A four-axis robot for rapid positioning in machining mechanical parts

Abstract

This invention relates to the field of robotics, specifically disclosing a four-axis robot for rapid positioning in machining mechanical parts. The robot includes a robot base plate, a base, a first robotic arm, a second robotic arm, a third robotic arm, and a gripper bracket. The base is rotatably mounted on the robot base plate. The first robotic arm is rotatably connected to the base, the second robotic arm is rotatably connected to the first robotic arm, and the third robotic arm is rotatably connected to the second robotic arm. The robot also includes a workpiece, which comprises a rhomboid flange and a square interface. A gripping assembly is provided at the gripper bracket. This invention features a gripping assembly inside the gripping frame. The gripping assembly contains two gripping units, and the four gripping rods in these units can clamp the rhomboid flange in the workpiece under the action of a telescopic rod. The fixed workpiece is stably positioned and not easily shaken, ensuring the stability of the rhomboid flange and facilitating subsequent inspection by the testing device.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a four-axis robot for rapid positioning of mechanical part machining. BACKGROUND

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

[0003] Some mechanical structures often use bent pipe parts, one end of which is a square pipe opening and the other end is a rhombic flange plate. In order to facilitate subsequent assembly, the above-mentioned special-shaped bent pipe has a higher machining requirement for one end of the rhombic flange plate, and a relatively accurate detection work is also required after machining. In order to ensure the accuracy of the detection value, the four-axis robot needs to be able to stably clamp the special-shaped bent pipe, so that the rhombic flange plate remains stable during detection. Therefore, the application provides a four-axis robot for rapid positioning of mechanical part machining. SUMMARY

[0004] The application aims to provide a four-axis robot for rapid positioning of mechanical part machining to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme, a four-axis robot for rapid positioning of mechanical part machining, comprising a robot base plate, a base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a gripper support, the base is rotationally arranged on the robot base plate, the first mechanical arm is rotationally connected with the base, 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.

[0006] Further comprising a workpiece, the workpiece comprising a rhombic flange plate and a square interface.

[0007] The gripper support is provided with a grabbing assembly.

[0008] The grabbing assembly comprises two grabbing units, the two grabbing units are respectively located on both sides of the rhombic flange plate, two grabbing rods are arranged in the grabbing unit, the two grabbing rods are respectively located on both sides of the rhombic flange plate, the grabbing rods are connected with a power unit, and the power unit is used to drive the two grabbing rods to abut against the rhombic flange plate.

[0009] Preferably, the base is provided with a first connecting plate, the first connecting plate is rotationally connected with a second connecting plate, one end of the second connecting plate away from the first connecting plate is rotationally connected with a connecting seat, one side of the connecting seat away from the second connecting plate is rotationally connected with a third connecting plate, and the third connecting plate is rotationally connected with the third mechanical arm.

[0010] Preferably, the gripper support comprises 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 the fan-shaped plate is provided with two.

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

[0012] Preferably, the interface positioning unit is arranged on the gripper support, the interface positioning unit comprises a plug and an extension unit, the plug is connected with a circular plate, the circular plate is connected with the extension unit, the plug and the circular plate are detachably connected through bolts, and the plug is inserted 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, the grabbing lever is sleeved with the lower positioning sleeve and the upper positioning sleeve, and the lower positioning sleeve and the upper positioning sleeve are located on the upper and lower sides of the rhombic flange plate respectively.

[0014] Preferably, one of the grabbing levers is rotatably connected with the first support plate, the other grabbing lever is rotatably connected with the second support plate, the first support plate and the second support plate are both connected with a push-pull support, and the push-pull support of at least one grabbing unit is connected with an extension 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 with a tensioning support, the tensioning support is connected with a tensioning spring, and the other end of the tensioning spring is connected with the push-pull support.

[0016] Preferably, a synchronous driving assembly is arranged in the gripper support, the synchronous driving assembly comprises two L plates, the two L plates are connected with two push-pull supports in the two grabbing units respectively, a sliding groove is arranged in the L plate, a first connecting rod is inserted into the sliding groove, a push-pull plate is inserted into the first connecting rod, a second connecting rod is inserted into one end of the push-pull plate away from the first connecting rod, and the two push-pull plates are connected through the second connecting rod.

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

[0018] Compared with the prior art, the present application has the following advantages:

[0019] Firstly, the base, the first mechanical arm, the second mechanical arm and the third mechanical arm are connected with corresponding driving units respectively, the driving units enable the base, the first mechanical arm, the second mechanical arm and the third mechanical arm to adjust positions, thereby realizing four-axis adjustment of the position of the gripper support, and facilitating the gripper support and the grabbing frame and other components thereon to quickly position and clamp workpieces.

[0020] Secondly, the grabbing assembly is arranged in the grabbing frame, two grabbing units are arranged in the grabbing assembly, four grabbing rods in the two grabbing units can clamp the diamond-shaped flange plate in the workpiece under the driving of the telescopic rods, in specific operation, the telescopic rods push the push-pull support to move, so as to drive the two grabbing rods to extrude the diamond-shaped flange plate, the four grabbing rods in the two symmetrically distributed grabbing units extrude the diamond-shaped flange plate from four directions, the position of the diamond-shaped flange plate can be locked, the fixing work of the workpiece is completed, the position of the fixed workpiece is stable and not easy to shake, the stability of the diamond-shaped flange plate thereon can be ensured, and the detection work of the subsequent detection device is facilitated.

[0021] Thirdly, the interface positioning unit is arranged on the grabbing frame, the telescopic unit in the interface positioning unit can drive the plug to move, the plug can be inserted into the square interface in the workpiece, or the plug can be pulled out of the square interface, so that the fixing and loosening operation of one side of the square interface in the workpiece is realized. DETAILED DESCRIPTION

[0022] Figure 1 It is a structural schematic view of the four-axis robot for quick positioning of mechanical part machining in the application.

[0023] Figure 2 It is a side view of the four-axis robot for quick positioning of mechanical part machining in the application.

[0024] Figure 3 It is a structural schematic view of the gripper support and the grabbing frame in the application.

[0025] Figure 4 It is a structural schematic view of the gripper support and the grabbing frame in the application.

[0026] Figure 5 It is a structural schematic view of the grabbing assembly in the application.

[0027] Figure 6 It is an enlarged structural schematic view of A in the application. Figure 5

[0028] Figure 7 It is a structural schematic view of the synchronous driving assembly in the application.

[0029] Figure 8 It is a structural schematic view of the interface positioning unit in the application.

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

[0031] 9, the material grabbing assembly; 901, the material grabbing rod; 902, the lower positioning sleeve; 903, the upper positioning sleeve; 904, the first support plate; 905, the second support plate; 906, the push-pull support; 907, the telescopic rod; 908, the first tensioning plate; 909, the second tensioning plate; 910, the tensioning spring;

[0032] 10, the synchronous driving assembly; 1001, the L-shaped plate; 1002, the push-pull plate; 1003, the guide frame; 1004, the sliding block; 1005, the guide rail;

[0033] 11, the interface positioning unit; 1101, the plug; 1102, the telescopic unit; 12, the first connecting plate; 13, the second connecting plate; 14, the connecting seat; 15, the third connecting plate. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] Referring to Figures 1-8 A four-axis robot for rapid positioning of mechanical part machining 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 support 6. Specifically, the base 2 is rotationally arranged on the robot base plate 1, the first mechanical arm 3 is rotationally connected with the base 2, the second mechanical arm 4 is rotationally connected with the first mechanical arm 3, and the third mechanical arm 5 is rotationally connected with 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 with respective driving units, which enable the base 2, the first mechanical arm 3, the second mechanical arm 4, and the third mechanical arm 5 to adjust positions, thereby achieving four-axis adjustment of the position of the gripper support 6. This facilitates the rapid positioning and clamping of the workpiece 8 by the gripper support 6 and components such as the material grabbing frame 7 thereon, and facilitates the subsequent machining work. The above four-axis robot is used to move the workpiece 8 from a polishing station to a detection station, where the workpiece 8 is measured for various dimensions. After detection, the four-axis robot moves the workpiece 8 away. During detection, the workpiece 8 is always on the four-axis robot.

[0036] Referring to Figure 1 , Figure 2, in order to improve the stability performance of the four-axis robot in the running process, therefore, the first connecting plate 12 is arranged on the base 2, the second connecting plate 13 is rotatably connected with the first connecting plate 12, the connecting seat 14 is rotatably connected with the end of the second connecting plate 13 away from the first connecting plate 12, the third connecting plate 15 is rotatably connected with the side of the connecting seat 14 away from the second connecting plate 13, and the third connecting plate 15 is rotatably connected with 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 guide the movement of the base 2, the first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5, so that the base 2, the first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5 can move stably.

[0037] Specifically, the gripper support 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 arranged on the third mechanical arm 5. Two fan-shaped plates 603 are arranged, and the upper and lower ends of the fan-shaped plates 603 are connected with the top plate 601 and the bottom plate 602 respectively. The fan-shaped plates 603 are symmetrically distributed about the center line of the top plate 601. The conical frame 604 is arranged on the lower side of the bottom plate 602.

[0038] Further comprising a processing piece 8, the processing piece 8 includes a rhombic flange plate 801 and a square interface 802. The processing piece 8 is arranged as a straight elbow pipe as a whole. The rhombic flange plate 801 is arranged at one end of the elbow pipe, and the square interface 802 is arranged at the other end.

[0039] In order to clamp the processing piece 8, a grabbing assembly 9 for clamping the rhombic flange plate 801 in the processing piece 8 is arranged at the gripper support 6.

[0040] Specifically, referring to Figure 3 , Figure 4 The lower side of the gripper support 6 is provided with a grabbing frame 7, and the grabbing assembly 9 is arranged on the grabbing frame 7.

[0041] More specifically, referring to Figure 5 , Figure 6 The grabbing assembly 9 includes two grabbing units, which are respectively located on the two sides of the rhombic flange plate 801. Two grabbing rods 901 are arranged in the grabbing units, and the two grabbing rods 901 are respectively located on the two sides of the rhombic flange plate 801. The grabbing rod 901 is sleeved with a lower positioning sleeve 902 and an upper positioning sleeve 903, and the lower positioning sleeve 902 and the upper positioning sleeve 903 are respectively located on the upper and lower sides of the rhombic flange plate 801. When the processing piece 8 is clamped, the grabbing rod 901 abuts against the outer wall of the rhombic flange plate 801.

[0042] It needs to be explained that one of the grabbing rods 901 is rotationally connected with a first supporting plate 904, and the other grabbing rod 901 is rotationally connected with a second supporting plate 905, the first supporting plate 904 and the second supporting plate 905 are both connected with a push-pull support 906, and the push-pull support 906 in at least one grabbing unit is connected with an extension rod 907, and the push-pull support 906 in both grabbing units can also be connected with the extension rod 907.

[0043] The extension rod 907 pushes the push-pull support 906 to move, thereby driving the two grabbing rods 901 to extrude the diamond-shaped flange plate 801, and the four grabbing rods 901 in the two symmetrically distributed grabbing units extrude the diamond-shaped flange plate 801 from four directions, so as to lock the position of the diamond-shaped flange plate 801 and complete the fixing work of the workpiece 8.

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

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

[0046] In order to make the two grabbing units move synchronously, make the workpiece 8 be fixed at the middle position of the grabbing frame 7, facilitate the positioning of the subsequent interface positioning unit 11, and also make the coincidence degree of the terminal point of the workpiece 8 transferred by the four-axis robot and the expected position higher, a synchronous driving assembly 10 is arranged in the grabbing frame 7, the synchronous driving assembly 10 includes two L plates 1001, the two L plates 1001 are respectively connected with the two push-pull supports 906 in the two grabbing units, a sliding groove is arranged in the L plate 1001, a first connecting rod is inserted in the sliding groove, a push-pull plate 1002 is inserted in the first connecting rod, a second connecting rod is inserted in the end of the push-pull plate 1002 away from the first connecting rod, the two push-pull plates 1002 are connected through the second connecting rod, a guide frame 1003 is arranged at the bottom of the push-pull plate 1002, a guide groove is arranged in the guide frame 1003, and the second connecting rod is slidably connected with the guide groove.

[0047] More specifically, the L-shaped plate 1001 is rotationally connected with a sliding block 1004, the sliding block 1004 is slidingly connected with a guide rail 1005, the guide rail 1005 is arranged on a horizontal plate, and the horizontal plate is provided with a plurality of vertical rods near one side of the material grabbing frame 7.

[0048] In order to position the square interface 802 in the workpiece 8 and enable it to move synchronously with the material grabbing frame 7, the material grabbing frame 7 is provided with an interface positioning unit 11, the interface positioning unit 11 comprises a plug 1101 and an extension unit 1102, the plug 1101 is connected with a circular plate, the circular plate is connected with the extension unit 1102, the plug 1101 is detachably connected with the circular plate through bolts, and the plug 1101 is inserted with the square interface 802.

[0049] The extension unit 1102 in the interface positioning unit 11 arranged on the material grabbing frame 7 can drive the plug 1101 to move, the plug 1101 can be inserted into the square interface 802 in the workpiece 8 or pulled out of the square interface 802, and the fixing and loosening operation of one side of the square interface 802 in the workpiece 8 is realized.

[0050] Working principle:

[0051] The base 2, the first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5 are connected with corresponding driving units respectively, the driving units enable the base 2, the first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5 to adjust positions, so that the four-axis adjustment of the position of the gripper support 6 is realized, the gripper support 6 and components such as the material grabbing frame 7 thereon are facilitated to quickly position and clamp the workpiece 8, and the subsequent machining work is facilitated to be carried out.

[0052] The material grabbing assembly 9 is arranged in the material grabbing frame 7, the material grabbing assembly 9 is internally provided with two material grabbing units, and four material grabbing rods 901 in the two material grabbing units can clamp the diamond-shaped flange plate 801 in the workpiece 8 under the driving of the extension rod 907, in specific operation, the extension rod 907 drives the push-pull support 906 to move, so as to drive the two material grabbing rods 901 to extrude the diamond-shaped flange plate 801, the four material grabbing rods 901 in the two symmetrically distributed material grabbing units extrude the diamond-shaped flange plate 801 from four directions, the position of the diamond-shaped flange plate 801 can be locked, and the fixing work of the workpiece 8 is completed.

[0053] The extension unit 1102 in the interface positioning unit 11 arranged on the material grabbing frame 7 can drive the plug 1101 to move, the plug 1101 can be inserted into the square interface 802 in the workpiece 8 or pulled out of the square interface 802, and the fixing and loosening operation of one side of the square interface 802 in the workpiece 8 is realized.

[0054] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A four-axis robot for rapid positioning of mechanical parts for machining, characterized in that, Including robot base plate (1), base (2), first mechanical arm (3), second mechanical arm (4), third mechanical arm (5), gripper support (6), the base (2) rotation setting is in robot base plate (1), first mechanical arm (3) is connected with base (2) rotation, second mechanical arm (4) is connected with first mechanical arm (3) rotation, third mechanical arm (5) is connected with second mechanical arm (4) rotation; It also includes a workpiece (8), which includes a rhombic flange (801) and a square interface (802); The gripper support (6) is provided with a material grabbing assembly (9); The material grabbing assembly (9) includes two material grabbing units, which are located on both sides of the rhombic flange (801), and two material grabbing rods (901) are arranged in the material grabbing unit, the two material grabbing rods (901) are located on both sides of the rhombic flange (801), and the material grabbing rod (901) is connected with a power unit, and the power unit is used to drive the two material grabbing rods (901) to abut against the rhombic flange (801); The interface positioning unit (11) is arranged on the gripper support (6), and the interface positioning unit (11) includes a plug (1101) and a telescopic unit (1102), the plug (1101) is connected with a circular plate, the circular plate is connected with the telescopic unit (1102), the plug (1101) and the circular plate are detachably connected through bolts, and the plug (1101) is inserted with the square interface (802); The power unit includes a lower positioning sleeve (902), an upper positioning sleeve (903), a first support plate (904) and a second support plate (905), the material grabbing rod (901) is sleeved with the lower positioning sleeve (902) and the upper positioning sleeve (903), and the lower positioning sleeve (902) and the upper positioning sleeve (903) are located on the upper and lower sides of the rhombic flange (801) respectively; One of the material grabbing rods (901) is rotatably connected with the first support plate (904), and the other material grabbing rod (901) is rotatably connected with the second support plate (905), the first support plate (904) and the second support plate (905) are both connected with a push-pull bracket (906), and the push-pull bracket (906) in at least one material grabbing unit is connected with a telescopic rod (907); The first support plate (904) is provided with a first tensioning plate (908), and the second support plate (905) is provided with a second tensioning plate (909), one end of the first tensioning plate (908) and the second tensioning plate (909) is connected with a tensioning bracket, the tensioning bracket is connected with a tensioning spring (910), and the other end of the tensioning spring (910) is connected with the push-pull bracket (906); The gripper support (6) is provided with a synchronous driving assembly (10), the synchronous driving assembly (10) includes two L plates (1001), two L plates (1001) are connected with two push-pull supports (906) in two material grabbing units respectively, a sliding groove is arranged in the L plate (1001), a first connecting rod is inserted into the sliding groove, the first connecting rod is inserted with a push-pull plate (1002), a second connecting rod is inserted into an end of the push-pull plate (1002) away from the first connecting rod, two push-pull plates (1002) are connected through the second connecting rod; The push-pull plate (1002) is provided with a guide frame (1003) at the bottom, the guide frame (1003) is provided with a guide groove, the second connecting rod is connected with the guide groove in a sliding mode, the L plate (1001) is rotatably connected with a sliding block (1004), the sliding block (1004) is connected with a guide rail (1005) in a sliding mode, the guide rail (1005) is arranged on the horizontal plate, and a plurality of vertical rods are arranged on the side of the horizontal plate close to the material grabbing frame (7).

2. The four-axis robot for quick positioning of mechanical parts for machining as claimed in claim 1, wherein The base (2) is provided with a first connecting plate (12), the first connecting plate (12) is rotatably connected with a second connecting plate (13), one end of the second connecting plate (13) away from the first connecting plate (12) is rotatably connected with a connecting seat (14), one side of the connecting seat (14) away from the second connecting plate (13) is rotatably connected with a third connecting plate (15), and the third connecting plate (15) is rotatably connected with the third mechanical arm (5).

3. The four-axis robot for quick positioning of mechanical parts for machining as claimed in claim 1 wherein, The gripper support (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 arranged on the third mechanical arm (5), and the fan-shaped plate (603) is provided with two.

4. The four-axis robot for quick positioning of mechanical parts for machining as claimed in claim 3 wherein, The upper and lower ends of the fan-shaped plate (603) are connected with the top plate (601) and the bottom plate (602) respectively, the fan-shaped plate (603) is symmetrically distributed about the center line of the top plate (601), and the conical frame (604) is arranged on the lower side of the bottom plate (602).

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