A clamping mechanical arm for mechanical welding and implementation method thereof

Abstract

The present invention belongs to the technical field of mechanical arms, and in particular, is a clamping mechanical arm for mechanical welding and an implementation method thereof, comprising an adjustment bracket, the adjustment bracket comprising a rotating base, a connecting frame mounted on the rotating base, and a hydraulic cylinder mounted on the connecting frame, and also comprising a lifting device, an adjustment device, and a clamping device mounted on the adjustment bracket. The clamping mechanical arm for mechanical welding and an implementation method thereof, by providing a clamping device, can complete the handling of block-shaped welding parts or cylindrical welding parts, by pushing the rack, the limit plate and the clamping block can be pushed out of the clamping housing to facilitate clamping of the welding parts, the limit plate limits the pressure plate, the pressure plate provides elasticity through a reset spring, and can retract after being compressed, so that the clamping of the welding parts can be buffered to prevent damage to the surface of the welding parts, and the cylindrical welding parts can be clamped by the symmetrically distributed clamping blocks.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a clamping mechanical arm for mechanical welding and an implementation method thereof. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space.

[0003] When the existing robotic arm clamps the welding parts, it is unable to adjust the center of gravity of the clamping according to the length of the welding parts, resulting in that when clamping the longer welding parts, the center of gravity cannot be dispersed, and the parts are prone to shaking during the clamping and transportation process. At the same time, the clamping jaws of the existing robotic arm are composed of clamping blocks. When clamping cylindrical welding parts, the contact surface is linear, which is prone to unstable clamping. Therefore, when clamping the cylindrical welding parts, the clamping jaws or the robotic arm need to be replaced. In addition, the existing robotic arm completes lifting and lowering through multi-axis coordination, which has limitations. Summary of the invention

[0004] Since the existing robotic arms cannot adjust the center of gravity of the clamping according to the length of the welding parts, the clamping claws or robotic arms need to be replaced when clamping cylindrical welding parts, and the existing robotic arms complete lifting and lowering through multi-axis coordination, which has limited technical problems, the present invention proposes a clamping robotic arm for mechanical welding and an implementation method thereof.

[0005] The present invention proposes a clamping robot arm for mechanical welding, which includes an adjusting bracket, which includes a rotating base, a connecting bracket installed on the rotating base, and a hydraulic cylinder installed on the connecting bracket. It also includes a lifting device, an adjusting device and a clamping device installed on the adjusting bracket.

[0006] The lifting device is located at the upper end of the adjusting bracket, and drives the adjusting device and the clamping device to be lifted and lowered. The lifting device includes a lifting rope, and the release of the lifting rope drives the adjusting device and the clamping device to be lowered.

[0007] The adjusting device is located on the outer surface of the lifting device, and the adjusting device adjusts the distance between the clamping devices. The adjusting device includes an adjusting outer sleeve and an adjusting inner sleeve. The movement of the adjusting outer sleeve and the adjusting inner sleeve adjusts the distance between the clamping devices.

[0008] The clamping device is located on the outer surface of the adjusting device, and comprises a moving mechanism and a switching mechanism. The moving mechanism clamps the welding parts, and the switching mechanism can switch the clamping mode between block parts and cylindrical parts.

[0009] Preferably, the lifting device also includes a lifting shell, which is fixedly mounted on one end of the adjusting bracket, and the inner wall of the lifting shell is rotatably connected to a wire roller with gears through a bearing, and the gears of the two wire rollers are meshed. A lifting motor is fixedly mounted on the outer surface of the lifting shell, and one end of the output shaft of the lifting motor is meshed with the gear of one of the wire rollers through a gear, one end of the lifting rope is fixedly mounted on the outer surface of the wire roller, an arc-shaped spring steel sheet is fixedly mounted on the inner wall of the lifting rope, and a supporting disc is fixedly mounted on the outer surface of the arc-shaped spring steel sheet.

[0010] Through the above technical scheme, the release of the lifting rope can drive the clamping device to be lifted and lowered. In order to ensure the stability of the clamping device, an arc-shaped spring steel sheet and a plurality of equally spaced supporting discs are arranged inside the lifting rope, so that the lifting rope can bend to one side but cannot bend in the direction of the supporting disc. The arc-shaped spring steel sheets on both sides are symmetrically distributed, thereby maintaining the stability of the clamping device during lifting and lowering.

[0011] Preferably, one end of the lifting rope passes through the lifting shell and is fixedly installed with a support plate, a limit rod is fixedly installed on the upper surface of the support plate, and one end of the limit rod is slidably plugged into the inner wall of the lifting shell.

[0012] Through the above technical solution, in order to facilitate the stable movement of the clamped welding parts, the support plate can be kept stable after the limit rod is inserted into the lifting shell.

[0013] Preferably, the adjusting device also includes a supporting sleeve, which is fixedly mounted on the outer surface of the supporting plate, and the inner wall of the supporting sleeve is rotatably connected to a driving screw with a bevel gear through a bearing, and an adjusting motor with a bevel gear is fixedly mounted on the outer surface of the supporting plate, and the bevel gear of the adjusting motor is meshed with the bevel gear of the driving screw to drive the driving screw to rotate.

[0014] Through the above technical solution, the driving screw is driven to rotate by the adjusting motor, thereby driving the adjusting outer sleeve in the supporting sleeve to move. One adjusting motor can drive the rotation of two driving screws through the transmission of the bevel gear set.

[0015] Preferably, the inner wall of the support sleeve is slidably plugged with an adjusting outer sleeve, one end of the adjusting outer sleeve is threadedly connected to one end of the driving screw, the inner wall of the adjusting outer sleeve is rotatably connected to the adjusting outer screw through a bearing, the inner wall of the adjusting outer screw is slidably plugged with the outer surface of the driving screw, the inner wall of the adjusting outer sleeve is slidably plugged with the inner wall of the adjusting inner sleeve, and one end of the adjusting inner sleeve is threadedly connected to one end of the adjusting outer screw.

[0016] Through the above technical scheme, the movement of the adjustable outer sleeve can drive the movement of the adjustable outer screw rod, and at the same time, the adjustable outer screw rod and the driving screw rod are slidably inserted, so as to drive the adjustable outer screw rod to rotate, and the rotation of the adjustable outer screw rod can drive the movement of the adjustable inner sleeve, so that after the adjustable outer sleeve and the adjustable inner sleeve are moved, the distance between the clamping devices can be adjusted, which is convenient for dispersing the center of gravity of clamping and can stably clamp longer parts.

[0017] Preferably, the moving mechanism includes a moving shell, and a plurality of the moving shells are respectively fixedly mounted on the outer surfaces of the supporting sleeve, the adjusting outer sleeve and the adjusting inner sleeve; the interior of the moving shell is rotatably connected to a double-headed screw with a bevel gear through a bearing, both ends of the double-headed screw are threadedly connected to a clamping shell, one end of the clamping shell is slidably plugged into the inner wall of the moving shell, a moving motor is fixedly mounted on the outer surface of the moving shell, a telescopic rod with a bevel gear is rotatably connected to the outer surface of the moving shell through a bearing, one end of the telescopic rod is fixedly mounted to one end of the output shaft of the moving motor, and the bevel gear of the telescopic rod is meshed with the bevel gear of the double-headed screw.

[0018] Through the above technical scheme, in order to clamp the welding parts, the rotation of the double-headed screw can drive the two relative clamping shells to move relative or oppositely, so that the welding parts can be clamped. The telescopic rod can not affect the spacing adjustment between the moving shells. A mobile motor can drive multiple double-headed screws to rotate synchronously to maintain the stability of clamping.

[0019] Preferably, the switching mechanism includes a limit sleeve, which is fixedly mounted on the inner wall of the clamping shell, and a pushing rack is slidably inserted into the inner wall of the limit sleeve, and a limit plate is fixedly mounted on the outer surfaces of the two pushing racks, and a pressure plate is slidably inserted into the outer surface of the limit plate, and a return spring is fixedly mounted on one end of the pressure plate, and one end of the return spring is fixedly mounted on the outer surface of the limit plate, and clamping blocks are fixedly mounted on the outer surfaces of the other two pushing racks.

[0020] Through the above technical scheme, the limit plate and the clamping block can be pushed out of the clamping shell by pushing the rack, which is convenient for clamping the welding parts. The limit plate limits the pressure plate, and the pressure plate is provided with elasticity by the reset spring. It can retract after being compressed, so as to buffer the clamping of the welding parts and prevent damage to the surface of the welding parts. The cylindrical welding parts can be clamped by the symmetrically distributed clamping blocks.

[0021] Preferably, the inner wall of the clamping shell is rotatably connected to a transmission gear set through a bearing, the gear of the transmission gear set is meshed with the pushing rack, and the inner wall of the clamping shell is slidably plugged with a lifting rack, and the lifting rack is meshed with the gear of the transmission gear set.

[0022] Through the above technical solution, the lifting and lowering of the lifting rack is converted into driving the movement of the pushing rack through the transmission gear set.

[0023] Preferably, the upper surface of the clamping shell is rotatably connected to a threaded sleeve through a bearing, the inner wall of the threaded sleeve is threadedly connected to one end of the lifting rack, the outer surface of the threaded sleeve is slidably inserted with a switching gear with a connecting spring, the inner wall of the movable shell is fixedly installed with a switching rack, the switching gear is meshed with the switching rack, and a switching electromagnet is fixedly installed at one end of the threaded sleeve, and the lower surface of the switching electromagnet is magnetically connected to the upper surface of the switching gear.

[0024] Through the above technical scheme, after the switching gear on the threaded sleeve is meshed with the switching rack, the movement of the switching gear can rotate on the switching rack, thereby driving the threaded sleeve to rotate, completing the lifting and lowering of the lifting rack, and the switching electromagnet is energized to enable the switching gear to mesh with the switching rack. When the switching electromagnet is de-energized, the switching gear is reset under the action of the connecting spring, and the movement of the switching gear will not drive the threaded sleeve to rotate. The threaded connection between the threaded sleeve and the lifting rack facilitates self-locking after positioning.

[0025] The present invention provides a method for implementing a clamping mechanical arm for mechanical welding, comprising the following steps: S1: When the block-shaped welding parts need to be clamped and transported, the lifting motor on the outer surface of the lifting shell on the adjusting bracket is started to drive the two wire rollers to rotate in opposite directions. After the lifting ropes on the wire rollers are released, the support plate is driven to descend. The limit rod leaves the lifting shell and then descends. The hydraulic cylinder on the adjusting bracket adjusts the position of the support plate so that the clamping shell under the support plate is located on both sides of the clamped welding parts.

[0026] S2: When the welding parts are long, in order to disperse the center of gravity of the clamping, the adjusting motor is started to drive the driving screw to rotate on the supporting sleeve. The driving screw drives the adjusting outer sleeve threadedly connected to it to move horizontally on the inner wall of the supporting sleeve, while driving the adjusting outer screw to move synchronously. The sliding connection between the adjusting outer screw and the driving screw drives the adjusting outer screw to rotate, thereby driving the adjusting inner sleeve threadedly connected to it to move, driving the adjusting outer sleeve and the movable outer shell on the adjusting inner sleeve to move, and opening the distance between them. At the same time, the telescopic rod is stretched, so that the center of gravity of the clamping can be adjusted.

[0027] S3: The moving motor on the moving housing is started, driving the bevel gear on the telescopic rod to rotate. After the double-headed screw that the bevel gear is able to mesh with rotates, the relative adjustment housing moves relatively to clamp the welding parts in the middle. The welding parts squeeze the pressure plate, causing the pressure plate to move toward the limit plate, and the reset spring is stretched to buffer the clamping of the welding parts by the clamping housing.

[0028] S4: The wire roller is wound up, and the lifting rope is wound up to drive the welding parts to rise. The arc spring steel sheet and the supporting disc in the lifting rope prevent the lifting rope from bending to one side after being released. Thus, the cooperation of the arc spring steel sheet and the supporting disc in the multiple sets of lifting ropes keeps the support plate stable. After the limit rod is inserted into the lifting shell, the clamped welding parts are prevented from shaking during the movement.

[0029] S5: In order to clamp the cylindrical welding parts, after the switching electromagnet is energized, the switching electromagnet is adsorbed with the switching gear, driving the switching gear to rise and then meshing with the switching rack, the movement of the clamping shell causes the switching gear to rotate and drives the threaded sleeve to rotate, thereby driving the lifting rack threadedly connected thereto to rise, and the lifting rack drives the transmission gear set to rotate, and the transmission gear set drives the pushing rack located in the middle to move outward in the limit sleeve, pushing the clamping block to move outward, and the pushing racks located at the upper and lower ends drive the limit plate to move inward, driving the pressure plate to move inward, thereby switching between the pressure plate and the clamping block, and the cylindrical welding parts can be clamped by the clamping block.

[0030] The beneficial effects of the present invention are: 1. By setting up a lifting device, the clamping device can be automatically driven to be lifted and lowered, which is suitable for welding parts in a low position and can quickly perform clamping work. The clamping device can be driven to be lifted and lowered by releasing the lifting rope. In order to ensure the stability of the clamping device, an arc-shaped spring steel sheet and a plurality of equidistantly distributed supporting discs are arranged inside the lifting rope, so that the lifting rope can be bent to one side and cannot be bent to the direction with the supporting discs. The arc-shaped spring steel sheets on both sides are symmetrically distributed, so as to maintain the stability of the clamping device during lifting, thereby being able to quickly drive the clamping device to be lifted and lowered, solving the technical problem that the existing robotic arm completes lifting through multi-axis coordination and has limitations.

[0031] 2. By setting an adjustment device, the spacing between the clamping devices can be adjusted, which is convenient for adjusting the clamping center of gravity according to the length of the welding part and maintaining the stability of the welding part during movement. The movement of the adjusting outer sleeve can be driven by the driving screw, which can drive the movement of the adjusting outer screw rod. At the same time, the sliding connection between the adjusting outer screw rod and the driving screw rod can drive the adjusting outer screw rod to rotate. The rotation of the adjusting outer screw rod can drive the movement of the adjusting inner sleeve. Therefore, after the adjusting outer sleeve and the adjusting inner sleeve are moved, the spacing of the clamping devices can be adjusted, which is convenient for dispersing the clamping center of gravity and can stably clamp longer parts. This solves the technical problem that the existing robot arm cannot adjust the clamping center of gravity according to the length of the welding part.

[0032] 3. By setting up a clamping device, the handling of block-shaped welding parts or cylindrical welding parts can be completed. By pushing the rack, the limit plate and the clamping block can be pushed out of the clamping shell to facilitate clamping of the welding parts. The limit plate limits the pressure plate. The pressure plate provides elasticity through a reset spring and can retract after being compressed, thereby buffering the clamping of the welding parts and preventing damage to the surface of the welding parts. The cylindrical welding parts can be clamped by the symmetrically distributed clamping blocks, so that the plate-shaped or block-shaped welding parts can be clamped by the pressure plate, and the clamping block can clamp the cylindrical welding parts, which solves the technical problem that the existing robot arm needs to replace the clamping claws or the robot arm when clamping the cylindrical welding parts, which has limitations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 2 A three-dimensional diagram of a wire roller structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 3 A three-dimensional diagram of a support plate structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 4A three-dimensional diagram of a supporting disc structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 5 A three-dimensional diagram of a supporting sleeve structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 6 A three-dimensional diagram of a driving screw rod structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 7 A three-dimensional diagram of a movable housing structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Figure 8 A three-dimensional diagram of a clamping shell structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Fig. 9 A three-dimensional diagram of a moving motor structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Fig.10 A three-dimensional diagram of a pushing rack structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Fig.11 A three-dimensional diagram of a transmission gear set structure of a clamping mechanical arm for mechanical welding proposed by the present invention; Fig.12 This is a three-dimensional diagram of the switching gear structure of a clamping robot arm for mechanical welding proposed by the present invention.

[0034] In the figure: 1. Adjustment bracket; 2. Lifting shell; 21. Line roller; 22. Lifting motor; 23. Lifting rope; 24. Arc spring steel sheet; 25. Support disc; 26. Support plate; 27. Limit rod; 3. Support sleeve; 31. Driving screw rod; 32. Adjustment motor; 33. Adjustment outer sleeve; 34. Adjustment outer screw rod; 35. Adjustment inner sleeve; 4. Moving shell; 41. Double-head screw rod; 42. Clamping shell; 43. Moving motor; 44. Telescopic rod; 5. Limit sleeve; 51. Push rack; 52. Limit plate; 53. Press plate; 54. Reset spring; 55. Clamp block; 56. Transmission gear set; 57. Lifting rack; 6. Threaded sleeve; 61. Switching gear; 62. Switching rack; 63. Switching electromagnet. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] Reference Figure 1-Figure 12A clamping mechanical arm for mechanical welding includes an adjusting bracket 1, which includes a rotating base, a connecting frame installed on the rotating base, and a hydraulic cylinder installed on the connecting frame. The rotating base can drive the connecting frame to rotate, which is convenient for driving the clamped welding parts to turn. The hydraulic cylinder can facilitate accurate clamping of the welding parts below, and also includes a lifting device, an adjusting device and a clamping device installed on the adjusting bracket 1.

[0037] like Figure 2-Figure 4 As shown, in order to quickly clamp the parts below, the lifting device is located at the upper end of the adjusting bracket 1, and drives the adjusting device and the clamping device to lift and lower. The lifting device includes a lifting rope 23. The release of the lifting rope 23 drives the adjusting device and the clamping device to descend.

[0038] Specifically, in order to automatically release and reel in the lifting rope 23, the lifting device also includes a lifting shell 2, which is fixedly mounted on one end of the adjusting bracket 1, and the inner wall of the lifting shell 2 is rotatably connected to a wire roller 21 with a gear through a bearing, and the gears of the two wire rollers 21 are meshed. A lifting motor 22 is fixedly mounted on the outer surface of the lifting shell 2, and one end of the output shaft of the lifting motor 22 is meshed with the gear of a wire roller 21 through a gear, and one end of the lifting rope 23 is fixedly mounted on the outer surface of the wire roller 21. In order to prevent the released lifting rope 23 from bending, an arc-shaped spring steel sheet 24 is fixedly mounted on the inner wall of the lifting rope 23, and a supporting disc 25 is fixedly mounted on the outer surface of the arc-shaped spring steel sheet 24. By arranging the arc-shaped spring steel sheet 24 and a plurality of supporting discs 25 distributed at equal distances inside the lifting rope 23, the lifting rope 23 can bend in one direction, but cannot bend in the direction of the supporting disc 25, and the arc-shaped spring steel sheets 24 on both sides are symmetrically distributed, thereby maintaining the stability of the clamping device during lifting and lowering.

[0039] Specifically, in order to stably transport the welding parts clamped by the clamping device, one end of the lifting rope 23 passes through the lifting shell 2 and is fixedly installed with a support plate 26, and a limit rod 27 is fixedly installed on the upper surface of the support plate 26, and one end of the limit rod 27 is slidably plugged into the inner wall of the lifting shell 2.

[0040] like Figure 5-Figure 6 As shown, in order to sleeve the distance between the clamping devices, the adjusting device is located on the outer surface of the lifting device, and the adjusting device adjusts the distance between the clamping devices. The adjusting device includes an adjusting outer sleeve 33 and an adjusting inner sleeve 35. The movement of the adjusting outer sleeve 33 and the adjusting inner sleeve 35 adjusts the distance between the clamping devices.

[0041] Specifically, in order to drive the adjustment outer sleeve 33 to move, the adjustment device also includes a support sleeve 3, which is fixedly mounted on the outer surface of the support plate 26. The inner wall of the support sleeve 3 is rotatably connected to a driving screw 31 with a bevel gear through a bearing. An adjustment motor 32 with a bevel gear is fixedly mounted on the outer surface of the support plate 26. The bevel gear of the adjustment motor 32 is meshed with the bevel gear of the driving screw 31 to drive the driving screw 31 to rotate.

[0042] Specifically, in order to drive the adjustment inner sleeve 35 to move, the inner wall of the support sleeve 3 is slidably plugged with an adjustment outer sleeve 33, one end of the adjustment outer sleeve 33 is threadedly connected to one end of the driving screw rod 31, and the inner wall of the adjustment outer sleeve 33 is rotatably connected to the adjustment outer screw rod 34 through a bearing, the inner wall of the adjustment outer screw rod 34 is slidably plugged with the outer surface of the driving screw rod 31, the inner wall of the adjustment outer sleeve 33 is slidably plugged with the inner wall of the adjustment inner sleeve 35, and one end of the adjustment inner sleeve 35 is threadedly connected to one end of the adjustment outer screw rod 34.

[0043] like Figure 7-Figure 12 As shown, in order to stably clamp the welding parts, the clamping device is located on the outer surface of the adjusting device, and the clamping device includes a moving mechanism and a switching mechanism. The moving mechanism clamps the welding parts, and the switching mechanism can switch the clamping method of block parts and cylindrical parts.

[0044] Specifically, in order to clamp the welding parts, the moving mechanism includes a moving shell 4, and multiple moving shells 4 are respectively fixedly installed on the outer surfaces of the supporting sleeve 3, the adjusting outer sleeve 33 and the adjusting inner sleeve 35. The interior of the moving shell 4 is rotatably connected to a double-headed screw 41 with a bevel gear through a bearing, and both ends of the double-headed screw 41 are threadedly connected to a clamping shell 42, and one end of the clamping shell 42 is slidably plugged into the inner wall of the moving shell 4. The rotation of the double-headed screw 41 can drive the clamping shell 42 to move relative or oppositely. In order to rotate multiple double-headed screws 41 synchronously, a moving motor 43 is fixedly installed on the outer surface of the moving shell 4, and a telescopic rod 44 with a bevel gear is rotatably connected to the outer surface of the moving shell 4 through a bearing. One end of the telescopic rod 44 is fixedly installed to one end of the output shaft of the moving motor 43, and the bevel gear of the telescopic rod 44 is meshed with the bevel gear of the double-headed screw 41.

[0045] Specifically, in order to clamp block parts or cylindrical parts, the switching mechanism includes a limit sleeve 5, which is fixedly installed on the inner wall of the clamping shell 42, and a pushing rack 51 is slidably inserted into the inner wall of the limit sleeve 5. The outer surfaces of the two pushing racks 51 are fixedly installed with limit plates 52. In order to buffer the clamping of block parts, a pressure plate 53 is slidably inserted into the outer surface of the limit plate 52, and a return spring 54 is fixedly installed at one end of the pressure plate 53. One end of the return spring 54 is fixedly installed on the outer surface of the limit plate 52, and the outer surfaces of the other two pushing racks 51 are fixedly installed with clamping blocks 55, which are triangular in shape.

[0046] Specifically, in order to drive the pushing rack 51 to move, the inner wall of the clamping shell 42 is rotatably connected to the transmission gear set 56 through a bearing, and the gear of the transmission gear set 56 is meshed with the pushing rack 51. The inner wall of the clamping shell 42 is slidably inserted with a lifting rack 57, and the lifting rack 57 is meshed with the gear of the transmission gear set 56.

[0047] Specifically, in order to drive the lifting rack 57 to rise and fall, the upper surface of the clamping shell 42 is rotatably connected to a threaded sleeve 6 through a bearing. The inner wall of the threaded sleeve 6 is threadedly connected to one end of the lifting rack 57. The threaded sleeve 6 can self-lock the lifting rack 57. The outer surface of the threaded sleeve 6 is slidably inserted with a switching gear 61 with a connecting spring. The two ends of the connecting spring are respectively fixed to the switching gear 61 and the outer surface of the threaded sleeve 6. A switching rack 62 is fixedly installed on the inner wall of the movable shell 4. The switching gear 61 is meshed with the switching rack 62. A switching electromagnet 63 is fixedly installed on one end of the threaded sleeve 6. The lower surface of the switching electromagnet 63 is magnetically connected to the upper surface of the switching gear 61.

[0048] The present invention provides a method for implementing a clamping mechanical arm for mechanical welding, comprising the following steps: S1: When the block-shaped welding parts need to be clamped and transported, the lifting motor 22 on the outer surface of the lifting shell 2 on the adjusting bracket 1 is started, and the two wire rollers 21 are driven to rotate in opposite directions. After the lifting rope 23 on the wire roller 21 is released, the support plate 26 is driven to descend, and the limit rod 27 leaves the lifting shell 2 and descends. The hydraulic cylinder on the adjusting bracket 1 adjusts the position of the support plate 26 so that the clamping shell 42 under the support plate 26 is located on both sides of the clamped welding parts; S2: When the welding parts are long, in order to disperse the center of gravity of the clamping, the adjusting motor 32 is started to drive the driving screw 31 to rotate on the supporting sleeve 3, and the driving screw 31 drives the adjusting outer sleeve 33 threadedly connected thereto to move horizontally on the inner wall of the supporting sleeve 3, and at the same time drives the adjusting outer screw 34 to move synchronously, and the sliding connection between the adjusting outer screw 34 and the driving screw 31 drives the adjusting outer screw 34 to rotate, thereby driving the adjusting inner sleeve 35 threadedly connected thereto to move, driving the adjusting outer sleeve 33 and the movable outer shell 4 on the adjusting inner sleeve 35 to move, and pulling the distance between them, and at the same time the telescopic rod 44 is stretched, so that the center of gravity of the clamping can be adjusted; S3: The moving motor 43 on the moving housing 4 is started, driving the bevel gear on the telescopic rod 44 to rotate. After the double-headed screw 41 that the bevel gear can mesh with rotates, the relative adjustment housing moves relatively to clamp the welding part in the middle. The welding part squeezes the pressing plate 53, so that the pressing plate 53 moves toward the limit plate 52, and the return spring 54 is stretched to buffer the clamping of the clamping housing 42 on the welding part. S4: The wire roller 21 is wound up, and the lifting rope 23 is wound up to drive the welding parts to rise. The arc spring steel sheet 24 and the supporting disc 25 in the lifting rope 23 prevent the lifting rope 23 from bending toward one side after being released, so that the cooperation of the arc spring steel sheet 24 and the supporting disc 25 in the multiple sets of lifting ropes 23 keeps the support plate 26 stable. After the limit rod 27 is inserted into the lifting shell 2, the clamped welding parts are prevented from shaking during the movement; S5: In order to clamp the cylindrical welding parts, after the switching electromagnet 63 is energized, the switching electromagnet 63 is attracted to the switching gear 61, driving the switching gear 61 to rise and then meshing with the switching rack 62, the movement of the clamping shell 42 causes the switching gear 61 to rotate and drive the threaded sleeve 6 to rotate, thereby driving the lifting rack 57 threadedly connected thereto to rise, and the lifting rack 57 drives the transmission gear set 56 to rotate, and the transmission gear set 56 drives the pushing rack 51 located in the middle to move outward in the limiting sleeve 5, pushing the clamping block 55 to move outward, and the pushing racks 51 located at the upper and lower ends drive the limiting plate 52 to move inward, driving the pressure plate 53 to move inward, thereby switching between the pressure plate 53 and the clamping block 55, and the cylindrical welding parts can be clamped by the clamping block 55.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A clamping mechanical arm for mechanical welding, comprising an adjusting bracket (1), the adjusting bracket (1) comprising a rotating base, a connecting frame mounted on the rotating base, and a hydraulic cylinder mounted on the connecting frame, characterized in that: It also includes a lifting device, an adjusting device and a clamping device installed on the adjusting bracket (1); The lifting device is located at the upper end of the adjusting bracket (1), and drives the adjusting device and the clamping device to be lifted and lowered, the lifting device comprises a lifting rope (23), and the release of the lifting rope (23) drives the adjusting device and the clamping device to be lowered; The adjusting device is located on the outer surface of the lifting device, and the adjusting device adjusts the spacing between the clamping devices. The adjusting device comprises an adjusting outer sleeve (33) and an adjusting inner sleeve (35). The movement of the adjusting outer sleeve (33) and the adjusting inner sleeve (35) adjusts the spacing between the clamping devices. The clamping device is located on the outer surface of the adjusting device, and comprises a moving mechanism and a switching mechanism. The moving mechanism clamps the welding parts, and the switching mechanism can switch the clamping mode between block parts and cylindrical parts.

2. The clamping robot arm for mechanical welding according to claim 1, characterized in that: The lifting device further comprises a lifting shell (2), wherein the lifting shell (2) is fixedly mounted on one end of the adjusting bracket (1), and the inner wall of the lifting shell (2) is rotatably connected to a wire roller (21) with a gear via a bearing, and the gears of two wire rollers (21) are meshed, and a lifting motor (22) is fixedly mounted on the outer surface of the lifting shell (2), and one end of the output shaft of the lifting motor (22) is meshed with the gear of one of the wire rollers (21) via a gear, and one end of the lifting rope (23) is fixedly mounted on the outer surface of the wire roller (21), and an arc-shaped spring steel sheet (24) is fixedly mounted on the inner wall of the lifting rope (23), and a supporting disc (25) is fixedly mounted on the outer surface of the arc-shaped spring steel sheet (24).

3. The clamping robot arm for mechanical welding according to claim 2, characterized in that: One end of the lifting rope (23) passes through the lifting shell (2) and is fixedly mounted with a support plate (26); a limit rod (27) is fixedly mounted on the upper surface of the support plate (26); one end of the limit rod (27) is slidably plugged into the inner wall of the lifting shell (2).

4. The clamping robot arm for mechanical welding according to claim 3, characterized in that: The adjusting device further comprises a supporting sleeve (3), the supporting sleeve (3) being fixedly mounted on the outer surface of the supporting plate (26), the inner wall of the supporting sleeve (3) being rotatably connected to a driving screw (31) with a bevel gear via a bearing, an adjusting motor (32) with a bevel gear being fixedly mounted on the outer surface of the supporting plate (26), the bevel gear of the adjusting motor (32) meshing with the bevel gear of the driving screw (31) to drive the driving screw (31) to rotate.

5. The clamping robot arm for mechanical welding according to claim 4, characterized in that: The inner wall of the support sleeve (3) is slidably plugged with an adjusting outer sleeve (33), one end of the adjusting outer sleeve (33) is threadedly connected to one end of the driving screw rod (31), the inner wall of the adjusting outer sleeve (33) is rotatably connected to an adjusting outer screw rod (34) via a bearing, the inner wall of the adjusting outer screw rod (34) is slidably plugged with the outer surface of the driving screw rod (31), the inner wall of the adjusting outer sleeve (33) is slidably plugged with the inner wall of the adjusting inner sleeve (35), and one end of the adjusting inner sleeve (35) is threadedly connected to one end of the adjusting outer screw rod (34).

6. The clamping robot arm for mechanical welding according to claim 5, characterized in that: The moving mechanism comprises a moving shell (4), wherein a plurality of the moving shells (4) are respectively fixedly mounted on the outer surfaces of the supporting sleeve (3), the adjusting outer sleeve (33) and the adjusting inner sleeve (35); a double-headed screw (41) with a bevel gear is rotatably connected inside the moving shell (4) via a bearing; both ends of the double-headed screw (41) are threadedly connected to a clamping shell (42); one end of the clamping shell (42) is slidably plugged into the inner wall of the moving shell (4); a moving motor (43) is fixedly mounted on the outer surface of the moving shell (4); a telescopic rod (44) with a bevel gear is rotatably connected to the outer surface of the moving shell (4) via a bearing; one end of the telescopic rod (44) is fixedly mounted on one end of an output shaft of the moving motor (43); the bevel gear of the telescopic rod (44) meshes with the bevel gear of the double-headed screw (41).

7. The clamping robot arm for mechanical welding according to claim 6, characterized in that: The switching mechanism comprises a limit sleeve (5), the limit sleeve (5) being fixedly mounted on the inner wall of the clamping shell (42), a pushing rack (51) being slidably inserted into the inner wall of the limit sleeve (5), a limit plate (52) being fixedly mounted on the outer surfaces of two pushing racks (51), a pressure plate (53) being slidably inserted into the outer surface of the limit plate (52), a return spring (54) being fixedly mounted on one end of the pressure plate (53), one end of the return spring (54) being fixedly mounted on the outer surface of the limit plate (52), and a clamping block (55) being fixedly mounted on the outer surfaces of the other two pushing racks (51).

8. The clamping mechanical arm for mechanical welding according to claim 7, characterized in that: The inner wall of the clamping shell (42) is rotatably connected to a transmission gear set (56) via a bearing, and the gear of the transmission gear set (56) meshes with the pushing rack (51). The inner wall of the clamping shell (42) is slidably plugged with a lifting rack (57), and the lifting rack (57) meshes with the gear of the transmission gear set (56).

9. The clamping robot arm for mechanical welding according to claim 8, characterized in that: The upper surface of the clamping shell (42) is rotatably connected to a threaded sleeve (6) via a bearing, the inner wall of the threaded sleeve (6) is threadedly connected to one end of the lifting rack (57), the outer surface of the threaded sleeve (6) is slidably plugged with a switching gear (61) with a connecting spring, the inner wall of the movable shell (4) is fixedly mounted with a switching rack (62), the switching gear (61) is meshed with the switching rack (62), and one end of the threaded sleeve (6) is fixedly mounted with a switching electromagnet (63), the lower surface of the switching electromagnet (63) is magnetically connected to the upper surface of the switching gear (61).

10. A method for implementing a clamping robot arm for mechanical welding, using the clamping robot arm for mechanical welding as claimed in any one of claims 1 to 9, characterized in that: S1: When a block-shaped welding part needs to be clamped and transported, the lifting motor (22) on the outer surface of the lifting shell (2) on the adjusting bracket (1) is started to drive the two wire rollers (21) to rotate in opposite directions, and then the lifting rope (23) on the wire roller (21) is released to drive the support plate (26) to descend. The limit rod (27) leaves the lifting shell (2) and then descends. The hydraulic cylinder on the adjusting bracket (1) adjusts the position of the support plate (26) so that the clamping shell (42) below the support plate (26) is located on both sides of the clamped welding part; S2: When the welded part is long, in order to disperse the center of gravity of the clamping, the adjusting motor (32) is started to drive the driving screw (31) to rotate on the supporting sleeve (3), and the driving screw (31) drives the adjusting outer sleeve (33) threadedly connected thereto to move horizontally on the inner wall of the supporting sleeve (3), and at the same time drives the adjusting outer screw (34) to move synchronously. The sliding connection between the adjusting outer screw (34) and the driving screw (31) drives the adjusting outer screw (34) to rotate, thereby driving the adjusting inner sleeve (35) threadedly connected thereto to move, driving the adjusting outer sleeve (33) and the movable outer shell (4) on the adjusting inner sleeve (35) to move, and expanding the distance between them. At the same time, the telescopic rod (44) is stretched, so that the center of gravity of the clamping can be adjusted; S3: The moving motor (43) on the moving housing (4) is started, driving the bevel gear on the telescopic rod (44) to rotate. After the double-headed screw (41) that is meshed with the bevel gear rotates, the relative adjustment housings move relative to each other to clamp the welding parts in the middle. The welding parts press the pressing plate (53), causing the pressing plate (53) to move in the direction of the limit plate (52). The return spring (54) is stretched, so as to buffer the clamping of the welding parts by the clamping housing (42); S4: The wire roller (21) is wound up, and the lifting rope (23) is wound up to drive the welding parts to rise. The arc spring steel sheets (24) and the supporting discs (25) in the lifting rope (23) prevent the lifting rope (23) from bending toward one side after being released. Thus, the cooperation of the arc spring steel sheets (24) and the supporting discs (25) in the multiple sets of lifting ropes (23) keeps the support plate (26) stable. After the limit rod (27) is inserted into the lifting shell (2), the clamped welding parts are prevented from shaking during the movement. S5: In order to clamp a cylindrical welding part, after the switching electromagnet (63) is energized, the switching electromagnet (63) is attracted to the switching gear (61), driving the switching gear (61) to rise and then mesh with the switching rack (62), and the movement of the clamping housing (42) causes the switching gear (61) to rotate and drive the threaded sleeve (6) to rotate, thereby driving the lifting rack (57) threadedly connected thereto to rise, and the lifting rack (57) drives the transmission gear set (56) to rotate, and the transmission gear set (56) drives the pushing rack (51) located in the middle to move outward in the limiting sleeve (5), pushing the clamping block (55) to move outward, and the pushing racks (51) located at the upper and lower ends drive the limiting plate (52) to move inward, driving the pressure plate (53) to move inward, thereby switching between the pressure plate (53) and the clamping block (55), and the cylindrical welding part can be clamped by the clamping block (55).

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