Automobile part machining manipulator

Abstract

The invention relates to the technical field of automobile part machining, in particular to an automobile part machining manipulator. The connecting seat is fixedly mounted at the rotating end of the manipulator; the connecting base is of an I-shaped structure, a column body is fixedly installed at the lower end of a horizontal section of the lower portion of the connecting base, and a fixing mechanism and a shaping mechanism are sequentially arranged on the column body from inside to outside. The shaping mechanism and the fixing mechanism are both concentrated on the mechanical arm, extra land occupation is not needed, the utilization rate of factory space is increased, then the brake disc is clamped, lifted and moved through the shaping mechanism and is shaped and straightened at the same time, so that follow-up accurate grinding of the grinding position of the brake disc and follow-up stacking are guaranteed, and the production efficiency is improved. And after the brake disc is straightened, the brake disc is fixed through the fixing mechanism, and the grinding part is avoided during fixing, so that two working surfaces of the brake disc can be ground through one-time fixing, the machining efficiency of the brake disc is improved, and the grinding quality of the brake disc is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of automobile parts processing, and in particular to an automobile parts processing manipulator. Background Art

[0002] Auto parts refer to various parts and components used to manufacture or repair automobiles, including power systems, chassis systems and electrical systems. The chassis system includes shock absorbers, brake pads and brake discs. After the brake disc is processed and formed, the two working surfaces of the brake disc need to be precisely ground by grinding tools to make the brake disc meet the specified roughness and flatness requirements.

[0003] The existing brake disc grinding method is to use a robot to contact and fix one end of the brake disc, then move it to the grinding place for single-sided grinding. After the grinding is completed, the brake disc with the ground one side is placed on the support seat, and the position of the brake disc is replaced by rotating the support seat, so that the robot contacts and fixes the ground end of the brake disc, so as to grind the other side of the brake disc. After the grinding is completed, the brake discs are stacked in order.

[0004] However, the following problems currently exist in the process of grabbing, moving and grinding the brake disc: when the robot grabs the brake disc for grinding and subsequent stacking, in order to ensure the accuracy of the grinding position and the stacking position, an external shaping device is required to first push and straighten the brake disc, and then grab and process it, which will take up more space; secondly, the existing processing robot will block the grinding position when clamping the brake disc, resulting in the need to clamp and grind the two working surfaces of the brake disc twice, thereby affecting the efficiency of the brake disc grinding process, and the two fixations cannot ensure the consistency of parallelism, thereby affecting the quality of the brake disc grinding. Summary of the invention

[0005] In view of the above problems, an embodiment of the present application provides an automobile parts processing robot to solve the technical problems mentioned above that the existing processing occupies space and the fixed grinding in batches affects the grinding efficiency and quality.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present application provides the following technical solution: the embodiment of the present application provides an automobile parts processing robot, including a connecting seat fixedly installed on the rotating end of the robot; the connecting seat is an I-shaped structure, and a column is fixedly installed at the lower end of the lower horizontal section of the connecting seat, and a fixing mechanism and a shaping mechanism are arranged on the column in sequence from the inside to the outside.

[0007] The described fixing mechanism includes a rectangular hole. A rectangular hole is provided in the middle of the upper end of the column body. A square tube with an open upper end is slidably installed up and down in the rectangular hole. A baffle is fixedly installed in the rectangular hole and is located below the square tube. A shaft column is fixedly installed at the lower end of the square tube. The lower end of the shaft column slidably penetrates through the baffle. A limiting portion is provided on the shaft column and is in contact and cooperation with the non-grinding portion of the brake disc for fixing the brake disc. An actuating portion for driving the square tube to move up and down is provided on the column body.

[0008] The described shaping mechanism includes a chute. The lower end of the column body is evenly provided with chutes along its circumferential direction. The chutes are communicated with the rectangular hole. A pre-fixing portion for pre-fixing the brake disc and a pushing portion for pushing and aligning the brake disc are provided in the chutes. A driving portion for driving the pre-fixing portion and the pushing portion to move is provided on the column body.

[0009] As a preferred solution, the limiting portion includes a disc. A disc located below the column body is rotatably installed on the shaft column. T-shaped columns are evenly arranged along the circumferential direction of the disc. The vertical sections of the T-shaped columns slidably penetrate through the disc. A ball is rotatably installed at the lower end of the T-shaped column. A first tension spring sleeved on the corresponding vertical section of the T-shaped column is fixedly installed between the lower end of the horizontal section of the T-shaped column and the upper end of the disc. A guiding member for guiding the T-shaped column to insert into the mounting hole on the brake disc is provided on the shaft column. An extruding member for pressing the brake disc against the disc to be in close contact is provided at the lower end of the shaft column.

[0010] As a preferred solution, the extruding member includes a through hole. A through hole is coaxially provided in the middle of the shaft column. Inverted U-shaped grooves communicated with the through hole are evenly provided along the circumferential direction of the lower end of the shaft column. A sliding cylinder is slidably installed up and down in each inverted U-shaped groove. A pressing plate is slidably installed in the sliding cylinder. A second tension spring is fixedly installed between the end of the pressing plate close to the axis of the shaft column and the inner wall of the corresponding sliding cylinder. Inclined grooves inclined from top to bottom towards the axis of the shaft column are provided on the inner walls of the two vertical sections of the inverted U-shaped groove. A first guiding post cooperating with the inclined groove is fixedly installed on the pressing plate. A waist-shaped groove is provided at the position corresponding to the first guiding post on the sliding cylinder. The first guiding post slidably penetrates through the corresponding waist-shaped groove into the corresponding inclined groove. A pushing and pulling member for driving the square tube to move up and down is provided on the shaft column.

[0011] As a preferred solution, the actuating portion includes a first cylinder. A first cylinder is fixedly installed at the upper end of the column body and is located on the right side of the connecting seat. A notch communicated with the rectangular hole is provided at the position corresponding to the lower end of the column body and the first cylinder. The telescopic section of the first cylinder slidably penetrates through the upper part of the column body to the notch and then a connecting plate is fixedly installed. The left end of the connecting plate is fixedly connected to the square tube.

[0012] As a preferred embodiment, the pre-fixed part includes a square groove, and a square groove is opened at a position corresponding to the slide groove at the lower end of the column, the square groove is connected to the corresponding slide groove, and waist-shaped grooves are opened on the two opposite inner walls of the square groove cavity, and a roller shaft is slidably installed in the waist-shaped groove, and a support is fixedly installed between the two roller shafts in the same square groove, and the lower end of the support is ball-hinged with a support rod, and the lower end of the support rod is ball-hinged with a suction cup, and a locking member for limiting the rotation of the support rod is provided on the support.

[0013] As a preferred embodiment, the locking member includes a hole groove, the upper end of the support is provided with a hole groove, a No. 2 suction cup that cooperates with the corresponding ball hinge part on the upper part of the support rod is installed in the hole groove, and a pipe connected to the No. 2 suction cup is fixedly installed on the upper end of the support, and the upper end of the pipe slides through the column.

[0014] As a preferred embodiment, the pushing portion includes a guide groove, and guide grooves are provided on two inner walls opposite to each other in the inner cavity of the slide groove. The guide groove is composed of a vertical section at the upper part and an inclined section at the lower part which is inclined from top to bottom toward the rectangular hole. Rollers are slidably installed in the guide grooves, a slider is fixedly installed between the two rollers in the same slide groove, and a pushing rod is fixedly installed at the lower end of the slider.

[0015] As a preferred embodiment, the driving part includes a slide plate, and the slide plate is installed in the slide groove for sliding up and down. The outer wall of the column is provided with a circular ring for sliding up and down. The end of the slide plate away from the rectangular hole is fixedly connected to the circular ring. The slider is installed in the lower end of the slide plate for sliding. The pipeline slides through the slide plate. A compression spring sleeved on the pipeline is fixedly installed between the lower end of the slide plate and the upper end of the corresponding support. The upper end of the column is fixedly installed with a No. 3 cylinder located on the left side of the connecting seat. The telescopic section of the No. 3 cylinder slides through the upper part of the column into the slide groove and is fixedly connected to the corresponding slide plate.

[0016] As a preferred embodiment, the push-pull member includes a No. 2 cylinder, and the No. 2 cylinder is fixedly installed on the upper end of the square tube. The telescopic section of the No. 2 cylinder slides through the square tube to the through hole and is fixedly installed with a driving rod. The end of the sliding tube close to the axis of the shaft column is fixedly connected to the driving rod.

[0017] As a preferred embodiment, the guide member includes a ring plate, and the upper end of the T-shaped column is commonly fixedly mounted with the ring plate, the ring plate is movably sleeved on the shaft column, the outer wall of the shaft column is inclined upward along its circumference to open a guide groove, and a second guide column matching the guide groove is fixedly mounted on the ring plate.

[0018] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: First, the shaping mechanism and the fixing mechanism of the present invention are concentrated on the manipulator without occupying additional space, which helps to improve the utilization rate of the factory space. Secondly, the brake disc is first clamped, lifted and moved by the shaping mechanism while being shaped and straightened to ensure the subsequent accurate grinding of the grinding position of the brake disc and the subsequent stacking. After straightening, the brake disc is fixed by the fixing mechanism, and the grinding part is avoided when fixing, so that the two working surfaces of the brake disc can be ground at one time, thereby improving the processing efficiency of the brake disc and ensuring the grinding quality of the brake disc.

[0019] 2. The shaping mechanism provided in the present invention first absorbs the brake disc through the pre-fixing part to lift it, then pushes the brake disc to align it through the pushing part, and then fixes the pre-fixing part to keep the brake disc in the aligned state for fixing, and the shaping mechanism is installed on the manipulator and moves with the manipulator without occupying additional space, which helps to improve the utilization rate of the factory space, and after the brake disc is polished, the brake disc can be fixed again to facilitate subsequent stacking.

[0020] 3. The fixing mechanism provided in the present invention makes the brake disc and the round disc close to each other through the contact between the disc and the upper end of the brake disc and the pushing of the brake disc by the extrusion piece to limit the up and down movement of the brake disc, and inserts the T-column into the mounting hole on the brake disc to limit the rotation of the brake disc, thereby ensuring the stability of the brake disc, and the fixed position is the non-grinding area of ​​the brake disc, so that the grinding processing of the two working surfaces of the brake disc can be realized through one fixation, thereby improving the processing efficiency of the brake disc and ensuring the grinding quality of the brake disc.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention when the brake disc is fixed.

[0024] Figure 2 for Figure 1 Schematic diagram of the second perspective structure.

[0025] Figure 3 It is a schematic structural diagram of the driving unit of the present invention.

[0026] Figure 4 It is a structural schematic diagram of the pushing portion of the present invention.

[0027] Figure 5 It is a partial structural cross-sectional view of the locking member of the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the extrusion part of the present invention.

[0029] Figure 7 It is a schematic diagram of a partially cutaway three-dimensional structure of an extrusion component of the present invention.

[0030] Figure numerals: 10, connecting seat; 11, column; 2, fixing mechanism; 20, rectangular hole; 21, square tube; 22, baffle; 23, shaft column; 24, limiter; 240, disc; 241, T-shaped column; 242, No. 1 tension spring; 4, guide member; 40, ring plate; 41, guide groove; 42, No. 2 guide column; 5, extrusion member; 50, inverted groove; 51, slide cylinder; 52, pressure plate; 53, No. 2 tension spring; 54, inclined groove; 55, No. 1 guide column; 6, push-pull member; 60, No. 2 cylinder; 61, driving rod; 25, Actuator; 250, cylinder No. 1; 251, connecting plate; 3, shaping mechanism; 30, slide groove; 31, pre-fixed part; 310, square groove; 311, waist groove; 312, roller; 313, support; 314, support rod; 315, suction cup No. 1; 7, locking piece; 70, suction cup No. 2; 71, pipeline; 32, pushing part; 320, guide groove; 321, roller; 322, slider; 323, pushing rod; 33, driving part; 330, slide plate; 331, ring; 332, compression spring; 333, cylinder No. 3. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0032] like Figure 1 As shown, an automobile parts processing robot includes a connecting seat 10 fixedly installed at the rotating end of the robot; the connecting seat 10 is an I-shaped structure, and a column 11 is fixedly installed at the lower end of the lower horizontal section of the connecting seat 10, and a fixing mechanism 2 and a shaping mechanism 3 are sequentially arranged on the column 11 from the inside to the outside.

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the fixing mechanism 2 includes a rectangular hole 20, a rectangular hole 20 is opened in the middle of the upper end of the column 11, a square tube 21 with an upper end opening is slidably installed in the rectangular hole 20, a baffle 22 located below the square tube 21 is fixedly installed in the rectangular hole 20, a shaft column 23 is fixedly installed at the lower end of the square tube 21, the lower end of the shaft column 23 slides through the baffle 22, a limiting portion 24 for fixing the brake disc for interfering with the non-ground portion of the brake disc is provided on the shaft column 23, and an actuator 25 for driving the square tube 21 to move up and down is provided on the column 11.

[0034] like Figure 1 , Figure 2 and Figure 3 As shown, the shaping mechanism 3 includes a slide groove 30. The lower end of the column 11 is evenly provided with the slide groove 30 along its circumference. The slide groove 30 is connected with the rectangular hole 20. A pre-fixing part 31 for pre-fixing the brake disc and a pushing part 32 for pushing and aligning the brake disc are arranged in the slide groove 30. A driving part 33 for driving the pre-fixing part 31 and the pushing part 32 to move is arranged on the column 11.

[0035] During specific operation, the external conveying mechanism conveys the brake disc with the protrusion facing upward to the position of the automobile parts processing robot, and then the robot drives the column 11 close to the brake disc, so that the pre-fixing part 31 first contacts the brake disc to adsorb the brake disc, and then the robot lifts the brake disc away from the external conveying mechanism through the pre-fixing part 31, and moves it toward the external grinding mechanism. During the movement, the brake disc is aligning through the pushing part 32 to make it coaxial with the column 11.

[0036] Then the execution part 25 pushes the square cylinder 21 downward, and the square cylinder 21 drives the shaft column 23 to penetrate the brake disc, and contacts the non-grinding part of the brake disc through the limit part 24 to fix the brake disc. Then the shaping mechanism 3 moves away from the brake disc to avoid interfering with the grinding of the brake disc. Then the robot drives the brake disc fixed by the fixing mechanism 2 to the external grinding mechanism for grinding.

[0037] After the grinding is completed, the pre-fixing part 31 absorbs and fixes the brake disc again, and then the fixing mechanism 2 moves away from the brake disc. At this time, the robot can move the brake disc fixed by the pre-fixing part 31 to the stacking area for stacking.

[0038] like Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the pre-fixed portion 31 includes a square groove 310, and a square groove 310 is opened at a position corresponding to the slide groove 30 at the lower end of the column 11, and the square groove 310 is connected to the corresponding slide groove 30. Waist-shaped grooves 311 are opened on the two opposite inner walls of the inner cavity of the square groove 310, and a roller shaft 312 is slidably installed in the waist-shaped groove 311. A support 313 is fixedly installed between the two roller shafts 312 in the same square groove 310, and the lower end of the support 313 is ball-hinged with a support rod 314, and the lower end of the support rod 314 is ball-hinged with a suction cup 315, and a locking member 7 for limiting the rotation of the support rod 314 is provided on the support 313.

[0039] like Figure 4 and Figure 5 As shown, the locking member 7 includes a hole groove, and the upper end of the support 313 is provided with a hole groove, in which a No. 2 suction cup 70 is installed to cooperate with the ball hinge part on the upper part of the corresponding support rod 314, and a pipe 71 connected to the No. 2 suction cup 70 is fixedly installed on the upper end of the support 313, and the upper end of the pipe 71 slides through the column 11.

[0040] like Figure 2 , Figure 3 and Figure 4 As shown, the pushing portion 32 includes a guide groove 320, and guide grooves 320 are provided on two inner walls opposite to each other in the inner cavity of the slide groove 30. The guide groove 320 is composed of an upper vertical section and a lower inclined section inclined from top to bottom toward the rectangular hole 20. Rollers 321 are slidably installed in the guide grooves 320, and a slider 322 is fixedly installed between the two rollers 321 in the same slide groove 30, and a pushing rod 323 is fixedly installed at the lower end of the slider 322.

[0041] like Figure 2 , Figure 3 and Figure 4 As shown, the driving part 33 includes a slide plate 330, and the slide plate 330 is slidably installed in the slide groove 30. The outer wall of the column 11 is slidably sleeved up and down with a ring 331, and the end of the slide plate 330 away from the rectangular hole 20 is fixedly connected to the ring 331. The slider 322 is slidably installed at the lower end of the slide plate 330, and the pipe 71 slides through the slide plate 330. A compression spring 332 sleeved on the pipe 71 is fixedly installed between the lower end of the slide plate 330 and the upper end of the corresponding support 313. The upper end of the column 11 is fixedly installed with a No. 3 cylinder 333 located on the left side of the connecting seat 10, and the telescopic section of the No. 3 cylinder 333 slides through the upper part of the column 11 to the slide groove 30 and is fixedly connected to the corresponding slide plate 330.

[0042] When the slider 322 moves downward, the slider 322 drives the roller 321 located at the upper part of the vertical section of the guide groove 320 in the initial state to move downward along the vertical section of the guide groove 320, and the slider 322 drives the pushing rod 323 to move downward. During the downward movement of the slider 330, the support 313 is pushed downward by the compression spring 332, and the support 313 drives the roller 312 to slide in the corresponding waist groove 311 until the roller 312 contacts the lower arc section of the waist groove 311 to limit the further downward movement of the support 313. At this time, the roller 321 is located in the middle position of the vertical section of the guide groove 320, the pushing rod 323 is located above the brake disc, and the No. 1 suction cup 315 is attached to the brake disc and the brake disc is pressed The brake disc 323 is then pushed downward by the cylinder 333 to align the slider 330 and the slider 330 is then pushed downward by the compression spring 332. The slider 330 then moves downward by driving the slider 322 to move downward, and the slider 322 then drives the pushing rod 323 to move downward, so that the lower end surface of the pushing rod 323 is lower than the lower end surface of the brake disc. At this time, the roller 321 is located at the connection between the vertical section and the inclined section of the guide groove 320. The slider 322 then drives the slider 322 to move downward and approach the brake disc through the cooperation between the roller 321 and the inclined section of the guide groove 320, and the slider 322 then drives the pushing rod 323 to push the brake disc to align the brake disc so that the brake disc is coaxial with the column 11.

[0043] Then, the No. 2 suction cup 70 is adsorbed on the corresponding ball hinge part on the upper part of the support rod 314 through the pipeline 71 to limit the movement of the support rod 314, so that the brake disc remains in the corrected state, and then the fixing mechanism 2 moves downward to fix the corrected brake disc, and then the No. 3 cylinder 333 pulls the slide plate 330 upward. Since the compression spring 332 is compressed and the No. 1 suction cup 315 is adsorbed on the brake disc, the upward movement of the slide plate 330 will drive the pushing rod 323 away from the brake disc and move upward. At the same time, the compression spring 332 gradually returns to its original position until the compression spring 332 is completely returned to its original position. At this time, the roller 321 is located in the middle of the vertical section of the guide groove 320, and then the No. 1 suction cup 315 is released from adsorption on the brake disc, and the No. 3 cylinder 333 continues to pull the slide plate 330 upward, and the slide plate 330 drives the pre-fixed part 31 away from the brake disc through the compression spring 332.

[0044] After that, the manipulator drives the brake disc fixed by the fixing mechanism 2 to move to the external grinding mechanism position for grinding. After the grinding is completed, the driving part 33 pushes the pre-fixing part 31 and the pushing part 32 downward, so that the restricted support rod 314 on the pre-fixing part 31 moves downward, so that the No. 1 suction cup 315 on the support rod 314 first fits the brake disc and fixes it by suction. Then the fixing mechanism 2 moves away from the brake disc, and the manipulator drives the straightened brake disc fixed by the pre-fixing part 31 to move to the stacking area for palletizing. Then repeat the above operation to continue the adsorption-straightening-fixing-grinding-palletizing of the brake disc.

[0045] like Figure 3 , Figure 4 As shown, the limiting portion 24 includes a disc 240, and the disc 240 located below the column 11 is rotatably installed on the shaft column 23, and T-shaped columns 241 are evenly arranged on the disc 240 along its circumference, and the vertical section of the T-shaped column 241 slides through the disc 240, and a ball is rollingly installed on the lower end of the T-shaped column 241, and a No. 1 tension spring 242 mounted on the corresponding vertical section of the T-shaped column 241 is fixedly installed between the lower end of the horizontal section of the T-shaped column 241 and the upper end of the disc 240, and a guide member 4 for guiding the T-shaped column 241 to insert into the mounting hole on the brake disc is provided on the shaft column 23, and an extrusion member 5 for pressing the brake disc and the disc 240 to fit tightly is provided at the lower end of the shaft column 23.

[0046] like Figure 1 and Figure 3 As shown, the actuator 25 includes a No. 1 cylinder 250, and the upper end of the column 11 is fixedly installed with the No. 1 cylinder 250 located on the right side of the connecting seat 10, and the lower end of the column 11 and the position corresponding to the No. 1 cylinder 250 are provided with a slot connected to the rectangular hole 20, and the telescopic section of the No. 1 cylinder 250 slides through the upper part of the column 11 to the slot and is fixedly installed with a connecting plate 251, and the left end of the connecting plate 251 is fixedly connected to the square tube 21.

[0047] like Figure 1 and Figure 3 As shown, the guide member 4 includes a ring plate 40, and the upper end of the T-shaped column 241 is fixedly mounted with the ring plate 40. The ring plate 40 is movably mounted on the shaft column 23. The outer wall of the shaft column 23 is inclined upward along its circumference to open a guide groove 41, and a second guide column 42 that cooperates with the guide groove 41 is fixedly mounted on the ring plate 40.

[0048] During specific operation, the first cylinder 250 pushes the square cylinder 21 downward through the connecting plate 251. As the square cylinder 21 moves downward, it drives the shaft column 23 to penetrate through the brake disc. During the downward movement of the shaft column 23, the T-shaped column 241 first contacts the upper end of the brake disc through the ball. As the shaft column 23 moves downward, the T-shaped column 241 is resisted and moves upward relative to the disc 240 while stretching the tension spring. The upward movement of the T-shaped column 241 pushes the ring plate 40 upward. The ring plate 40 drives the disc 240 to rotate through the cooperation of the second guide post 42 and the guiding groove 41 via the T-shaped column 241, enabling the T-shaped column 241 to move to directly above the mounting hole of the brake disc. At this time, the T-shaped column 241 is not resisted. Thus, as the shaft column 23 continues to move downward, the vertical section of the T-shaped column 241 will insert into the mounting hole of the brake disc to restrict the rotation of the disc 240. After that, the extrusion member 5 pushes the brake disc to closely adhere to the disc 240 to fix the brake disc.

[0049] As Figure 4 , Figure 5 , Figure 6 and Figure 7 shown, the extrusion member 5 includes a through hole. A through hole is coaxially formed in the middle of the shaft column 23. The lower end of the shaft column 23 is uniformly provided with inverted U-shaped grooves 50 communicating with the through hole along its circumferential direction. Sliding cylinders 51 are slidably mounted up and down in the inverted U-shaped grooves 50. A pressing plate 52 is slidably mounted in the sliding cylinder 51. A second tension spring 53 is fixedly installed between one end of the pressing plate 52 close to the axis of the shaft column 23 and the inner wall of the corresponding sliding cylinder 51. Inclined grooves 54 inclined from top to bottom towards the axis of the shaft column 23 are formed on the inner walls of the two vertical sections of the inverted U-shaped groove 50. A first guide post 55 cooperating with the inclined groove 54 is fixedly installed on the pressing plate 52. A waist-shaped groove is formed at the position of the sliding cylinder 51 corresponding to the first guide post 55. The first guide post 55 slidably penetrates through the corresponding waist-shaped groove into the corresponding inclined groove 54. A pushing and pulling member 6 for driving the square cylinder 21 to move up and down is provided on the shaft column 23.

[0050] As Figure 4 , Figure 5 and Figure 6 shown, the pushing and pulling member 6 includes a second cylinder 60. The second cylinder 60 is fixedly installed at the upper end of the square cylinder 21. The telescopic section of the second cylinder 60 slidably penetrates through the square cylinder 21 into the through hole and is fixedly installed with a driving rod 61. One end of each sliding cylinder 51 close to the axis of the shaft column 23 is fixedly connected to the driving rod 61.

[0051] During specific operation, the No. 2 cylinder 60 pulls the driving rod 61 to move upward, and the driving rod 61 drives the slide 51 to move upward, and the pressure plate 52, through the cooperation of the No. 1 guide column 55 and the inclined groove 54, makes the pressure plate 52 slide out of the corresponding slide 51 while moving upward with the slide 51 until the pressure plate 52 contacts the brake disc to ensure that the brake disc and the disc 240 are tightly fixed, thereby ensuring the stability of the brake disc during the subsequent grinding process; after the grinding is completed, the pre-fixed part 31 is first fixed to the brake disc, and then The driving rod 61 is pushed downward by the No. 2 cylinder 60, and the driving rod 61 drives the slide 51 downward. The pressure plate 52 is moved into the inverted groove 50 through the downward movement of the slide 51 and the cooperation between the No. 1 guide column 55 and the inclined groove 54 to avoid interfering with the movement of the shaft column 23 from the brake disc. Then the No. 1 cylinder 250 drives the square tube 21 upward through the connecting plate 251 to separate the shaft column 23 from the brake disc. After that, the robot drives the straightened brake disc fixed by the pre-fixed part 31 to continue the subsequent stacking.

[0052] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0053] In addition, the terms "first", "second", "number one", "number two" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "number one", "number two" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot for processing automobile parts, comprising a connection seat (10) fixedly mounted on a rotating end of the robot; characterized in that: The connecting seat (10) is of an I-shaped structure, a column (11) is fixedly mounted at the lower end of the lower horizontal section of the connecting seat (10), and a fixing mechanism (2) and a shaping mechanism (3) are sequentially arranged on the column (11) from the inside to the outside; wherein: The fixing mechanism (2) comprises a rectangular hole (20), a rectangular hole (20) is provided in the middle of the upper end of the column (11), a square tube (21) with an upper end opening is slidably installed in the rectangular hole (20), a baffle (22) located below the square tube (21) is fixedly installed in the rectangular hole (20), a shaft column (23) is fixedly installed at the lower end of the square tube (21), the lower end of the shaft column (23) slides through the baffle (22), a limiting portion (24) is provided on the shaft column (23) for abutting against the non-grinding portion of the brake disc and for fixing the brake disc, and an actuator (25) is provided on the column (11) for driving the square tube (21) to move up and down; The shaping mechanism (3) comprises a slide groove (30), the lower end of the column (11) is evenly provided with the slide groove (30) along its circumference, the slide groove (30) is connected with the rectangular hole (20), a pre-fixing part (31) for pre-fixing the brake disc and a pushing part (32) for pushing and aligning the brake disc are arranged in the slide groove (30), and a driving part (33) for driving the pre-fixing part (31) and the pushing part (32) to move is arranged on the column (11).

2. The automotive parts processing robot according to claim 1, characterized in that: The limiting part (24) includes a disc (240), and the disc (240) located below the column (11) is rotatably installed on the shaft column (23), and T-shaped columns (241) are evenly arranged on the disc (240) along its circumference, and the vertical section of the T-shaped column (241) slides through the disc (240), and the lower end of the T-shaped column (241) is rollingly installed with a ball, and a tension spring (242) sleeved on the corresponding vertical section of the T-shaped column (241) is fixedly installed between the lower end of the horizontal section of the T-shaped column (241) and the upper end of the disc (240), and a guide member (4) for guiding the T-shaped column (241) to be inserted into the mounting hole on the brake disc is arranged on the shaft column (23), and an extrusion member (5) for pressing the brake disc and the disc (240) tightly is arranged at the lower end of the shaft column (23).

3. The automobile parts processing robot according to claim 2, characterized in that: The extrusion member (5) includes a through hole, the middle of the shaft column (23) is coaxially provided with a through hole, the lower end of the shaft column (23) is uniformly provided with an inverted groove (50) along its circumference and connected to the through hole, a slide cylinder (51) is slidably installed up and down in the inverted groove (50), a pressure plate (52) is slidably installed in the slide cylinder (51), a second tension spring (53) is fixedly installed between one end of the pressure plate (52) close to the axis of the shaft column (23) and the inner wall of the corresponding slide cylinder (51), and the inverted groove (50) is provided with a slide cylinder (51) and a pressure plate (52) is slidably installed in the slide cylinder (51), and a second tension spring (53) is fixedly installed between one end of the pressure plate (52) close to the axis of the shaft column (23) and the inner wall of the corresponding slide cylinder (51). The inner walls of the two vertical sections of the profile groove (50) are both provided with an inclined groove (54) which is inclined from top to bottom toward the axis of the shaft column (23); a guide column (55) matching the inclined groove (54) is fixedly mounted on the pressure plate (52); a waist groove is provided at a position corresponding to the guide column (55) on the slide cylinder (51); the guide column (55) slides through the corresponding waist groove to the corresponding inclined groove (54); and a push-pull member (6) for driving the square cylinder (21) to move up and down is provided on the shaft column (23).

4. The automobile parts processing robot according to claim 1, characterized in that: The actuator (25) includes a No. 1 cylinder (250), and the upper end of the column (11) is fixedly installed with the No. 1 cylinder (250) located on the right side of the connecting seat (10). The lower end of the column (11) is provided with a slot connected to the rectangular hole (20) at a position corresponding to the No. 1 cylinder (250). The telescopic section of the No. 1 cylinder (250) slides through the upper part of the column (11) into the slot and is fixedly installed with a connecting plate (251). The left end of the connecting plate (251) is fixedly connected to the square tube (21).

5. The automobile parts processing robot according to claim 1, characterized in that: The pre-fixed portion (31) comprises a square groove (310), a square groove (310) is provided at a position corresponding to the lower end of the column (11) and the slide groove (30), the square groove (310) is communicated with the corresponding slide groove (30), waist grooves (311) are provided on two inner walls opposite to each other in the inner cavity of the square groove (310), a roller shaft (312) is slidably installed in the waist groove (311), a support (313) is fixedly installed between the two roller shafts (312) in the same square groove (310), the lower end of the support (313) is ball-hinged with a support rod (314), the lower end of the support rod (314) is ball-hinged with a No. 1 suction cup (315), and a locking member (7) for limiting the rotation of the support rod (314) is provided on the support (313).

6. The automobile parts processing robot according to claim 5, characterized in that: The locking member (7) comprises a hole groove, the upper end of the support (313) is provided with a hole groove, a second suction cup (70) matched with the ball hinge portion at the upper part of the corresponding support rod (314) is installed in the hole groove, a pipe (71) connected with the second suction cup (70) is fixedly installed at the upper end of the support (313), and the upper end of the pipe (71) slides through the column (11).

7. The automobile parts processing robot according to claim 6, characterized in that: The pushing portion (32) comprises a guide groove (320), and the guide grooves (320) are provided on two inner walls opposite to each other in the inner cavity of the slide groove (30), the guide groove (320) is composed of an upper vertical section and a lower inclined section inclined from top to bottom toward the rectangular hole (20), and rollers (321) are slidably installed in the guide grooves (320), a slider (322) is fixedly installed between the two rollers (321) in the same slide groove (30), and a pushing rod (323) is fixedly installed at the lower end of the slider (322).

8. The automobile parts processing robot according to claim 7, characterized in that: The driving part (33) comprises a slide plate (330), and the slide plate (330) is slidably installed in the slide groove (30) up and down. The outer wall of the column (11) is slidably sleeved up and down with a ring (331), and the end of the slide plate (330) away from the rectangular hole (20) is fixedly connected to the ring (331). The slider (322) is slidably installed at the lower end of the slide plate (330), and the pipeline (71) slides through the slide plate (330). A compression spring (332) sleeved on the pipeline (71) is fixedly installed between the lower end of the slide plate (330) and the upper end of the corresponding support (313). A No. 3 cylinder (333) located on the left side of the connecting seat (10) is fixedly installed at the upper end of the column (11), and the telescopic section of the No. 3 cylinder (333) slides through the upper part of the column (11) to the slide groove (30) and is fixedly connected to the corresponding slide plate (330).

9. The automobile parts processing robot according to claim 3, characterized in that: The push-pull member (6) includes a No. 2 cylinder (60), and the No. 2 cylinder (60) is fixedly installed on the upper end of the square tube (21). The telescopic section of the No. 2 cylinder (60) slides through the square tube (21) to the through hole and is fixedly installed with a driving rod (61). The end of the sliding tube (51) close to the axis of the shaft column (23) is fixedly connected to the driving rod (61).

10. The automobile parts processing robot according to claim 2, characterized in that: The guide member (4) comprises a ring plate (40), the upper ends of the T-shaped columns (241) are fixedly mounted with the ring plate (40), the ring plate (40) is movably sleeved on the shaft column (23), the outer wall of the shaft column (23) is provided with a guide groove (41) inclined upward along its circumference, and a second guide column (42) matching the guide groove (41) is fixedly mounted on the ring plate (40).

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