the end of the telescopic arm 203, thereby locking the chucking mechanism 200.

When the end of the limit rod 301 is extruded by the external structure, the limit rod 301 can overcome the elastic force of the return spring 304 and retract into the main body arm 111, and at this time, the outer diameter of the limit rod 301 is smaller than the outer size of the moving body 302, so that the telescopic arm 203 positioned in the limit slide 114 has a certain moving space, and the unlocking of the clamping mechanism 200 is realized.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations 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 "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A robotic arm for tool changing in a machining center, comprising:

the support arm comprises a main body part and two grabbing parts; the length direction of the main body part is larger than the width direction of the main body part; the grabbing parts are fixedly arranged at two ends of the main body part in the length direction; the grabbing part is provided with a cutter handle groove for accommodating the cutter handle;

The number of the clamping mechanisms is the same as that of the grabbing parts, and the clamping mechanisms are arranged at the positions of the knife handle grooves; the clamping mechanism is connected with the supporting arm in a sliding way and can stretch and retract along a slideway of the supporting arm; the clamping mechanism is configured to secure the tool shank in the tool shank pocket in its extended state and to enable the tool shank to be removed from the tool shank pocket in its retracted state.

2. The robotic arm of claim 1, wherein the gripping portion comprises a jaw body; the cutter handle groove is arranged on the claw body and is of an arc-shaped structure with an opening; the knife handle groove is internally provided with an arc-shaped clamping block which is matched with the annular groove on the knife handle; the clamping block is fixedly arranged at the inner bottom of the cutter handle groove.

3. The robotic arm of claim 2, wherein said body portion comprises a body arm; the main body arm is provided with a limiting slideway and a limiting shaft hole; the limiting slide way is arranged along the length direction of the main body arm; the limiting shaft hole is perpendicular to the limiting slide way, and the limiting shaft hole penetrates through the main body arm at the position of the limiting slide way.

4. A robotic arm as claimed in claim 3 in which the gripping mechanism comprises a telescopic arm and a gripping ring; one end of the telescopic arm is arranged in the limiting slideway in a sliding way; the clamping ring is rotatably arranged at the other end of the telescopic arm.

5. The mechanical arm of claim 4, wherein the clamping mechanism further comprises a limiting shaft for limiting a range of travel of the clamping ring; a limiting groove is formed in the telescopic arm; the limiting shaft is inserted into the limiting shaft hole and penetrates through the limiting groove.

6. The robot arm of claim 5, wherein said gripping mechanism further comprises a locking spring for enabling said gripping mechanism to be in an extended state.

7. The mechanical arm of claim 6, wherein an edge position of the snap ring for contacting the annular groove on the handle corresponds to a corresponding surface of the snap block.

8. The robotic arm of claim 7, wherein said robotic arm further comprises a limiting mechanism; the limiting mechanism comprises a first state and a second state; when the limiting mechanism is in a first state, the clamping mechanism can be locked; when the limiting mechanism is in the second state, the clamping mechanism can be unlocked.

9. The mechanical arm according to claim 8, wherein the main body part is provided with a limiting mechanism mounting hole arranged in parallel with the limiting shaft hole; the limiting slide way is communicated with the limiting mechanism mounting hole; the limiting mechanism is partially installed in the limiting mechanism installation hole.

10. The mechanical arm of claim 9, wherein the limit mechanism comprises a movable body, a limit lever, a return spring, and a limit cap; the limit cap is arranged outside the limit mechanism mounting hole; the movable body is arranged in a cavity formed by the limit cap and the limit mechanism mounting hole in a sliding manner; the end part of the telescopic arm arranged in the limiting slideway is abutted against the movable body; the reset spring is arranged between the moving body and the limiting cap; the limiting rod is arranged at the far end of the moving body connected with the reset spring and is fixedly connected with the moving body; the end part of the limiting rod can extend out of the main body part; when the end part of the limiting rod extends out of the main body part, the limiting mechanism is in a first state; when the end part of the limiting rod is retracted into the main body part, the limiting mechanism is in a second state.