A transfer robotic arm for machining mechanical parts

Abstract

A transfer robotic arm for machining mechanical parts belongs to the field of robotic arms. A clamping device is fixedly connected to the free end of the robotic arm body; a fixed seat is fixedly connected to the free end of the robotic arm body, a threaded cylinder is connected to the outside of the fixed seat through a bearing, and a limiting rod is fixedly connected to the top end of the side surface of the fixed seat; a transmission ring is connected to the outer cylindrical surface of the threaded cylinder through a thread, and the bottom end of the threaded cylinder is connected to the groove at the top of the bottom plate through a bearing; the limiting rod passes through the transmission ring and is fixedly connected to the upper end surface of the bottom plate; the side surfaces of the bottom plate and the transmission ring are both hinged to the movable device I; a motor is fixedly connected to the bottom of the fixed seat, and a connecting rod is fixedly connected to the output shaft of the motor; both ends of the connecting rod are fixedly connected to the inner wall of the threaded cylinder. The invention can not only stably clamp standard parts or special-shaped parts through a plurality of movable devices I, but also prevent workpiece damage caused by the workpiece falling during the moving process through a protective plate, and reduce the damage probability during the moving process.

Description

Technical Field

[0001] The present invention relates to a transfer robotic arm for machining mechanical parts and belongs to the field of robotic arms. Background Art

[0002] With the development of technology, on the production line, more and more robotic arms replace workers to do some simple and highly repetitive work. When machining mechanical parts, multiple processes are often required, and it is necessary to move the workpiece on multiple production lines. Therefore, the robotic arm for transferring the workpiece is particularly important. Most of the clamping mechanisms of the common transfer robotic arms on the market at present are composed of three or two movable clamping jaws. Multiple clamping jaws move and stop simultaneously. When handling some standard parts, they can clamp stably. However, when clamping some non-standard shaped workpieces, the clamping jaws do not clamp the workpiece stably, and it is very likely that the workpiece will fall and be damaged. Therefore, it is necessary to improve it. Summary of the Invention

[0003] The purpose of the present invention is to provide a transfer robotic arm for machining mechanical parts to solve the above problems in the background art.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A transfer robotic arm for machining mechanical parts includes a robotic arm body and a clamping device; the free end of the robotic arm body is fixedly connected with a clamping device;

[0006] The clamping device includes a fixed seat; the fixed seat is fixedly connected to the free end of the robotic arm body. The outside of the fixed seat is connected with a threaded cylinder through a bearing, and the top end of the side of the fixed seat is fixedly connected with a limiting rod; the outer circumferential surface of the threaded cylinder is threadedly connected with a transmission ring, and the bottom end of the threaded cylinder is connected to the groove at the top of the bottom plate through a bearing; the limiting rod passes through the transmission ring and is fixedly connected to the upper end surface of the bottom plate; the sides of the bottom plate and the transmission ring are both hinged to the movable device I; the bottom of the fixed seat is fixedly connected with a motor, and a connecting rod is fixedly connected to the output shaft of the motor; both ends of the connecting rod are fixedly connected to the inner wall of the threaded cylinder.

[0007] Compared with the prior art, the beneficial effect of the present invention is that the present invention can not only stably clamp standard parts or shaped parts through multiple movable devices I, but also prevent the workpiece from being damaged due to falling during the movement through the protection plate, reducing the damage probability during the movement. Description of the Drawings

[0008] Figure 1 is the front view of a transfer robotic arm for machining mechanical parts of the present invention;

[0009] Figure 2It is a schematic structural diagram of a clamping device of a transfer robotic arm for machining mechanical parts of the present invention;

[0010] Figure 3 It is a schematic structural diagram of the clamping state of a clamping device of a transfer robotic arm for machining mechanical parts of the present invention;

[0011] Figure 4 It is a top view of a clamping device of a transfer robotic arm for machining mechanical parts of the present invention;

[0012] Figure 5 It is Figure 4 A cross-sectional view taken along the A-A direction in

[0013] Figure 6 It is Figure 4 A cross-sectional view taken along the B-B direction in

[0014] Figure 7 It is a schematic structural diagram of the interior of a threaded barrel of a transfer robotic arm for machining mechanical parts of the present invention;

[0015] Figure 8 It is a schematic structural diagram of a movable device I of a transfer robotic arm for machining mechanical parts of the present invention;

[0016] Figure 9 It is of the present invention Figure 8 An enlarged schematic structural diagram of C in

[0017] Figure 10 It is of the present invention Figure 8 An enlarged schematic structural diagram of D in

[0018] Figure 11 It is of the present invention Figure 8 An enlarged schematic structural diagram of E in

[0019] Figure 12 It is a schematic structural diagram of a movable device II of a transfer robotic arm for machining mechanical parts of the present invention;

[0020] Figure 13 It is a top view of a protective plate of a transfer robotic arm for machining mechanical parts of the present invention.

[0021] In the figure: 1. Manipulator body; 2. Gripping device; 21. Fixed seat; 22. Limiting rod; 23. Threaded cylinder; 24. Transmission ring; 25. Moving device I; 251. Rotating sleeve I; 252. Slide bar I; 253. Collar; 254. Rotating sleeve II; 255. U-shaped rod; 256. Slide bar II; 257. Slide bar III; 258. Fixed rod; 259. Transmission rod; 2510. Return spring; 2511. Transmission block; 2512. Through hole; 2513. Spring II; 2514. Slide block II; 2515. Anti-slip sleeve; 2516. Slide block I; 2517. Spring I; 26. Moving device II; 261. Elastic telescopic rod; 262. Rotating rod; 263. Arc rod; 264. Protection plate; 27. Slide plate; 28. Spring III; 29. Base plate; 30. Motor; 31. Connecting rod; 32. Round hole. Specific embodiments

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Specific embodiment 1: As Figures 1 - 13 shown, this embodiment records a transfer manipulator for machining mechanical parts, including a manipulator body 1 and a gripping device 2; the free end of the manipulator body 1 is fixedly connected with a gripping device 2;

[0024] The gripping device 2 includes a fixed seat 21; the fixed seat 21 is fixedly connected to the free end of the manipulator body 1, the outer side of the fixed seat 21 is connected with a threaded cylinder 23 through a bearing, and the top end of the side surface of the fixed seat 21 is fixedly connected with a limiting rod 22; the outer circumferential surface of the threaded cylinder 23 is threadedly connected with a transmission ring 24, and the bottom end of the threaded cylinder 23 is connected to the groove at the top of the base plate 29 through a bearing; the limiting rod 22 passes through the transmission ring 24 and is fixedly connected to the upper end surface of the base plate 29; the side surfaces of the base plate 29 and the transmission ring 24 are both hinged to the moving device I 25; the bottom of the fixed seat 21 is fixedly connected with a motor 30, and the output shaft of the motor 30 is fixedly connected with a connecting rod 31; the two ends of the connecting rod 31 are fixedly connected to the inner wall of the threaded cylinder 23. By rotating the threaded cylinder 23, the transmission ring 24 is driven to move up and down, thereby driving the moving device I 25 to move and clamping the workpiece.

[0025] The movable device I 25 includes a rotating sleeve I 251; one end of the rotating sleeve I 251 is hinged to the side surface of the transmission ring 24, and the other end of the rotating sleeve I 251 is in sliding fit with a sliding rod I 252; a collar 253 sleeved on a U-shaped rod 255 is hinged to the other end of the sliding rod I 252; both ends of the U-shaped rod 255 are fixedly connected to the outside of a rotating sleeve II 254; one end of the rotating sleeve II 254 is hinged to the side surface of the bottom plate 29, and a sliding rod II 256 in sliding fit with it is provided at the other end of the rotating sleeve II 254; a fixed rod 258 is fixedly connected to the side surface of the other end of the sliding rod II 256, and an anti-slip sleeve 2515 in sliding fit with it is provided at the free end of the fixed rod 258; a through hole is provided inside the fixed rod 258, a slideway I is provided on the inner wall of the through hole, and a transmission rod 259 in sliding fit with it is also provided inside the through hole; a slider I 2516 in sliding fit with the slideway I is fixedly connected to the side surface of the transmission rod 259, and a spring I 2517 is provided between the slider I 2516 and the inner wall of the slideway I; a slideway II communicating with the slideway I is provided inside the sliding rod II 256, and a sliding rod III 257 in sliding fit with it is provided inside the slideway II; inclined surfaces are provided at both ends of the sliding rod III 257; a through hole 2512 is provided on the side surface of the end of the sliding rod II 256 located inside the rotating sleeve II 254, a slideway III is provided on the inner wall of the through hole 2512, and a transmission block 2511 in sliding fit with it is provided inside the through hole 2512; a slider II 2514 in sliding fit with the slideway III is fixedly connected to the side surface 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 sliding rod III 257 and the inner wall of the slideway II. The sliding rod 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 through the transmission block 2511 to prevent the two from moving relative to each other. The shortened length can effectively ensure that when clamping a special-shaped workpiece, each anti-slip sleeve 2515 can contact the side surface of the special-shaped workpiece, thereby ensuring the stability of clamping. At the same time, the relative movement between the sliding rod II 256 and the rotating sleeve II 254 can also enable the movable device I 25 to shorten the length to clamp the workpiece when it is too close to the workpiece, avoiding wasting time by adjusting the height of the movable device I 25 upward.

[0026] A plurality of the movable devices I 25 are provided.

[0027] The rotating sleeve I 251 and the sliding rod I 252 are in interference fit. This prevents the rotating sleeve I 251 and the sliding rod I 252 from moving relative to each other when the anti-slip sleeve 2515 is not blocked by the workpiece, resulting in an uncertain position of the movable device I 25 and inability to clamp the workpiece.

[0028] The clamping device 2 further includes an annular slide plate 27; the slide plate 27 is slidably engaged with the threaded cylinder 23. The slide plate 27 is located between the bottom plate 29 and the transmission ring 24, and a spring III 28 is fixedly connected 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 to the lower end of the slide plate 27.

[0029] The movable device II 26 includes a rotating rod 262; one end of the rotating rod 262 is hinged to the lower end of the bottom plate 29, and the other end of the rotating rod 262 is fixedly connected with an arc-shaped rod 263. The other end of the arc-shaped rod 263 is fixedly connected with a protective plate 264; the lower end of the slide plate 27 is fixedly connected with 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 slide rod II 256 and the rotating sleeve II 254 is less than the length of the line connecting the two ends of the arc-shaped rod 263, so as to ensure that when clamping the workpiece, the position of the protective plate 264 is always located at the lower end of the workpiece.

[0030] The diameter of the circular hole 32 is larger than the diameter of the elastic telescopic rod 261. The elastic telescopic rod 261 can displace in the horizontal direction in the circular hole 32. When the slide plate 27 moves to the lowest point, the elastic telescopic rod 261 is in a compressed state. Through the elastic force, the arc-shaped rod 263 is pushed, so that the protective plates 264 are mutually extruded, thereby avoiding gaps between the protective plates 264 during the movement and being unable to effectively protect when the workpiece falls off.

[0031] The protective plate 264 is fan-shaped.

[0032] A plurality of movable devices II 26 are provided, 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.

[0033] When the transmission ring 24 moves downward to contact the slide plate 27, a plurality of movable devices I 25 clamp the workpiece.

[0034] The working principle of the present invention is as follows: When using this device, the manipulator body 1 drives the clamping device 2 to move above the workpiece. Subsequently, the motor 30 is started, and the motor 30 drives the connecting rod 31 to rotate, thereby driving 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. The bottom plate 29 cannot rotate under the influence of the limiting rod 22. During the downward movement of the transmission ring 24, the transmission ring 24 pushes the rotating sleeve I 251 downward. The rotating sleeve I 251 has an interference fit with the sliding rod I 252, and the friction between the two is large. When not blocked, the rotating sleeve I 251 and the sliding rod I 252 will not move relative to each other, thereby driving the sliding rod I 252 to move downward. Since the collar 253 at the end of the sliding rod I 252 is sleeved on the U-shaped rod 255, the U-shaped rod 255 will also be pushed to move during the movement of the sliding rod I 252. The U-shaped rod 255 drives the rotating sleeve II 254 to rotate around the hinge between the rotating sleeve II 254 and the bottom plate 29, thereby driving the sliding rod II 256 and the fixed rod 258 to rotate until the fixed rod 258 clamps the workpiece. After clamping the workpiece, the transmission ring 24 continues to move downward. The anti-slip sleeve 2515 moves relative to the fixed rod 258 under the block of the workpiece, and pushes the transmission rod 259 to move, and compresses the spring I 2517 through the slider I 2516. The transmission rod 259 pushes the sliding rod III 257 to move through the inclined surface on the sliding rod III 257, so that the other end of the sliding rod III 257 pushes the transmission blocks 2511 on both sides thereof to slide in the through holes 2512 until the transmission blocks 2511 are close to the inner wall of the rotating sleeve II 254 to increase friction and prevent the sliding rod II 256 from sliding downward during the process of moving the workpiece. At the same time, during the continuous downward movement of the transmission ring 24, since the anti-slip sleeve 2515 and the fixed rod 258 are blocked by the workpiece and cannot move, when the transmission ring 24 moves downward at this time, it pushes the rotating sleeve I 251 and the sliding rod I 252 to move relative to each other and shorten the length. Until the transmission ring 24 contacts the sliding plate 27, the manipulator body 1 lifts the clamping device 2 and the workpiece and moves them to the target position. During the movement, the threaded cylinder 23 continues to rotate to drive the transmission ring 24 to move downward. The transmission ring 24 pushes the sliding plate 27 to move downward, compressing the spring III 28. During the downward movement of the sliding plate 27, it drives the elastic telescopic rod 261 to move downward, and pushes the rotating rod 262 to rotate around the hinge at the connection with the bottom plate 29, thereby driving the arc-shaped rod 263 and the protective plate 264 to rotate. Until the sliding plate 27 moves to the lowest point, the protective plates 264 on the multiple movable devices II 26 contact each other and are spliced into a circular plate shape and are located below the workpiece to prevent the workpiece from falling off and being damaged when falling to the ground during the movement;

[0035] After moving above the target position, the motor 30 rotates in the reverse direction, driving the transmission ring 24 to move upward. Under the elastic force of the spring Ⅲ 28, the slide plate 27 moves upward, causing the movable device Ⅱ 26 to unfold. Until the workpiece contacts the support plate surface at the target position, the transmission ring 24 disengages from the slide plate 27 and continues to move upward, driving the movable device Ⅰ 25 to unfold and place the workpiece. When the movable device Ⅰ 25 unfolds to the maximum angle, the transmission ring 24 continues to move upward, causing the rotating sleeve Ⅰ 251 and the sliding rod Ⅰ 252 to move relative to each other until their total length returns to the original length and then stops. Repeat the above operations to clamp the standard workpiece and prevent the workpiece from falling and being damaged;

[0036] As Figure 3 shown, when clamping a special-shaped workpiece, during the downward movement of the transmission ring 24, it drives the movable device Ⅰ 25 to move until the anti-slip sleeve 2515 on one or more of the movable devices Ⅰ 25 contacts the protruding position of the special-shaped workpiece in the horizontal direction. At this time, during the continued downward movement of the transmission ring 24, blocked by the lower support surface of the workpiece, the sliding rod Ⅱ 256 slides into the rotating sleeve Ⅱ 254, thereby making the heights of all the movable devices Ⅰ 25 the same in the vertical direction. When the transmission ring 24 continues to move downward, it drives the other movable devices Ⅰ 25 to move until the last movable device Ⅰ 25 contacts the workpiece. Subsequently, when the transmission ring 24 moves downward, following the above steps, the anti-slip sleeve 2515 is used to push the transmission rod 259 to move, thereby driving the transmission block 2511 to closely adhere to the inner wall of the rotating sleeve Ⅱ 254, increasing the friction and preventing downward sliding. And after the transmission ring 24 contacts the slide plate 27, it will also follow the above steps to move the protection plate 264 under the workpiece to prevent the workpiece from falling.

[0037] In the present invention, although the movable device Ⅰ 25 also moves simultaneously during the downward movement of the transmission ring 24, when clamping a special-shaped workpiece, the multiple movable devices Ⅰ 25 can move relative to each other, so that the anti-slip sleeves 2515 on the multiple movable devices Ⅰ 25 can all contact the side surface of the special-shaped workpiece, increasing the stability during the movement.

Claims

1. A transfer robotic arm for machining mechanical parts, characterized in that: It includes a robotic arm body (1) and a clamping device (2); the free end of the robotic arm body (1) is fixedly connected to the clamping device (2). The clamping device (2) includes a fixed seat (21); the fixed seat (21) is fixedly connected to the free end of the robotic arm body (1), the outer side of the fixed seat (21) is connected to a threaded cylinder (23) through a bearing, and a limiting rod (22) is fixedly connected to the top end of the side surface of the fixed seat (21); a transmission ring (24) is threadedly connected to the outer circumferential surface of the threaded cylinder (23), and the bottom end of the threaded cylinder (23) is connected to the groove at the top of the bottom plate (29) through a bearing; the limiting rod (22) passes through the transmission ring (24) and is fixedly connected to the upper end surface of the bottom plate (29); the side surfaces of the bottom plate (29) and the transmission ring (24) are both hinged to a movable device I (25); a motor (30) is fixedly connected to the bottom of the fixed seat (21), and a connecting rod (31) is fixedly connected to the output shaft of the motor (30); both ends of the connecting rod (31) are fixedly connected to the inner wall of the threaded cylinder (23). The movable device I (25) includes a rotating sleeve I (251); one end of the rotating sleeve I (251) is hinged to the side surface of the transmission ring (24), and the other end of the rotating sleeve I (251) is slidably matched with a sliding rod I (252); the other end of the sliding rod I (252) is hinged to a collar (253) sleeved on a U-shaped rod (255); both ends of the U-shaped rod (255) are fixedly connected to the outside of a rotating sleeve II (254); one end of the rotating sleeve II (254) is hinged to the side surface of the bottom plate (29), and the other end of the rotating sleeve II (254) is provided with a sliding rod II (256) slidably matched therewith; a fixed rod (258) is fixedly connected to the side surface of the other end of the sliding rod II (256), and an anti-slip sleeve (2515) slidably matched therewith is provided at the free end of the fixed rod (258); a through hole is provided inside the fixed rod (258), a slideway I is provided on the inner wall of the through hole, and a transmission rod (259) slidably matched therewith is further provided inside the through hole; a slider I (2516) slidably matched with the slideway I is fixedly connected to the side surface of the transmission rod (259), and a spring I (2517) is provided between the slider I (2516) and the inner wall of the slideway I; a slideway II communicating with the slideway I is provided inside the sliding rod II (256), and a sliding rod III (257) slidably matched therewith is provided inside the slideway II; both ends of the sliding rod III (257) are provided with inclined surfaces; a through hole (2512) is provided on the side surface of the end of the sliding rod II (256) located inside the rotating sleeve II (254), a slideway III is provided on the inner wall of the through hole (2512), and a transmission block (2511) slidably matched therewith is provided inside the through hole (2512); a slider II (2514) slidably matched with the slideway III is fixedly connected to the side surface 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 sliding rod III (257) and the inner wall of the slideway II.

2. The transfer robotic arm for machining mechanical parts according to claim 1, wherein: A plurality of the movable device I (25) are provided.

3. The transfer robotic arm for machining mechanical parts according to claim 2, wherein: The rotating sleeve I (251) and the sliding rod I (252) are in interference fit.

4. A transfer robotic arm for machining mechanical parts according to claim 1 or 3, characterized in that: The clamping device (2) further includes an annular sliding plate (27); the sliding plate (27) is slidably matched with the threaded cylinder (23), the sliding plate (27) is located between the bottom plate (29) and the transmission ring (24), and a spring III (28) is fixedly connected between the sliding plate (27) and the bottom plate (29); a plurality of round holes (32) are provided on the sliding plate (27), and a movable device II (26) is hinged to the lower end of the sliding plate (27).

5. The transfer robotic arm for machining mechanical parts according to claim 4, wherein: The movable device II (26) 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 with an arc-shaped rod (263), and the other end of the arc-shaped rod (263) is fixedly connected with a protective plate (264); a flexible telescopic rod (261) is fixedly connected to the lower end of the sliding plate (27), and the free end of the flexible telescopic rod (261) passes through the round hole (32) and is hinged to the rotating rod (262).

6. The transfer robotic arm for machining mechanical parts according to claim 5, characterized in that: The diameter of the round hole (32) is larger than the diameter of the flexible telescopic rod (261).

7. The transfer robotic arm for machining mechanical parts according to claim 6, characterized in that: The protective plate (264) is fan-shaped.

8. The transfer robotic arm for machining mechanical parts according to claim 7, characterized in that: A plurality of the movable device II (26) are provided, and when the transmission ring (24) pushes the sliding plate (27) to move to the lowest point, the protective plates (264) on the plurality of movable device II (26) are spliced into a circular plate shape.

9. The transfer robotic arm for machining mechanical parts according to claim 8, characterized in that: When the transmission ring (24) moves downward to contact the sliding plate (27), a plurality of the movable device I (25) clamp the workpiece.

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