Homogeneous self-rotating quenching grabbing mechanism and homogeneous self-rotating quenching method formed by homogeneous self-rotating quenching grabbing mechanism

Abstract

The invention discloses a homogeneous self-rotating quenching grabbing mechanism and a homogeneous self-rotating quenching method formed by the same. The crankshaft is often subjected to non-uniform quenching in the hardening and tempering process, so that the residual stress is not uniformly distributed, cracks and fractures are caused, and the subsequent fatigue strength and other related properties of the crankshaft are influenced. A rotary driving part is arranged at the moving end of a mechanical arm, a power output shaft of the rotary driving part is connected with a grabbing head, and the grabbing head is driven by the rotary driving part to rotate automatically; the homogeneous self-rotating quenching method comprises the steps that the distance between grabbing heads in the two homogeneous self-rotating quenching grabbing mechanisms is correspondingly adjusted according to the length size of a crankshaft to be treated, the grabbing head in one homogeneous self-rotating quenching grabbing mechanism is adjusted to enable a supporting block of the grabbing head to move towards the crankshaft, and therefore a plurality of clamping claws are driven to expand outwards through cooperation of an outer supporting ring body; after one end of the crankshaft is attached to the supporting block, the supporting block moves back to drive the clamping ends of the multiple clamping claws to synchronously clamp the end of the crankshaft.

Description

Technical Field

[0001] The invention specifically relates to a homogeneous self-rotation quenching grabbing mechanism and a homogeneous self-rotation quenching method formed by the mechanism. Background Art

[0002] The crankshaft is an important component in the engine. It bears the force from the connecting rod and converts it into torque to output through the crankshaft and drive other accessories on the engine. The crankshaft is subjected to the combined action of the centrifugal force of the rotating mass, the periodically changing gas inertia force and the reciprocating inertia force, which makes the crankshaft subject to bending and torsion loads. Therefore, the crankshaft is required to have sufficient strength and rigidity, and the journal surface must be wear-resistant, work evenly and have good balance. It is widely used in automobile engines and various large equipment (such as ships, power stations, etc.), and the quality of processing directly affects the performance. Due to its complex curved surface and high precision requirements, the crankshaft often has uneven hardness distribution and uneven residual stress distribution during the quenching and tempering process, resulting in problems such as fracture. Therefore, it is of great significance to control the performance of the crankshaft during the quenching process. However, the crankshaft often has uneven quenching during the quenching and tempering process, resulting in uneven residual stress distribution, cracks and fractures, and at the same time affects the subsequent fatigue strength and other properties of the crankshaft. At present, there is no unified and standardized treatment method that can improve the uniformity in the quenching operation link. Summary of the invention

[0003] The object of the present invention is to provide a homogeneous self-rotation quenching grasping mechanism and a homogeneous self-rotation quenching method formed by the same, so as to solve the above-mentioned problems.

[0004] A homogeneous self-rotating quenching grasping mechanism comprises a self-driven clamping head and a mechanical arm, wherein the self-driven clamping head comprises a grasping head and a rotating driving member, a rotating driving member is arranged at a movable end of the mechanical arm, a power output shaft of the rotating driving member is connected to the grasping head, and the grasping head performs self-rotation motion under the drive of the rotating driving member; The gripping head comprises a cylindrical shell, a core rod, a movable rear screw cover, a moving rod, an outer support ring body, a support block and a plurality of clamping claws. The core rod and the movable rear screw cover are sequentially arranged in the cylindrical shell from top to bottom, and the length direction of the core rod is in the same direction as the axial direction of the cylindrical shell, the upper end of the core rod is fixedly connected to the cylindrical shell, the lower end of the core rod is threadedly connected to the movable rear screw cover, the upper end of the movable rod is connected to the bottom of the support block, the lower end of the movable rod passes into the cylindrical shell and is connected to the movable rear screw cover, an outer support ring body is mounted on the support block, and a plurality of clamping claws are evenly distributed on the outer support ring body along the circumferential direction of the outer support ring body, the lower end of each clamping claw is hinged with the outer support ring body and the support block respectively, and the upper end of each clamping claw is a clamping end. When the moving rod drives the support block to move downward toward the cylindrical shell, the plurality of clamping claws are in a retracted clamping state, and when the moving rod drives the support block to move upward away from the cylindrical shell, the plurality of clamping claws are in an expanded release state.

[0005] A homogeneous self-rotation quenching method is implemented by using the above-mentioned homogeneous self-rotation quenching gripping mechanism. The homogeneous self-rotation quenching method is to adjust the distance between the gripping heads in the two homogeneous self-rotation quenching gripping mechanisms according to the length of the crankshaft to be processed, and adjust the gripping head in one homogeneous self-rotation quenching gripping mechanism to move its support block toward the crankshaft, thereby driving multiple clamping claws to expand outward through the cooperation of the outer support ring body, and after one end of the crankshaft is abutted against the support block, the support block moves back to drive the clamping ends of the multiple clamping claws to synchronously clamp the end of the crankshaft, and similarly, another homogeneous self-rotation quenching gripping mechanism is used to clamp the other end of the crankshaft; Start the two rotating drive parts, each rotating at a speed of 10 to 60 revolutions per minute. The crankshaft with two grippers is driven into the quenching pool by the robotic arm until the crankshaft is completely immersed 10 to 15 centimeters below the surface of the quenching liquid in the quenching pool. Then the rotating drive parts accelerate and the speed is between 1000 and 3000 revolutions per minute. After quenching is completed, the robotic arm drives the crankshaft with two grippers and puts it onto the conveyor belt for the next operation. Each gripper is unfolded to release the crankshaft.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The gripping mechanism in the present invention forms a multi-degree-of-freedom gripping process through the mutual cooperation between the self-driven clamping head and the mechanical arm, wherein the gripping head drives the moving rod to rise or fall by moving the cover, thereby ensuring that the clamping claw is driven to close and clamp or unfold and release, and can firmly clamp the crankshaft to avoid accidental falling during the quenching process, ensuring the formation of continuous self-flipping and durable and stable clamping performance, improving the uniformity of quenching, and after the quenching operation is completed, the crankshaft is transferred to other places by rotating the driving part, and released by the gripping head for subsequent processing, standardizing and unifying the transportation and clamping postures in the early, middle and late stages of quenching. The present invention can be adapted to crankshafts of different specifications and sizes, ensuring the uniformity during the quenching process, improving the production performance of the crankshaft after unified and standardized processing, and reducing the amount of waste generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0008] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a schematic diagram of a first three-dimensional structure of the present invention; Figure 3 It is a schematic diagram of a second three-dimensional structure of the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the grab head; Figure 5 Schematic diagram of the cross-sectional structure of the grab head; Figure 6 It is a schematic diagram of the three-dimensional structure of the support block; Figure 7 It is a schematic diagram of the three-dimensional structure of the clamping claw; Figure 8 It is a schematic diagram of the main structure of the connection relationship between the self-driving gripping head, the mechanical arm and the telescopic connecting frame; Fig. 9 A three-dimensional structural schematic diagram of the connection relationship between the rotary drive member and the gripping head; Fig.10 is a schematic diagram of the three-dimensional structure of the rotary drive member; Fig.11 A top view structural diagram of the connection relationship between the main cylinder, the outer support ring and the clamping claws.

[0009] In the figure: 1-gripping head; 1-1-cylindrical shell; 1-2-core rod; 1-3-moving rear screw cover; 1-4-moving rod; 1-5-outer supporting ring body; 1-6-support block; 1-6-1-main cylinder; 1-6-2-annular groove; 1-7-clamping claw; 1-7-1-lower rod; 1-7-2-upper arc rod; 1-7-3-clamping block; 1-8-cross partition; 2-rotating drive member; 2-1-motor; 2-2-support frame; 3-mechanical arm; 4-gap; 5-notch; 6-connecting rod; 7-spring; 8-telescopic connecting frame; 8-1-hydraulic cylinder; 8-2-first L-shaped support rod; 8-3-second L-shaped support rod; 20-crankshaft. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that the present invention can be implemented, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0011] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0012] Specific implementation method 1: Combination Figure 1 , Figure 2, Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 This embodiment is described. This embodiment includes a self-driven clamping head and a mechanical arm 3. The self-driven clamping head includes a gripping head 1 and a rotating driving member 2. The moving end of the mechanical arm 3 is provided with the rotating driving member 2. The power output shaft of the rotating driving member 2 is connected to the gripping head 1. The gripping head 1 performs self-rotation motion under the drive of the rotating driving member 2. In this embodiment, the gripping head 1 includes a cylindrical shell 1-1, a core rod 1-2, a movable rear screw cover 1-3, a movable rod 1-4, an outer support ring 1-5, a support block 1-6 and a plurality of clamping claws 1-7. The core rod 1-2 and the movable rear screw cover 1-3 are sequentially arranged in the cylindrical shell 1-1 from top to bottom. The length direction of the core rod 1-2 is in the same direction as the axial direction of the cylindrical shell 1-1. The upper end of the core rod 1-2 is fixedly connected in the cylindrical shell 1-1, the lower end of the core rod 1-2 is threadedly connected to the movable rear screw cover 1-3, the upper end of the movable rod 1-4 is connected to the bottom of the support block 1-6, and the lower end of the movable rod 1-4 passes through the cylindrical shell The shell 1-1 is connected to the movable rear screw cover 1-3, and the outer sleeve of the support block 1-6 is provided with an outer support ring body 1-5, and a plurality of clamping claws 1-7 are evenly distributed on the outer support ring body 1-5 along the circumferential direction of the outer support ring body 1-5, and the lower end of each clamping claw 1-7 is hinged to the outer support ring body 1-5 and the support block 1-6 respectively, and the upper end of each clamping claw 1-7 is a clamping end. When the moving rod 1-4 drives the support block 1-6 to move downward toward the cylindrical outer shell 1-1, the plurality of clamping claws 1-7 are in a retracted clamping state, and when the moving rod 1-4 drives the support block 1-6 to move upward away from the cylindrical outer shell 1-1, the plurality of clamping claws 1-7 are in an expanded and released state.

[0013] Furthermore, the moving end of the robot arm 3 is connected to the gripping head 1 through the rotating driving member 2. The robot arm 3 can ensure that the self-driven clamping head is moved to the specified area, and the gripping head 1 is rotated by the power output shaft on the rotating driving member 2. The lower end of the core rod 1-2 is threadedly connected to the moving rear screw cover 1-3. The upper end of the core rod 1-2 is provided with a diaphragm 1-8, and the diaphragm 1-8 is horizontally arranged in the cylindrical shell 1-1. One end of the moving rod 1-4 passes through the diaphragm 1-8 and is connected to the moving rear screw cover 1-3. The other end of the rod 1-4 is connected to the support block 1-6, and the moving rod 1-4 is raised and lowered by screwing the thread on the rear screw cover 1-3. When the rear screw cover 1-3 is rotated and moved, the support block 1-6 is driven upward for a distance through the moving rod 1-4, and the clamping claw 1-7 is in an expanded and released state. When the rear screw cover 1-3 is rotated and moved, the support block 1-6 is driven downward for a distance through the moving rod 1-4, and the clamping claw 1-7 is in a retracted and clamped state, ensuring a durable and stable clamping performance during the rotation process.

[0014] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. The support block 1-6 includes a main cylinder 1-6-1. The upper end face of the main cylinder 1-6-1 is a tightening face. An annular groove 1-6-2 for cooperating with a plurality of clamping claws 1-7 is processed on the outer circumferential wall of the main cylinder 1-6-1. The lower end of each clamping claw 1-7 is hinged in the annular groove 1-6-2. The upper end of the moving rod 1-4 is fixedly connected to the lower end of the main cylinder 1-6-1.

[0015] In this embodiment, the outer diameter of the main cylinder 1-6-1 is smaller than the inner diameter of the outer support ring 1-5, and a gap 4 is formed between the main cylinder 1-6-1 and the outer support ring 1-5 to form a matching space for the posture change of the clamping claw 1-7.

[0016] Furthermore, the outer supporting ring body 1-5 is processed with a notch 5 along its radial direction, and the clamping claw 1-7 is hinged on the outer supporting ring body 1-5 through the notch 5. The lower end of the clamping claw 1-7 is hinged in the annular groove 1-6-2. When the moving rod 1-4 drives the support block 1-6 to rise or fall, the support block 1-6 drives the clamping claw 1-7 and cooperates with it through the outer supporting ring body 1-5 to achieve a continuous and stable clamping posture, ensuring the stable clamping performance of the clamping claw 1-7.

[0017] Specific embodiment three: This embodiment is a further limitation of specific embodiment one or two, a transverse partition 1-8 is provided in the cylindrical outer shell 1-1, and the transverse partition 1-8 is fixedly connected in the cylindrical outer shell 1-1 along the radial direction of the cylindrical outer shell 1-1, the upper end of the core rod 1-2 is fixedly connected to the transverse partition 1-8, and the lower end of the moving rod 1-4 passes through the transverse partition 1-8 in the cylindrical outer shell 1-1 and is connected to the screw cover 1-3 after movement.

[0018] Furthermore, the lower end of the moving rod 1-4 passes through the partition 1-8 and is connected to the moving rear screw cover 1-3. When the moving rear screw cover 1-3 causes the moving rod 1-4 to move upward or downward, the support block 1-6 drives the clamping claw 1-7 to be in a clamping state. When the rotating drive member 2 drives the grab head 1 to rotate, the partition 1-8 can ensure that the moving rod 1-4 is in a stable state, thereby avoiding the problem of the moving rod 1-4 driving the clamping claw 1-7 to deviate.

[0019] Specific embodiment four: This embodiment is a further limitation of specific embodiments one, two or three. Each clamping claw 1-7 includes a lower rod 1-7-1, an upper arc rod 1-7-2 and a clamping block 1-7-3. The lower rod 1-7-1 is arranged along the radial direction of the cylindrical shell 1-1. The outer supporting ring body 1-5 is processed with notches 5 corresponding to the clamping claws 1-7 one by one. One end of the lower rod 1-7-1 is hinged in the corresponding notch 5, and the other end of the lower rod 1-7-1 is hinged to the support block 1-6.

[0020] Furthermore, one end of the lower rod 1-7-1 is hinged to the outer supporting ring body 1-5 through the notch 5, and the other end of the lower rod 1-7-1 is hinged to the support block 1-6. When the movable rod 1-4 drives the support block 1-6 to move upward, the lower rod 1-7-1 drives the upper arc rod 1-7-2 to form an outward diffusion movement between the support block 1-6 and the outer supporting ring body 1-5, thereby ensuring that the clamping claw 1-7 is in an expanded and released state. When the movable rod 1-4 drives the support block 1-6 to move downward, the lower rod 1-7-1 drives the upper arc rod 1-7-2 to form an inward tightening movement, thereby ensuring that the clamping claw 1-7 is in a retracted and clamped state.

[0021] Specific embodiment five: This embodiment is a further limitation of specific embodiments one, two, three or four. The rotating drive member 2 includes a motor 2-1 and a support frame 2-2. The support frame 2-2 is a U-shaped frame. The motor 2-1 is arranged on the moving end of the robot arm 3. The power output shaft of the motor 2-1 is connected to the bottom of the support frame 2-2, and the two ends of the support frame 2-2 are respectively fixedly connected to the lower end of the cylindrical shell 1-1.

[0022] In this embodiment, a small motor is provided on the support frame 2-2 to cooperate with the movement of the rear screw cover 1-3. The small motor is an existing motor, which provides driving force for the screwing of the rear screw cover 1-3. The upward or downward movement of the rear screw cover 1-3 is achieved by the forward and reverse rotation of the small motor. As for manual control, the small motor is provided with a controller to start the forward and reverse operation process of the control as needed.

[0023] Furthermore, the motor 2-1 is an existing device, and has the same working principle as its existing motors. The power output shaft of the motor 2-1 is connected to the bottom of the support frame 2-2, and the two ends of the support frame 2-2 are respectively fixedly connected to the lower end of the cylindrical shell 1-1, thereby ensuring that the power output shaft of the motor 2-1 drives the cylindrical shell 1-1 to achieve self-rotation.

[0024] Specific embodiment six: This embodiment is a further limitation of specific embodiments one, two, three, four or five. The outer support ring body 1-5 is connected to the upper end of the cylindrical outer shell 1-1 through multiple connecting rods 6, and the upper end of each connecting rod 6 is connected to the bottom of the outer support ring body 1-5, and the lower end of each connecting rod 6 is connected to the upper end of the cylindrical outer shell 1-1.

[0025] Furthermore, one end of the connecting rod 6 is connected to the outer supporting ring body 1-5, and the other end of the connecting rod 6 is connected to the cylindrical shell 1-1, ensuring that the outer supporting ring body 1-5 can be firmly connected to the cylindrical shell 1-1 during rotation to avoid falling off during clamping.

[0026] Specific implementation method seven: This implementation method is a further limitation of specific implementation method three. A spring 7 is arranged in the cylindrical housing 1-1. The spring 7 is sleeved on the core rod 1-2. The lower end of the spring 7 is arranged on the movable rear screw cover 1-3.

[0027] Furthermore, when the threads on the movable rear screw cover 1-3 are tightened, the threads compress the spring 7 to a certain extent, so that the movable rear screw cover 1-3 drives the movable rod 1-4 to move upward for a certain distance, and the clamping claw 1-7 is in an expanded and released state. When the threads on the movable rear screw cover 1-3 are loosened, it is ensured that the spring 7 can be released, so that the movable rear screw cover 1-3 drives the movable rod 1-4 to move downward, and the clamping claw 1-7 is in a retracted and clamped state.

[0028] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven. After moving, the outer circumferential wall of the screw cover 1-3 is slidably matched or threadedly connected with the inner wall of the cylindrical shell 1-1.

[0029] Furthermore, it is ensured that the outer circumferential wall of the moving rear screw cover 1-3 can move up or down on the inner wall of the cylindrical shell 1-1, so that the moving rear screw cover 1-3 drives the moving rod 1-4 to achieve an upward or downward trend, thereby enabling the clamping claw 1-7 to be in a clamping state.

[0030] Specific embodiment nine: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six, seven or eight. The robot arm 3 is connected to two self-driving clamping heads through a telescopic connecting frame 8. The telescopic connecting frame 8 is arranged on the robot arm 3. The telescopic connecting frame 8 is a U-shaped frame body. A self-driving clamping head is respectively arranged at both ends of the telescopic connecting frame 8. The two self-driving clamping heads make relative back-to-back or opposite movements under the drive of the telescopic connecting frame 8.

[0031] Furthermore, in the first form, two robotic arms 3 drive two self-propelled clamping heads to clamp the objects at both ends, and in the second form, one robotic arm 3 drives two self-propelled clamping heads to clamp the objects at both ends through a telescopic connecting frame 8, wherein the telescopic connecting frame 8 includes a hydraulic cylinder 8-1, a first L-shaped support rod 8-2 and a second L-shaped support rod 8-3, wherein the hydraulic cylinder 8-1 is horizontally arranged, and the two ends of the hydraulic cylinder 8-1 are respectively fixedly connected to the first L-shaped support rod 8-2 and the second L-shaped support rod 8-3, and a self-propelled clamping head is respectively arranged at the other end of the first L-shaped support rod 8-2 and the other end of the second L-shaped support rod 8-3, wherein the hydraulic cylinder 8-1 is an existing equipment, and its working principle is the same as the working principle of the existing hydraulic cylinder.

[0032] Specific implementation method ten: Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Fig. 9 , Fig.10 and Fig.11 The present embodiment is described. In the present embodiment, the homogeneous self-rotation quenching method realized by the cooperation of two homogeneous self-rotation quenching grasping mechanisms is to adjust the distance between the grasping heads 1 in the two homogeneous self-rotation quenching grasping mechanisms according to the length of the crankshaft 20 to be processed, and adjust the grasping head 1 in one homogeneous self-rotation quenching grasping mechanism to move its support block 1-6 toward the crankshaft 20, thereby driving the multiple clamping claws 1-7 to expand outward through the cooperation of the outer support ring body 1-5, and after one end of the crankshaft 20 is abutted against the support block 1-6, the support block 1-6 moves back to drive the clamping ends of the multiple clamping claws 1-7 to synchronously clamp the end of the crankshaft 20, and similarly, use another homogeneous self-rotation quenching grasping mechanism to clamp the other end of the crankshaft 20; Start two rotary drive members 2, each of which rotates at a speed of 10 to 60 revolutions per minute. The crankshaft 20 with two grippers 1 is driven by the robotic arm 3 to enter the quenching pool until the crankshaft 20 is completely immersed 10 to 15 centimeters below the liquid surface of the quenching liquid in the quenching pool. Then the rotary drive member 2 accelerates and rotates at a speed between 1000 and 3000 revolutions per minute. After quenching is completed, the robotic arm 3 drives the crankshaft 20 with two grippers 1 to be placed on the conveyor belt for the next operation, and each gripper 1 is unfolded to release the crankshaft 20.

[0033] Each homogeneous self-rotating quenching grasping mechanism includes a self-driven clamping head and a mechanical arm 3, wherein the self-driven clamping head includes a grasping head 1 and a rotating driving member 2, and the movable end of the mechanical arm 3 is provided with a rotating driving member 2, and the power output shaft of the rotating driving member 2 is connected to the grasping head 1, and the grasping head 1 makes a self-rotating motion under the drive of the rotating driving member 2; In this embodiment, the gripping head 1 includes a cylindrical shell 1-1, a core rod 1-2, a movable rear screw cover 1-3, a movable rod 1-4, an outer support ring 1-5, a support block 1-6 and a plurality of clamping claws 1-7. The core rod 1-2 and the movable rear screw cover 1-3 are sequentially arranged in the cylindrical shell 1-1 from top to bottom. The length direction of the core rod 1-2 is in the same direction as the axial direction of the cylindrical shell 1-1. The upper end of the core rod 1-2 is fixedly connected in the cylindrical shell 1-1, the lower end of the core rod 1-2 is threadedly connected to the movable rear screw cover 1-3, the upper end of the movable rod 1-4 is connected to the bottom of the support block 1-6, and the lower end of the movable rod 1-4 passes through the cylindrical shell The shell 1-1 is connected to the movable rear screw cover 1-3, and the outer sleeve of the support block 1-6 is provided with an outer support ring body 1-5, and a plurality of clamping claws 1-7 are evenly distributed on the outer support ring body 1-5 along the circumferential direction of the outer support ring body 1-5, and the lower end of each clamping claw 1-7 is hinged to the outer support ring body 1-5 and the support block 1-6 respectively, and the upper end of each clamping claw 1-7 is a clamping end. When the moving rod 1-4 drives the support block 1-6 to move downward toward the cylindrical outer shell 1-1, the plurality of clamping claws 1-7 are in a retracted clamping state, and when the moving rod 1-4 drives the support block 1-6 to move upward away from the cylindrical outer shell 1-1, the plurality of clamping claws 1-7 are in an expanded and released state.

[0034] The working principle of this embodiment is that two grippers 1 on two mechanical arms 3 clamp the two ends of the crankshaft 20 respectively. During the clamping process, the threaded adjustment moving rod 1-4 on the screw cover 1-3 moves upward due to the screwing movement, ensuring that the two grippers 1 hold the crankshaft 20 tightly to prevent it from rotating and falling in the quenching tank. After quenching, the mechanical arm 3 drives the two grippers 1 to put the crankshaft 20 on the conveyor belt for the next operation, and the threaded adjustment moving rod 1-4 on the screw cover 1-3 moves downward after screwing, thereby driving the grippers 1 to release the crankshaft 20. The structures and connection relationships not mentioned in this embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiments.

[0035] Specific implementation method eleven: Combination Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 To illustrate this embodiment, the homogeneous self-rotating quenching grasping mechanism in this embodiment includes a robot arm 3, a telescopic connecting frame 8 and two self-propelled clamping heads. The robot arm 3 is connected to the two self-propelled clamping heads through the telescopic connecting frame 8. The telescopic connecting frame 8 is arranged on the robot arm 3. The telescopic connecting frame 8 is a U-shaped frame body. A self-propelled clamping head is respectively arranged at both ends of the telescopic connecting frame 8. The two self-propelled clamping heads make relative back-to-back or opposite movements under the drive of the telescopic connecting frame 8.

[0036] Among them, the telescopic connecting frame 8 includes a hydraulic cylinder 8-1, a first L-shaped support rod 8-2 and a second L-shaped support rod 8-3. The hydraulic cylinder 8-1 is horizontally arranged, and the two ends of the hydraulic cylinder 8-1 are respectively fixedly connected to the first L-shaped support rod 8-2 and the second L-shaped support rod 8-3. A self-driven clamping head is respectively arranged at the other end of the first L-shaped support rod 8-2 and the other end of the second L-shaped support rod 8-3.

[0037] Each self-driven clamping head includes a gripping head 1 and a rotating driving member 2. The movable end of the mechanical arm 3 is provided with the rotating driving member 2. The power output shaft of the rotating driving member 2 is connected to the gripping head 1. The gripping head 1 makes a self-rotating motion under the drive of the rotating driving member 2.

[0038] The gripping head 1 in each self-driving clamping head includes a cylindrical shell 1-1, a core rod 1-2, a movable rear screw cover 1-3, a movable rod 1-4, an outer support ring 1-5, a support block 1-6 and a plurality of clamping claws 1-7. The core rod 1-2 and the movable rear screw cover 1-3 are sequentially arranged in the cylindrical shell 1-1 from top to bottom. The length direction of the core rod 1-2 is in the same direction as the axial direction of the cylindrical shell 1-1. The upper end of the core rod 1-2 is fixedly connected in the cylindrical shell 1-1, the lower end of the core rod 1-2 is threadedly connected to the movable rear screw cover 1-3, the upper end of the movable rod 1-4 is connected to the bottom of the support block 1-6, and the lower end of the movable rod 1-4 passes through the cylindrical shell 1-1. The cylindrical shell 1-1 is connected with the movable rear screw cover 1-3, the outer sleeve of the support block 1-6 is provided with an outer supporting ring body 1-5, and a plurality of clamping claws 1-7 are evenly distributed on the outer supporting ring body 1-5 along the circumferential direction of the outer supporting ring body 1-5, the lower end of each clamping claw 1-7 is respectively hinged with the outer supporting ring body 1-5 and the support block 1-6, and the upper end of each clamping claw 1-7 is a clamping end. When the moving rod 1-4 drives the support block 1-6 to move downward toward the cylindrical shell 1-1, the plurality of clamping claws 1-7 are in a retracted clamping state, and when the moving rod 1-4 drives the support block 1-6 to move upward away from the cylindrical shell 1-1, the plurality of clamping claws 1-7 are in an expanded and released state.

[0039] The homogeneous self-rotation quenching method in this embodiment is realized by a single homogeneous self-rotation quenching gripping mechanism, specifically, the length of the telescopic connecting frame 8 is adjusted according to the length of the crankshaft 20 to be processed, so that the distance between the two gripping heads 1 at both ends thereof is adapted to the length of the crankshaft 20, and one gripping head 1 is adjusted to make its support block 1-6 move toward the crankshaft 20, thereby driving multiple clamping claws 1-7 to expand outward through the cooperation of the outer support ring body 1-5, and after one end of the crankshaft 20 is abutted against the support block 1-6, the support block 1-6 moves back to drive the clamping ends of the multiple clamping claws 1-7 to synchronously clamp the end of the crankshaft 20, and similarly, another gripping head 1 is used to clamp the other end of the crankshaft 20; Start two rotary drive members 2, each of which rotates at a speed of 10 to 60 revolutions per minute. The crankshaft 20 with two grippers 1 is driven by the robotic arm 3 to enter the quenching pool until the crankshaft 20 is completely immersed 10 to 15 centimeters below the liquid surface of the quenching liquid in the quenching pool. Then the rotary drive member 2 accelerates and rotates at a speed between 1000 and 3000 revolutions per minute. After quenching is completed, the robotic arm 3 drives the crankshaft 20 with two grippers 1 to be placed on the conveyor belt for the next operation, and each gripper 1 is unfolded to release the crankshaft 20.

[0040] The working principle of this embodiment is that a mechanical arm 3 cooperates with a telescopic connecting frame 8 to enable two gripping heads 1 to clamp the two ends of the crankshaft 20, thereby ensuring that during the quenching process, the gripping head 1 and the rotating driving member 2 can drive the crankshaft 20 to accelerate during quenching. After the quenching is completed, the mechanical arm 3 drives the crankshafts 20 on the two gripping heads 1 to be placed on the conveyor belt of the next operation, thereby loosening the threads on the rear screw cap 1-3, and the two gripping heads 1 are unfolded to release the crankshaft 20. The structures and connection relationships not mentioned in this embodiment are the same as those in the specific embodiments one, two, three, four, five, six, seven, eight or nine.

[0041] The working process of the present invention is as follows: first, the gripping heads 1 on the two mechanical arms 3 are screwed to move the threads on the rear screw cover 1-3 so that the moving rod 1-4 drives multiple clamping claws 1-7 to clamp the two ends of the crankshaft 20, and then the crankshaft 20 is placed in the quenching process through the mechanical arm 3, and the rotating drive member 2 is started. The power output shaft of the rotating drive member 2 drives the gripping head 1 to rotate, so that the gripping head 1 drives the crankshaft 20 to rotate in the quenching process. After the quenching is completed, the two gripping heads 1, driven by their respective mechanical arms 3, place the quenched crankshaft 20 on the conveyor belt for the next operation, and loosen the threads on the rear screw cover 1-3 so that the moving rod 1-4 drives multiple clamping claws 1-7 to release the ends of the crankshaft 20.

Claims

1. A homogeneous self-rotating quenching grabbing mechanism, characterized in that: It comprises a self-driven clamping head and a mechanical arm (3), wherein the self-driven clamping head comprises a gripping head (1) and a rotating driving member (2), the movable end of the mechanical arm (3) is provided with the rotating driving member (2), the power output shaft of the rotating driving member (2) is connected to the gripping head (1), and the gripping head (1) performs self-rotational motion under the drive of the rotating driving member (2); The gripping head (1) comprises a cylindrical outer shell (1-1), a core rod (1-2), a movable rear screw cover (1-3), a movable rod (1-4), an outer support ring (1-5), a support block (1-6) and a plurality of clamping claws (1-7). The core rod (1-2) and the movable rear screw cover (1-3) are arranged in sequence from top to bottom in the cylindrical outer shell (1-1). The length direction of the core rod (1-2) is in the same direction as the axial direction of the cylindrical outer shell (1-1). The upper end of the core rod (1-2) is fixedly connected to the cylindrical outer shell (1-1). The lower end of the core rod (1-2) is threadedly connected to the movable rear screw cover (1-3). The upper end of the movable rod (1-4) is connected to the bottom of the support block (1-6). The lower end of the movable rod (1-4) passes through the cylindrical outer shell. (1-1) is connected with the movable rear screw cover (1-3), the support block (1-6) is provided with an outer support ring body (1-5) on the outside, a plurality of clamping claws (1-7) are evenly distributed on the outer support ring body (1-5) along the circumferential direction of the outer support ring body (1-5), the lower end of each clamping claw (1-7) is respectively hinged with the outer support ring body (1-5) and the support block (1-6), the upper end of each clamping claw (1-7) is a clamping end, when the moving rod (1-4) drives the support block (1-6) to move downward toward the cylindrical shell (1-1), the plurality of clamping claws (1-7) are in a retracted clamping state, when the moving rod (1-4) drives the support block (1-6) to move upward away from the cylindrical shell (1-1), the plurality of clamping claws (1-7) are in an expanded release state.

2. A homogeneous self-rotating quenching grabbing mechanism according to claim 1, characterized in that: The support block (1-6) comprises a main cylinder (1-6-1), the upper end surface of the main cylinder (1-6-1) being a tightening surface, an annular groove (1-6-2) matching a plurality of clamping claws (1-7) being processed on the outer circumferential wall of the main cylinder (1-6-1), the lower end of each clamping claw (1-7) being hinged in the annular groove (1-6-2), and the upper end of the moving rod (1-4) being fixedly connected to the lower end of the main cylinder (1-6-1).

3. A homogeneous self-rotating quenching grabbing mechanism according to claim 1 or 2, characterized in that: A transverse partition (1-8) is arranged in the cylindrical outer shell (1-1), and the transverse partition (1-8) is fixedly connected in the cylindrical outer shell (1-1) along the radial direction of the cylindrical outer shell (1-1), the upper end of the core rod (1-2) is fixedly connected to the transverse partition (1-8), and the lower end of the moving rod (1-4) passes through the transverse partition (1-8) in the cylindrical outer shell (1-1) and is connected to the moving rear screw cover (1-3).

4. A homogeneous self-rotating quenching grabbing mechanism according to claim 1, characterized in that: Each clamping claw (1-7) comprises a lower rod (1-7-1), an upper arc-shaped rod (1-7-2) and a clamping block (1-7-3); the lower rod (1-7-1) is arranged along the radial direction of the cylindrical shell (1-1); a notch (5) corresponding to the clamping claw (1-7) is processed on the outer support ring body (1-5); one end of the lower rod (1-7-1) is hinged in the corresponding notch (5); and the other end of the lower rod (1-7-1) is hinged to the support block (1-6).

5. The homogeneous self-rotating quenching grabbing mechanism according to claim 1, characterized in that: The rotary drive member (2) comprises a motor (2-1) and a support frame (2-2); the support frame (2-2) is a U-shaped frame; the motor (2-1) is arranged on the moving end of the mechanical arm (3); the power output shaft of the motor (2-1) is connected to the bottom of the support frame (2-2); and the two ends of the support frame (2-2) are respectively fixedly connected to the lower end of the cylindrical shell (1-1).

6. The homogeneous self-rotating quenching grabbing mechanism according to claim 1, characterized in that: The outer supporting ring body (1-5) is connected to the upper end of the cylindrical outer shell (1-1) via a plurality of connecting rods (6), the upper end of each connecting rod (6) is connected to the bottom of the outer supporting ring body (1-5), and the lower end of each connecting rod (6) is connected to the upper end of the cylindrical outer shell (1-1).

7. A homogeneous self-rotating quenching grabbing mechanism according to claim 3, characterized in that: A spring (7) is arranged in the cylindrical housing (1-1), the spring (7) is sleeved on the central core rod (1-2), and the lower end of the spring (7) is arranged on the movable rear screw cover (1-3).

8. A homogeneous self-rotating quenching grabbing mechanism according to claim 1 or 7, characterized in that: After the movement, the outer circumferential wall of the screw cover (1-3) is slidably matched or threadedly connected with the inner wall of the cylindrical shell (1-1).

9. The homogeneous self-rotating quenching grabbing mechanism according to claim 1, characterized in that: The mechanical arm (3) is connected to two self-driving clamping heads via a telescopic connecting frame (8). The telescopic connecting frame (8) is arranged on the mechanical arm (3). The telescopic connecting frame (8) is a U-shaped frame body. A self-driving clamping head is respectively arranged at both ends of the telescopic connecting frame (8). The two self-driving clamping heads move in opposite directions or towards each other under the drive of the telescopic connecting frame (8).

10. A homogeneous self-rotation quenching method, implemented by using a homogeneous self-rotation quenching grabbing mechanism according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that: The homogeneous self-rotation quenching method comprises: adjusting the distance between the gripping heads (1) in two homogeneous self-rotation quenching gripping mechanisms according to the length of the crankshaft (20) to be processed, adjusting the gripping head (1) in one homogeneous self-rotation quenching gripping mechanism so that its support block (1-6) moves toward the crankshaft (20), thereby driving a plurality of clamping claws (1-7) to expand outward through the cooperation of the outer support ring body (1-5), and after one end of the crankshaft (20) is abutted against the support block (1-6), the support block (1-6) moves back to drive the clamping ends of the plurality of clamping claws (1-7) to synchronously clamp the end of the crankshaft (20), and similarly using another homogeneous self-rotation quenching gripping mechanism to clamp the other end of the crankshaft (20); The two rotary drive members (2) are started, each rotary drive member (2) rotates at a speed of 10 to 60 revolutions per minute, and the crankshaft (20) with two grippers (1) is driven by the mechanical arm (3) to enter the quenching pool until the crankshaft (20) is completely immersed 10 to 15 centimeters below the liquid surface of the quenching liquid in the quenching pool. After that, the rotary drive member (2) is accelerated to rotate at a speed between 1000 and 3000 revolutions per minute. After quenching is completed, the mechanical arm (3) drives the crankshaft (20) with two grippers (1) to be placed on a conveyor belt for the next operation, and each gripper (1) is unfolded to release the crankshaft (20).

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