Robot with rotary telescopic composite execution tail end

Abstract

The invention discloses a robot with a rotary telescopic composite execution tail end, and belongs to the technical field of gear cutting machining robots. Comprising a rotary support, and the rotary support is provided with a left bearing and a right bearing which are coaxially arranged; the slip ring is fixedly sleeved in the right bearing; the sliding rod is sleeved with the sliding ring in a sliding mode, and the sliding rod and the sliding ring are connected through an inner key. A cylinder body of the telescopic cylinder is fixedly sleeved in the left bearing, and a piston rod end is coaxially and rotationally connected with the sliding rod; the left clamping jaw assembly and the right clamping jaw assembly are correspondingly fixed to the cylinder body and the sliding rod respectively. Wherein an inner gear ring is fixed to the cylinder body, an outer gear ring is fixed to the sliding ring, and the gear driving mechanism is used for driving the inner gear ring and the outer gear ring. The telescopic cylinder can control the cylinder body and the sliding rod to move relatively in the axial direction, the servo motor can control the cylinder body and the sliding rod to rotate relatively, through cooperation of the telescopic cylinder and the servo motor, accurate control over the position and posture of the clamping jaw is completed, the mechanical arm has multiple grabbing modes, the grabbing requirements of different types of gears are met, and the machining precision and the surface quality of the gears are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gear cutting robot, in particular to a robot with a rotating telescopic composite end. BACKGROUND

[0002] In the field of gear manufacturing, the transfer link of workpieces is a key process to ensure the continuity of production and the accuracy of processing in the processing flow of internal gear and external gear. At present, the industry generally uses a robot as the core equipment for gear workpiece transfer. Its main function is to realize the grabbing, carrying and positioning of gears between different processing stations to replace manual operation, improve production efficiency and reduce the risk of workpiece damage.

[0003] However, the existing robot has the following shortcomings in actual application: Firstly, the grabbing mode is single. Most robots only have a single clamping mode, or they are designed for clamping the outer periphery of external gear, or they are designed for supporting the inner hole of internal gear. When the production line needs to switch between processing internal gear and external gear, different structure of jaw assembly needs to be replaced to avoid damage to the processed surface. This not only increases the equipment adjustment time, reduces the production rhythm, but also increases the equipment maintenance cost. Moreover, the flexibility of jaw posture adjustment is poor. When facing special specifications of gears or complex station layout, the jaw may interfere with the workpiece, the grabbing may be unstable, and the application range of the equipment is limited. SUMMARY

[0004] In view of the above technical deficiencies, the present application provides a robot with a rotating telescopic composite end with multiple grabbing modes and high structural integration.

[0005] The present application adopts the following technical scheme: a robot with a rotating telescopic composite end, comprising a base, a rotary arm mounted on the base; further comprising: a rotary support having two coaxial left and right bearings; a slip ring fixedly sleeved in the right bearing; a slide rod slidingly sleeved in the slip ring, the slide rod and the slip ring being connected by an inner key; a telescopic cylinder, the cylinder body of the telescopic cylinder being fixedly sleeved in the left bearing, and the piston rod end of the telescopic cylinder being coaxial and rotationally connected with the slide rod; a left jaw assembly and a right jaw assembly, respectively corresponding to the ends of the slide rod and the cylinder body of the telescopic cylinder away from each other; wherein the cylinder body of the telescopic cylinder is fixed with an inner gear ring, the slip ring is fixed with an outer gear ring, and the rotary support is fixed with a gear driving mechanism for driving the inner gear ring and the outer gear ring.

[0006] Further, the slewing bearing comprises a main body and a left end cover and a right end cover with central holes fixed at both ends of the main body; The left bearing is fixed in the central hole of the left end cover, and the right bearing is fixed in the central hole of the right end cover.

[0007] The inner wall of the sliding ring is provided with a plum blossom key, and the sliding rod is provided with a plum blossom key groove matched with the plum blossom key.

[0008] The piston rod end of the telescopic cylinder is provided with a blind hole, and the sliding rod is provided with a threaded hole close to the piston rod end; the piston rod end and the sliding rod are connected through a rotary joint; The rotary joint comprises: A first bearing is sleeved in the blind hole of the piston rod end; the outer ring of the first bearing is bidirectionally limited by a hole stop ring fixed on the inner wall of the blind hole and a gland fixed on the piston rod end; A stud is sleeved in the first bearing; the inner ring of the first bearing is bidirectionally limited by a shaft stop ring fixed on the stud and a shoulder on the stud; The end of the stud away from the piston rod is connected with the sliding rod.

[0009] The stud is provided with symmetrical planes at a position between the piston rod and the sliding rod, and the stud is further provided with a fastening nut.

[0010] The gear driving mechanism comprises: A transmission shaft is rotatably arranged in the main body; A left driving gear is fixed on the left end of the transmission shaft and is in mesh with the inner ring gear; A right driving gear is fixed on the right end of the transmission shaft and is in mesh with the outer ring gear; A driven pulley is fixed on the middle position of the transmission shaft; A servo motor is fixed on one side of the main body and is connected with the driven pulley through a driving pulley and a belt.

[0011] Two left auxiliary planetary gears are rotatably arranged on the left end surface of the main body and are uniformly distributed around the axis of the telescopic cylinder together with the left driving gear, and the left auxiliary planetary gears are in mesh with the inner ring gear; Two right auxiliary planetary gears are rotatably arranged on the right end surface of the main body and are uniformly distributed around the axis of the sliding rod together with the right driving gear, and the right auxiliary planetary gears are in mesh with the outer ring gear.

[0012] A plane for fixing the servo motor is arranged on one side of the main body, and a flange plate is further fixed on the plane.

[0013] The left jaw assembly and the right jaw assembly are symmetrical in structure. The left clamping jaw assembly has a main clamping rod and a sub clamping rod parallel to the axis of the telescopic cylinder, and the main clamping rod is longer than the sub clamping rod.

[0014] The left clamping jaw assembly has an inclined rod fixed at the non-working end of the main clamping rod, and the non-working end of the sub clamping rod is slidably mounted on the inclined rod.

[0015] The present application has the following beneficial effects: The telescopic cylinder can control the axial relative movement of the cylinder body and the slide rod to realize the relative movement of the clamping jaw assembly in the X direction, and the servo motor can control the relative rotation of the cylinder body and the slide rod to realize the rotation angle of the clamping jaw assembly around the X axis. Through the cooperation of the two, the position and posture of the clamping jaw are accurately controlled. The mechanical hand has three kinds of grabbing modes: top, inner support and outer support, which meets the requirements of clamping and positioning mode in the gear machining and transfer process, adapts to the grabbing demand of different types of gears, can effectively grab the internal gear or external gear, and expands the application range of the equipment. In different grabbing modes, the design of the clamping jaw assembly can avoid damaging the surface of the gear workpiece. In the top mode, the coaxial relative clamping of the main clamping rod can reduce the contact with the inner and outer circumferential surface of the gear; the inner support mode avoids damaging the end surface and outer circumferential surface of the gear; the outer support mode can prevent the end surface and inner circumferential surface of the gear from being damaged, which helps to ensure the machining precision and surface quality of the gear. By using the telescopic property of the telescopic cylinder and cooperating with the rotation of the rotary support, the rotary support, the slip ring, the slide rod and other components are integrated, the overall structure is compact, the composite control of axial displacement and axial rotation is completed, the auxiliary planetary gears at both ends form a stable planetary gear system, which can effectively improve the stability and reliability of the drive, ensure the accuracy of the action of the clamping jaw assembly in the grabbing and transfer process, and reduce the hidden troubles caused by unstable transmission. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective view of the robot with a rotary telescopic composite execution end.

[0017] Figure 2 It is a perspective view of the robot with a rotary telescopic composite execution end. Figure 1 It is a schematic view of the internal structure of the rotary support.

[0018] Figure 3 It is a front view of the robot with a rotary telescopic composite execution end.

[0019] Figure 4 It is a front view of the robot with a rotary telescopic composite execution end. Figure 3 It is a sectional view of A-A.

[0020] Figure 5 It is a sectional view of A-A. Figure 4 It is an enlarged view of B.

[0021] Figure 6 It is an enlarged view of B.Figure 5 Cross-sectional view of the swivel joint part.

[0022] Figure 7 Schematic diagram of the invention working in the top mode.

[0023] Figure 8 Schematic diagram of the invention working in the inner support mode.

[0024] Figure 9 Schematic diagram of the invention working in the outer support mode.

[0025] Explanation of reference signs: 1, rotary support; 11, left bearing; 12, right bearing; 13, main body; 14, left end cover; 15, right end cover; 16, flange plate; 2, slip ring; 21, outer gear ring; 3, slide rod; 4, telescopic cylinder; 41, cylinder body; 411, inner gear ring; 42, piston rod; 51, left jaw assembly; 511, main clamping rod; 512, auxiliary clamping rod; 513, inclined rod; 52, right jaw assembly; 6, gear drive mechanism; 61, transmission shaft; 62, left drive gear; 63, right drive gear; 64, driven pulley; 65, servo motor; 66, driving pulley; 67, belt; 68, left auxiliary planetary gear; 69, right auxiliary planetary gear; 7, swivel joint; 71, first bearing; 72, hole retainer; 73, gland; 74, stud; 741, shoulder; 75, shaft retainer; 76, fastening nut; 8, swivel arm; 9, base. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. It should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery" and the like indicate the orientation or positional relationship, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0027] Embodiment one: As Figures 1 to 5As shown, the present application provides a robot with a rotary telescopic composite execution end, a rotary arm 8 controlled by an upper computer is fixed on a base 9, and a rotary support 1 is installed at the end of the rotary arm 8. The rotary support 1 mainly consists of a cylindrical main body 13 and left and right end covers 14 and 15 fixed on both ends of the main body 13 by bolts. Circular recesses are formed on both ends of the main body 13, and the left and right end covers 14 and 15 cooperate to form mounting cavities. Through holes are formed in the centers of the left and right end covers 14 and 15, and corresponding left and right bearings 11 and 12 are fixed in the through holes. A mounting plane is formed on one side of the main body 13, and a “π”-shaped flange plate 16 is fixed on the plane. A ring of flange holes is formed on the flange plate 16 for connecting a machine at the end of the rotary arm 8.

[0028] A slip ring 2 is located in the mounting cavity on the right side, and the right end of the slip ring 2 is fixedly sleeved in the right bearing 12. The left end of the slip ring 2 has an integrated outer gear ring 21, and a keyway is formed in the inner wall of the slip ring 2. A keyway is formed on the slip ring 2, and a slip rod 3 is slidably sleeved in the slip ring 2. The slip rod 3 can slide along the axis of the slip ring 2. Under the cooperation of the keyway, the slip rod 3 and the slip ring 2 can transmit torque, that is, the slip ring 2 can drive the slip rod 3 to rotate.

[0029] A telescopic cylinder 4 is coaxial with the slip rod 3, and the cylinder body 41 of the telescopic cylinder 4 is fixedly sleeved in the left bearing 11. A through hole is formed in the axis of the main body 13, and the piston rod 42 of the telescopic cylinder 4 and the slip rod 3 pass through the through hole. The piston rod 42 is coaxial with the slip rod 3 and is rotationally connected to the slip rod 3 through a rotary joint 7. The rotary joint 7 ensures that the piston rod 42 and the slip rod 3 can rotate relative to each other around their own axes, but can transmit axial force, that is, the piston rod 42 can pull or push the slip rod 3 to slide along the slip ring 2. An outer gear ring 21 is fixed to one end of the cylinder body 41 close to the slip rod 3. The outer gear ring 21 is located in the mounting cavity on the left side and is coaxial with the telescopic cylinder 4.

[0030] Further combining Figure 1 , Figure 2 and Figure 5 As shown, the telescopic cylinder 4 is used to control the axial relative movement of the cylinder body 41 and the slip rod 3, and to realize the relative movement of the left and right jaw assemblies 51 and 52 in the X direction of the axis of the telescopic cylinder 4. The gear drive mechanism 6 is used to drive the cylinder body 41 and the slip rod 3 to rotate around their own axes, and to realize the relative rotation of the left and right jaw assemblies 51 and 52 around the X direction.

[0031] Gear drive mechanism 6 includes a transmission shaft 61, transmission shaft 61 is provided in the axial through hole at an eccentric position on the main body 13, transmission shaft 61 both ends of the main body 13 and respectively through the bearing and the main body 13 rotation connection. Transmission shaft 61 left end fixed with left drive gear 62, left drive gear 62 and the inner ring gear 411 of the end of the cylinder body 41 meshing with each other. Transmission shaft 61 right end fixed with right drive gear 63, right drive gear 63 and the outer ring gear 21 on the slip ring 2 meshing with each other. In the main body 13 one side of the installation plane is provided with a groove to the middle of the transmission shaft 61, transmission shaft 61 in the groove is fixed from the driven pulley 64. Servo motor 65 is fixed on the side of the main body 13 plane, and hidden in the back side of the flange plate 16; servo motor 65 output shaft fixed driving pulley 66, driving pulley 66 and from the driven pulley 64 through from the driven pulley 64 connection. In work, transmission shaft 61 both ends of the left drive gear 62, right drive gear 63 respectively with the inner ring gear 411, outer ring gear 21 meshing transmission, which makes the cylinder body 41, slide rod 3 around X direction rotation direction is opposite.

[0032] Combination Figure 1 And Figure 4 As shown in figure 1 and figure 2, left jaw assembly 51, right jaw assembly 52 are respectively fixed on the cylinder body 41 and the slide rod 3 of the telescopic cylinder 4 away from each other. In this embodiment, the structure of left jaw assembly 51 and right jaw assembly 52 is symmetrical; take left jaw assembly 51 as an example to explain: Left jaw assembly 51 includes an inclined rod 513 fixed on the bottom end of the cylinder body 41, and a main clamping rod 511 fixed on the end of the inclined rod 513. The main clamping rod 511 is parallel to the axis of the telescopic cylinder 4, and the angle between the main clamping rod 511 and the inclined rod 513 is obtuse. The auxiliary clamping rod 512 is parallel to the main clamping rod 511, and one end of the auxiliary clamping rod 512 is slidably sleeved on the inclined rod 513 through a sliding sleeve. By sliding the inclined rod 513, the distance between the auxiliary clamping rod 512 and the main clamping rod 511 can be adjusted. The auxiliary clamping rod 512 is provided with a tightening screw for positioning the auxiliary clamping rod 512 and the inclined rod 513. In work, the inner end of the auxiliary clamping rod 512 is farther away from the center than the inner end of the main clamping rod 511, so as to avoid interference with the clamping operation of the main clamping rod 511 of the left and right jaw assemblies.

[0033] Example two: Based on the above embodiment one, in combination with Figure 2 And Figure 5 As shown in figure 1 and figure 2, in order to improve the driving stability of the gear drive mechanism 6, two left auxiliary planetary gears 68 are arranged on the left end face of the main body 13, the left auxiliary planetary gears 68 are located in the left mounting cavity and are rotatably installed on the main body 13 through a central shaft and a bearing. The two left auxiliary planetary gears 68 and the left drive gear 62 are uniformly distributed around the axis of the telescopic cylinder 4 and are meshed with each other and the inner ring gear 411, forming a stable planetary gear system.

[0034] Similarly, two right auxiliary planetary gears 69 are rotationally installed on the right end surface of the main body 13; the two right auxiliary planetary gears 69 and the right drive gear 63 are uniformly distributed around the shaft of the slide rod 3 and are in mesh with the outer ring gear 21, forming a stable planetary gear system.

[0035] Example Three: On the basis of the above-mentioned example one, in combination with Figures 4 to 6 As shown in the figure, a blind hole is formed in the shaft of the end of the piston rod 42 of the telescopic cylinder 4, and a threaded hole is formed in the shaft of the end of the slide rod 3 close to the piston rod 42, which is used to connect the rotary joint 7.

[0036] The rotary joint 7 includes a first bearing 71 fixed in the blind hole at the end of the piston rod 42. A gland 73 is fixed at the end of the piston rod 42, and a hole retainer 72 is fixed on the inner wall of the blind hole. The outer ring of the first bearing 71 is positioned between the hole retainer 72 and the gland 73. A stud 74 is fixed in the first bearing 71; one end of the stud 74 is provided with external threads, and the other end has a circumferential shoulder 741. An axle retainer 75 is fixed on the stud 74, and the inner ring of the first bearing 71 is positioned between the axle retainer 75 and the shoulder 741. The first bearing 71 is selected as a bidirectional thrust bearing, and the stud 74 can rotate relative to the piston rod 42 and transmit axial thrust and pull. A pair of symmetrical planes are formed on the circumferential surface of the stud 74, which facilitates the rotation of the stud 74 using tools, so that the stud 74 is screwed into the threaded hole at the end of the slide rod 3. A locking nut 76 is installed on the stud 74 to prevent it from being withdrawn from the slide rod 3.

[0037] Working principle: Pushing mode: Start the servo motor and adjust the cylinder and slide rod on both sides through the gear drive mechanism to make the left and right jaw assemblies reset to the initial position, i.e., the main clamping rods in the left and right jaw assemblies are coaxial and opposite, as shown in the figure; then, pull the slide rod through the telescopic cylinder to make the main clamping rods in the left and right jaw assemblies move close to each other, achieving clamping of the gear workpiece by the two main clamping rods; avoiding damage to the inner and outer circumferential surfaces of the gear workpiece. Figure 7

[0038] Supporting mode from inside: Start the servo motor and adjust the cylinder and slide rod on both sides through the gear drive mechanism to make the left and right jaw assemblies deviate from the initial position by a small angle, i.e., the main clamping rods in the left and right jaw assemblies are deviated by a certain angle around the x direction and are no longer opposite, as shown in the figure. Figure 8 ​As shown; then, the sliding rod is pulled by the telescopic cylinder, causing the main clamping rods in the left and right clamping assemblies to move close together and insert into the shaft holes of the gear-like workpiece from both sides. The two main clamping rods are staggered in the axial direction for a certain length. Finally, the main clamping rods on both sides are further deflected to support the workpiece from the shaft holes, thus achieving the gripping of the gear-like workpiece and avoiding damage to the end face and outer peripheral surface of the gear-like workpiece.

[0039] External support mode: The servo motor is started, and the rotation of the cylinders and slide bars on both sides is adjusted through the gear drive mechanism, causing the left and right gripper assemblies to deflect from their initial positions by a large angle, such as... Figure 9 As shown; then, the sliding rod is pulled by the telescopic cylinder, causing the main clamping rods in the left and right clamping assemblies to move close together. The two main clamping rods are positioned on both sides of the circumference of the gear-like workpiece, and the two main clamping rods and the two auxiliary clamping rods are staggered in the axial direction for a certain length; finally, the main clamping rods on both sides are controlled to deflect in opposite directions, and the main clamping rods and auxiliary clamping rods clamp the workpiece on the circumference from both sides, realizing the gripping of the gear-like workpiece; avoiding damage to the end face and inner circumference of the gear-like workpiece.

[0040] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope.

Claims

1. A robot with a rotary telescopic composite execution end, comprising a base, a rotary arm mounted on the base; characterized in that Further comprising: a rotary support with two coaxial left and right bearings; the rotary support is mounted at the end of the rotary arm; a sliding ring fixedly sleeved in the right bearing; a sliding rod slidingly sleeved in the sliding ring, and the sliding rod and the sliding ring are connected through an inner key; a telescopic cylinder, the cylinder body of the telescopic cylinder is fixedly sleeved in the left bearing, and the piston rod end of the telescopic cylinder is coaxial with and rotatably connected with the sliding rod; a left jaw assembly and a right jaw assembly are respectively fixed at the ends of the cylinder body and the sliding rod away from each other; 2. The robot having a rotary telescopic compound end effector of claim 1, wherein: wherein the cylinder body end of the telescopic cylinder is fixed with an inner ring gear, the sliding ring is fixed with an outer ring gear, and a gear driving mechanism for driving the inner ring gear and the outer ring gear is fixed on the rotary support. The rotary support comprises a main body and left and right end covers with central holes fixed at both ends of the main body; 3. The robot having a rotary telescopic composite end effector according to claim 1, wherein: the left bearing is fixed in the central hole of the left end cover, and the right bearing is fixed in the central hole of the right end cover.

4. The robot having a rotary telescopic composite end effector according to claim 1, wherein: The inner wall of the sliding ring is provided with a plum blossom key, and the sliding rod is provided with a plum blossom key groove matched with the plum blossom key. A blind hole is formed in the axis of the piston rod end of the telescopic cylinder, and a threaded hole is formed in the end of the sliding rod close to the piston rod; the piston rod end and the sliding rod are connected through a rotary joint; The rotary joint comprises: a first bearing sleeved in the blind hole of the piston rod end; the outer ring of the first bearing is bidirectionally limited by a hole stop ring fixed on the inner wall of the blind hole and a gland fixed on the piston rod end; a stud sleeved in the first bearing; the inner ring of the first bearing is bidirectionally limited by a shaft stop ring fixed on the stud and a shoulder on the stud; 5. The robot having a rotary telescopic composite end effector according to claim 4, wherein: wherein the end of the stud away from the piston rod is connected with the sliding rod.

6. The robot having a rotary telescopic composite end effector according to claim 2, wherein, A symmetric plane is formed on the stud between the piston rod and the sliding rod, and a fastening nut is further mounted on the stud. The gear driving mechanism comprises: a transmission shaft rotatably penetrating the main body; a left drive gear fixed at the left end of the transmission shaft and meshing with the inner ring gear; a right drive gear fixed at the right end of the transmission shaft and meshing with the outer ring gear; a driven pulley fixed at the middle position of the transmission shaft; 7. The robot having a rotary telescopic composite end effector according to claim 6, wherein: a servo motor fixed on one side of the main body and connected with the driven pulley through a driving pulley and a belt. Two left auxiliary planetary gears uniformly distributed around the axis of the telescopic cylinder and meshing with the inner ring gear are further rotatably mounted on the left end surface of the main body; 8. The robot having a rotary telescopic composite end effector according to claim 6, wherein: Two right auxiliary planetary gears uniformly distributed around the axis of the sliding rod and meshing with the outer ring gear are further rotatably mounted on the right end surface of the main body.

9. The robot having a rotary telescopic composite end effector according to claim 1, wherein: A plane for fixing the servo motor is formed on one side of the main body, and a flange plate is further fixed on the plane. The left jaw assembly and the right jaw assembly are structurally symmetrical; 10. The robot having a rotary telescopic composite end effector according to claim 9, wherein: The left jaw assembly has a main clamping rod and a secondary clamping rod parallel to the axis of the telescopic cylinder, and the main clamping rod is longer than the secondary clamping rod. The left jaw assembly has an inclined rod fixed at the non-working end of the main clamping rod, and the non-working end of the secondary clamping rod is slidingly and adjustably mounted on the inclined rod.

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