Transfer mechanical arm for mechanical part machining

Abstract

The invention discloses a transfer mechanical arm for mechanical part machining and belongs to the field of mechanical arms. The free end of the mechanical arm body is fixedly connected with a clamping device; the fixing base is fixedly connected to the free end of the mechanical arm body, the outer side of the fixing base is connected with a threaded cylinder through a bearing, and the top end of the side face of the fixing base is fixedly connected with a limiting rod. A transmission ring is connected to the outer circle face of the threaded cylinder through threads, and the bottom end of the threaded cylinder is connected into a groove in the top of the bottom plate through a bearing. The limiting rod penetrates through the transmission ring and is fixedly connected to the upper end face of the bottom plate. The side surfaces of the bottom plate and the transmission ring are hinged to a movable device I; the bottom of the fixed seat is fixedly connected with a motor; an output shaft of the motor is fixedly connected with a connecting rod; the two ends of the connecting rod are fixedly connected to the inner wall of the threaded cylinder. Standard accessories or special-shaped accessories can be stably clamped through the multiple movable devices I, workpiece damage caused by falling of the workpieces can be prevented through the protection plate in the moving process, and the damage probability in the moving process is reduced.

Description

Technical Field

[0001] The invention relates to a transfer robot arm for machining mechanical parts, belonging to the field of robot arms. Background Art

[0002] With the development of science and technology, more and more robotic arms are replacing workers to do some simple and repetitive work on the production line. When processing mechanical parts, multiple processes are often required, and the workpieces need to be moved on multiple production lines. Therefore, the robotic arms used to transport workpieces are particularly important. At present, the common transfer robotic arms on the market have a clamping mechanism composed of three or two movable jaws. Multiple jaws move and stop at the same time. When transporting some standard parts, they can be clamped stably. However, when clamping some non-standard special-shaped workpieces, the clamping of the workpiece by the jaws is not stable, which is very likely to cause the workpiece to fall and be damaged. Therefore, it is necessary to improve it. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problems existing in the background technology and to provide a transfer robot arm for processing mechanical parts.

[0004] The present invention achieves the above-mentioned purpose by adopting the following technical solutions: A transfer robot arm for machining mechanical parts, comprising a robot arm body and a clamping device; the free end of the robot arm body is fixedly connected with the clamping device; The clamping device includes a fixed seat; the fixed seat is fixedly connected to the free end of the mechanical arm body, the outer side of the fixed seat is connected with a threaded barrel through a bearing, and the top end of the side of the fixed seat is fixedly connected to a limiting rod; the outer circumferential surface of the threaded barrel is connected with a transmission ring through a thread, and the bottom end of the threaded barrel is connected to the groove at the top of the base plate through a bearing; the limiting rod passes through the transmission ring and is fixedly connected to the upper end surface of the base plate; the sides of the base plate and the transmission ring are hinged to the movable device I; the bottom of the fixed seat is fixedly connected with a motor, and the output shaft of the motor is fixedly connected with a connecting rod; both ends of the connecting rod are fixedly connected to the inner wall of the threaded barrel.

[0005] Compared with the prior art, the beneficial effects of the present invention are: the present invention can not only stably clamp standard accessories or special-shaped accessories through multiple movable devices I, but also prevent damage to the workpiece caused by falling of the workpiece through the protective plate during the movement, thereby reducing the probability of damage during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a front view of a transfer robot arm for machining mechanical parts of the present invention; Figure 2 It is a structural schematic diagram of a gripping device of a transfer robot arm for machining mechanical parts of the present invention; Figure 3 It is a schematic diagram of the structure of the clamping state of a clamping device of a transfer robot arm for machining mechanical parts of the present invention; Figure 4 It is a top view of a gripping device of a transfer robot arm for machining mechanical parts of the present invention; Figure 5 yes Figure 4 Section view in the AA direction; Figure 6 yes Figure 4 Cross-sectional view in the middle BB direction; Figure 7 It is a schematic diagram of the structure inside the threaded barrel of a transfer robot arm for machining mechanical parts of the present invention; Figure 8 It is a schematic structural diagram of a movable device I of a transfer robot arm for machining mechanical parts of the present invention; Fig. 9 This invention Figure 8 Schematic diagram of the enlarged structure of C in the middle; Fig.10 The present invention Figure 8 Schematic diagram of the enlarged structure of D in the middle; Fig.11 The present invention Figure 8 Schematic diagram of the enlarged structure of E; Fig.12 It is a structural schematic diagram of a movable device II of a transfer robot arm for machining mechanical parts of the present invention; Fig.13 It is a top view of a protective plate of a transfer robot arm for machining mechanical parts according to the present invention.

[0007] In the figure: 1, mechanical arm body; 2, gripping device; 21, fixed seat; 22, limit rod; 23, threaded cylinder; 24, transmission ring; 25, movable device I; 251, rotating sleeve I; 252, sliding rod I; 253, collar; 254, rotating sleeve II; 255, U-shaped rod; 256, sliding rod II; 257, sliding rod III; 258, fixed rod; 259, transmission rod; 2510, reset spring; 2 511, transmission block; 2512, through hole; 2513, spring II; 2514, slider II; 2515, anti-slip sleeve; 2516, slider I; 2517, spring I; 26, movable device II; 261, elastic telescopic rod; 262, rotating rod; 263, arc rod; 264, protective plate; 27, slide plate; 28, spring III; 29, bottom plate; 30, motor; 31, connecting rod; 32, round hole. DETAILED DESCRIPTION

[0008] The technical solution of the present invention will be clearly and completely described 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 invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0009] Specific implementation method 1: Figure 1-Figure 13 As shown, this embodiment describes a transfer robot arm for machining mechanical parts, including a robot arm body 1 and a gripping device 2; the free end of the robot arm body 1 is fixedly connected to the gripping device 2; The clamping device 2 includes a fixed seat 21; the fixed seat 21 is fixedly connected to the free end of the mechanical arm body 1, and the outer side of the fixed seat 21 is connected to a threaded barrel 23 through a bearing, and the top of the side of the fixed seat 21 is fixedly connected to a limit rod 22; the outer circumferential surface of the threaded barrel 23 is connected to a transmission ring 24 through a thread, and the bottom end of the threaded barrel 23 is connected to the groove at the top of the bottom plate 29 through a bearing; the limit rod 22 passes through the transmission ring 24 and is fixedly connected to the upper end surface of the bottom plate 29; the sides of the bottom plate 29 and the transmission ring 24 are both hinged to the movable device I 25; the bottom of the fixed seat 21 is fixedly connected to a motor 30, and the output shaft of the motor 30 is fixedly connected to a connecting rod 31; the two ends of the connecting rod 31 are fixedly connected to the inner wall of the threaded barrel 23. The rotation of the threaded barrel 23 drives the transmission ring 24 to move up and down, thereby driving the movable device I 25 to move and clamp the workpiece.

[0010] The movable device I25 includes a rotating sleeve I251; one end of the rotating sleeve I251 is hinged to the side of the transmission ring 24, and the other end of the rotating sleeve I251 is slidably matched with the sliding rod I252; the other end of the sliding rod I252 is hinged with a ring 253 sleeved on the U-shaped rod 255; both ends of the U-shaped rod 255 are fixedly connected to the outside of the rotating sleeve II254; one end of the rotating sleeve II254 is hinged to the side of the bottom plate 29, and the other end of the rotating sleeve II254 is provided with a sliding rod II256 slidably matched therewith; the side of the other end of the sliding rod II256 is fixedly connected to a fixed rod 258, and the free end of the fixed rod 258 is provided with an anti-slip sleeve 2515 slidably matched therewith; the interior of the fixed rod 258 is provided with a perforation, the inner wall of the perforation is provided with a slideway I, and the perforation is also provided with a transmission rod 259 slidably matched therewith; A slider Ⅰ2516 that slidably cooperates with slideway Ⅰ is fixedly connected to the side of the movable rod 259, and a spring Ⅰ2517 is provided between the slider Ⅰ2516 and the inner wall of slideway Ⅰ; a slideway Ⅱ that is connected to slideway Ⅰ is provided inside the slide bar Ⅱ256, and a slide bar Ⅲ257 that slidably cooperates with it is provided inside the slide bar Ⅱ; both ends of the slide bar Ⅲ257 are provided with inclined surfaces; a through hole 2512 is provided on the side of one end of the slide bar Ⅱ256 located inside the rotating sleeve Ⅱ254, a slideway Ⅲ is provided on the inner wall of the through hole 2512, and a transmission block 2511 that slidably cooperates with it is provided inside the through hole 2512; a slider Ⅱ2514 that slidably cooperates with slideway Ⅲ is fixedly connected to the side of the transmission block 2511, and a spring Ⅱ2513 is fixedly connected between the slider Ⅱ2514 and the inner wall of slideway Ⅲ; a reset spring 2510 is fixedly connected between the slide bar Ⅲ257 and the inner wall of slideway Ⅱ. The slide bar Ⅱ 256 and the rotating sleeve Ⅱ 254 can move relative to each other, that is, the total length between the two is shortened, and after clamping the workpiece, the friction between the two can be increased by the transmission block 2511 to prevent the two from moving relative to each other. The shortened length can effectively ensure that when clamping special-shaped workpieces, each anti-slip sleeve 2515 can contact the side of the special-shaped workpiece, thereby ensuring the stability of clamping. At the same time, the slide bar Ⅱ 256 and the rotating sleeve Ⅱ 254 can move relative to each other, and the movable device Ⅰ25 can be shortened to clamp the workpiece when it is too close to the workpiece, thereby avoiding wasting time by adjusting the height of the movable device Ⅰ25 upwards.

[0011] The movable device Ⅰ25 is provided in plurality.

[0012] The rotating sleeve Ⅰ251 and the sliding rod Ⅰ252 are interference fit to prevent the rotating sleeve Ⅰ251 and the sliding rod Ⅰ252 from moving relative to each other when the anti-slip sleeve 2515 is not blocked by the workpiece, resulting in the position of the movable device Ⅰ25 being uncertain and unable to clamp the workpiece.

[0013] The clamping device 2 also includes an annular slide plate 27; the slide plate 27 is slidably matched with the threaded tube 23, the slide plate 27 is located between the bottom plate 29 and the transmission ring 24, and a spring III 28 is provided between the slide plate 27 and the bottom plate 29; a plurality of circular holes 32 are provided on the slide plate 27, and a movable device II 26 is hinged at the lower end of the slide plate 27.

[0014] The movable device II26 includes a rotating rod 262; one end of the rotating rod 262 is hinged to the lower end of the bottom plate 29, the other end of the rotating rod 262 is fixedly connected to an arc rod 263, and the other end of the arc rod 263 is fixedly connected to a protective plate 264; the lower end of the slide plate 27 is fixedly connected to an elastic telescopic rod 261, and the free end of the elastic telescopic rod 261 passes through the circular hole 32 and is hinged to the rotating rod 262. The maximum length of the sliding rod II256 and the rotating sleeve II254 is less than the length of the line between the two ends of the arc rod 263, so as to ensure that when clamping the workpiece, the protective plate 264 is always located at the lower end of the workpiece.

[0015] The diameter of the circular hole 32 is larger than the diameter of the elastic telescopic rod 261. The elastic telescopic rod 261 can be displaced in the horizontal direction of the circular hole 32. When the slide plate 27 moves to the lowest point, the elastic telescopic rod 261 is in a compressed state, and the arc rod 263 is pushed by elastic force, so that each protective plate 264 is squeezed against each other, thereby preventing the protective plate 264 from exposing gaps during the movement, and failing to effectively protect the workpiece when it falls off.

[0016] The protection plate 264 is fan-shaped.

[0017] There are multiple movable devices II 26 , and when the transmission ring 24 pushes the slide plate 27 to move to the lowest point, the protection plates 264 on the multiple movable devices II 26 are spliced ​​into a circular plate shape.

[0018] When the transmission ring 24 moves downward to contact the slide plate 27, a plurality of movable devices I 25 clamp the workpiece.

[0019] The working principle of the present invention is: when using the device, the gripping device 2 is driven to move above the workpiece by the robot body 1, and then the motor 30 is started, the motor 30 drives the connecting rod 31 to rotate, and then drives the threaded cylinder 23 to rotate, the threaded cylinder 23 drives the transmission ring 24 to move downward from the highest point through the thread, and the bottom plate 29 cannot rotate due to the influence of the limiting rod 22. In the process of the transmission ring 24 moving downward, the transmission ring 24 pushes the rotating sleeve I251 to move downward, the rotating sleeve I251 and the sliding rod I252 have an interference fit, and the friction between the two is large. When not blocked, the rotating sleeve I251 and the sliding rod I252 will not move relative to each other, thereby driving the sliding rod Ⅰ252 moves downward. Since the ring 253 at the end of the slide bar Ⅰ252 is sleeved on the U-shaped rod 255, the U-shaped rod 255 will be pushed to move during the movement of the slide bar Ⅰ252. The U-shaped rod 255 drives the rotating sleeve Ⅱ254 to rotate around the hinge between the rotating sleeve Ⅱ254 and the bottom plate 29, thereby driving the slide bar Ⅱ256 and the fixed rod 258 to rotate until the fixed rod 258 clamps the workpiece. After the workpiece is clamped, the transmission ring 24 continues to move downward, and the anti-slip sleeve 2515 is blocked by the workpiece and moves relative to the fixed rod 258, and pushes the transmission rod 259 to move, and pushes the spring Ⅰ2517 to be compressed through the slider Ⅰ2516, and the transmission rod 259 passes The inclined surface on the slide bar III 257 pushes the slide bar III 257 to move, and then the other end of the slide bar III 257 pushes the transmission blocks 2511 on both sides thereof to slide in the through hole 2512, until the transmission blocks 2511 are close to the inner wall of the rotating sleeve II 254, increasing the friction, and preventing the slide bar II 256 from sliding downward in the process of moving the workpiece. At the same time, as the transmission ring 24 continues to move downward, the anti-slip sleeve 2515 and the fixed rod 258 are blocked by the workpiece and cannot move. Therefore, when the transmission ring 24 moves downward at this time, it pushes the rotating sleeve I 251 and the slide bar I 252 to move relative to each other, shortening the length, until the transmission ring 24 contacts the slide plate 27, and the robot arm body 1 lifts the clamping device 2 and the workpiece to move to the target position. During the movement, the threaded cylinder 23 continues to rotate to drive the transmission ring 24 to move downward, and the transmission ring 24 pushes the slide plate 27 to move downward, compressing the spring III 28. During the downward movement of the slide plate 27, the elastic telescopic rod 261 is driven to move downward, and the rotating rod 262 is driven to rotate around the hinge connected with the bottom plate 29, thereby driving the arc rod 263 and the protective plate 264 to rotate, until the slide plate 27 moves to the lowest point, and the protective plates 264 on the multiple movable devices II 26 contact each other, are spliced ​​into a circular plate shape, and are located below the workpiece to prevent the workpiece from falling off and falling on the ground during the movement to cause damage; After moving to the upper part of the target position, the motor 30 rotates in the opposite direction, driving the transmission ring 24 to move upward, and the slide plate 27 moves upward under the elastic force of the spring III 28, so that the movable device II 26 is unfolded, until the workpiece contacts the support plate surface at the target position, the transmission ring 24 is separated from the slide plate 27 and continues to move upward, driving the movable device I 25 to unfold and put down the workpiece. When the movable device I 25 is unfolded to the maximum angle, the transmission ring 24 continues to move upward, so that the rotating sleeve I 251 and the slide rod I 252 move relative to each other, until the total length of the two is restored to the original length and then stops, repeating the above operation to clamp the standard workpiece, and can prevent the workpiece from falling off and breaking; like Figure 3 As shown, when clamping a special-shaped workpiece, during the downward movement of the transmission ring 24, the movable device I25 is driven to move until the anti-slip sleeve 2515 on one or more of the movable devices I25 contacts the protruding position of the special-shaped workpiece in the horizontal direction. At this time, during the continuous downward movement of the transmission ring 24, the blocking slide bar II256 supported by the table surface at the lower end of the workpiece slides toward the inside of the rotating sleeve II254, thereby making all the movable devices I25 have the same height in the vertical direction. When the transmission ring 24 continues to move downward, it drives other movable devices I25 to move until the last movable device I25 contacts the workpiece. Subsequently, when the transmission ring 24 moves downward, according to the above steps, the transmission rod 259 is pushed to move by the anti-slip sleeve 2515, thereby driving the transmission block 2511 to be close to the inner wall of the rotating sleeve II254, increasing friction and preventing downward sliding. After the transmission ring 24 contacts the slide plate 27, the protective plate 264 is also moved to the bottom of the workpiece according to the above steps to prevent the workpiece from falling.

[0020] In the present invention, although the movable device I25 will also move simultaneously with the downward movement of the transmission ring 24, when clamping the special-shaped workpiece, multiple movable devices I25 can move relatively, so that the anti-slip sleeves 2515 on the multiple movable devices I25 can all contact the side of the special-shaped workpiece, thereby increasing stability during the movement.

Claims

1. A transfer robot arm for machining mechanical parts, characterized in that: It comprises a mechanical arm body (1) and a gripping device (2); the free end of the mechanical arm body (1) is fixedly connected to the gripping device (2); The gripping device (2) comprises a fixed seat (21); the fixed seat (21) is fixedly connected to the free end of the mechanical arm body (1); the outer side of the fixed seat (21) is connected to a threaded barrel (23) via a bearing, and the top end of the side of the fixed seat (21) is fixedly connected to a limit rod (22); the outer circumferential surface of the threaded barrel (23) is connected to a transmission ring (24) via a thread, and the bottom end of the threaded barrel (23) is connected to a groove at the top of a bottom plate (29) via a bearing; the limit rod (22) passes through the transmission ring (24) and is fixedly connected to the upper end surface of the bottom plate (29); the sides of the bottom plate (29) and the transmission ring (24) are both hinged to the movable device I (25); the bottom of the fixed seat (21) is fixedly connected to a motor (30), and the output shaft of the motor (30) is fixedly connected to a connecting rod (31); both ends of the connecting rod (31) are fixedly connected to the inner wall of the threaded barrel (23).

2. A transfer robot arm for machining mechanical parts according to claim 1, characterized in that: The movable device I (25) comprises a rotating sleeve I (251); one end of the rotating sleeve I (251) is hinged to the side of the transmission ring (24), and the other end of the rotating sleeve I (251) is slidably matched with the sliding rod I (252); the other end of the sliding rod I (252) is hinged to a sleeve (253) sleeved on the U-shaped rod (255); both ends of the U-shaped rod (255) are fixedly connected to the outer side of the rotating sleeve II (254); the rotating sleeve II (254 ) is hinged at one end to the side of the bottom plate (29), and the other end of the rotating sleeve II (254) is provided with a sliding rod II (256) that is slidably matched with the sliding rod II; the side of the other end of the sliding rod II (256) is fixedly connected to a fixing rod (258), and the free end of the fixing rod (258) is provided with an anti-slip sleeve (2515) that is slidably matched with the fixing rod (258); a through hole is provided inside the fixing rod (258), a slideway I is provided on the inner wall of the through hole, and a transmission rod (259) that is slidably matched with the fixing rod (259) is also provided in the through hole; The side of the transmission rod (259) is fixedly connected with a slider I (2516) that is slidably matched with the slideway I, and a spring I (2517) is provided between the slider I (2516) and the inner wall of the slideway I; a slideway II that is connected to the slideway I is provided inside the slide rod II (256), and a slide rod III (257) that is slidably matched with the slideway II is provided inside the slideway II; both ends of the slide rod III (257) are provided with inclined surfaces; the slide rod II (256) is located on the side of one end of the rotating sleeve II (254) A through hole (2512) is provided on the surface, a slideway III is provided on the inner wall of the through hole (2512), and a transmission block (2511) slidably matched with the through hole (2512) is provided in the through hole (2512); a slider II (2514) slidably matched with the slideway III is fixedly connected to the side of the transmission block (2511), and a spring II (2513) is fixedly connected between the slider II (2514) and the inner wall of the slideway III; a return spring (2510) is fixedly connected between the slide bar III (257) and the inner wall of the slideway II.

3. A transfer robot arm for machining mechanical parts according to claim 2, characterized in that: The movable device I (25) is provided in plurality.

4. The transfer robot arm for machining mechanical parts according to claim 3, characterized in that: The rotating sleeve I (251) and the sliding rod I (252) are interference fit.

5. A transfer robot arm for machining mechanical parts according to claim 2 or 4, characterized in that: The clamping device (2) further comprises an annular slide plate (27); the slide plate (27) is slidably matched with the threaded tube (23); the slide plate (27) is located between the base plate (29) and the transmission ring (24); a spring III (28) is provided between the slide plate (27) and the base plate (29); a plurality of circular holes (32) are provided on the slide plate (27); a movable device II (26) is hingedly connected to the lower end of the slide plate (27).

6. The transfer robot arm for machining mechanical parts according to claim 5, characterized in that: The movable device II (26) comprises a rotating rod (262); one end of the rotating rod (262) is hinged to the lower end of the bottom plate (29); the other end of the rotating rod (262) is fixedly connected to an arc rod (263); the other end of the arc rod (263) is fixedly connected to a protective plate (264); the lower end of the slide plate (27) is fixedly connected to an elastic telescopic rod (261); the free end of the elastic telescopic rod (261) passes through the circular hole (32) and is hinged to the rotating rod (262).

7. The transfer robot arm for machining mechanical parts according to claim 6, characterized in that: The diameter of the circular hole (32) is greater than the diameter of the elastic telescopic rod (261).

8. The transfer robot arm for machining mechanical parts according to claim 7, characterized in that: The protection plate (264) is fan-shaped.

9. The transfer robot arm for machining mechanical parts according to claim 8, characterized in that: The movable device II (26) is provided in plurality, and when the transmission ring (24) pushes the slide plate (27) to move to the lowest point, the protective plates (264) on the plurality of movable devices II (26) are spliced ​​into a circular plate shape.

10. A transfer robot arm for machining mechanical parts according to claim 9, characterized in that: When the transmission ring (24) moves downward to contact the slide plate (27), the plurality of movable devices I (25) clamp the workpiece.

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