An automatic loading and unloading manipulator for short shaft parts

Abstract

The present invention relates to an automatic loading and unloading manipulator for short-axis parts, comprising a support platform and a grabbing device arranged on the support platform, the grabbing device comprising a core grabbing mechanism for grabbing short-axis parts and a driving mechanism for driving the core grabbing mechanism to move, the driving mechanism comprising a linear drive, a first connecting member, a linear cylinder, a cylinder connecting member, and a rotary cylinder, the linear drive is arranged on the support platform, the first connecting member is arranged on the linear drive, the linear cylinder is matched and connected with the first connecting member, the cylinder connecting member is arranged on the output shaft of the linear cylinder, the rotary cylinder is matched and connected with the cylinder connecting member, and the core grabbing mechanism is matched and connected with the rotating platform of the rotary cylinder. The present invention can realize the loading and unloading action of short-axis parts on the assembly line and the workbench at a 90° angle, reduce the operating intensity of workers, meet the automation requirements, and has the advantages of simple structure, small size, simple control, no pollution, no oil consumption, and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation equipment, and in particular to an automatic loading and unloading manipulator for short-shaft parts. Background Art

[0002] Nowadays, automatic loading and unloading manipulators have become an indispensable part of automated production lines. They are easy to operate and highly efficient, and can save operators from heavy and monotonous working environments. The structure of automatic loading and unloading manipulators is also very different for different working environments. In some working environments that require a simpler motion path, the structure of the manipulator is often not too complicated; while for some working environments with more complex motion paths, the manipulator is required to have a higher degree of freedom, and the number of actuators used will increase, and its structure will be more varied.

[0003] When the shaft parts to be processed on the assembly line are at a 90° angle to the finished products processed on the workbench, it is generally difficult to complete the exchange of the positions of the two sides of the parts with one rotation, and the motion process involved is more complicated. In response to this situation, most of the existing loading and unloading manipulators complete loading and unloading through the superposition and combination of actuators. Although this mechanism is highly flexible, it requires more actuators, occupies a larger space, is heavier in weight, and has a higher overall cost. Therefore, it is indeed necessary to design an innovative automatic loading and unloading manipulator for the above situation, so that it can overcome the above-mentioned defects in the prior art while realizing the above-mentioned complex movements and completing the specified loading and unloading actions. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art and to provide an automatic loading and unloading manipulator for short shaft parts.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an automatic loading and unloading robot for short-axis parts, comprising a support platform and a grasping device arranged on the support platform, the grasping device comprising a core grasping mechanism for grasping short-axis parts and a driving mechanism for driving the core grasping mechanism to move, the driving mechanism comprising a linear drive, a first connecting member, a linear cylinder, a cylinder connecting member, and a rotary cylinder, the linear drive is arranged on the support platform, the first connecting member is arranged on the linear drive, the linear cylinder is cooperatively connected with the first connecting member, the cylinder connecting member is arranged on the output shaft of the linear cylinder, the rotary cylinder is cooperatively connected with the cylinder connecting member, and the core grasping mechanism is cooperatively connected with the rotating platform of the rotary cylinder.

[0006] Through the above technical solution, the grabbing device is arranged on the support table, and the core grabbing mechanism of the grabbing device cooperates with the driving mechanism, and the driving mechanism drives the core grabbing mechanism to grab the short-axis parts on the assembly line. The linear driver of the driving mechanism is arranged on the support table, the linear cylinder is connected to the linear driver through the first connecting piece, the rotary cylinder is connected to the output shaft of the linear cylinder through the cylinder connecting piece, and the core grabbing mechanism is connected with the rotating platform of the rotary cylinder. When it is necessary to load the short-axis parts to be processed on the assembly line at 90° to the workbench and to unload the finished products processed on the workbench, the linear driver drives the linear cylinder to make relative movement along its own length direction; the linear cylinder drives the rotary cylinder arranged at one end of its output shaft to make telescopic movement in the axial direction of the output shaft. When the linear cylinder is extended, the core grasping mechanism connected with the rotary cylinder is close to the assembly line or workbench to grasp the short shaft parts on the assembly line or workbench or place the grasped short shaft parts on the assembly line or workbench. When the linear cylinder is retracted, the grasped short shaft parts are driven to rise and reset; the rotary cylinder drives the core grasping mechanism to rotate and transpose through its own rotating platform, and rotates and transposes the short shaft parts grasped from the assembly line or workbench, so as to realize the loading and unloading of the shaft-like short shaft parts to be processed and the finished short shaft parts on the workbench when the angle is 90°. The driving mechanism is only a linear drive, a linear drive cylinder and a rotary cylinder, which has a simple structure, small size, simple control, no pollution, no oil consumption and low cost.

[0007] The present invention is further provided that: the core grasping mechanism includes a claw grasping unit and a claw core gear unit matched with the claw grasping unit, the claw grasping unit includes a mechanical clamp I and a mechanical clamp II, the claw core gear unit includes a top plate, a stepping motor, a top plate connecting piece, a bevel gear I and a bevel gear II, the mechanical clamp I and the mechanical clamp II are arranged on the top plate, the top plate is matched and connected with the rotating platform of the rotary cylinder, the top plate connecting piece is arranged on the other side of the top plate relative to the rotary cylinder and is arranged perpendicular to the top plate, the stepping motor is matched and connected with the top plate connecting piece, the output shaft of the stepping motor is matched and connected with the bevel gear I, the bevel gear I is linked and matched with the mechanical clamp I through the output shaft of the stepping motor, and the bevel gear II is linked and matched with the mechanical clamp II by mutual meshing transmission with the bevel gear I.

[0008] Through the above technical solution, the driving mechanism drives the core grasping mechanism to grasp the short-shaft parts on the assembly line or the workbench, and the claw core gear unit of the core grasping mechanism drives the mechanical gripper I and the mechanical gripper II of the claw grasping unit to grasp the short-shaft parts on the assembly line or the workbench. The top plate of the claw core gear unit is connected with the rotating platform of the rotary cylinder, the top plate connecting piece is vertically arranged on the top plate, the stepper motor is arranged on the top plate connecting piece through a fastener, the output shaft of the stepper motor is connected with the bevel gear I, the bevel gear I is linked with the mechanical gripper I, the bevel gear II and the bevel gear I are meshed with each other for transmission, the bevel gear II and the mechanical gripper II are linked with each other, the stepper motor drives the bevel gear I connected to its output shaft and the bevel gear II meshed with the bevel gear I to rotate, thereby driving the mechanical gripper I and the mechanical gripper II to open and close the grasping or releasing action. Bevel gear I and bevel gear II have the same structural dimensions. When meshing with each other, the axis angles are perpendicular to each other, that is, the position angle between mechanical clamp I and mechanical clamp II is 90°. The mechanical clamp I and mechanical clamp II set at 90° can be driven by a stepper motor and a pair of bevel gears. They move relative to each other under the drive of the driving mechanism, so that the claw grasping unit can better grasp the short shaft parts on the assembly line or workbench, and the grasped short shaft parts can be rotated and replaced under the rotation of the rotary cylinder and loaded and unloaded at the claw.

[0009] The present invention is further provided that: the mechanical clamp I includes a driving component I and a driven component I connected to the driving component I, the driving component I includes a gear shaft I, a driving member I, and two gear shaft fixing members I connected to the gear shaft I, the two gear shaft fixing members I are arranged on the same straight line as the central axis of the gear shaft I, the two gear shaft fixing members I are relatively arranged on the top plate through fasteners, the center holes of the two gear shaft fixing members I are coaxially arranged with the gear shaft I, the gear shaft I passes through the two gear shaft fixing members I and is interference fit with the two gear shaft fixing members I through bearings, the end of the gear shaft I corresponding to the bevel gear I is connected to the bevel gear I, the driving member I is sleeved on the gear shaft I and cooperates with the driven component I in conjunction with the rotation of the gear shaft I.

[0010] Through the above technical scheme, the driving component I of the mechanical gripper I is connected with the driven component I, the two gear shaft fixing parts I of the driving component I are connected with the top plate, the gear shaft I is connected with the two gear shaft fixing parts I through the bearing, the end of the gear shaft I corresponding to the stepper motor is connected with the bevel gear I, the driving part I is sleeved on the gear shaft I, the output shaft of the stepper motor drives the gear shaft I to rotate, drives the driving part I to rotate and cooperate with the driven component I, so that the driving component I cooperates with the driven component I to realize the action of the mechanical gripper I to grab or put down the short shaft parts on the assembly line or workbench.

[0011] The present invention is further provided that: the driven component I includes a driven shaft I, a fixed clip 1a, a fixed clip 1b, a driven clip 1a and a driven clip 1b, the fixed clip 1a and the fixed clip 1b are relatively arranged on the top plate through fasteners, and the two end sleeves of the driven shaft I are respectively connected with the center holes of the fixed clip 1a and the fixed clip 1b through bearings, the driven clip 1a is sleeved on the side of the driven shaft I corresponding to the fixed clip 1a and cooperates with the fixed clip 1a, the driven clip 1b is sleeved on the side of the driven shaft I corresponding to the fixed clip 1b and cooperates with the fixed clip 1b, the driven clip 1a and the driven clip 1b are linked and cooperated with the driving member I through the linkage component I, and are linked and cooperated with the fixed clip 1a and the fixed clip 1b through the linkage component I.

[0012] Through the above technical scheme, the fixing clamp 1a and the fixing clamp 1b of the driven component are relatively arranged on the top plate, and the two ends of the driven shaft I are respectively connected with the fixing clamp 1a and the fixing clamp 1b through bearings. The driven clamp 1a and the driven clamp 1b are sleeved on the driven shaft I and respectively cooperate with the fixing clamp 1a and the fixing clamp 1b. The driven clamp 1a and the driven clamp 1b are linked with the driving member I through the linkage component I. When the driving member I is driven by the stepper motor, the rotation is transmitted to the driven clamp 1a and the driven clamp 1b through the linkage component I, so that the driven clamp 1a and the driven clamp 1b are respectively cooperated with the fixing clamp 1a and the fixing clamp 1b, so that the mechanical clamp I can grab or put down the short shaft parts on the assembly line or the workbench.

[0013] The present invention is further provided that: the linkage component I includes a convex portion I arranged on the side of the driving member I corresponding to the driven component I, a driving rod portion I arranged on the convex portion, and a groove portion I arranged on the driven clamp 1a and the driven clamp 1b corresponding to the side of the driving member I, the driving rod portion I is matched with the groove portion I, and the convex portion I drives the driving rod portion I to move along the groove portion I through the rotation of the driving member I.

[0014] Through the above technical scheme, the linkage component I includes a convex portion I arranged on the driving member I, a driving rod portion I arranged on the convex portion, and a groove portion I arranged on the driven clamp 1a and the driven clamp 1b and matching with the driving rod portion I. When the driving member I is driven by the stepper motor, the driving rod portion I on the driving member I rotates with the driving member I, and the driving rod portion I moves along the groove portion I, and at the same time drives the driven clamp 1a, the driven clamp 1b and the driven shaft I to rotate, forming an intermittent motion, so that the driving member I and the driven clamp 1a and the driven clamp 1b realize the opening and closing and self-locking of the mechanical clamp I through the linkage component I, that is, the mechanical clamp I realizes the action of grabbing or putting down the short shaft parts on the assembly line or the workbench.

[0015] The present invention further provides that: the groove portion I includes an abutment section and a self-locking section that cooperate with the driving rod portion I, and the abutment section is communicated with the self-locking section.

[0016] Through the above technical solution, when the driving member I drives the driving rod part I on the convex part I to move along the track of the groove part I, the driving rod part I rotates along the abutting section, and drives the driven clamps 1a and 1b to rotate close to the self-locking section, the driven clamps 1a and 1b respectively cooperate with the fixed clamps 1a and 1b to grab the short shaft parts; when the driving member I drives the driving rod part I to continue to rotate along the self-locking section until the self-locking section is opposite to the port at the other end of the abutting section, the driving rod part I is abutted against the self-locking section during the rotation process, so that the driven clamps 1a and 1b respectively cooperate with the fixed clamps 1a and 1b to grab the short shaft parts. When it is necessary to release the self-locking, the stepper motor drives the driving member I to move from the self-locking section of the groove part I to the abutting section, releases the self-locking state and drives the driven clamps 1a and 1b away from the fixed clamps 1a and 1b, so as to realize the action of putting down the short shaft parts. When the mechanical gripper I is self-locking, the bevel gear I and the bevel gear II transmit the torque to the mechanical gripper II through meshing transmission, so that the mechanical gripper II can grab or put down the short shaft parts when the mechanical gripper I is self-locking.

[0017] The present invention is further provided that: the mechanical clamp II includes a driving component II and a driven component II cooperating with the driving component II, the driving component II includes a gear shaft II, a differential, a driving component II, and two gear shaft fixing components II cooperating with the gear shaft II, the two gear shaft fixing components II are relatively arranged on the top plate through fasteners, the two ends of the gear shaft II are connected with the center hole of the gear shaft fixing component II through bearings, the bevel gear II is arranged at one end of the gear shaft II corresponding to the mechanical clamp I, the bevel gear II and the bevel gear I are meshed and transmitted with each other, the differential is arranged at the other end of the gear shaft II opposite to the bevel gear II through fasteners, the driving component II is arranged on the gear shaft II through a bearing sleeve and is linked with the differential through the linkage component II, and the driving component II is linked with the driven component II through the linkage component III.

[0018] Through the above technical scheme, the driving component II and the driven component II of the mechanical clamp II cooperate with each other, the two gear shaft fixing parts II of the driving component II are connected to the top plate, the gear shaft II is connected with the two gear shaft fixing parts II through the bearing, the bevel gear II is arranged at one end of the gear shaft II corresponding to the mechanical clamp I, the differential is arranged at the other end of the gear shaft II relative to the mechanical clamp I through the fastener and cooperates with the driving part II arranged on the gear shaft II through the bearing sleeve through the linkage part II. When the torque on the bevel gear I is transmitted to the bevel gear II, the bevel gear II drives the gear shaft II to rotate, and drives the differential part on the gear shaft II to rotate, the differential part drives the driving part II to rotate through the linkage component II, so that the driving part II cooperates with the driven component II through the linkage component III, thereby realizing the action of the mechanical clamp II to grab or put down the short shaft parts on the assembly line or workbench.

[0019] The present invention is further provided that: the linkage assembly II includes a convex portion II arranged on the differential, a driving rod portion II arranged on the side of the convex portion II corresponding to the driving member II, and a groove portion II arranged on the driving member II, the driving rod portion II is matched with the groove portion II, and the convex portion II drives the driving rod portion II to move along the groove portion II through the rotation of the differential.

[0020] Through the above technical solution, the linkage component II includes a convex portion II arranged on the differential, a driving rod portion II arranged on the convex portion II, and a groove portion II arranged on the driving member II and matching the driving rod portion II. When the bevel gear II transmits the torque to the gear shaft II, the gear shaft II rotates to drive the differential to rotate, so that the driving rod portion II on the convex portion II of the differential moves along the groove portion II, and at the same time drives the driving member II and the gear shaft II to rotate, forming an intermittent motion, so that the differential drives the driving member II to control the mechanical gripper II through the linkage component III to grab or put down the short shaft parts on the assembly line or workbench.

[0021] The present invention is further provided that: the driven component II includes a driven shaft II, a fixed clip 2a, a fixed clip 2b, a driven clip 2a and a driven clip 2b, the fixed clip 2a and the fixed clip 2b are arranged relatively on the top plate through fasteners, the two ends of the driven shaft II are connected with the center holes of the fixed clip 2a and the fixed clip 2b through bearings, the driven clip 2a is sleeved on the side of the driven shaft II corresponding to the fixed clip 2a and cooperates with the fixed clip 2a, the driven clip 2b is sleeved on the side of the driven shaft II corresponding to the fixed clip 2b and cooperates with the fixed clip 2b, the driven clip 2a and the driven clip 2b are linked with the driving member II through the linkage component III, and are linked with the fixed clip 2a and the fixed clip 2b through the linkage component III.

[0022] Through the above technical scheme, the fixing clamp 2a and the fixing clamp 2b of the driven component II are relatively arranged on the top plate, the driven shaft II is connected with the fixing clamp 2a and the fixing clamp 2b through the bearing, the driven clamp 2a and the driven clamp 2b are sleeved on the driven shaft II and respectively cooperate with the fixing clamp 2a and the fixing clamp 2b, the driven clamp 2a and the driven clamp 2b are linked with the driving member II through the linkage component III, when the driving member II is driven by the linkage component II, the rotation is transmitted to the driven clamp 2a and the driven clamp 2b through the linkage component III, so that the driven clamp 2a and the driven clamp 2b are respectively cooperated with the fixing clamp 2a and the fixing clamp 2b, so that the mechanical clamp II can grab or put down the short shaft parts on the assembly line or the workbench.

[0023] The present invention is further provided that: the linkage component III includes a convex portion III arranged on the side of the driving member II corresponding to the driven component II, a driving rod portion III arranged on the convex portion III, and a groove portion III arranged on the driven clamp 2a and the driven clamp 2b corresponding to the side of the driving member II, the driving rod portion III is matched with the groove portion III, and the convex portion III drives the driving rod portion III to move along the groove portion III through the rotation of the driving member II.

[0024] Through the above technical scheme, the linkage component III includes a convex portion III arranged on the driving member II, a driving rod portion III arranged on the convex portion III, and a groove portion III arranged on the driven clamp 2a and the driven clamp 2b and matching the driving rod portion III. When the torque is transmitted from the differential member to the driving member II, it moves along the groove portion III via the convex portion III and the driving rod portion III on the driving member II, and at the same time drives the driven clamp 2a, the driven clamp 2b and the driven shaft II to rotate, forming an intermittent motion, so that the driving member II and the driven clamp 2a and the driven clamp 2b realize the opening and closing and self-locking of the mechanical clamp II through the linkage component II, that is, the mechanical clamp II realizes the action of grabbing or putting down the short shaft parts on the assembly line or the workbench. When the driving rod portion I of the mechanical clamp I rotates to the self-locking section for self-locking, the bevel gear I and the bevel gear II transmit the torque to the mechanical clamp II through meshing transmission, so that the driving rod portion III on the convex portion III of the driving member II moves along the groove portion III, and when the driving rod portion moves from the position of the groove portion III close to one end of the driven shaft II to the end of the groove portion III away from one end of the driven shaft II, the driven clamp 2a and the driven clamp 2b are close to the fixed clamp 2a and the fixed clamp 2b, and the short shaft parts are grasped; when the driving rod portion III moves to the opening of the groove portion III, the driving rod portion III and the side wall of the groove portion III abut against each other to realize the self-locking of the grasping of the short shaft parts; when the driving rod portion III moves from the opening of the groove portion III to the end of the groove portion III away from one end of the driven shaft II, the driven clamp 2a and the driven clamp 2b are close to the fixed clamp 2a and the fixed clamp 2b, and the short shaft parts are put down.

[0025] The present invention is further configured as follows: a first arc-shaped clamping portion I is provided at the other end of the fixing clamp 1a and the fixing clamp 1b connected to the top plate, a second arc-shaped clamping portion I is provided at the other end of the driven clamp 1a and the driven clamp 1b relative to the driving member I, and the first arc-shaped clamping portion I cooperates with the second arc-shaped clamping portion I; a first arc-shaped clamping portion II is provided at the other end of the fixing clamp 2a and the fixing clamp 2b connected to the top plate, a second arc-shaped clamping portion II is provided at the other end of the driven clamp 2a and the driven clamp 2b relative to the driving member II, and the first arc-shaped clamping portion II cooperates with the second arc-shaped clamping portion II.

[0026] Through the above technical solution, one end of the fixed clamp 1a and the fixed clamp 1b is provided with a first arc-shaped clamping portion I, one end of the driven clamp 1a and the driven clamp 1b is provided with a second arc-shaped clamping portion I, one end of the fixed clamp 2a and the fixed clamp 2b is provided with a first arc-shaped clamping portion II, one end of the driven clamp 2a and the driven clamp 2b is provided with a second arc-shaped clamping portion II, the first arc-shaped clamping portion I cooperates with the second arc-shaped clamping portion I, the first arc-shaped clamping portion II cooperates with the second arc-shaped clamping portion II, the first arc-shaped clamping portion I and the second arc-shaped clamping portion I , the first arc-shaped clamping part II and the second arc-shaped clamping part match the outer circumferential wall of the short shaft parts on the assembly line. When the driven clamp 1a and the driven clamp 1b are driven close to the fixed clamp 1a and the fixed clamp 1b by the driving component I, and the driven clamp 2a and the driven clamp 2b are driven close to the fixed clamp 2a and the fixed clamp 2b by the driving component II, the first arc-shaped clamping part I and the second arc-shaped clamping part I are close to each other, and the first arc-shaped clamping part II and the second arc-shaped clamping part II are close to each other to clamp the short shaft parts on the assembly line or the workbench.

[0027] The present invention is further provided with: an anti-skid component cooperating with the driving member II is arranged on the top plate, and the anti-skid component includes a friction block, a rubber connecting member and a top plate bolt; the rubber connecting member is arranged on the side of the top plate corresponding to the driving member II and is connected to the top plate through the top plate bolt; the friction block is sleeved on the rubber connecting member and cooperates with the outer circumferential wall of the driving member II.

[0028] Through the above technical scheme, an anti-skid component cooperating with the driving member II is provided on the top plate, and the rubber connecting member of the anti-skid component is connected to the top plate through the top plate bolts, and the friction block is sleeved on the outside of the rubber connecting member. When the driving rod portion II on the differential member is along the groove portion II on the driving member II, the driving rod portion II drives the driving member II to rotate to a certain extent, and the outer circumferential wall of the driving member II abuts against the friction block, so that the driving member II maintains its position unchanged, so that the mechanical clamp II will not slide and remain self-locking.

[0029] The present invention further provides that: the inner arc surfaces of the first arc-shaped clamping part I, the second arc-shaped clamping part I, the first arc-shaped clamping part II and the second arc-shaped clamping part II are coated with a rubber coating.

[0030] Through the above technical scheme, the inner arc surfaces of the first arc clamping part I, the second arc clamping part I, the first arc clamping part II and the second arc clamping part II are coated with a rubber layer. When the driven clamp 1a and the driven clamp 1b are driven by the driving component I to approach the fixed clamp 1a and the fixed clamp 1b, and the driven clamp 2a and the driven clamp 2b are driven by the driving component II to approach the fixed clamp 2a and the fixed clamp 2b, the first arc clamping part I and the second arc clamping part I are close to each other, and the first arc clamping part II and the second arc clamping part II are close to each other to clamp the short shaft parts on the assembly line or the workbench, so that they have elastic force when clamping the short shaft parts, and at the same time can prevent the short shaft parts from slipping after being grasped.

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0033] Figure 2 A schematic diagram of the local structure of an embodiment of the present invention Figure 1 ;

[0034] Figure 3 A schematic diagram of the local structure of an embodiment of the present invention Figure 2 ;

[0035] Figure 4 A schematic diagram of the local structure of an embodiment of the present invention Figure 3 ;

[0036] Figure 5 A schematic diagram of the local structure of an embodiment of the present invention Figure 4 ;

[0037] Figure 6 Schematic diagram of the opening and closing state of the mechanical gripper I according to an embodiment of the present invention;

[0038] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0039] Figure 8 A schematic diagram of the local structure of an embodiment of the present invention Figure 5 ;

[0040] Fig. 9 Schematic diagram of the opening and closing state of the mechanical gripper II according to an embodiment of the present invention;

[0041] Fig.10 for Fig. 9 Enlarged view of point B in the middle;

[0042] Fig.11 for Fig. 9 Enlarged view of point C in the middle;

[0043] Fig.12 is a motion flow chart of an embodiment of the present invention;

[0044] Fig.13 It is a motion sequence diagram of the clamping jaws, the differential member and each rod slot according to an embodiment of the present invention;

[0045] Meaning of the numbers in the figure: support platform-001, grasping device-100, core grasping mechanism-10, claw grasping unit-11, mechanical clamping claw Ⅰ-111, driving component Ⅰ-1111, gear shaft Ⅰ-11112, driving component Ⅰ-11113, gear shaft fixing component Ⅰ-11114, driven component Ⅰ-1112, driven shaft Ⅰ-11121, fixing clamp 1a-11122, fixing clamp 1b-11123, first arc-shaped clamping part Ⅰ-11124, driven Dynamic clamp 1a-11125, driven clamp 1b-11126, second arc-shaped clamping part Ⅰ-11127, mechanical clamping claw Ⅱ-112, driving component Ⅱ-1121, gear shaft Ⅱ-11211, differential member -11212, driving member Ⅱ-11213, gear shaft fixing member Ⅱ-11214, driven component Ⅱ-1122, driven shaft Ⅱ-11221, fixing clamp 2a-11222, fixing clamp 2b-11223, first arc-shaped clamping part Ⅱ-1122 4, driven clamp 2a-11225, driven clamp 2b-11226, second arc-shaped clamping part II-11227, linkage assembly I-113, convex part I-1131, driving rod part I-1132, groove part I-1133, abutment section-11331, self-locking section-11332, linkage assembly II-114, convex part II-1141, driving rod part II-1142, groove part II-1143, linkage assembly III-115, convex part III-1151, driving rod part III- 1152, groove part III-1153, claw core gear unit-12, top plate-121, stepper motor-122, top plate connector-123, bevel gear I-124, bevel gear II-125, anti-slip assembly-13, friction block-131, rubber connector-132, top plate bolt-133, drive mechanism-20, linear drive-21, first connector-22, linear cylinder-23, cylinder connector-24, rotary cylinder-25, short shaft parts-3. DETAILED DESCRIPTION

[0046] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0047] See attached Figure 1-13The present embodiment discloses an automatic loading and unloading robot for short-axis parts, including a support platform 001 and a grasping device 100 arranged on the support platform 001, the grasping device 100 includes a core grasping mechanism 10 for grasping short-axis parts 3 and a driving mechanism 20 for driving the core grasping mechanism 10 to move, the driving mechanism 20 includes a linear drive 21, a first connecting member 22, a linear cylinder 23, a cylinder connecting member 24, and a rotary cylinder 25, the linear drive 21 is arranged on the support platform 001, the first connecting member 22 is arranged on the linear drive 21, the linear cylinder 23 is connected with the first connecting member 22, the cylinder connecting member 24 is arranged on the output shaft of the linear cylinder 23, the rotary cylinder 25 is connected with the cylinder connecting member 24, and the core grasping mechanism 10 is connected with the rotating platform of the rotary cylinder 25.

[0048] This embodiment is further configured as follows: the core grasping mechanism 10 includes a claw grasping unit 11 and a claw core gear unit 12 matched with the claw grasping unit 11, the claw grasping unit 11 includes a mechanical clamping claw Ⅰ111 and a mechanical clamping claw Ⅱ112, the claw core gear unit 12 includes a top plate 121, a stepping motor 122, a top plate connecting piece 123, a bevel gear Ⅰ124 and a bevel gear Ⅱ125, the mechanical clamping claw Ⅰ111 and the mechanical clamping claw Ⅱ112 are arranged on the top plate 121, and the top plate 121 and the rotary cylinder The top plate connecting piece 123 is arranged on the other side of the top plate 121 relative to the rotary cylinder 25 and is arranged perpendicular to the top plate 121. The stepper motor 122 is connected to the top plate connecting piece 123. The output shaft of the stepper motor 122 is connected to the bevel gear I124. The bevel gear I124 is linked with the mechanical clamp I111 through the output shaft of the stepper motor 122. The bevel gear II125 is linked with the mechanical clamp II112 by meshing with the bevel gear I124.

[0049] This embodiment further provides that: the mechanical gripper Ⅰ111 includes a driving component Ⅰ1111 and a driven component Ⅰ1112 connected to the driving component Ⅰ1111; the driving component Ⅰ1111 includes a gear shaft Ⅰ11112, a driving component Ⅰ11113, and two gear shaft fixing components Ⅰ11114 connected to the gear shaft Ⅰ11112; the two gear shaft fixing components Ⅰ11114 and the central axis of the gear shaft Ⅰ11112 are arranged on the same straight line; the two gear shaft fixing components Ⅰ11114 are relative to each other through fasteners Arranged on the top plate 121, the center holes of the two gear shaft fixing members Ⅰ11114 are coaxially arranged with the gear shaft Ⅰ11112, the gear shaft Ⅰ11112 passes through the two gear shaft fixing members Ⅰ11114 and is interference fit with the two gear shaft fixing members Ⅰ11114 through bearings, one end of the gear shaft Ⅰ11112 corresponding to the bevel gear Ⅰ124 is matched and connected with the bevel gear Ⅰ124, the driving member Ⅰ11113 is sleeved on the gear shaft Ⅰ11112 and cooperates with the driven component Ⅰ1112 as the gear shaft Ⅰ11112 rotates.

[0050] This embodiment further provides that: the driven assembly I1112 includes a driven shaft I11121, a fixing clip 1a11122, a fixing clip 1b11123, a driven clip 1a11125 and a driven clip 1b11126, the fixing clip 1a11122 and the fixing clip 1b11123 are relatively arranged on the top plate 121 through fasteners, and the two end sleeves of the driven shaft I11121 are respectively connected to the center holes of the fixing clip 1a11122 and the fixing clip 1b11123 through bearings. 5 is sleeved on the side of the driven shaft Ⅰ11121 corresponding to the fixing clip 1a11122 and cooperates with the fixing clip 1a11122, the driven clip 1b11126 is sleeved on the side of the driven shaft Ⅰ11121 corresponding to the fixing clip 1b11123 and cooperates with the fixing clip 1b11123, the driven clip 1a11125 and the driven clip 1b11126 are linked and cooperated with the driving member Ⅰ11113 through the linkage component Ⅰ113, and are linked and cooperated with the fixing clip 1a11122 and the fixing clip 1b11123 through the linkage component Ⅰ113.

[0051] This embodiment is further configured as follows: the linkage component Ⅰ113 includes a convex portion Ⅰ1131 arranged on the side of the driving member Ⅰ11113 corresponding to the driven component Ⅰ1112, a driving rod portion Ⅰ1132 arranged on the convex portion, and a groove portion Ⅰ1133 arranged on the side of the driven clamp 1a11125 and the driven clamp 1b11126 corresponding to the driving member Ⅰ11113, the driving rod portion Ⅰ1132 is matched with the groove portion Ⅰ1133, and the convex portion Ⅰ1131 drives the driving rod portion Ⅰ1132 to move along the groove portion Ⅰ1133 through the rotation of the driving member Ⅰ11113.

[0052] This embodiment further provides that: the groove portion I 1133 includes an abutment section 11331 and a self-locking section 11332 that cooperate with the driving rod portion I 1132 , and the abutment section 11331 is in communication with the self-locking section 11332 .

[0053] This embodiment further provides that: the mechanical gripper II112 includes a driving component II1121 and a driven component II1122 matched with the driving component II1121, the driving component II1121 includes a gear shaft II11211, a differential 11212, a driving component II11213, and two gear shaft fixing components II11214 matched with the gear shaft II11211, the two gear shaft fixing components II11214 are relatively arranged on the top plate 121 through fasteners, and the two ends of the gear shaft II11211 are connected to the center of the gear shaft fixing component II11214 through bearings. The bevel gear II125 is connected by a center hole, and the bevel gear II125 is arranged at one end of the gear shaft II11211 corresponding to the mechanical clamp I111. The bevel gear II125 and the bevel gear I124 are meshed with each other for transmission. The differential member 11212 is arranged on the other end of the gear shaft II11211 relative to the bevel gear II125 through a fastener. The driving member II11213 is arranged on the gear shaft II11211 through a bearing sleeve and is linked with the differential member 11212 through a linkage component II114. The driving member II11213 is linked with the driven component II1122 through a linkage component III115.

[0054] This embodiment is further configured as follows: the linkage component II114 includes a convex portion II1141 arranged on the differential member 11212, a driving rod portion II1142 arranged on the side of the convex portion II1141 corresponding to the driving member II11213, and a groove portion II1143 arranged on the driving member II11213, the driving rod portion II1142 is matched with the groove portion II1143, and the convex portion II1141 drives the driving rod portion II1142 to move along the groove portion II1143 through the rotation of the differential member 11212.

[0055] This embodiment further provides that: the driven assembly II1122 includes a driven shaft II11221, a fixing clip 2a11222, a fixing clip 2b11223, a driven clip 2a11225 and a driven clip 2b11226, the fixing clip 2a11222 and the fixing clip 2b11223 are relatively arranged on the top plate 121 through fasteners, and the two ends of the driven shaft II11221 are connected to the center holes of the fixing clip 2a11222 and the fixing clip 2b11223 through bearings, and the driven clip 2a11225 It is sleeved on the side of the driven shaft II11221 corresponding to the fixed clip 2a11222 and cooperates with the fixed clip 2a11222. The driven clip 2b11226 is sleeved on the side of the driven shaft II11221 corresponding to the fixed clip 2b11223 and cooperates with the fixed clip 2b11223. The driven clip 2a11225 and the driven clip 2b11226 are linked and cooperated with the driving member II11213 through the linkage component III115, and are linked and cooperated with the fixed clip 2a11222 and the fixed clip 2b11223 through the linkage component III115.

[0056] This embodiment is further configured as follows: the linkage component III115 includes a convex portion III1151 arranged on the side of the driving member II11213 corresponding to the driven component II1122, a driving rod portion III1152 arranged on the convex portion III1151, and a groove portion III1153 arranged on the side of the driven clamp 2a11225 and the driven clamp 2b11226 corresponding to the driving member II11213, the driving rod portion III1152 is matched with the groove portion III1153, and the convex portion III1151 drives the driving rod portion III1152 to move along the groove portion III1153 through the rotation of the driving member II11213.

[0057] This embodiment is further configured as follows: the other end of the fixing clamp 1a11122 and the fixing clamp 1b11123 connected to the top plate 121 is provided with a first arc-shaped clamping portion Ⅰ11124, the other end of the driven clamp 1a11125 and the driven clamp 1b11126 relative to the driving member Ⅰ11113 is provided with a second arc-shaped clamping portion Ⅰ11127, and the first arc-shaped clamping portion Ⅰ11124 cooperates with the second arc-shaped clamping portion Ⅰ11127; the other end of the fixing clamp 2a11222 and the fixing clamp 2b11223 connected to the top plate 121 is provided with a first arc-shaped clamping portion Ⅱ11224, the other end of the driven clamp 2a11225 and the driven clamp 2b11226 relative to the driving member Ⅱ11213 is provided with a second arc-shaped clamping portion Ⅱ11227, and the first arc-shaped clamping portion Ⅱ11224 cooperates with the second arc-shaped clamping portion Ⅱ11227.

[0058] This embodiment is further configured as follows: an anti-skid component 13 cooperating with the driving member II 11213 is provided on the top plate 121, and the anti-skid component 13 includes a friction block 131, a rubber connecting member 132 and a top plate bolt 133. The rubber connecting member 132 is provided on the side of the top plate 121 corresponding to the driving member II 11213 and is connected to the top plate 121 through the top plate bolt 133. The friction block 131 is sleeved on the rubber connecting member 132 and cooperates with the outer circumferential wall of the driving member II 11213.

[0059] The present embodiment is further configured that the inner curved surfaces of the first arc-shaped clamping portion Ⅰ11124, the second arc-shaped clamping portion Ⅰ11127, the first arc-shaped clamping portion Ⅱ11224 and the second arc-shaped clamping portion Ⅱ11227 are coated with a rubber coating.

[0060] As attached Figure 1 As shown, it includes a support platform 001, a linear drive 21, a linear cylinder 23, a rotary cylinder 25, and a core grabbing mechanism 10.

[0061] At the initial moment, the core grasping mechanism 10 is located in the waiting area directly above the assembly line; its two mechanical grippers are both in an open state.

[0062] When loading and unloading, the opening and closing states of the two mechanical grippers and the movement sequence of the differential member 11212 in the groove portion II1143 of the driving member II11213 are shown in the attached Fig.13 .

[0063] Step 1: The linear cylinder 23 extends to lower the core grasping mechanism 10 and the wrist rotary cylinder 25 to the designated clamping position, that is, the semicircular claws of the fixed clamp 1a11122 and the fixed clamp 1b11123 are in contact with the short shaft parts 3. Then, the stepper motor 122 operates, and the motor shaft rotates forward to drive the bevel gear Ⅰ124 to rotate the gear shaft Ⅰ11112, and the driving member Ⅰ11113 on the gear shaft Ⅰ11112 rotates accordingly, and the driving rod Ⅰ1132 on the convex part Ⅰ1131 moves in the groove Ⅰ1133 of the driven clamp 1a11125 and the driven clamp 1b11126, driving the two driven clamps of the mechanical clamp Ⅰ111 to rotate, so that the mechanical clamp Ⅰ111 is closed; when the driving member Ⅰ11113 on the driving member Ⅰ11113 After the driving rod portion Ⅰ1132 disengages from the groove portion Ⅰ1133 track of the two driven clamps, the driving member Ⅰ11113 continues to rotate a certain angle. At this time, the outer contour of the driving member Ⅰ11113 is tangent to the outer contours of the two driven clamps, completing the self-locking of the mechanical clamp Ⅰ111 when it is closed. Since the inner curved surfaces of the second arc-shaped clamping portions Ⅰ11127 of the driven clamps 1a11125 and 1b11126 are coated with rubber coatings, the short shaft parts 3 on the assembly line are clamped by two elastic forces. At the same time, bevel gear I124 drives bevel gear II125 and gear shaft II11211, and the differential member 11212 on the gear shaft II11211 rotates accordingly. The driving rod portion II1142 on the convex portion II1141 of the differential member 11212 moves from the angle bisector position of the groove portion II1143 of the driving member II11213 to the rightmost end of the groove portion II1143, and the friction block 131 presses against the driving member II11213, and the driving member II11213 does not slide, so that the driven clamps 2a11225 and 2b11226 remain stationary.

[0064] Step 2: The linear cylinder 23 retracts, causing the core grabbing mechanism 10 and the rotary cylinder 25 to rise to the waiting area of ​​the assembly line, and then the linear drive 21 operates, driving the linear cylinder 23, the rotary cylinder 25 and the core grabbing mechanism 10 to move horizontally to just above the short-axis parts 32 of the workbench. Then the linear cylinder 23 extends, causing the core grabbing mechanism 10 and the rotary cylinder 25 to descend to the designated clamping position, that is, the first arc-shaped clamping part II11224 of the fixed clamp 2a11222 and the fixed clamp 2b11223 are in contact with the short-axis parts 32. Subsequently, the stepper motor 122 operates, and the motor shaft rotates forward to drive the bevel gear Ⅰ124 to rotate, and the bevel gear Ⅰ124 drives the bevel gear Ⅱ125 and the gear shaft Ⅱ11211, and the differential member 11212 on the gear shaft Ⅱ11211 rotates accordingly, and its driving rod portion Ⅱ1142 rotates against the rightmost end of the groove portion Ⅱ1143 of the driving member Ⅱ11213, thereby driving the driving member Ⅱ11213 to rotate; the driving rod portion Ⅲ1152 of the driving member Ⅱ11213 moves in the groove portion Ⅲ1153 of the driven clamp 2a11225 and the driven clamp 2b11226, driving the mechanical clamp Ⅱ1 The two driven clamps of 12 rotate to close the mechanical clamp II112; when the driving rod III1152 of the driving member II11213 is separated from the groove III1153 track of the two driven clamps, the driving member II11213 continues to rotate a certain angle, at which time the outer contour of the driving member II11213 is tangent to the outer contours of the two driven clamps, completing the self-locking of the mechanical clamp II112 when it is closed. Since the inner arc surface of the second arc-shaped clamping part II11227 of the driven clamp 2a11225 and the driven clamp 2b11226 is coated with rubber coating, the short shaft parts 32 on the workbench are clamped by two elastic forces. At the same time, the mechanical clamp I111 remains self-locking, and the self-locking angle increases.

[0065] Step 3: The linear cylinder 23 retracts, causing the core grabbing mechanism 10 and the rotary cylinder 25 to rise a short distance to prevent subsequent actions from interfering with the workbench. The rotary cylinder 25 then operates to rotate the core grabbing mechanism 10 90° clockwise along the rotation center. The linear cylinder 23 then extends, causing the core grabbing mechanism 10 and the rotary cylinder 25 to descend to the designated clamping position, that is, the short shaft part 3 contacts the workbench clamping position. Then the motor shaft reverses to drive the bevel gear Ⅰ124 to rotate in conjunction with the gear shaft Ⅰ11112, and the driving member Ⅰ11113 on the gear shaft Ⅰ11112 rotates accordingly; the driving rod portion Ⅰ1132 of the driving member Ⅰ11113 cuts into the groove portion Ⅰ1133 track of the driven clamp 1a11125 and the driven clamp 1b11126 from the outside, and continues to rotate, driving the driven clamp 1a11125 and the driven clamp 1b11126 to rotate, so that the mechanical clamp Ⅰ111 opens to the limit opening angle; at the same time, the bevel gear Ⅱ125 drives the differential member 11212 to idle along the groove portion Ⅱ1143 of the driving member Ⅱ11213 to the leftmost end of the groove portion Ⅱ1143 of the driving member Ⅱ11213. At this time, the driving member Ⅱ11213 is resisted by the friction block 131, keeping its position unchanged, and the driven clamp mechanical clamp Ⅱ112 remains closed and self-locking.

[0066] Step 4: The linear cylinder 23 retracts, causing the core grabbing mechanism 10 and the rotary cylinder 25 to rise, and then the linear drive 21 operates, driving the linear cylinder 23, the rotary cylinder 25 and the core grabbing mechanism 10 to move horizontally to the top of the assembly line. Then the rotary cylinder 25 operates, causing the core grabbing mechanism 10 to rotate 180° counterclockwise along the rotation center. Then the linear cylinder 23 extends, causing the core grabbing mechanism 10 and the rotary cylinder 25 to descend to the designated clamping position, that is, the short shaft parts 32 are in contact with the assembly line clamping position. Then the stepper motor 122 operates, the motor shaft reverses to drive the bevel gear Ⅰ124 to rotate, the bevel gear Ⅰ124 drives the bevel gear Ⅱ125 and the gear shaft Ⅱ11211, and the differential member 11212 on the gear shaft Ⅱ11211 rotates accordingly, and the driving rod portion Ⅱ1142 on the convex portion Ⅱ1141 presses against the leftmost end of the groove portion Ⅱ1143 of the driving member Ⅱ11213 to rotate, thereby driving the driving member Ⅱ11213 to rotate; the driving rod portion Ⅲ1152 of the driving member Ⅱ11213 is in the groove portion Ⅲ1152 of the driven clamp 2a11225 and the driven clamp 2b11226. 53 moves, driving the two driven clamps of mechanical clamp Ⅱ112 to rotate, so that mechanical clamp Ⅱ112 opens; at the same time, bevel gear Ⅰ124 drives gear shaft Ⅰ11112 to rotate in conjunction with driving member Ⅰ11113, so that the driving rod portion Ⅰ1132 on the convex portion Ⅰ1131 of driving member Ⅰ11113 cuts into the concentric circle orbit of the groove portion Ⅰ1133 of the driven clamp 1a11125 and the driven clamp 1b11126, and continues to rotate; at this time, the driven clamp 1a11125 and the driven clamp 1b11126 remain stationary, and the mechanical clamp Ⅰ111 is self-locked at the limit opening angle.

[0067] Step 5: The linear cylinder 23 retracts, causing the core grabbing mechanism 10 and the rotary cylinder 25 to rise to the waiting area. Then the rotary cylinder 25 rotates 90° clockwise, and the stepper motor 122 operates. The motor shaft rotates forward to drive the bevel gear I 124 and the bevel gear II 125 to rotate the two gear shafts to a certain angle and stop. At this time, all mechanisms return to their initial positions.

[0068] The present invention can complete the loading and unloading of the shaft-like short-shaft parts 3 to be added on the assembly line when the angle between the shaft-like short-shaft parts and the finished product on the workbench is 90°. The biggest innovation is that a stepper motor 122 drives two clamps with an angle of 90°, and the mechanical structure enables them to open and close in a specified order without interfering with each other, and can achieve self-locking when the linear driver 21 and the cylinder drive the parts to move. The clamping of the parts adopts double-jaw center clamping, which has higher stability than the single clamp of the pneumatic finger and ensures coaxiality. The size of each component of the present invention is relatively small, and the processing is simple. Compared with the existing loading and unloading manipulator for the shaft-like short-shaft parts 3 to be added and the finished product on the workbench, the whole mechanism is lighter and occupies less space. The actuators used are only a linear driver 21, a linear cylinder 23, a rotary cylinder 25 and a stepper motor 122, which are relatively low in cost, pollution-free, oil-free, and simple to control.

[0069] Although this article makes more use of the support table-001, the gripping device-100, the core gripping mechanism-10, the claw gripping unit-11, the mechanical clamping claw Ⅰ-111, the driving component Ⅰ-1111, the gear shaft Ⅰ-11112, the driving component Ⅰ-11113, the gear shaft fixing component Ⅰ-11114, the driven component Ⅰ-1112, the driven shaft Ⅰ-11121, the fixing clamp 1a-11122, the fixing clamp 1b-11123, the first arc-shaped clamping part Ⅰ-11124, the driven clamp 1a-11125, driven clamp 1b-11126, second arc-shaped clamping part Ⅰ-11127, mechanical clamping claw Ⅱ-112, driving component Ⅱ-1121, gear shaft Ⅱ-11211, differential part-11212, driving part Ⅱ-11213, gear shaft fixing part Ⅱ-11214, driven component Ⅱ-1122, driven shaft Ⅱ-11221, fixing clamp 2a-11222, fixing clamp 2b-11223, first arc-shaped clamping part Ⅱ-11224, driven clamp 2a -11225, driven clamp 2b-11226, second arc-shaped clamping part II-11227, linkage assembly I-113, convex part I-1131, driving rod part I-1132, groove part I-1133, abutment section-11331, self-locking section-11332, linkage assembly II-114, convex part II-1141, driving rod part II-1142, groove part II-1143, linkage assembly III-115, convex part III-1151, driving rod part III-1152, groove part III-11 53, claw core gear unit-12, top plate-121, stepper motor-122, top plate connector-123, bevel gear I-124, bevel gear II-125, anti-skid assembly-13, friction block-131, rubber connector-132, top plate bolt-133, drive mechanism-20, linear drive-21, first connector-22, linear cylinder-23, cylinder connector-24, rotary cylinder-25, short shaft parts-3, but does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. An automatic loading and unloading manipulator for short shaft parts, characterized by: It includes a support platform and a grasping device arranged on the support platform, the grasping device includes a core grasping mechanism for grasping short-axis parts and a driving mechanism for driving the core grasping mechanism to move, the driving mechanism includes a linear driver, a first connecting member, a linear cylinder, a cylinder connecting member, and a rotary cylinder, the linear driver is arranged on the support platform, the first connecting member is arranged on the linear driver, the linear cylinder is connected with the first connecting member, the cylinder connecting member is arranged on the output shaft of the linear cylinder, the rotary cylinder is connected with the cylinder connecting member, the core grasping mechanism is connected with the rotating platform of the rotary cylinder, the core grasping mechanism includes a claw grasping unit and a claw grasping unit that cooperates with the claw grasping unit The core gear unit of the claw part, the claw grasping unit includes a mechanical clamp I and a mechanical clamp II, the core gear unit of the claw part includes a top plate, a stepper motor, a top plate connecting piece, a bevel gear I and a bevel gear II, the mechanical clamp I and the mechanical clamp II are arranged on the top plate, the top plate is connected with the rotating platform of the rotary cylinder, the top plate connecting piece is arranged on the other side of the top plate relative to the rotary cylinder and is arranged perpendicular to the top plate, the stepper motor is connected with the top plate connecting piece, the output shaft of the stepper motor is connected with the bevel gear I, the bevel gear I is linked with the mechanical clamp I through the output shaft of the stepper motor, and the bevel gear II is linked with the mechanical clamp II by mutual meshing transmission with the bevel gear I. The mechanical gripper I comprises a driving component I and a driven component I connected with the driving component I. The driving component I comprises a gear shaft I, a driving member I, and two gear shaft fixing members I connected with the gear shaft I. The two gear shaft fixing members I are arranged on the same straight line with the central axis of the gear shaft I. The two gear shaft fixing members I are relatively arranged on the top plate through fasteners. The center holes of the two gear shaft fixing members I are coaxially arranged with the gear shaft I. The gear shaft I passes through the two gear shaft fixing members I and is interference-fitted with the two gear shaft fixing members I through bearings. One end of the gear shaft I corresponding to the bevel gear I is connected with the bevel gear I. The driving member I is sleeved on the gear shaft I and rotates with the gear shaft I. The driven and driven components I are linked and matched, and the driven component I includes a driven shaft I, a fixed clip 1a, a fixed clip 1b, a driven clip 1a and a driven clip 1b. The fixed clip 1a and the fixed clip 1b are relatively arranged on the top plate through fasteners, and the two end sleeves of the driven shaft I are respectively connected with the center holes of the fixed clip 1a and the fixed clip 1b through bearings. The driven clip 1a is sleeved on the side of the driven shaft I corresponding to the fixed clip 1a and matched with the fixed clip 1a. The driven clip 1b is sleeved on the side of the driven shaft I corresponding to the fixed clip 1b and matched with the fixed clip 1b. The driven clips 1a and 1b are linked and matched with the driving member I through the linkage component I, and are linked and matched with the fixed clips 1a and 1b through the linkage component I.The linkage assembly I includes a convex portion I arranged on the side of the driving member I corresponding to the driven assembly I, a driving rod portion I arranged on the convex portion, and a groove portion I arranged on the side of the driven clamp 1a and the driven clamp 1b corresponding to the driving member I. The driving rod portion I matches the groove portion I, and the convex portion I drives the driving rod portion I to move along the groove portion I through the rotation of the driving member I. The mechanical clamp II includes a driving assembly II and a driven assembly II matched with the driving assembly II. The driving assembly II includes a gear shaft II, a differential, a driving member II, and two gear shaft fixing members II matched with the gear shaft II. The two gear shaft fixing members II are relatively arranged on the top plate through fasteners. The two ends of the gear shaft II are connected with the center hole of the gear shaft fixing member II through bearings, the bevel gear II is arranged at one end of the gear shaft II corresponding to the mechanical clamp I, the bevel gear II and the bevel gear I are meshed with each other for transmission, the differential is arranged at the other end of the gear shaft II relative to the bevel gear II through a fastener, the driving member II is arranged on the gear shaft II through a bearing sleeve and is linked with the differential through a linkage assembly II, the driving member II is linked with the driven assembly II through a linkage assembly III, and the linkage assembly II includes a convex portion II arranged on the differential, a driving rod portion II arranged on the side of the convex portion II corresponding to the driving member II, and a driving rod portion II arranged on the driving member II The groove portion II of the drive rod portion II matches the groove portion II, the convex portion II drives the drive rod portion II to move along the groove portion II through the rotation of the differential, the driven assembly II includes a driven shaft II, a fixed clip 2a, a fixed clip 2b, a driven clip 2a and a driven clip 2b, the fixed clip 2a and the fixed clip 2b are relatively arranged on the top plate through fasteners, and the two ends of the driven shaft II are matched with the center holes of the fixed clip 2a and the fixed clip 2b through bearings, the driven clip 2a is sleeved on the side of the driven shaft II corresponding to the fixed clip 2a and matched with the fixed clip 2a, the driven clip 2b is sleeved on the side of the driven shaft II corresponding to the fixed clip 2b and matched with the fixed clip 2b, the driven clips 2a and 2b are linked with the driving member II through the linkage assembly III, and are linked with the fixed clips 2a and 2b through the linkage assembly III. The linkage assembly III includes a convex portion III arranged on the side of the driving member II corresponding to the driven assembly II, a driving rod portion III arranged on the convex portion III, and a groove portion III arranged on the side of the driven clips 2a and 2b corresponding to the driving member II. The driving rod portion III matches the groove portion III, and the convex portion III drives the driving rod portion III to move along the groove portion III through the rotation of the driving member II; the groove portion I includes an abutting section and a self-locking section that cooperate with the driving rod portion I, and the abutting section is connected with the self-locking section. , 2. The automatic loading and unloading manipulator for short shaft parts according to claim 1 is characterized in that: The other end of the fixed clamp 1a and the fixed clamp 1b connected to the top plate is provided with a first arc-shaped clamping portion I, and the other end of the driven clamp 1a and the driven clamp 1b opposite to the driving member I is provided with a second arc-shaped clamping portion I, and the first arc-shaped clamping portion I cooperates with the second arc-shaped clamping portion I; the other end of the fixed clamp 2a and the fixed clamp 2b connected to the top plate is provided with a first arc-shaped clamping portion II, and the other end of the driven clamp 2a and the driven clamp 2b opposite to the driving member II is provided with a second arc-shaped clamping portion II, and the first arc-shaped clamping portion II cooperates with the second arc-shaped clamping portion II.

Images