Quick positioning four-axis robot for mechanical part machining

Abstract

The invention relates to the technical field of robots, and particularly discloses a quick-positioning four-axis robot for mechanical part machining, which comprises a robot bottom plate, a base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a gripper bracket, the base is rotatably arranged on the robot bottom plate, the first mechanical arm is rotatably connected with the base, and the second mechanical arm is rotatably connected with the gripper bracket; the second mechanical arm is rotationally connected with the first mechanical arm, and the third mechanical arm is rotationally connected with the second mechanical arm; the machining part comprises a rhombic flange plate and a square interface; a grabbing assembly is arranged at the position of the gripper support. The material grabbing assembly is arranged in the material grabbing frame, the two material grabbing units are arranged in the material grabbing assembly, four material grabbing rods in the two material grabbing units can be driven by telescopic rods to clamp a rhombic flange plate in a machined part, and the fixed machined part is stable in position and not prone to shaking; the stability of the rhombic flange plate on the fixture can be ensured, and the subsequent detection work of a detection device is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a four-axis robot with rapid positioning for machining mechanical parts. Background Art

[0002] A four-axis robot is a motion mechanical device with four degrees of freedom.

[0003] Some mechanical structures often use bent pipe parts, one of which has a square pipe mouth at one end and a diamond-shaped flange at the other end. In order to facilitate subsequent assembly, the above-mentioned special-shaped bent pipe has high processing requirements on one end of the diamond-shaped flange. After processing, it also requires more accurate detection. In order to ensure the accuracy of the detection value, it is necessary to allow the four-axis robot to firmly clamp the special-shaped bent pipe so that the diamond-shaped flange remains stable during detection. Therefore, this application proposes a four-axis robot for rapid positioning of mechanical parts processing. Summary of the invention

[0004] The purpose of the present invention is to provide a four-axis robot with rapid positioning for machining mechanical parts to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a four-axis robot for rapid positioning of mechanical parts processing, comprising a robot base plate, a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, and a gripper bracket, wherein the base is rotatably arranged on the robot base plate, the first mechanical arm is rotatably connected to the base, the second mechanical arm is rotatably connected to the first mechanical arm, and the third mechanical arm is rotatably connected to the second mechanical arm;

[0006] It also includes processed parts, which include diamond-shaped flanges and square interfaces;

[0007] The gripper bracket is provided with a material grabbing assembly;

[0008] The material grabbing assembly includes two material grabbing units, which are respectively located on both sides of the diamond-shaped flange. Two material grabbing rods are arranged in the material grabbing unit, which are respectively located on both sides of the diamond-shaped flange. The material grabbing rods are connected to a power unit, which is used to drive the two material grabbing rods to rest against the diamond-shaped flange.

[0009] Preferably, a first connecting plate is provided on the base, the first connecting plate is rotatably connected to the second connecting plate, the second connecting plate is rotatably connected to a connecting seat at one end away from the first connecting plate, the connecting seat is rotatably connected to a third connecting plate at a side away from the second connecting plate, and the third connecting plate is rotatably connected to the third robotic arm.

[0010] Preferably, the gripper bracket includes a top plate, a bottom plate, a fan-shaped plate, and a conical frame. The top plate is arranged on the third mechanical arm, and two fan-shaped plates are arranged.

[0011] Preferably, the upper and lower ends of the fan-shaped plate are respectively connected to the top plate and the bottom plate, the fan-shaped plates are symmetrically distributed around the center line of the top plate, and the conical frame is arranged on the lower side of the bottom plate.

[0012] Preferably, an interface positioning unit is provided on the gripper bracket, the interface positioning unit includes a plug and a telescopic unit, the plug is connected to a circular plate, the circular plate is connected to the telescopic unit, the plug and the circular plate are detachably connected by bolts, and the plug is plugged into the square interface.

[0013] Preferably, the power unit comprises a lower positioning sleeve, an upper positioning sleeve, a first support plate, and a second support plate, and the grabbing rod sleeve is provided with a lower positioning sleeve and an upper positioning sleeve, and the lower positioning sleeve and the upper positioning sleeve are respectively located on the upper and lower sides of the diamond-shaped flange.

[0014] Preferably, one of the grabbing rods is rotatably connected to the first support plate, and the other grabbing rod is rotatably connected to the second support plate, the first support plate and the second support plate are both connected to push-pull brackets, and the push-pull bracket in at least one grabbing unit is connected to a telescopic rod.

[0015] Preferably, a first tensioning plate is arranged on the first support plate, a second tensioning plate is arranged on the second support plate, the other ends of the first tensioning plate and the second tensioning plate are connected to a tensioning bracket, the tensioning bracket is connected to a tensioning spring, and the other end of the tensioning spring is connected to a push-pull bracket.

[0016] Preferably, a synchronous drive assembly is provided in the gripper bracket, and the synchronous drive assembly includes two L-plates, and the two L-plates are respectively connected to the two push-pull brackets in the two grabbing units, and a slide groove is provided in the L-plate, and a first connecting rod is inserted into the slide groove, and a push-pull plate is inserted into the first connecting rod, and a second connecting rod is inserted into the end of the push-pull plate away from the first connecting rod, and the two push-pull plates are connected by the second connecting rod.

[0017] Preferably, a guide frame is provided at the bottom of the push-pull plate, a guide groove is provided in the guide frame, the second connecting rod is slidably connected to the guide groove, the L-plate is rotatably connected to a slider, the slider is slidably connected to a guide rail, the guide rail is provided on the horizontal plate, and a plurality of vertical rods are provided on one side of the horizontal plate close to the material grabbing frame.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The base, the first robotic arm, the second robotic arm, and the third robotic arm of the present invention are all connected to their respective corresponding driving units. The driving units enable the base, the first robotic arm, the second robotic arm, and the third robotic arm to adjust their positions, thereby realizing four-axis adjustment of the position of the gripper bracket, making it convenient for the gripper bracket and the gripping frame and other components thereon to quickly position and clamp the workpiece.

[0020] 2. The present invention is provided with a grabbing assembly inside the grabbing frame, and two grabbing units are arranged inside the grabbing assembly. The four grabbing rods in the two grabbing units can clamp the diamond-shaped flange in the workpiece under the drive of the telescopic rod. During specific operation, the telescopic rod pushes the push-pull bracket to move, thereby driving the two grabbing rods to squeeze the diamond-shaped flange. The four grabbing rods in the two symmetrically distributed grabbing units squeeze the diamond-shaped flange from four directions, which can lock the position of the diamond-shaped flange to complete the fixation of the workpiece. After fixation, the position of the workpiece is stable and not easy to shake, which can ensure the stability of the diamond-shaped flange thereon, and facilitate the subsequent detection work of the detection device.

[0021] 3. The present invention provides an interface positioning unit on the material grabbing frame, and the telescopic unit inside the unit can drive the plug to move, so that the plug can be inserted into the square interface in the workpiece, and the plug can also be pulled out from the square interface, thereby realizing the fixing and loosening operations on one side of the square interface in the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic diagram of the structure of a four-axis robot for rapid positioning of mechanical parts processing in the present invention.

[0023] Figure 2 It is a side view of the four-axis robot for rapid positioning of mechanical parts processing in the present invention.

[0024] Figure 3 This is one of the structural schematic diagrams of the gripper bracket and the material gripping frame in the present invention.

[0025] Figure 4 This is the second structural schematic diagram of the gripper bracket and the material gripping frame in the present invention.

[0026] Figure 5 It is a schematic diagram of the structure of the material grabbing assembly in the present invention.

[0027] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure at point A in the middle.

[0028] Figure 7 It is a structural schematic diagram of the synchronous drive component in the present invention.

[0029] Figure 8 It is a structural schematic diagram of the interface positioning unit in the present invention.

[0030] In the figure: 1, robot base plate; 2, base; 3, first robot arm; 4, second robot arm; 5, third robot arm; 6, gripper bracket; 601, top plate; 602, bottom plate; 603, fan-shaped plate; 604, conical frame; 7, material grabbing frame; 8, workpiece; 801, diamond flange; 802, square interface;

[0031] 9. Material grabbing assembly; 901. Material grabbing rod; 902. Lower positioning sleeve; 903. Upper positioning sleeve; 904. First support plate; 905. Second support plate; 906. Push-pull bracket; 907. Telescopic rod; 908. First tensioning plate; 909. Second tensioning plate; 910. Tensioning spring;

[0032] 10. Synchronous drive assembly; 1001. L plate; 1002. Push-pull plate; 1003. Guide frame; 1004. Slider; 1005. Guide rail;

[0033] 11. Interface positioning unit; 1101. Plug; 1102. Telescopic unit; 12. First connecting plate; 13. Second connecting plate; 14. Connecting seat; 15. Third connecting plate. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Reference Figure 1-Figure 8 A four-axis robot for rapid positioning of mechanical parts processing includes a robot base plate 1, a base 2, a first mechanical arm 3, a second mechanical arm 4, a third mechanical arm 5, and a gripper bracket 6. Specifically, the base 2 is rotatably arranged on the robot base plate 1, the first mechanical arm 3 is rotatably connected to the base 2, the second mechanical arm 4 is rotatably connected to the first mechanical arm 3, and the third mechanical arm 5 is rotatably connected to the second mechanical arm 4. It should be noted that the base 2, the first mechanical arm 3, the second mechanical arm 4, and the third mechanical arm 5 are all connected to their respective corresponding driving units, and the driving unit enables the base 2, the first mechanical arm 3, the second mechanical arm 4, and the third mechanical arm 5 to adjust their positions, so as to realize the four-axis adjustment of the position of the gripper bracket 6, so that the gripper bracket 6 and the material grasping frame 7 and other components thereon can quickly position and clamp the workpiece 8, so as to facilitate the subsequent processing work. The above-mentioned four-axis robot is used to move the workpiece 8 from the grinding station to the inspection station, and measure the various dimensions of the workpiece 8 at the inspection station. After the inspection is completed, the four-axis robot removes the workpiece 8. During the inspection process, the workpiece 8 is always on the four-axis robot.

[0036] Reference Figure 1 , Figure 2In order to improve the stability of the four-axis robot during operation, a first connecting plate 12 is provided on the base 2, and the first connecting plate 12 is rotatably connected to the second connecting plate 13, and the end of the second connecting plate 13 away from the first connecting plate 12 is rotatably connected to the connecting seat 14, and the side of the connecting seat 14 away from the second connecting plate 13 is rotatably connected to the third connecting plate 15, and the third connecting plate 15 is rotatably connected to the third mechanical arm 5. The connecting seat 14 is inserted into the position where the first mechanical arm 3 and the second mechanical arm 4 are hinged, and the first connecting plate 12, the second connecting plate 13, the connecting seat 14, and the third connecting plate 15 are used to provide guidance for the movement of the base 2, the first mechanical arm 3, the second mechanical arm 4, the third mechanical arm 5 and other components, so that the base 2, the first mechanical arm 3, the second mechanical arm 4, and the third mechanical arm 5 remain stable during movement.

[0037] Specifically, the gripper bracket 6 includes a top plate 601, a bottom plate 602, a fan-shaped plate 603, and a conical frame 604. The top plate 601 is set on the third robotic arm 5. Two fan-shaped plates 603 are provided. The upper and lower ends of the fan-shaped plates 603 are respectively connected to the top plate 601 and the bottom plate 602. The fan-shaped plates 603 are symmetrically distributed about the center line of the top plate 601, and the conical frame 604 is set on the lower side of the bottom plate 602.

[0038] It also includes a processed part 8, which includes a diamond-shaped flange 801 and a square interface 802. The processed part 8 is configured as a right-angle elbow as a whole, with a diamond-shaped flange 801 at one end and a square interface 802 at the other end.

[0039] In order to clamp the workpiece 8 , a gripping assembly 9 for clamping the diamond-shaped flange 801 in the workpiece 8 is provided at the gripping bracket 6 .

[0040] For details, please refer to Figure 3 , Figure 4 A material grabbing frame 7 is arranged at the lower side of the gripper bracket 6 , and a material grabbing assembly 9 is arranged on the material grabbing frame 7 .

[0041] For more details, please refer to Figure 5 , Figure 6 The grabbing assembly 9 includes two grabbing units, which are respectively located on both sides of the diamond-shaped flange 801. Two grabbing rods 901 are arranged in the grabbing unit, which are respectively located on both sides of the diamond-shaped flange 801. The grabbing rods 901 are provided with lower positioning sleeves 902 and upper positioning sleeves 903. The lower positioning sleeves 902 and upper positioning sleeves 903 are respectively located on the upper and lower sides of the diamond-shaped flange 801. When the workpiece 8 is clamped, the grabbing rods 901 are against the outer wall of the diamond-shaped flange 801.

[0042] It should be noted that one of the grabbing rods 901 is rotatably connected to the first support plate 904, and the other grabbing rod 901 is rotatably connected to the second support plate 905. The first support plate 904 and the second support plate 905 are both connected to the push-pull bracket 906. The push-pull bracket 906 in at least one grabbing unit is connected to the telescopic rod 907, and the push-pull bracket 906 in both grabbing units can also be connected to the telescopic rod 907.

[0043] The telescopic rod 907 pushes the push-pull bracket 906 to move, thereby driving the two grabbing rods 901 to squeeze the diamond-shaped flange 801. The four grabbing rods 901 in the two symmetrically distributed grabbing units squeeze the diamond-shaped flange 801 from four directions, which can lock the position of the diamond-shaped flange 801 and complete the fixing of the workpiece 8.

[0044] In order to allow the two grabbing rods 901 in the same grabbing unit to rest against the two sides of the diamond-shaped flange 801, a first tensioning plate 908 is arranged on the first support plate 904, and a second tensioning plate 909 is arranged on the second support plate 905. The other ends of the first tensioning plate 908 and the second tensioning plate 909 are connected to a tensioning bracket, and the tensioning bracket is connected to a tensioning spring 910. The other end of the tensioning spring 910 is connected to a push-pull bracket 906.

[0045] The tensioning spring 910 can pull the tensioning bracket, so that the first tensioning plate 908 and the second tensioning plate 909 connected to the tensioning bracket move towards each other, the first tensioning plate 908 and the second tensioning plate 909 pull the first support plate 904 and the second support plate 905 towards each other, and the two grabbing rods 901 inserted into the first support plate 904 and the second support plate 905 are close to each other, so that the two grabbing rods 901 are always in contact with the outer wall of the diamond flange 801.

[0046] In order to allow the two grabbing units to move synchronously and the workpiece 8 to be fixed in the middle position of the grabbing frame 7, it is convenient for the subsequent positioning of the interface positioning unit 11, and also allows the four-axis robot to transfer the workpiece 8 to a higher degree of overlap with the expected position. Therefore, a synchronous drive component 10 is arranged in the grabbing frame 7, and the synchronous drive component 10 includes two L-plates 1001, and the two L-plates 1001 are respectively connected to the two push-pull brackets 906 in the two grabbing units, and a slide groove is arranged in the L-plate 1001, and a first connecting rod is inserted in the slide groove, and a push-pull plate 1002 is inserted in the first connecting rod, and a second connecting rod is inserted in the end of the push-pull plate 1002 away from the first connecting rod, and the two push-pull plates 1002 are connected by the second connecting rod, and a guide frame 1003 is arranged at the bottom of the push-pull plate 1002, and a guide groove is arranged in the guide frame 1003, and the second connecting rod is slidably connected to the guide groove.

[0047] More specifically, the L-plate 1001 is rotatably connected to a slider 1004 , and the slider 1004 is slidably connected to a guide rail 1005 . The guide rail 1005 is arranged on a horizontal plate, and a plurality of vertical rods are arranged on one side of the horizontal plate close to the material grabbing frame 7 .

[0048] In order to position the square interface 802 in the workpiece 8 so that it can move synchronously with the grabbing frame 7, an interface positioning unit 11 is provided on the grabbing frame 7. The interface positioning unit 11 includes a plug 1101 and a telescopic unit 1102. The plug 1101 is connected to a circular plate, and the circular plate is connected to the telescopic unit 1102. The plug 1101 and the circular plate are detachably connected by bolts, and the plug 1101 is plugged into the square interface 802.

[0049] An interface positioning unit 11 is provided on the material grabbing frame 7, and the telescopic unit 1102 therein can drive the plug 1101 to move. The plug 1101 can be inserted into the square interface 802 in the workpiece 8, and the plug 1101 can also be pulled out from the square interface 802 to realize the fixing and loosening operations on one side of the square interface 802 in the workpiece 8.

[0050] Working principle:

[0051] The base 2, the first robotic arm 3, the second robotic arm 4, and the third robotic arm 5 are all connected to their respective corresponding drive units, which enable the base 2, the first robotic arm 3, the second robotic arm 4, and the third robotic arm 5 to adjust their positions, thereby realizing four-axis adjustment of the position of the gripper bracket 6, making it convenient for the gripper bracket 6 and the gripping frame 7 and other components thereon to quickly position and clamp the workpiece 8, thereby facilitating subsequent processing work.

[0052] A grabbing assembly 9 is arranged inside the grabbing frame 7, and two grabbing units are arranged inside the grabbing assembly 9. The four grabbing rods 901 in the two grabbing units can clamp the diamond-shaped flange 801 in the workpiece 8 under the drive of the telescopic rod 907. During specific operation, the telescopic rod 907 pushes the push-pull bracket 906 to move, thereby driving the two grabbing rods 901 to squeeze the diamond-shaped flange 801. The four grabbing rods 901 in the two symmetrically distributed grabbing units squeeze the diamond-shaped flange 801 from four directions, and the position of the diamond-shaped flange 801 can be locked to complete the fixing of the workpiece 8.

[0053] An interface positioning unit 11 is provided on the material grabbing frame 7, and the telescopic unit 1102 therein can drive the plug 1101 to move. The plug 1101 can be inserted into the square interface 802 in the workpiece 8, and the plug 1101 can also be pulled out from the square interface 802 to realize the fixing and loosening operations on one side of the square interface 802 in the workpiece 8.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-axis robot for rapid positioning of mechanical parts processing, characterized in that: The robot comprises a robot base plate (1), a base (2), a first mechanical arm (3), a second mechanical arm (4), a third mechanical arm (5), and a gripper bracket (6); the base (2) is rotatably arranged on the robot base plate (1); the first mechanical arm (3) is rotatably connected to the base (2); the second mechanical arm (4) is rotatably connected to the first mechanical arm (3); and the third mechanical arm (5) is rotatably connected to the second mechanical arm (4); It also includes a processed part (8), which includes a diamond-shaped flange (801) and a square interface (802); The gripper bracket (6) is provided with a material gripping assembly (9); The material grabbing assembly (9) comprises two material grabbing units, which are respectively located on both sides of the diamond-shaped flange (801). Two material grabbing rods (901) are arranged in the material grabbing units, which are respectively located on both sides of the diamond-shaped flange (801). The material grabbing rods (901) are connected to a power unit, which is used to drive the two material grabbing rods (901) to rest against the diamond-shaped flange (801).

2. A four-axis robot for rapid positioning of mechanical parts processing according to claim 1, characterized in that: The base (2) is provided with a first connecting plate (12), the first connecting plate (12) is rotatably connected to a second connecting plate (13), one end of the second connecting plate (13) away from the first connecting plate (12) is rotatably connected to a connecting seat (14), a side of the connecting seat (14) away from the second connecting plate (13) is rotatably connected to a third connecting plate (15), and the third connecting plate (15) is rotatably connected to a third mechanical arm (5).

3. A four-axis robot for rapid positioning of mechanical parts processing according to claim 1, characterized in that: The gripper support (6) comprises a top plate (601), a bottom plate (602), a sector plate (603), and a conical frame (604); the top plate (601) is arranged on the third mechanical arm (5), and two sector plates (603) are arranged.

4. A four-axis robot for rapid positioning of mechanical parts processing according to claim 3, characterized in that: The upper and lower ends of the fan-shaped plate (603) are respectively connected to the top plate (601) and the bottom plate (602). The fan-shaped plates (603) are symmetrically distributed around the center line of the top plate (601). The conical frame (604) is arranged on the lower side of the bottom plate (602).

5. The four-axis robot for rapid positioning of mechanical parts processing according to claim 1, characterized in that: The gripper bracket (6) is provided with an interface positioning unit (11), the interface positioning unit (111) comprising a plug (1101) and a telescopic unit (1102), the plug (1101) being connected to a circular plate, the circular plate being connected to the telescopic unit (1102), the plug (1101) and the circular plate being detachably connected via bolts, and the plug (1101) being plugged into the square interface (802).

6. A four-axis robot for rapid positioning of mechanical parts processing according to claim 1, characterized in that: The power unit comprises a lower positioning sleeve (902), an upper positioning sleeve (903), a first support plate (904), and a second support plate (905); the grabbing rod (901) is provided with a lower positioning sleeve (902) and an upper positioning sleeve (903); the lower positioning sleeve (902) and the upper positioning sleeve (903) are respectively located at the upper and lower sides of the diamond-shaped flange (801).

7. A four-axis robot for rapid positioning of mechanical parts processing according to claim 6, characterized in that: One of the grabbing rods (901) is rotatably connected to a first support plate (904), and the other grabbing rod (901) is rotatably connected to a second support plate (905). Both the first support plate (904) and the second support plate (905) are connected to a push-pull bracket (906), and the push-pull bracket (906) in at least one grabbing unit is connected to a telescopic rod (907).

8. A four-axis robot for rapid positioning of mechanical parts processing according to claim 7, characterized in that: A first tensioning plate (908) is arranged on the first support plate (904), and a second tensioning plate (909) is arranged on the second support plate (905); the other ends of the first tensioning plate (908) and the second tensioning plate (909) are connected to a tensioning bracket, the tensioning bracket is connected to a tensioning spring (910), and the other end of the tensioning spring (910) is connected to a push-pull bracket (906).

9. A four-axis robot for rapid positioning of mechanical parts processing according to claim 1, characterized in that: The gripper bracket (6) is provided with a synchronous drive assembly (10), and the synchronous drive assembly (10) comprises two L-plates (1001), and the two L-plates (1001) are respectively connected to the two push-pull brackets (906) in the two gripping units, and a slide groove is provided in the L-plate (1001), and a first connecting rod is inserted into the slide groove, and a push-pull plate (1002) is inserted into the first connecting rod, and a second connecting rod is inserted into the end of the push-pull plate (1002) away from the first connecting rod, and the two push-pull plates (1002) are connected by the second connecting rod.

10. A four-axis robot for rapid positioning of mechanical parts processing according to claim 9, characterized in that: A guide frame (1003) is provided at the bottom of the push-pull plate (1002), a guide groove is provided in the guide frame (1003), a second connecting rod is slidably connected to the guide groove, the L plate (1001) is rotatably connected to a slider (1004), the slider (1004) is slidably connected to a guide rail (1005), the guide rail (1005) is provided on a horizontal plate, and a plurality of vertical rods are provided on one side of the horizontal plate close to the material grabbing frame (7).

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