Three-degree-of-freedom telescopic manipulator for gripping mandrels

Abstract

This invention relates to a three-degree-of-freedom telescopic manipulator for gripping mandrels, comprising a mounting block rotatably connected to a base for mounting, a telescopic assembly on the mounting block, a fixed end of the telescopic assembly being fixedly connected to the mounting block, and the telescopic direction of the telescopic assembly being parallel to the plane of the rotation trajectory of the mounting block on the base; a gripping component for clamping and fixing the mandrel is connected to the movable end of the telescopic assembly; and a drive unit is provided between the mounting block and the base for driving the mounting block to reciprocate on the base. This addresses the problem in existing technologies where, to achieve continuous mandrel transfer, the motion trajectory of the gripping device is typically an arc-shaped circle, resulting in a large swing operation space.

Description

Technical Field

[0001] This invention relates to the field of mandrel processing and manufacturing technology, and specifically to a three-degree-of-freedom telescopic manipulator for gripping mandrels. Background Technology

[0002] A mandrel is a mechanical transmission device, typically composed of a cylinder or cone, used to transmit torque and withstand shear forces. As a core component in a mechanical device, it supports and controls the central axis of elements (such as sliding or rotating structures).

[0003] In existing technologies, during the mandrel clamping and transfer process, traditional clamping equipment, when handling a mandrel exceeding 15 meters in length and weighing over 3 tons from the production line to the waiting roller conveyor, clamps and fixes the mandrel, and drives it to lift and rotate to transfer it onto the roller conveyor. However, to achieve continuous mandrel transfer, the movement trajectory of the clamping equipment is usually an arc-shaped circle, which results in a large swing operation space. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a three-degree-of-freedom telescopic manipulator for gripping mandrels, so as to solve the problem that in order to achieve the purpose of continuous transfer of mandrels, the motion trajectory of the gripping device is usually an arc-shaped circle, which has a large swing operation space.

[0005] This invention is achieved through the following technical solution:

[0006] A three-degree-of-freedom telescopic manipulator for gripping a mandrel includes a mounting block rotatably connected to a base for mounting. The mounting block is provided with a telescopic component, the fixed end of which is fixedly connected to the mounting block, and the telescopic direction of the telescopic component is parallel to the plane of the rotation trajectory of the mounting block on the base.

[0007] The movable end of the telescopic component is connected to a clamping component for clamping and fixing the mandrel.

[0008] A drive unit is provided between the mounting block and the base to drive the mounting block to swing back and forth on the base.

[0009] Furthermore, each of the two opposite side walls of the mounting block is provided with a support shaft. One end of the support shaft is fixedly connected to the corresponding side wall of the mounting block, and the other end is inserted into the base along a direction perpendicular to the corresponding side wall of the mounting block and rotates in cooperation with it.

[0010] Furthermore, a sliding groove is provided on one side of the mounting block with a supporting rotating shaft, which is along the telescopic direction of the telescopic assembly, and the axis of the supporting rotating shaft intersects the extension line of the sliding groove.

[0011] The driving unit includes a turntable rotatably fitted on the base, and the plane of the rotation trajectory of the turntable on the base is parallel to the plane of the rotation trajectory of the supporting shaft on the base. The end face edge of the turntable facing the mounting block is provided with a push post.

[0012] One end of the push column is fixedly connected to the turntable, and the other end is inserted into the slide groove and slides along the length of the slide groove.

[0013] Furthermore, the telescopic assembly includes a first cylinder and a first piston rod, both open at both ends and fixedly connected to the mounting block. One end of the first cylinder is fixedly connected to a cylinder head, which covers the opening of the first cylinder.

[0014] One end of the first piston rod is inserted into the first cylinder and is sealed and slidably fitted, while the other end protrudes from the opening of the first cylinder away from the cylinder head and is connected to the clamping assembly.

[0015] The cylinder head has a hollow structure and is connected to the interior of the first cylinder. An oil supply pipe connected to the interior of the cylinder head is also connected to the cylinder head.

[0016] Furthermore, the cylinder head has a spherical hollow interior, and a through hole is provided on the surface of the cylinder head facing the first cylinder barrel, connecting the interior of the cylinder head and the interior of the first cylinder barrel.

[0017] The oil supply pipe is fixedly connected to the base. One end of the oil supply pipe passes through two supporting rotating shafts in sequence and rotates coaxially. A hollow connecting ball is provided in the middle of the oil supply pipe. The cylinder head is sleeved on the connecting ball, and the outer wall of the connecting ball is tightly fitted with the inner wall of the cylinder head.

[0018] A partition is coaxially fixed inside the connecting ball, and the partition divides the oil supply pipe into an inlet pipe and an outlet pipe according to the openings at both ends of the oil supply pipe. The inlet pipe and the outlet pipe are respectively connected to the inside of the cylinder head.

[0019] Furthermore, the outer wall of the end of the oil inlet pipe facing the partition is provided with a first oil inlet hole. The first oil inlet hole is located on the rotation trajectory of the through hole, and when the sliding direction of the first piston rod intersects with the mandrel on the production line, the first oil inlet hole coincides with and is connected to the through hole.

[0020] The oil outlet pipe has a first oil outlet hole on the outer wall of the end facing the partition plate. The first oil outlet hole is located on the rotation trajectory of the through hole, and when the sliding direction of the first piston column intersects with the roller table, the first oil outlet hole coincides with and is connected to the through hole.

[0021] Furthermore, the clamping assembly includes a support bar fixedly connected to the end of the first piston rod facing away from the cylinder head, a telescopic column in the same telescopic direction as the telescopic assembly, and two clamping arms symmetrically arranged with the first piston rod as the center. The fixed end of the telescopic column is fixedly connected to the support bar, and the movable end extends in the direction away from the mounting block.

[0022] The two clamping arms are hinged to the two ends of the support bar at the same ends. Each of the two clamping arms is provided with a connecting rod in the middle. One end of the connecting rod is hinged to the clamping arm and the other end is hinged to the movable end of the telescopic column. The rotation trajectory plane of the clamping arm on the support bar and the rotation trajectory plane of the connecting rod on the clamping arm are both coplanar with the rotation trajectory plane of the mounting block on the base.

[0023] Furthermore, the support bar has two parallel sliding rods on the side facing the mounting block. One end of the sliding rod is fixedly connected to the support bar, and the other end passes through the mounting block and slides in cooperation with the mounting block along the telescopic direction of the telescopic assembly.

[0024] Furthermore, the support bar has a hollow structure, and the telescopic column includes a second cylinder and a second piston column that are fixedly connected and communicated with the surface of the support bar facing away from the mounting block. One end of the second piston column is inserted into the second cylinder and is sealed and slidably fitted, while the other end protrudes from the opening of the second cylinder facing away from the support bar and is hinged to the connecting rod.

[0025] Both slide rods are hollow structures with one open end. The open ends of both slide rods are fixedly connected to and communicate with the support bar, and the two slide rods are respectively connected to the oil inlet pipe and the oil outlet pipe.

[0026] Furthermore, each of the two sliding rods has a first oil supply hole on its opposite side wall, and the mounting block has two oil supply groove holes that correspond one-to-one with the two first oil supply holes. One end of each oil supply groove hole is located on the sliding trajectory of the corresponding first oil supply hole, and when the clamping component moves to the spindle position on the production line, the two first oil supply holes are connected to the two oil supply groove holes respectively.

[0027] The cylinder head sidewall is provided with two second oil delivery holes that are respectively connected to the other end openings of the two oil delivery slot holes;

[0028] The oil inlet pipe has a second oil inlet hole on the outer wall of one end facing the partition. The second oil inlet hole is located on the rotation trajectory of one of the second oil delivery holes. When the first oil outlet hole and the through hole coincide and are connected, the second oil inlet hole and the corresponding second oil delivery hole coincide and are connected.

[0029] The oil outlet pipe has a second oil outlet hole on the outer wall of one end facing the partition. The second oil outlet hole is located on the rotation trajectory of another second oil delivery hole, and when the first oil inlet hole and the through hole coincide and are connected, the second oil outlet hole coincides and are connected with the corresponding second oil delivery hole.

[0030] The beneficial effects of this invention are as follows:

[0031] This is a three-degree-of-freedom telescopic robot for gripping mandrels. A mounting block is rotatably connected to a base. A telescopic component and a gripping component are mounted on the mounting block. The extension of the telescopic component pushes the gripping component closer to the mandrel on the production line, while the gripping component simultaneously clamps and fixes the mandrel. Under the action of a drive unit, the mounting block, telescopic component, and gripping component drive the mandrel to rotate forward on the base, approaching the roller conveyor. Once the mandrel is against the roller conveyor, the gripping component releases its clamping force, allowing the mandrel to be stably placed on the roller conveyor, achieving the purpose of mandrel transfer. Under the action of the drive unit, the mounting block drives the telescopic component and gripping component to rotate in the opposite direction, returning to their initial position. This causes the mounting block to oscillate back and forth on the base, continuously transferring mandrels. Furthermore, the movement trajectory of the mounting block on the base is part of an arc-shaped circle to reduce the space required for the oscillation operation.

[0032] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention;

[0034] Figure 2 This is a three-dimensional structural diagram of the robotic arm in an embodiment of the present invention;

[0035] Figure 3 This is an exploded view of the robotic arm in an embodiment of the present invention;

[0036] Figure 4 This is a three-dimensional structural diagram of the drive unit in an embodiment of the present invention;

[0037] Figure 5 This is a three-dimensional structural diagram of the clamping component in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the internal three-dimensional structure of the mounting block in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the planar structure of the cylinder head and oil supply pipe in an embodiment of the present invention;

[0040] Figure 8 for Figure 7 Sectional view of AA;

[0041] Figure 9 for Figure 7 Sectional view of BB;

[0042] Figure 10 for Figure 7 A sectional view of CC.

[0043] In the figure: mounting block 11, oil channel hole 111, base 12, support shaft 13, slide 14, turntable 15, push column 16, motor 17;

[0044] First cylinder 21, first piston rod 22, cylinder head 23, through hole 231, second oil inlet 232, connecting ball 24, partition 241, oil inlet pipe 25, first oil inlet 251, second oil inlet 252, oil outlet pipe 26, first oil outlet 261, second oil outlet 262;

[0045] Support bar 31, clamping arm 32, connecting rod 33, slide rod 34, first oil supply hole 341, second cylinder 35, second piston rod 36;

[0046] 41. Mandrel 42. Production line 43. Roller conveyor 43. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0052] Please see Figure 1-10 The present invention provides a technical solution: a three-degree-of-freedom telescopic manipulator for gripping a mandrel, including a mounting block 11 rotatably connected to a base 12 for mounting, the mounting block 11 being provided with a telescopic component, the fixed end of the telescopic component being fixedly connected to the mounting block 11, and the telescopic direction of the telescopic component being parallel to the plane of the rotation trajectory of the mounting block 11 on the base 12;

[0053] The movable end of the telescopic component is connected to a clamping component for clamping and fixing the spindle 41.

[0054] A drive unit is provided between the mounting block 11 and the base 12 to drive the mounting block 11 to swing back and forth on the base 12.

[0055] The robotic arm structure is composed of mounting block 11, telescopic component, and clamping component. Multiple hollowed-out gaps are provided below the mandrel 41 in the production line 42. Two robotic arms are installed, each located within one of the two hollowed-out gaps on the production line 42. The two robotic arms are collinear with the two rotation axes on the base 12. The robotic arms can lift and support the mandrel 41 from below, achieving the purpose of lifting and transferring the mandrel 41. By setting two robotic arms, the mandrel 41 can be clamped and fixed at two points axially. After clamping the mandrel 41, the two robotic arms rotate synchronously, in the same direction, and at the same speed, making the clamping and transfer of the mandrel 41 more stable. Roller conveyor 43 is installed on the base 12.

[0056] The mounting block 11 is rotatably connected to the base 12. A telescopic component and a clamping component are installed on the mounting block 11. The extension of the telescopic component pushes the clamping component closer to the mandrel 41 on the production line 42, while the clamping component clamps and fixes the mandrel 41. Under the action of the drive unit, the mounting block 11, the telescopic component, and the clamping component drive the mandrel 41 to rotate in the opposite direction on the base 12 and move closer to the roller conveyor 43. After the mandrel 41 is against the roller conveyor 43, the clamping component releases the clamping force on the mandrel 41, so that the mandrel 41 is stably placed on the roller conveyor 43, achieving the purpose of transferring the mandrel 41. Under the action of the drive unit, the mounting block 11 drives the telescopic component and the clamping component to rotate forward and return to the initial position, so that the mounting block 11 performs a reciprocating swinging motion on the base 12, thereby continuously transferring the mandrel 41. The movement trajectory of the robot on the base 12 is part of an arc-shaped circle to reduce the space for swinging operations.

[0057] In this embodiment: support shafts 13 are provided on the opposite side walls of the mounting block 11. One end of the support shaft 13 is fixedly connected to the corresponding side wall of the mounting block 11, and the other end is inserted into the base 12 in a direction perpendicular to the corresponding side wall of the mounting block 11 and rotates in cooperation.

[0058] By setting two coaxial support shafts 13, which are inserted into and abut against the base 12, the free movement of the mounting block 11 on the base 12 is restricted, making the swinging operation of the robot arm more stable. At the same time, the support shafts 13 support the robot arm, making the rotation of the robot arm and the spindle 41 on the base 12 more stable.

[0059] In this embodiment: a sliding groove 14 along the telescopic direction of the telescopic assembly is provided on one side of the mounting block 11 with a supporting rotating shaft 13, and the axis of the supporting rotating shaft 13 intersects the extension line of the sliding groove 14;

[0060] The drive unit includes a turntable 15 rotatably fitted on the base 12, and the plane of the rotation trajectory of the turntable 15 on the base 12 is parallel to the plane of the rotation trajectory of the support shaft 13 on the base 12. The end face edge of the turntable 15 facing the mounting block 11 is provided with a push post 16.

[0061] One end of the push column 16 is fixedly connected to the turntable 15, and the other end is inserted into the slide groove 14 and slides with the slide groove 14 along the length of the slide groove 14.

[0062] The rotation diameter of the push column 16 on the turntable 15 is smaller than the length of the slide groove 14 to facilitate smooth rotation of the push column 16 on the turntable 15. The turntable 15 is rotatably engaged with the base 12 in the middle. A driven gear is fixedly connected to the end of the turntable 15 facing away from the mounting block 11. A motor 17 is fixedly mounted on the base 12, and a drive gear meshing with the driven gear is fixedly connected to the output end of the motor 17. The motor 17 provides power for the rotation of the turntable 15, ensuring its smooth rotation. The specific model of the motor 17 is Demark 180M-35015E-E.

[0063] During operation, when it is necessary to transfer the mandrel 41 on the production line 42, the motor 17 is started. The output end of the motor 17 drives the turntable 15 to rotate through the drive gear and the driven gear. The push column 16 on the turntable 15 rotates around the axis of the turntable 15, thereby pushing the column 16 to press the side wall of the slide groove 14 facing the production line 42. This, in turn, pushes the robot arm to rotate forward through the mounting block 11, bringing the gripping component closer to the production line 42. When the distance between the slide groove 14 and the axis of the turntable 15 is equal to the rotation radius of the push column 16, the extension and retraction direction of the telescopic component intersects with the mandrel 41 on the production line 42, and the telescopic component is activated. The motor 17 drives the turntable 15 to continue rotating, pushing the column 16 to press the slide 14 against the side wall of the production line 42. This, in turn, pushes the robot arm to rotate in the opposite direction via the mounting block 11, moving the gripping component away from the production line 42 and closer to the roller conveyor 43. When the distance between the slide 14 and the axis of the turntable 15 is equal to the rotation radius of the column 16 again, the gripping component releases its clamping force on the mandrel 41 and retracts the telescopic component, allowing the mandrel 41 to be placed smoothly on the roller conveyor 43, thus achieving the purpose of transferring the mandrel 41. The motor 17 drives the turntable 15 to continue rotating, causing the robot arm to rotate in the opposite direction again until it returns to its initial position, so that the transfer of the mandrel 41 can be performed again.

[0064] That is, the motor 17 drives the turntable 15 to rotate, causing the push column 16 to rotate eccentrically on the turntable 15, and under the action of the slide groove 14, it drives the robot to swing back and forth, thereby reducing the space for swing operation.

[0065] In this embodiment: the telescopic assembly includes a first cylinder 21 with openings at both ends and fixedly connected to the mounting block 11, and a first piston rod 22. One end of the first cylinder 21 is fixedly connected to a cylinder head 23, and the opening of the first cylinder 21 is covered by the cylinder head 23.

[0066] One end of the first piston rod 22 is inserted into the first cylinder 21 and is sealed and slidably fitted, while the other end protrudes from the opening of the first cylinder 21 facing away from the cylinder head 23 and is connected to the clamping assembly.

[0067] The cylinder head 23 has a hollow structure and is connected to the interior of the first cylinder 21. An oil supply pipe connected to the interior of the cylinder head 23 is attached to the cylinder head 23.

[0068] The first cylinder 21, the first piston rod 22, and the cylinder head 23 form a hydraulic cylinder structure. By connecting the inside of the cylinder head 23 to the inside of the first cylinder 21, and providing an oil supply pipe on the cylinder head 23 that is connected to the cylinder head 23, the oil supply pipe is connected to an external positive pressure oil circuit. Under the action of pressure difference, the hydraulic oil in the external positive pressure oil circuit is forced into the first cylinder 21, pushing the first piston rod 22 out of the first cylinder 21, thereby pushing the clamping assembly away from the mounting block 11. The oil supply pipe is connected to an external negative pressure oil circuit. Under the action of pressure difference, the hydraulic oil in the first cylinder 21 is extracted, causing the first piston rod 22 to slide into the first cylinder 21, thereby pulling the clamping assembly closer to the mounting block 11, so as to achieve the purpose of controlling the clamping assembly to move closer to or away from the mounting block 11.

[0069] In this embodiment: the cylinder head 23 has a spherical hollow interior, and a through hole 231 is provided on the surface of the cylinder head 23 facing the first cylinder barrel 21 to connect the interior of the cylinder head 23 with the interior of the first cylinder barrel 21;

[0070] The oil supply pipe is fixedly connected to the base 12. One end of the oil supply pipe passes through two supporting rotating shafts 13 in sequence and rotates coaxially. A hollow connecting ball 24 is provided in the middle of the oil supply pipe. The cylinder head 23 is sleeved on the connecting ball 24, and the outer wall of the connecting ball 24 is tightly fitted with the inner wall of the cylinder head 23.

[0071] A partition 241 is coaxially fixedly connected inside the connecting ball 24, and the oil supply pipe is divided into two parts, an oil inlet pipe 25 and an oil outlet pipe 26, according to the openings at both ends of the oil supply pipe through the partition 241. The oil inlet pipe 25 and the oil outlet pipe 26 are respectively connected to the inside of the cylinder head 23.

[0072] In this embodiment: the oil inlet pipe 25 has a first oil inlet hole 251 on the outer wall of one end facing the partition plate 241. The first oil inlet hole 251 is located on the rotation trajectory of the through hole 231, and when the sliding direction of the first piston rod 22 intersects with the mandrel 41 on the production line 42, the first oil inlet hole 251 and the through hole 231 coincide and communicate.

[0073] The oil outlet pipe 26 has a first oil outlet hole 261 on the outer wall of one end facing the partition plate 241. The first oil outlet hole 261 is located on the rotation trajectory of the through hole 231, and when the sliding direction of the first piston column 22 intersects with the roller table 43, the first oil outlet hole 261 coincides with and is connected to the through hole 231.

[0074] The axis of the through hole 231 is collinear with the axis of the first piston rod 22. The axis of the first oil inlet hole 251 intersects with the spindle 41 on the production line 42. The axis of the first oil outlet hole 261 intersects with the axis of the corresponding spindle 41 on the roller conveyor 43. The opening of the oil inlet pipe 25 facing away from the mounting block 11 is connected to the external positive pressure oil circuit, and the opening of the oil outlet pipe 26 facing away from the mounting block 11 is connected to the external negative pressure oil circuit.

[0075] During use, when it is necessary to transfer the mandrel 41 on the production line 42, the turntable 15 pushes the mounting block 11 to rotate. When the distance between the axis of the slide groove 14 and the axis of the turntable 15 is equal to the rotation radius of the push column 16, the axis of the through hole 231 intersects with the mandrel 41 on the production line 42. Then, the through hole 231 coincides with and connects with the first oil inlet hole 251. Under the action of pressure difference, the hydraulic oil in the external oil circuit enters the first cylinder 21, pushing the first piston column 22 to slide out from the first cylinder 21, thereby pushing the clamping assembly away from the mounting block 11 and closer to the mandrel 41 on the production line 42, so as to facilitate the clamping assembly to clamp and fix the mandrel 41.

[0076] The turntable 15 continues to rotate, causing the through hole 231 to rotate away from the first oil inlet hole 251, thereby blocking the channel connecting the first cylinder 21 to the external positive pressure oil circuit. This allows the hydraulic oil in the first cylinder 21 to be stably placed inside the first cylinder 21, thus stably supporting the first piston column 22, and enabling the stable transfer of the mandrel 41 on the clamping assembly. When the clamping assembly moves the mandrel 41 to the corresponding position on the roller conveyor 43, the clamping assembly releases the clamping force on the mandrel 41. At the same time, the through hole 231 coincides and connects with the first oil outlet hole 261. Under the action of the pressure difference, the hydraulic oil in the first cylinder 21 is extracted, causing the first piston column 22 to slide into the first cylinder 21. This allows the clamping assembly to approach the mounting block 11, so that the mandrel 41 is placed smoothly on the roller conveyor 43. This continues until the clamping assembly returns to its initial position on the mounting block 11. The turntable 15 then drives the robot to rotate forward back to its initial position, so as to facilitate the transfer of the mandrel 41 again.

[0077] That is, when the robot arm rotates forward to align with the mandrel 41 on the production line 42, the through hole 231 coincides with and connects to the first oil inlet hole 251. Hydraulic oil from the external positive pressure oil circuit enters the first cylinder 21, pushing the first piston rod 22 out of the first cylinder 21, causing the telescopic component to automatically extend, so as to facilitate the clamping component to clamp and fix the mandrel 41 on the production line 42. When the robot arm drives the mandrel 41 to rotate in the reverse direction to the target position on the roller conveyor 43, the through hole 231 coincides with and connects to the first oil outlet hole 261. Hydraulic oil in the first cylinder 21 is extracted, and the first piston rod 22 slides into the first cylinder 21, causing the telescopic component to automatically shorten, so as to smoothly place the mandrel 41 on the roller conveyor 43.

[0078] In this embodiment: the clamping assembly includes a support bar 31 fixedly connected to one end of the first piston rod 22 facing away from the cylinder head 23, a telescopic column in the same telescopic direction as the telescopic assembly, and two clamping arms 32 symmetrically arranged with the first piston rod 22 as the center. The fixed end of the telescopic column is fixedly connected to the support bar 31, and the movable end extends in the direction away from the mounting block 11.

[0079] The two clamping arms 32 are hinged to the two ends of the support bar 31 at the same ends. Each of the two clamping arms 32 is provided with a connecting rod 33 in the middle. One end of the connecting rod 33 is hinged to the clamping arm 32 and the other end is hinged to the movable end of the telescopic column. The rotation trajectory plane of the clamping arm 32 on the support bar 31 and the rotation trajectory plane of the connecting rod 33 on the clamping arm 32 are both coplanar with the rotation trajectory plane of the mounting block 11 on the base 12.

[0080] When it is necessary to clamp and fix the mandrel 41 during use, push the telescopic column to retract. The movable end of the telescopic column drives the two connecting rods 33 to rotate, reducing the included angle between the two connecting rods 33. At the same time, the connecting rods 33 drive the two clamping arms 32 to rotate, reducing the opening size of the two clamping arms 32, so that the inner side of the two clamping arms 32 fits tightly against the outer circular surface of the mandrel 41, thereby clamping and fixing the mandrel 41 to limit the shaking of the mandrel 41 during transportation, so that the mandrel 41 can be lifted and transported smoothly.

[0081] In this embodiment: the support bar 31 is provided with two parallel sliding rods 34 on the side facing the mounting block 11. One end of the sliding rod 34 is fixedly connected to the support bar 31, and the other end passes through the mounting block 11 and slides in cooperation with the mounting block 11 along the telescopic component extension direction.

[0082] By setting two slide bars 34, the strength of the support bar 31 is enhanced, the torsional resistance of the support bar 31 on the first piston column 22 is improved, and the structural stability of the clamping assembly is improved.

[0083] In this embodiment: the support bar 31 is a hollow structure, and the telescopic column includes a second cylinder 35 and a second piston column 36 that are fixedly connected and communicated with the side surface of the support bar 31 facing away from the mounting block 11. One end of the second piston column 36 is inserted into the second cylinder 35 and is sealed and slidably fitted, and the other end protrudes out of the opening of the second cylinder 35 facing away from the support bar 31 and is hinged to the connecting rod 33.

[0084] Both slide rods 34 are hollow structures with one open end. The open ends of both slide rods 34 are fixedly connected to and communicate with the support bar 31. The two slide rods 34 are respectively connected to the oil inlet pipe 25 and the oil outlet pipe 26.

[0085] In this embodiment: First oil supply holes 341 are provided on the opposite side walls of the two slide rods 34. Two oil supply groove holes 111 are provided on the mounting block 11, which correspond one-to-one with the two first oil supply holes 341. One end of the oil supply groove hole 111 is located on the sliding trajectory of the corresponding first oil supply hole 341. When the clamping component moves to the position of the spindle 41 on the production line 42, the two first oil supply holes 341 are connected to the two oil supply groove holes 111 respectively.

[0086] The cylinder head 23 has two second oil delivery holes 232 that are respectively connected to the other end openings of the two oil delivery slot holes 111;

[0087] The oil inlet pipe 25 has a second oil inlet hole 252 on the outer wall of one end facing the partition plate 241. The second oil inlet hole 252 is located on the rotation trajectory of one of the second oil delivery holes 232. When the first oil outlet hole 261 and the through hole 231 coincide and are connected, the second oil inlet hole 252 coincides and is connected with the corresponding second oil delivery hole 232.

[0088] The oil outlet pipe 26 has a second oil outlet hole 262 on the outer wall of one end facing the partition plate 241. The second oil outlet hole 262 is located on the rotation trajectory of another second oil supply hole 232. When the first oil inlet hole 251 and the through hole 231 coincide and are connected, the second oil outlet hole 262 coincides and is connected with the corresponding second oil supply hole 232.

[0089] The diameter of the through hole 231 is smaller than that of the first oil inlet hole 251. When the through hole 231 is rotated to initially connect with the first oil inlet hole 251, the second oil outlet hole 262 is not connected with the corresponding second oil delivery hole 232. The included angle between the through hole 231 and the first oil inlet hole 251 is equal to the included angle between the second oil outlet hole 262 and the corresponding second oil delivery hole 232. Furthermore, the included angle between the through hole 231 and the second oil outlet hole 262 corresponding to the second oil delivery hole 232 is equal to the included angle between the first oil inlet hole 251 and the second oil outlet hole 262. Therefore, when the through hole 231 coincides and connects with the first oil inlet hole 251, the second oil outlet hole 262 connects with the corresponding second oil delivery hole 232.

[0090] The included angle between the through hole 231 and the first oil outlet hole 261 is equal to the included angle between the second oil inlet hole 252 and the corresponding second oil delivery hole 232. Furthermore, the included angle between the through hole 231 and the first oil outlet hole 261 and the corresponding second oil delivery hole 232 is equal to the included angle between the second oil inlet hole 252 and the first oil outlet hole 261. This results in the second oil inlet hole 252 being connected to the corresponding second oil delivery hole 232 when the through hole 231 and the first oil outlet hole 261 coincide and are connected.

[0091] During use, when it is necessary to transfer the mandrel 41 on the production line 42, the turntable 15 rotates, pushing the mounting block 11 to rotate forward on the base 12, causing the robot arm to rotate forward. This causes the through hole 231 to move closer to the first oil inlet hole 251. When the through hole 231 moves to a point where it is initially connected to the first oil inlet hole 251, hydraulic oil from the external positive pressure oil circuit enters the first cylinder 21, which in turn pushes the gripping assembly closer to the mandrel 41 on the production line 42 via the first piston rod 22. The robot arm continues to rotate forward, causing the through hole 231 to move further closer to the first oil inlet hole 251. 51, until the axis of the through hole 231 is collinear with the axis of the first oil inlet hole 251, so that the second oil outlet hole 262 is connected to the corresponding second oil supply hole 232. Under the action of the pressure difference between the second cylinder 35 and the external negative pressure oil circuit, the hydraulic oil in the second cylinder 35 is drawn out, and then the second piston rod 36 slides into the second cylinder 35, driving the two connecting rods 33 to rotate, reducing the included angle between the two connecting rods 33, and then the two clamping arms 32 rotate, so that the opening size between the two clamping arms 32 is reduced, so as to achieve the purpose of clamping and fixing the spindle 41.

[0092] The turntable 15 continues to rotate, pushing the robot arm to rotate in the opposite direction on the base 12 through the slide groove 14 on the mounting block 11. During the reverse rotation of the robot arm, the second oil outlet 262 gradually moves away from the corresponding second oil supply hole 232 until the inside of the second cylinder 35 is closed, so that the two gripping arms 32 stably clamp and fix the spindle 41. At the same time, the through hole 231 gradually moves away from the first oil inlet hole 251 until the inside of the first cylinder 21 is closed, and the hydraulic oil in the first cylinder 21 stably supports the first piston column 22. So that the relative position of the spindle 41 on the robot arm does not change during the reverse rotation of the robot arm on the base 12, so as to achieve the purpose of stably transferring the spindle 41.

[0093] After the robotic arm lifts the mandrel 41 and rotates it in the opposite direction to the corresponding position on the roller conveyor 43, the second oil inlet 252 connects with the corresponding second oil outlet 232. The hydraulic oil in the external positive pressure oil circuit is forced into the second cylinder 35, and then the second piston rod 36 slides out of the second cylinder 35, pushing the two connecting rods 33 to rotate, increasing the included angle between the two connecting rods 33, and then pushing the two gripping arms 32 to rotate, increasing the size of the opening between the two gripping arms 32, gradually reducing until the clamping force of the two gripping arms 32 on the mandrel 41 is eliminated. At the same time, the through hole 231 coincides with and connects with the first oil outlet 261, and the hydraulic oil in the first cylinder 21 is extracted, causing the first piston rod 22 to slide into the first cylinder 21, thereby driving the two gripping arms 32 to approach the mounting block 11, so that the mandrel 41 is disengaged from the contact of the two gripping arms 32, so that the mandrel 41 is placed stably on the roller conveyor 43 to complete the transfer of the mandrel 41.

[0094] That is, when it is necessary to transfer the mandrel 41 on the production line 42, the robot arm rotates forward on the base 12. When the robot arm is about to be aligned with the mandrel 41 on the production line 42, the first piston column 22 automatically pushes the gripping assembly closer to the mandrel 41. When the robot arm is aligned with the mandrel 41 on the production line 42, the two gripping arms 32 automatically clamp and fix the mandrel 41. When the robot arm moves the mandrel 41 to the target position on the roller conveyor 43, the two gripping arms 32 automatically release the gripping force on the mandrel 41. At the same time, the first piston column 22 drives the two gripping arms 32 away from the mandrel 41, so that the mandrel 41 is placed stably on the roller conveyor 43.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A three-degree-of-freedom telescopic manipulator for gripping mandrels, characterized in that: It includes a mounting block (11) rotatably connected to a base (12) for mounting, the mounting block (11) being provided with a telescopic component, the fixed end of the telescopic component being fixedly connected to the mounting block (11), and the telescopic direction of the telescopic component being parallel to the plane of the rotation trajectory of the mounting block (11) on the base (12); The movable end of the telescopic component is connected to a clamping component for clamping and fixing the mandrel (41); A drive unit is provided between the mounting block (11) and the base (12) for driving the mounting block (11) to swing back and forth on the base (12); The mounting block (11) has a support shaft (13) on each of its two opposite side walls. One end of the support shaft (13) is fixedly connected to the corresponding side wall of the mounting block (11), and the other end is inserted into the base (12) in a direction perpendicular to the corresponding side wall of the mounting block (11) and rotates in cooperation with it. The telescopic assembly includes a first cylinder (21) with openings at both ends and fixedly connected to the mounting block (11) and a first piston rod (22). One end of the first cylinder (21) is fixedly connected to a cylinder head (23), and the opening of the first cylinder (21) is covered by the cylinder head (23). One end of the first piston rod (22) is inserted into the first cylinder (21) and is sealed and slidably fitted, while the other end protrudes from the opening of the first cylinder (21) away from the cylinder head (23) and is connected to the clamping assembly; The cylinder head (23) has a hollow structure and is connected to the inside of the first cylinder (21). An oil supply pipe connected to the inside of the cylinder head (23) is connected to the cylinder head (23). The cylinder head (23) has a spherical hollow interior, and a through hole (231) is provided on the surface of the cylinder head (23) facing the first cylinder barrel (21) to connect the interior of the cylinder head (23) and the interior of the first cylinder barrel (21); The oil supply pipe is fixedly connected to the base (12). One end of the oil supply pipe passes through two supporting rotating shafts (13) in sequence and rotates coaxially. The middle part of the oil supply pipe is provided with a hollow connecting ball (24). The cylinder head (23) is sleeved on the connecting ball (24), and the outer wall of the connecting ball (24) is tightly fitted with the inner wall of the cylinder head (23). The connecting ball (24) is coaxially fixedly connected to a partition (241), and the oil supply pipe is divided into an inlet pipe (25) and an outlet pipe (26) according to the openings at both ends of the oil supply pipe through the partition (241). The inlet pipe (25) and the outlet pipe (26) are respectively connected to the inside of the cylinder head (23). The oil inlet pipe (25) has a first oil inlet hole (251) on the outer wall of one end facing the partition plate (241). The first oil inlet hole (251) is located on the rotation trajectory of the through hole (231). When the sliding direction of the first piston rod (22) intersects with the mandrel (41) on the production line (42), the first oil inlet hole (251) and the through hole (231) are connected. The oil outlet pipe (26) has a first oil outlet hole (261) on the outer wall of one end facing the partition plate (241). The first oil outlet hole (261) is located on the rotation trajectory of the through hole (231), and when the sliding direction of the first piston column (22) intersects with the roller table (43), the first oil outlet hole (261) coincides with and is connected to the through hole (231).

2. The three-degree-of-freedom telescopic manipulator for gripping a mandrel according to claim 1, characterized in that: The mounting block (11) has a sliding groove (14) on one side of the support shaft (13) along the telescopic component extension direction, and the axis of the support shaft (13) intersects the extension line of the sliding groove (14). The drive unit includes a turntable (15) rotatably fitted on the base (12), and the plane of the rotation trajectory of the turntable (15) on the base (12) is parallel to the plane of the rotation trajectory of the support shaft (13) on the base (12). The end face edge of the turntable (15) facing the mounting block (11) is provided with a push column (16). One end of the push column (16) is fixedly connected to the turntable (15), and the other end is inserted into the slide groove (14) and slides with the slide groove (14) along the length of the slide groove (14).

3. The three-degree-of-freedom telescopic manipulator for gripping a mandrel according to claim 1, characterized in that: The clamping assembly includes a support bar (31) fixedly connected to one end of the first piston rod (22) facing away from the cylinder head (23), a telescopic rod in the same telescopic direction as the telescopic assembly, and two clamping arms (32) symmetrically arranged with the first piston rod (22) as the center. The fixed end of the telescopic rod is fixedly connected to the support bar (31), and the movable end extends in the direction away from the mounting block (11). The two clamping arms (32) are hinged at both ends to the two ends of the support bar (31). A connecting rod (33) is provided in the middle of the two clamping arms (32). One end of the connecting rod (33) is hinged to the clamping arm (32) and the other end is hinged to the movable end of the telescopic column. The rotation trajectory plane of the clamping arm (32) on the support bar (31) and the rotation trajectory plane of the connecting rod (33) on the clamping arm (32) are coplanar with the rotation trajectory plane of the mounting block (11) on the base (12).

4. The three-degree-of-freedom telescopic manipulator for gripping a mandrel according to claim 3, characterized in that: The support bar (31) has two parallel sliding rods (34) on the side facing the mounting block (11). One end of the sliding rod (34) is fixedly connected to the support bar (31), and the other end passes through the mounting block (11) and slides in cooperation with the mounting block (11) along the telescopic direction of the telescopic assembly.

5. The three-degree-of-freedom telescopic manipulator for gripping a mandrel according to claim 4, characterized in that: The support bar (31) is a hollow structure. The telescopic column includes a second cylinder (35) and a second piston column (36) that are fixedly connected and communicated with the support bar (31) on the side facing away from the mounting block (11). One end of the second piston column (36) is inserted into the second cylinder (35) and is sealed and slidably fitted, while the other end protrudes from the opening of the second cylinder (35) facing away from the support bar (31) and is hinged to the connecting rod (33). Both slide rods (34) are hollow structures with one open end. The open ends of both slide rods (34) are fixedly connected to and communicate with the support bar (31). The two slide rods (34) are respectively connected to the oil inlet pipe (25) and the oil outlet pipe (26).

6. The three-degree-of-freedom telescopic manipulator for gripping a mandrel according to claim 5, characterized in that: The two slide bars (34) are provided with first oil supply holes (341) on their opposite side walls. The mounting block (11) is provided with two oil supply groove holes (111) that correspond one-to-one with the two first oil supply holes (341). One end of the oil supply groove hole (111) is located on the sliding trajectory of the corresponding first oil supply hole (341). When the clamping component moves to the position of the spindle (41) on the production line (42), the two first oil supply holes (341) are connected to the two oil supply groove holes (111) respectively. The cylinder head (23) has two second oil delivery holes (232) on its side wall, which are respectively connected to the other end openings of the two oil delivery slot holes (111); The oil inlet pipe (25) has a second oil inlet hole (252) on the outer wall of one end facing the partition (241). The second oil inlet hole (252) is located on the rotation trajectory of one of the second oil delivery holes (232), and when the first oil outlet hole (261) and the through hole (231) coincide and are connected, the second oil inlet hole (252) coincides and is connected with the corresponding second oil delivery hole (232). The oil outlet pipe (26) has a second oil outlet hole (262) on the outer wall of one end facing the partition (241). The second oil outlet hole (262) is located on the rotation trajectory of another second oil supply hole (232). When the first oil inlet hole (251) and the through hole (231) coincide and are connected, the second oil outlet hole (262) coincides and is connected with the corresponding second oil supply hole (232).

Images