A clamping robot arm with automatic posture leveling

Abstract

The present invention relates to the field of gear processing technology, and specifically to a clamp robot arm with automatic posture leveling, comprising a robot arm body, a main arm, a lifting arm, a clamp assembly and a gear body, wherein the clamp assembly is used to clamp the gear body, and the lifting arm is provided with a mounting groove, one side of the clamp assembly is inserted into the mounting groove and fixed to the lifting arm by bolts, and the clamp assembly includes an adjustment assembly that can level the gear body, and the two adjustment assemblies are symmetrical about the center position of the clamp assembly, and the adjustment assembly is provided with a clamp block that can move forward and backward. The present invention adopts the adjustment assembly to make the two clamp blocks approach each other and clamp the insert, and then the gear body is inserted into the through hole in the insert, so that the gear can rotate along its own axis during processing, which is convenient for subsequent processing. At the same time, the adjustment assembly can make the clamp block rotate, which is convenient for gear leveling and for inserting the ejector pin into the positioning hole of the gear.

Description

Technical Field

[0001] The invention relates to the technical field of gear processing, and in particular to a clamping mechanical arm with automatic posture leveling. Background Art

[0002] Cylindrical gears are a commonly used component in mechanical transmission. They have the advantages of strong load-bearing capacity, high transmission efficiency, and reliable operation. Cylindrical gear reducers are widely used in many industries, such as metallurgy, mining, lifting, transportation, cement, construction, and chemical industry. These application environments are harsh and have high requirements for equipment performance. Cylindrical gear reducers are favored for their durability and reliability. When processing cylindrical gears, the cylindrical gears need to be placed in a gear hobbing machine for processing. Therefore, a mechanical arm is required to transport the cylindrical gears to the gear hobbing machine. The fixture on the mechanical arm clamps the workpiece to be processed and moves the workpiece to the tooth processing location. Positioning holes are set at both ends of the workpiece. During processing, the fixture first moves the workpiece to the ejector, and the two ejectors are respectively inserted into the upper and lower holes of the workpiece for gear processing.

[0003] When the ejector pins on the existing gear hobbing machines are pushed against the two ends of the workpiece, there may be an inclination between the ejector pins and the holes of the workpiece. The inclination causes the ejector pins to be unable to be pushed into the positioning holes of the workpiece, thus affecting the machining accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a clamping robot arm with automatic posture leveling, which adopts an adjusting component to make two clamping blocks approach each other and then clamp the insert, and then the gear body is inserted into the through hole in the insert, so that the gear can rotate along its own axis during processing, which is convenient for subsequent processing. At the same time, the adjusting component can make the clamping block rotate, which is convenient for gear leveling and facilitating the insertion of the ejector pin into the positioning hole of the gear.

[0005] In order to solve the problems of the prior art, the present invention provides a clamp robot arm with automatic posture leveling, which moves the gear to be processed to the tooth processing position in the gear hobbing machine, and the two ejectors on the gear hobbing machine are pushed into the positioning holes at both ends of the gear shaft. It includes a robot arm body, a main arm, a lifting arm, a clamp assembly and a gear body. The clamp assembly is used to clamp the gear body. The lifting arm is provided with a mounting groove. One side of the clamp assembly is inserted into the mounting groove and fixed to the lifting arm by bolts. The clamp assembly includes an adjustment assembly that can level the gear body. The two adjustment assemblies are symmetrical about the center position of the clamp assembly, and a clamp block that can move forward and backward is arranged on the adjustment assembly, and an insert is clamped between the two clamp blocks. A through hole is provided at the center position of the insert, and the shaft on the gear body vertically passes through the through hole in the insert and rotates in the through hole.

[0006] Preferably, the adjustment component also includes an automatic adjustment part and a cylindrical shaft, the automatic adjustment part moves along the length direction of the cylindrical shaft, and the automatic adjustment part can rotate around the axis of the cylindrical shaft, a connecting column is fixed on the automatic adjustment part, and the connecting column and the clamping block are slidably matched; the clamp assembly also includes a movable module, and the center position of the outside of the movable module is fixed to the cylindrical shaft.

[0007] Preferably, the clamp assembly also includes a mounting block, a limit column and a limit plate, the mounting block is symmetrically fixed in the mounting slot by bolts, the limit plate is fixed at the center position of the mounting slot, a plurality of limit columns are connected between the two mounting slots and the limit plate, and the movable module moves back and forth on the limit columns.

[0008] Preferably, a fixing bolt is screwed onto the clamp block, and the fixing bolt on the clamp block extends to the position of the connecting column and contacts the surface of the connecting column. When the clamp block is adjusted to a suitable position, the fixing bolt on the clamp block is rotated to fix the clamp block.

[0009] Preferably, the cross section of the movable module is in an "L" shape.

[0010] Preferably, the lifting arm is arranged on the top of the main arm, and the main arm is used for the lifting arm to move up and down.

[0011] Preferably, the robot arm body includes a rotating table, and the outside of the rotating table is fixed to one side of the main arm. When the rotating table rotates, the lifting arm, the clamp assembly and the gear body on the main arm are rotated to the gear processing position in the gear hobbing machine.

[0012] Preferably, the robotic arm body also includes a gear ring, and the gear ring is fixed on the inner wall of the rotating table; the robotic arm body also includes a rotating driving member and a driving gear, the driving gear and the gear ring are meshed with each other and drive the rotating table to rotate, and the output end of the rotating driving member is connected to the driving gear and drives the driving gear to rotate.

[0013] Preferably, the robot arm body is movably arranged in the gear hobbing machine, and the rotary drive component is directly installed in the gear hobbing machine.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the clamping mechanical arm with automatic posture leveling has a reasonable structure and has the following advantages:

[0015] By providing an adjustment component, the adjustment component includes a connecting column, an automatic adjustment part and a cylindrical shaft. When there is an inclination between the ejector pin and the positioning hole on the gear body, the automatic adjustment part can rotate around the axis of the cylindrical shaft, thereby causing the clamping block to rotate, thereby driving the gear body to rotate, thereby facilitating the adjustment of the relative position between the ejector pin and the gear body, facilitating the ejector pin to push into the positioning hole on the gear body, avoiding the ejector pin from being unable to push into the positioning hole, thereby affecting the processing accuracy. The insert is clamped by the clamping block, and the gear body is inserted into the insert, which facilitates the rotation of the gear during processing and facilitates subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The first stereoscopic structural diagram of a clamping robot arm with automatic posture leveling is shown.

[0017] Figure 2 The second stereoscopic structure schematic diagram of a clamping robot arm with automatic posture leveling.

[0018] Figure 3 It is a schematic diagram of the front view structure of a clamping robot arm with automatic posture leveling.

[0019] Figure 4 The schematic diagram of the top view of the structure of a clamping robot arm with automatic posture leveling is shown.

[0020] Figure 5 The diagram is a right side structural diagram of a clamping robot arm with automatic posture leveling.

[0021] Figure 6 It is a schematic diagram of the third stereoscopic structure of a clamping robot arm with automatic posture leveling.

[0022] Figure 7 The schematic diagram of the upward structure of a clamping robot arm with automatic posture leveling is shown.

[0023] Figure 8 The present invention is a schematic diagram of the three-dimensional structure of a fixture assembly of a fixture robot arm with automatic posture leveling.

[0024] Fig. 9 The present invention is a schematic diagram of the structure of a fixture assembly of a fixture robot arm with automatic posture leveling, viewed from above.

[0025] Fig.10 The present invention is a schematic diagram of the right side view structure of a fixture assembly of a fixture robot arm with automatic posture leveling.

[0026] Fig.11 It is a kind of clamping robot arm with automatic leveling Figure 6 Enlarged structural diagram at A in the middle.

[0027] The numbers in the figure are: 1. Robot arm body; 11. Main arm; 111. Rotary drive member; 112. Driving gear; 113. Rotating table; 114. Gear ring; 12. Lifting arm; 121. Mounting slot; 13. Clamp assembly; 131. Mounting block; 132. Limit column; 133. Moving module; 134. Limit plate; 135. Clamp block; 136. Adjustment assembly; 1361. Connecting column; 1362. Automatic adjustment member; 1363. Cylindrical shaft; 137. Insert; 2. Gear body. DETAILED DESCRIPTION

[0028] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] Reference Figure 1 — Fig.11 As shown, the present invention provides: a clamp robot arm with automatic posture leveling, which moves the gear to be processed to the gear processing position in the gear hobbing machine, and the two ejectors on the gear hobbing machine are pushed into the positioning holes at both ends of the gear shaft, including a robot arm body 1, a main arm 11, a lifting arm 12, a clamp assembly 13 and a gear body 2, the robot arm body 1 is used to support and move other components, and the lifting arm 12 can be raised and lowered to adjust the height. The clamp assembly 13 is used to clamp the gear body 2. A mounting groove 121 is provided on the lifting arm 12. One side of the clamp assembly 13 is inserted into the mounting groove 121 and fixed to the lifting arm 12 by bolts. The clamp assembly 13 ensures the stability of the gear body 2 during the processing. The clamp assembly 13 includes an adjustment assembly 136 that can level the gear body 2. The two adjustment assemblies 136 are symmetrical about the center position of the clamp assembly 13, and a clamp block 135 that can move forward and backward is provided on the adjustment assembly 136, and an insert 137 is clamped between the two clamp blocks 135. A through hole is provided at the center position of the insert 137, and the axis on the gear body 2 vertically passes through the through hole in the insert 137 and rotates in the through hole.

[0030] In this embodiment, when the gear body 2 needs to be moved to the gear hobbing machine for processing, the clamp assembly 13 is first moved to the vicinity of the gear body 2 through the combined movement of the robot arm body 1, the main arm 11 and the lifting arm 12, and then the shaft on the gear body 2 is inserted into the through hole in the insert 137 to stabilize it. If the posture of the gear body 2 is incorrect, it can be adjusted by adjusting the assembly 136 until the gear body 2 is in the correct position and angle, and then the pin on the gear hobbing machine is used to push it into the positioning holes on both ends of the gear body 2.

[0031] The adjustment component 136 also includes an automatic adjustment member 1362 and a cylindrical shaft 1363. The automatic adjustment member 1362 moves along the length direction of the cylindrical shaft 1363, and the automatic adjustment member 1362 can rotate around the axis of the cylindrical shaft 1363. The automatic adjustment member 1362 can adjust the inclination angle of the gear body 2 to achieve automatic leveling of the gear body 2. The cylindrical shaft 1363 is the basis for the movement of the automatic adjustment member 1362. It provides a stable support so that the automatic adjustment member 1362 can accurately move along its length direction and rotate around its axis. A connecting column 1361 is fixed on the automatic adjustment member 1362, and the connecting column 1361 is slidably matched with the clamping block 135; the clamping assembly 13 also includes a moving module 133, and the center position of the outside of the moving module 133 is fixed to the cylindrical shaft 1363.

[0032] In this embodiment, when there is an inclination between the ejector pin and the positioning hole on the gear body 2, the automatic adjusting member 1362 can rotate around the axis of the cylindrical shaft 1363, thereby causing the clamping block 135 to rotate, thereby driving the gear body 2 to rotate, thereby facilitating the adjustment of the relative position between the ejector pin and the gear body 2, facilitating the ejector pin to be pushed into the positioning hole on the gear body 2, and preventing the ejector pin from being unable to be pushed into the positioning hole, thereby affecting the machining accuracy. The insert 137 is clamped by the clamping block 135, and the gear body 2 is inserted into the insert 137, which facilitates the rotation of the gear during machining and facilitates subsequent machining.

[0033] The clamp assembly 13 also includes a mounting block 131, a limiting column 132 and a limiting plate 134. The mounting block 131 is symmetrically fixed in the mounting groove 121 by bolts. The mounting block 131 provides a stable mounting base for the clamp assembly 13 to ensure that the entire clamp assembly 13 can be stably fixed on the lifting arm 12. The limiting column 132 is used to limit the moving range and direction of the moving module 133. They ensure that the moving module 133 moves back and forth on a predetermined path. The limiting plate 134 is fixed at the center position of the mounting groove 121. A plurality of limiting columns 132 are connected between the two mounting grooves 121 and the limiting plate 134, and the moving module 133 moves back and forth on the limiting column 132. The cross section of the moving module 133 is "L" shaped. The moving module 133 moves back and forth on the limiting column 132, and drives the position of the adjustment assembly 136 through its movement.

[0034] A fixing bolt is screwed onto the clamp block 135 , and the fixing bolt on the clamp block 135 extends to the position of the connecting column 1361 and contacts the surface of the connecting column 1361 . When the clamp block 135 is adjusted to a suitable position, the fixing bolt on the rotating clamp block 135 is used to fix the clamp block 135 .

[0035] In this embodiment, the clamp block 135 is moved to slide back and forth on the connecting column 1361. When the clamp block 135 is adjusted to a suitable position, the clamp block 135 is fixed by fixing bolts so that the position of the clamp block 135 can be changed to adapt to different models of gears.

[0036] The lifting arm 12 is arranged on the top of the main arm 11, and the main arm 11 is used to move the lifting arm 12 up and down. The robot arm body 1 includes a rotating table 113, and the outer part of the rotating table 113 is fixed to one side of the main arm 11. When the rotating table 113 rotates, the lifting arm 12, the clamp assembly 13 and the gear body 2 on the main arm 11 are rotated to the gear processing position in the gear hobbing machine. The robot arm body 1 also includes a gear ring 114, and the gear ring 114 is fixed on the inner wall of the rotating table 113; the robot arm body 1 also includes a rotating driving member 111 and a driving gear 112, the driving gear 112 and the gear ring 114 are meshed with each other and drive the rotating table 113 to rotate, the output end of the rotating driving member 111 is connected to the driving gear 112 and drives the driving gear 112 to rotate, the robot arm body 1 is movably arranged in the gear hobbing machine, and the rotating driving member 111 is directly installed in the gear hobbing machine.

[0037] In this embodiment, the driving member 111 is started to drive the active gear 112 to rotate, and the active gear 112 is engaged with the gear ring 114, driving the rotating table 113 to rotate, thereby rotating the clamp assembly 13 holding the gear body 2 to the gear processing position of the gear hobbing machine, realizing the rotation function of the robot arm, improving the processing efficiency and flexibility of the gear hobbing machine, and the position and angle can be adjusted as needed to adapt to different processing requirements.

[0038] Working principle: When in use, by starting the moving module 133, the moving module 133 moves on the limiting column 132, and then by moving the clamping block 135, the clamping block 135 slides back and forth on the connecting column 1361. When the clamping block 135 is adjusted to a suitable position, the clamping block 135 is fixed by the fixing bolt, and the insert 137 is placed between the two clamping blocks 135, and the two clamping blocks 135 are moved left and right by the adjusting component 136 to fix the insert 137. Then, the gear body 2 is inserted into the through hole in the insert 137, and then, the driving gear 112 is rotated by rotating the driving member 111, so as to The rotating table 113 is rotated, and the rotating table 113 moves the main arm 11, and the lifting arm 12 and the clamp assembly 13 move to transport the gear body 2 to the gear processing location in the gear hobbing machine. The lifting arm 12 can move up and down, and the automatic adjusting part 1362 can rotate around the axis of the cylindrical shaft 1363, thereby rotating the clamp block 135, thereby driving the gear body 2 to rotate, so as to facilitate the adjustment of the relative position between the ejector pin and the gear body 2, and facilitate the ejector pin to be pushed into the positioning hole on the gear body 2, and the insert 137 is clamped by the clamp block 135, and the gear body 2 is inserted into the insert 137, so that the gear can rotate during processing, which is convenient for subsequent processing.

[0039] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A clamping robot arm with automatic leveling position moves the gear to be processed to the gear processing position in the gear hobbing machine. The two ejectors on the gear hobbing machine are pushed into the positioning holes at both ends of the gear shaft. The characteristics are: The invention comprises a mechanical arm body (1), a main arm (11), a lifting arm (12), a clamp assembly (13) and a gear body (2); the clamp assembly (13) is used to clamp the gear body (2); a mounting groove (121) is provided on the lifting arm (12); one side of the clamp assembly (13) is inserted into the mounting groove (121) and is fixed to the lifting arm (12) by bolts; the clamp assembly (13) comprises an adjustment assembly (136) for leveling the gear body (2); the two adjustment assemblies (136) are arranged with respect to the center position of the clamp assembly (13); The adjusting assembly (136) is symmetrically arranged, and a clamping block (135) that can move forward and backward is arranged on the adjusting assembly (136), and an insert (137) is clamped between the two clamping blocks (135). A through hole is opened at the center of the insert (137), and the shaft on the gear body (2) vertically passes through the through hole in the insert (137) and rotates in the through hole. The adjusting assembly (136) also includes an automatic adjusting member (1362) and a cylindrical shaft (1363). The automatic adjusting member (1362) moves along the length direction of the cylindrical shaft (1363), and the automatic adjusting member (1362) can rotate around a circle. The axis of the column shaft (1363) rotates, a connecting column (1361) is fixed on the automatic adjustment member (1362), and the connecting column (1361) and the clamping block (135) are slidably matched, the clamping assembly (13) also includes a movable module (133), the center position of the outer portion of the movable module (133) is fixed to the cylindrical shaft (1363), the clamping assembly (13) also includes a mounting block (131), a limiting column (132) and a limiting plate (134), the mounting block (131) is symmetrically fixed in the mounting groove (121) by bolts, the The limiting plate (134) is fixed at the center position of the installation groove (121), a plurality of limiting columns (132) are connected between the two installation grooves (121) and the limiting plate (134), and the moving module (133) reciprocates on the limiting columns (132). The mechanical arm body (1) includes a rotating table (113), and the outside of the rotating table (113) is fixed to one side of the main arm (11). When the rotating table (113) rotates, the lifting arm (12), the clamp assembly (13) and the gear body (2) on the main arm (11) are rotated to the gear tooth processing position in the gear hobbing machine.

2. The clamping robot arm with automatic posture leveling according to claim 1, characterized in that: The clamp block (135) is also screwed with a fixing bolt, and the fixing bolt on the clamp block (135) extends to the position of the connecting column (1361) and contacts the surface of the connecting column (1361). When the clamp block (135) is adjusted to a suitable position, the fixing bolt on the rotating clamp block (135) is used to fix the clamp block (135).

3. The clamping robot arm with automatic posture leveling according to claim 1, characterized in that: The cross section of the movable module (133) is in an "L" shape.

4. The clamping robot arm with automatic posture leveling according to claim 1, characterized in that: The lifting arm (12) is arranged on the top of the main arm (11), and the main arm (11) is used for the lifting arm (12) to move up and down.

5. The clamping robot arm with automatic posture leveling according to claim 1, characterized in that: The robot arm body (1) also includes a gear ring (114), and the gear ring (114) is fixed on the inner wall of the rotating platform (113); The mechanical arm body (1) further comprises a rotating drive member (111) and a driving gear (112); the driving gear (112) and the gear ring (114) are meshed with each other and drive the rotating platform (113) to rotate; the output end of the rotating drive member (111) is connected to the driving gear (112) and drives the driving gear (112) to rotate.

6. The clamping robot arm with automatic posture leveling according to claim 5, characterized in that: The mechanical arm body (1) is movably arranged in the gear hobbing machine, and the rotary driving member (111) is directly installed in the gear hobbing machine.

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