Carrying manipulator for mechanical part machining

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a carrying manipulator for mechanical part machining, which comprises a fixed seat, a mounting rod is movably mounted on the fixed seat, a first connecting rod is movably mounted on the mounting rod, and third connecting rods are movably mounted at two ends of one side, far away from the mounting rod, of the first connecting rod; fourth connecting rods are movably installed on the sides, close to each other, of the two third connecting rods, second movable rods are movably installed at the two ends of the sides, away from the third connecting rods, of the fourth connecting rods, and a detection mechanism is arranged on one side of each second movable rod. According to the device, a fourth connecting rod and a second movable rod are arranged, after brake discs are machined, the brake discs are clamped through the fourth connecting rod and the second movable rod at the moment, then collecting and stacking of the brake discs can be completed under matched movement of a mounting rod and a first connecting rod, the use convenience of the device is improved, and the practicability of the device is improved. And the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a transporting manipulator used in machining mechanical parts. Background Art

[0002] The handling robot is controlled by PLC + touch screen + servo motor, adopts a frame structure that takes up little space and has a large production capacity. With the development and liberation of social productivity, the use of robots in mechanical production operations is becoming more and more extensive.

[0003] Currently, in the production process of brake discs, the production of brake discs is divided into multiple steps. Therefore, in the actual production of brake discs, after one processing is completed, the staff is required to remove the brake discs and then transfer the brake discs for other processing. Through the staff's operation, in a large-scale production environment, the staff will produce work fatigue, which affects the actual production rate of the brake discs. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a handling robot for use in machining mechanical parts.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A handling robot used in the processing of mechanical parts comprises a fixed seat, a mounting rod is movably mounted on the fixed seat, a first connecting rod is movably mounted on the mounting rod, third connecting rods are movably mounted on both ends of the first connecting rod on a side away from the mounting rod, fourth connecting rods are movably mounted on both ends of the two third connecting rods on a side close to each other, second movable rods are movably mounted on both ends of the fourth connecting rod on a side away from the third connecting rod, a detection mechanism is provided on one side of the second movable rod, a cleaning mechanism is provided on the other side of the second movable rod, a first movable rod is movably mounted on the mounting rod below the first connecting rod, and an auxiliary mechanism is provided on the first movable rod.

[0006] Preferably, a second rotating motor is embedded and installed at the bottom of the mounting rod, the mounting end of the second rotating motor faces the fixed seat, and the mounting end of the second rotating motor is connected to the fixed seat. A fourth slide groove is vertically opened on one side of the mounting rod along the length direction of the mounting rod, and a fourth electric slider is slidably installed inside the fourth slide groove. The side of the fourth electric slider away from the mounting rod is connected to the second connecting piece, and one end of the first connecting rod close to the second connecting piece is movably installed inside the second connecting piece. The first rotating motor is installed on one side of the second connecting piece, and the output end of the first rotating motor movably passes through the second connecting piece, and the output end of the first rotating motor is connected to the first connecting rod.

[0007] Preferably, a third rotating motor is embedded in and installed at one end of the first connecting rod away from the mounting rod, the output end of the third rotating motor is away from the first connecting rod, and the output end of the third rotating motor is connected to the second connecting rod, a first sliding groove is horizontally opened on the side of the second connecting rod away from the mounting rod along the length direction of the second connecting rod, a first electric slider is installed at one end of the third connecting rod close to the first sliding groove, and the first electric slider is slidably installed inside the first sliding groove.

[0008] Preferably, a second slide groove is horizontally opened on the side where the two third connecting rods are close to each other along the length direction of the third connecting rod, a second electric slider is slidably installed inside the second slide groove, a second electric telescopic rod is installed on the side of the second electric slider away from the second slide groove, the telescopic end of the second electric telescopic rod is away from the second electric slider, the telescopic end of the second electric telescopic rod is connected to the second connecting block, a fourth rotating motor is embedded and installed on the side of the second connecting block away from the second electric telescopic rod, the output end of the fourth rotating motor is away from the second connecting block, and the side of the fourth connecting rod close to the second connecting block is connected to the output end of the fourth rotating motor.

[0009] Preferably, a third slide groove is horizontally opened on the side where the two fourth connecting rods are close to each other along the length direction of the fourth connecting rod, and third electric sliders are slidably installed at both ends of the third slide groove, and the end of the third electric slider away from the third slide groove is connected to the first connecting piece, and the first connecting piece has a first connecting block rotatably installed inside the first connecting piece, and a sixth rotating motor is installed on the outer side of the first connecting piece, and the output end of the sixth rotating motor movably passes through the first connecting piece, and the output end of the sixth rotating motor is connected to the first connecting block, and the fifth rotating motor is embedded in the end of the first connecting block away from the fourth connecting rod, and the output end of the fourth rotating motor is away from the second connecting block, and the end of the second movable rod close to the first connecting block is connected to the output end of the fifth rotating motor.

[0010] Preferably, the detection mechanism includes a third movable block and a roller, a second slot is opened on one side of the second movable rod, and ninth slide grooves are opened at both ends of the inner wall of the second slot, the third movable block is movably installed inside the second slot, and the roller is rotatably installed on the side of the third movable block away from the second movable rod, and ninth sliders are installed at both ends of the third movable block, and the ninth slider is slidably installed inside the ninth slide groove, a second spring is installed at the bottom end of the inner wall of the second slot, and the end of the second spring close to the third movable block is connected to the third movable block, a second lever is installed at the bottom end of the inner wall of the second slot, a second contact switch is provided above the second lever, and the end of the second contact switch away from the second lever is connected to the third movable block.

[0011] Preferably, the cleaning mechanism includes a brush, a third groove is provided on the side of the second movable rod away from the third movable block, a brush is movably installed inside the third groove, a tenth slide groove is provided on the inner walls at both ends of the third groove, a tenth electric slider is installed at both ends of the brush, and the tenth electric slider is slidably installed inside the tenth slide groove.

[0012] Preferably, a first slot is formed on one side of the second movable rod close to the third movable block, a plurality of cameras are evenly mounted inside the first slot, and a transparent protective cover is mounted outside the first slot.

[0013] Preferably, a guide rail is installed below the mounting rod, and a fifth electric slider is slidably installed inside the guide rail. A first electric telescopic rod is installed on the side of the fifth electric slider away from the guide rail, the telescopic end of the first electric telescopic rod is away from the mounting rod, and the first movable rod is connected to the telescopic end of the first electric telescopic rod on a side close to the first electric telescopic rod.

[0014] Preferably, the auxiliary mechanism includes a first movable block and a grinding block, a sixth sliding groove is provided on a side of the first movable rod away from the first electric telescopic rod along the length direction of the first movable rod, two first movable blocks are provided on a side of the first movable rod away from the first electric telescopic rod, a sixth electric slider is installed on an end of the first movable block close to the first movable rod, and the sixth electric slider is slidably installed in the interior of the sixth sliding groove, an eighth sliding groove is provided on both sides of the inner wall of the first movable block, a second movable block is movably installed inside the first movable block, and an eighth slider is installed on both sides of the second movable block, and the eighth slider is slidably installed in the interior of the eighth sliding groove, a first spring is installed at the bottom end of the inner wall of the first movable block, and an end of the first spring close to the second movable block is connected to the second movable block, a first contact switch is installed at the bottom end of the inner wall of the first movable block, a first lever is provided on a side of the first contact switch close to the second movable block, and the first lever is connected to the second movable block, a seventh sliding groove is provided on the top of the first movable rod, a seventh electric slider is slidably installed in the interior of the seventh sliding groove, and a grinding block is connected on the side of the seventh electric slider away from the first movable rod.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the fourth connecting rod and the second movable rod are provided. After the brake disc is processed, the brake disc is clamped by the fourth connecting rod and the second movable rod. Then, the brake disc can be collected and stacked under the coordinated movement of the mounting rod and the first connecting rod, which increases the convenience of the device and reduces the labor intensity of the staff. During the turning process of the brake disc on the lathe, the brush is moved to the brake disc surface, and the brush is in contact with the brake disc surface. The device controls the brush to not interfere with the turning of the brake disc surface during the movement. At this time, during the production of the brake disc, the iron filings generated on the brake disc surface can be cleaned immediately by the brush to prevent the iron filings from affecting the production of the brake disc, thereby increasing the convenience of using the device. When the lathe is not producing brake discs, the surface of the lathe can be cleaned by moving the second movable rod and the brush, thereby reducing the workload of the staff and further increasing the convenience of using the device. The roller abuts against the brake disc surface, and then the lathe drives the brake disc to rotate at a uniform speed, so that the roller rolls on the brake disc surface. During the rolling process of the roller, if there are uneven protrusions on the brake disc surface, the protrusions on the brake disc surface will lift the roller, and the second lever will toggle the second contact switch. At this time, the control system receives the signal of unevenness here, and then the staff can immediately make on-site rectification and remedy. By testing the flatness of the brake disc, the yield rate of the brake disc production is guaranteed. At the same time, the brake disc is found to be uneven on the lathe at the first time, and the staff can rectify it at the first time, which reduces the rework time of defective brake discs and increases the production efficiency of the brake disc. The roller abuts against the outer ring of the brake disc, and then the brake disc is driven to rotate by the lathe. The roller abuts against the outer ring of the brake disc. If the roundness of the outer ring of the brake disc does not meet the standard, the second lever will touch the second contact switch during the rotation. This operation method can complete the detection of the roundness of the brake disc, increasing the functional diversity of the device. By rotating the second movable rod, the camera is directed toward the brake disc surface, and then the brake disc is driven to rotate by the lathe. During the rotation of the brake disc, the camera can take a picture of the brake disc surface, thereby completing the detection of the brake disc surface and preventing cracks, scratches and other damages on the surface of the brake disc, thereby increasing the convenience of using the device.

[0016] In the present invention, by providing a first movable block and a grinding block, when the device stacks the brake discs, the two first movable blocks can respectively abut against one brake disc, and then the second movable block abuts against the brake disc. If the two brake discs are not stacked neatly, at this time, one second movable block abuts against the brake disc first, and if the other second movable block also wants to abut against the brake disc, the brake disc with a relatively protruding position will squeeze the second movable block. At this time, the first lever squeezes the first contact switch, and then the system receives an electrical signal, indicating that the stacking here is not neat. Then, the brake disc can be clamped again by the fourth connecting rod, and then its position is adjusted. In this way, the inclination of the brake disc stack can be detected, and the unstable stacking of the brake discs due to tilting during the stacking process can be prevented. Before the device clamps the brake disc and does not unload the material, the fourth connecting rod is driven to rotate by the fourth rotating motor, so that the fourth connecting rod is rotated to a state perpendicular to the third connecting rod, and then the second connecting rod is driven to rotate by the third rotating motor. At this time, the first movable rod is driven to adjust the position by the first electric telescopic rod, and combined with the lifting and lowering of the first connecting rod, the grinding block can abut the outer ring of the brake disc, and then under the rotation of the second connecting rod, the grinding block can grind the burrs on the outer ring of the brake disc, thereby preventing the staff from being scratched when holding the brake disc, thereby increasing the convenience of using the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 The enlarged structural diagram at A in the middle; Figure 3 For the present invention Figure 1 The enlarged structural diagram at B in the middle; Figure 4 For the present invention Figure 1 The enlarged structural diagram at C in the middle; Figure 5 It is a schematic diagram of the mounting rod structure of the present invention; Figure 6 It is a schematic diagram of the structure of the first movable rod of the present invention; Figure 7 It is a schematic cross-sectional structural diagram of the first movable block of the present invention; Figure 8 It is a schematic diagram of the installation structure of the third rotating electrical machine of the present invention; Fig. 9 It is a schematic diagram of the installation structure of the fourth rotating electrical machine of the present invention; Fig.10 It is a schematic diagram of the connection structure between the second movable rod and the fifth rotating motor of the present invention; Fig.11 It is a schematic diagram of the second slotting structure of the present invention; Fig.12 It is a schematic diagram of the structure of the third movable block of the present invention; Fig.13 It is a schematic diagram of the brush installation structure of the present invention.

[0018] In the figure: 1, mounting rod; 2, first rotating motor; 3, first connecting rod; 4, second connecting rod; 5, third connecting rod; 6, fourth connecting rod; 7, first electric telescopic rod; 8, first movable rod; 9, first movable block; 10, grinding block; 11, guide rail; 12, first slide groove; 13, first electric slider; 14, second slide groove; 15, second electric slider; 16, second electric telescopic rod; 17, third slide groove; 18, third electric slider; 19, first connecting piece; 20, first connecting block; 21, fourth slide groove; 22, fourth electric slider; 23, fifth electric slider; 24, second rotating motor; 25, sixth slide groove; 26, sixth electric slider; 27, seventh slide groove; 28, seventh Electric slider; 29, second movable block; 30, eighth slide groove; 31, eighth slide block; 32, first lever; 33, first contact switch; 34, first spring; 35, third rotary motor; 36, second connecting block; 37, fourth rotary motor; 38, second movable lever; 39, fifth rotary motor; 40, first slot; 41, camera; 42, third movable block; 43, roller; 44, second slot; 45, ninth slide groove; 46, ninth slide block; 47, second spring; 48, second lever; 49, second contact switch; 50, third slot; 51, tenth slide groove; 52, tenth electric slider; 53, brush; 54, fixing seat; 55, second connecting piece; 56, sixth rotary motor. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Reference Figure 1-13A handling robot for machining mechanical parts comprises a fixed seat 54, a mounting rod 1 is movably mounted on the fixed seat 54, a first connecting rod 3 is movably mounted on the mounting rod 1, third connecting rods 5 are movably mounted on both ends of the first connecting rod 3 away from the mounting rod 1, fourth connecting rods 6 are movably mounted on the two third connecting rods 5 on the sides close to each other, second movable rods 38 are movably mounted on both ends of the fourth connecting rod 6 away from the third connecting rod 5, a detection mechanism is provided on one side of the second movable rod 38, a cleaning mechanism is provided on the other side of the second movable rod 38, a first movable rod 8 is movably mounted on the mounting rod 1 below the first connecting rod 3, and an auxiliary mechanism is provided on the first movable rod 8. The detection mechanism can detect the surface condition, surface flatness and roundness of the brake disc. The cleaning mechanism can clean the iron filings on the surface of the brake disc during the turning process to prevent the iron filings from affecting the processing of the brake disc. When the lathe is not in use, the surface of the lathe can also be cleaned. The auxiliary mechanism can detect the inclination of the brake disc stacking when the device is stacking the brake discs after the brake discs are processed to prevent the brake disc stacking from tipping over. The burrs on the outside of the brake disc can also be polished to prevent the staff's hands from being scratched when taking the brake disc.

[0021] As a technical optimization scheme of the present invention, a second rotating motor 24 is embedded and installed at the bottom of the mounting rod 1, and the mounting end of the second rotating motor 24 faces the fixed seat 54, and the mounting end of the second rotating motor 24 is connected to the fixed seat 54. A fourth sliding groove 21 is vertically opened on one side of the mounting rod 1 along the length direction of the mounting rod 1, and a fourth electric slider 22 is slidably installed inside the fourth sliding groove 21. The side of the fourth electric slider 22 away from the mounting rod 1 is connected to a second connecting member 55, and one end of the first connecting rod 3 close to the second connecting member 55 is movably installed inside the second connecting member 55. A first rotating motor 2 is installed on one side of the second connecting member 55, and the output end of the first rotating motor 2 movably passes through the second connecting member 55, and the output end of the first rotating motor 2 is connected to the first connecting rod 3. The second rotating motor 24 can drive the mounting rod 1 to rotate, thereby ensuring that the device can transfer the position of the brake disc after grabbing the brake disc. The fourth electric slider 22 moves up and down in the fourth slide groove 21. Combined with the rotation of the mounting rod 1, the device can stack the brake discs after grabbing the brake discs. The first connecting rod 3 is driven to rotate by the first rotating motor 2, which further increases the operating angle of the device and increases the flexibility of use of the device.

[0022] As a technical optimization solution of the present invention, a third rotary motor 35 is embedded and installed at one end of the first connecting rod 3 away from the mounting rod 1, the output end of the third rotary motor 35 is away from the first connecting rod 3, and the output end of the third rotary motor 35 is connected to the second connecting rod 4, a first slide groove 12 is horizontally opened on the side of the second connecting rod 4 away from the mounting rod 1 along the length direction of the second connecting rod 4, and a first electric slider 13 is installed at one end of the third connecting rod 5 close to the first slide groove 12, and the first electric slider 13 is slidably installed inside the first slide groove 12. The third rotary motor 35 can drive the second connecting rod 4 to rotate, so that the mechanism on the second connecting rod 4 can be correspondingly transformed according to specific usage requirements, which increases the convenience of use of the device, and the position of the third connecting rod 5 can be adjusted by sliding the first electric slider 13 in the first slide groove 12, so that the device can self-adjust according to brake discs of different sizes, which increases the convenience of use of the device.

[0023] As a technical optimization scheme of the present invention, a second slide groove 14 is horizontally opened on the side where the two third connecting rods 5 are close to each other along the length direction of the third connecting rod 5, and a second electric slider 15 is slidably installed inside the second slide groove 14, and a second electric telescopic rod 16 is installed on the side of the second electric slider 15 away from the second slide groove 14, the telescopic end of the second electric telescopic rod 16 is away from the second electric slider 15, and the telescopic end of the second electric telescopic rod 16 is connected to a second connecting block 36, and a fourth rotary motor 37 is embedded and installed on the side of the second connecting block 36 away from the second electric telescopic rod 16, the output end of the fourth rotary motor 37 is away from the second connecting block 36, and the side of the fourth connecting rod 6 close to the second connecting block 36 is connected to the output end of the fourth rotary motor 37. The position of the fourth connecting rod 6 can be adjusted by sliding the second electric slider 15 in the second slide groove 14, so that the fourth connecting rod 6 can adjust its own progress according to different usage requirements. The second electric telescopic rod 16 can adjust the distance between the two fourth connecting rods 6, so that the fourth connecting rod 6 can complete the clamping of the brake disc. The fourth rotary motor 37 can drive the fourth connecting rod 6 to rotate, which is convenient for the fourth connecting rod 6 to perform corresponding position conversion under different usage requirements, thereby increasing the smoothness of the use of the device.

[0024] As a technical optimization scheme of the present invention, a third slide groove 17 is horizontally opened on the side where the two fourth connecting rods 6 are close to each other along the length direction of the fourth connecting rod 6, and third electric sliders 18 are slidably installed at both ends of the third slide groove 17. The end of the third electric slider 18 away from the third slide groove 17 is connected to the first connecting member 19, and the first connecting block 20 is rotatably installed inside the first connecting member 19. A sixth rotating motor 56 is installed on the outer side of the first connecting member 19, and the output end of the sixth rotating motor 56 movably passes through the first connecting member 19, and the output end of the sixth rotating motor 56 is connected to the first connecting block 20. The end of the first connecting block 20 away from the fourth connecting rod 6 is embedded with a fifth rotating motor 39, the output end of the fourth rotating motor 37 is away from the second connecting block 36, and the end of the second movable rod 38 close to the first connecting block 20 is connected to the output end of the fifth rotating motor 39. The sliding of the third electric slider 18 in the third slide groove 17 can adjust the position of the second movable rod 38, so that the second movable rod 38 can assist in clamping the brake disc, making the clamping effect of the device on the brake disc more stable. The sixth rotary motor 56 can drive the second movable rod 38 to rotate, so that the second movable rod 38 can adapt its own state according to actual use, thereby increasing the smoothness of use of the device. The fifth rotary motor 39 can make the second movable rod 38 rotate itself, which facilitates the function switching of multiple mechanisms on the second movable rod 38 and increases the convenience of use of the device.

[0025] As a technical optimization scheme of the present invention, the detection mechanism includes a third movable block 42 and a roller 43, a second slot 44 is opened on one side of the second movable rod 38, and ninth slide grooves 45 are opened at both ends of the inner wall of the second slot 44, the third movable block 42 is movably installed inside the second slot 44, and the roller 43 is rotatably installed on the side of the third movable block 42 away from the second movable rod 38, and ninth sliders 46 are installed at both ends of the third movable block 42, and the ninth slider 46 is slidably installed inside the ninth slide groove 45, a second spring 47 is installed at the bottom end of the inner wall of the second slot 44, and the end of the second spring 47 close to the third movable block 42 is connected to the third movable block 42, and a second lever 48 is installed at the bottom end of the inner wall of the second slot 44, and a second contact switch 49 is provided above the second lever 48, and the end of the second contact switch 49 away from the second lever 48 is connected to the third movable block 42. The roller 43 abuts against the brake disc surface, and then the brake disc is driven by the lathe to rotate at a uniform speed, so that the roller 43 rolls on the brake disc surface. During the rolling process of the roller 43, if there is an uneven protrusion on the brake disc surface, the protrusion on the brake disc surface will lift the roller 43, and the second lever 48 will toggle the second contact switch 49. At this time, the control system receives a signal of unevenness here, and then the staff can immediately make on-site rectification and remedy. By performing a flatness detection on the brake disc, the yield rate of the brake disc production is guaranteed. At the same time, the brake disc is found to be uneven on the lathe for the first time, and the staff can rectify it at the first time, which reduces the rework time of defective brake discs and increases the production efficiency of the brake disc. The ninth slider 46 slides in the ninth slide groove 45, which can make the movement of the third movable block 42 more stable, and the second spring 47 can make the third movable block 42 automatically reset, which increases the convenience of using the device. The second connecting rod 4 is driven to rotate by the third rotating motor 35, so that the second movable rod 38 is perpendicular to the brake disc surface, and then the fourth connecting rod 6 is driven to rotate by the fourth rotating motor 37 so that the roller 43 abuts against the outer ring of the brake disc, and then the brake disc is driven to rotate by the lathe, and the roller 43 abuts against the outer ring of the brake disc. If the roundness of the outer ring of the brake disc does not meet the standard, the second lever 48 will touch the second contact switch 49 during the rotation. The circularity of the brake disc can be detected through this operation method, which increases the functional diversity of the device.

[0026] As a technical optimization solution of the present invention, the cleaning mechanism includes a brush 53, a third groove 50 is opened on the side of the second movable rod 38 away from the third movable block 42, the brush 53 is movably installed inside the third groove 50, and a tenth slide groove 51 is opened on the inner wall at both ends of the third groove 50, and a tenth electric slider 52 is installed at both ends of the brush 53, and the tenth electric slider 52 is slidably installed inside the tenth slide groove 51. During the turning of the brake disc on the lathe, the brush 53 rotates to the side facing the brake disc, and then the fourth electric slider 22 slides in the fourth slide groove 21 and the second electric slider 15 slides in the second slide groove 14, so that the second movable rod 38 can move on the brake disc surface, and will not interfere with the turning of the brake disc surface during the movement. Then, the tenth electric slider 52 slides in the tenth slide groove 51 to make the brush 53 move out of the third slot 50, and the brush 53 abuts against the brake disc surface. At this time, during the production of the brake disc, the iron filings generated on the surface of the brake disc can be cleaned up in the first time by the brush 53 to prevent the iron filings from affecting the production of the brake disc, thereby increasing the convenience of use of the device. When the lathe is not producing brake discs, the surface of the lathe can also be cleaned by moving the second movable rod 38 and the brush 53, thereby reducing the workload of the staff and further increasing the convenience of use of the device.

[0027] As a technical optimization solution of the present invention, a first slot 40 is provided on one side of the second movable rod 38 near the third movable block 42, a plurality of cameras 41 are evenly installed inside the first slot 40, and a transparent material protective cover is installed outside the first slot 40. The camera 41 faces the brake disc surface, and then the brake disc is driven to rotate by the lathe. During the rotation of the brake disc, the camera 41 can shoot the brake disc surface, complete the detection of the brake disc surface, prevent cracks and scratches and other damage on the surface of the brake disc, and increase the convenience of use of the device.

[0028] As a technical optimization solution of the present invention, a guide rail 11 is installed below the mounting rod 1, a fifth electric slider 23 is slidably installed inside the guide rail 11, a first electric telescopic rod 7 is installed on the side of the fifth electric slider 23 away from the guide rail 11, the telescopic end of the first electric telescopic rod 7 is away from the mounting rod 1, and the side of the first movable rod 8 close to the first electric telescopic rod 7 is connected to the telescopic end of the first electric telescopic rod 7. The corresponding position of the first movable rod 8 on the mounting rod 1 can be changed by sliding the fifth electric slider 23 in the guide rail 11, and the first electric telescopic rod 7 can change the distance between the first movable rod 8 and the mounting rod 1, so that the mechanism on the first movable rod 8 can operate normally under different usage requirements, thereby increasing the convenience of use of the device.

[0029] As a technical optimization solution of the present invention, the auxiliary mechanism includes a first movable block 9 and a grinding block 10, a sixth slide groove 25 is provided on the side of the first movable rod 8 away from the first electric telescopic rod 7 along the length direction of the first movable rod 8, two first movable blocks 9 are provided on the side of the first movable rod 8 away from the first electric telescopic rod 7, a sixth electric slider 26 is installed at one end of the first movable block 9 close to the first movable rod 8, the sixth electric slider 26 is slidably installed inside the sixth slide groove 25, an eighth slide groove 30 is provided on both sides of the inner wall of the first movable block 9, a second movable block 29 is movably installed inside the first movable block 9, and the eighth Slider 31, the eighth slider 31 is slidably installed inside the eighth slide groove 30, a first spring 34 is installed at the bottom end of the inner wall of the first movable block 9, and the end of the first spring 34 close to the second movable block 29 is connected to the second movable block 29, a first contact switch 33 is installed at the bottom end of the inner wall of the first movable block 9, a first lever 32 is provided on the side of the first contact switch 33 close to the second movable block 29, the first lever 32 is connected to the second movable block 29, a seventh slide groove 27 is opened on the top of the first movable rod 8, a seventh electric slider 28 is slidably installed inside the seventh slide groove 27, and a grinding block 10 is connected to the side of the seventh electric slider 28 away from the first movable rod 8. The first movable rod 8 moves to the position toward the brake disc stack, and then the sixth electric slider 26 slides in the sixth slide groove 25, so that the two first movable blocks 9 can be adjusted in position, and then the first electric telescopic rod 7 is extended, so that the two first movable blocks 9 can respectively abut against a brake disc, and then the second movable block 29 abuts against the brake disc. If the two brake discs are not stacked neatly, at this time, one second movable block 29 abuts against the brake disc first, and if the other second movable block 29 also wants to abut against the brake disc, the brake disc with a relatively protruding position will squeeze the second movable block 29. At this time, the first lever 32 squeezes the first contact switch 33, and then the system receives an electrical signal, indicating that the stacking here is not neat, and then the brake disc can be clamped again by the fourth connecting rod 6, and then its position is adjusted. In this way, the inclination of the brake disc stack can be detected, and the unstable stacking caused by the tilt of the brake disc during the stacking process can be prevented. Before the device clamps the brake disc and does not unload the material, the fourth connecting rod 6 is driven to rotate by the fourth rotating motor 37, so that the fourth connecting rod 6 is rotated to a state perpendicular to the third connecting rod 5, and then the second connecting rod 4 is driven to rotate by the third rotating motor 35. At this time, the first movable rod 8 is driven by the first electric telescopic rod 7 to adjust the position. Combined with the lifting and lowering of the first connecting rod 3, the grinding block 10 can abut the outer ring of the brake disc. Then, under the rotation of the second connecting rod 4, the grinding block 10 can grind the burrs on the outer ring of the brake disc to prevent the staff from being scratched when holding the brake disc, thereby increasing the convenience of using the device.

[0030] When the present invention is in use, the device is controlled by a preset control system, and the fixing seat 54 can be fixedly installed in a fixed position. Similarly, the fixing seat 54 can also be installed on a trolley for movement. The specific installation method is installed according to actual use requirements.

[0031] During the turning process of the brake disc on the lathe, the second connecting rod 4 moves to the position facing the brake disc, and then the sixth rotating motor 56 drives the first connecting block 20 to rotate, so that a second movable rod 38 close to the brake disc rotates to be level with the fourth connecting rod 6, and the end of the second movable rod 38 away from the first connecting block 20 is also away from the second connecting rod 4, and then the second movable rod 38 is driven to rotate by the fifth rotating motor 39, so that the brush 53 rotates to the side facing the brake disc, and then the fourth electric slider 22 slides in the fourth slide groove 21 and the second electric slider 15 slides in the second slide groove 14, so that the second movable rod 38 can slide on the brake disc surface. The brush 53 is moved without interfering with the turning of the brake disc surface during the movement; then, the tenth electric slider 52 slides in the tenth slide groove 51 to move the brush 53 out of the third slot 50, and the brush 53 abuts against the brake disc surface. At this time, during the production of the brake disc, the iron filings generated on the surface of the brake disc can be cleaned up in the first time by the brush 53 to prevent the iron filings from affecting the production of the brake disc, thereby increasing the convenience of using the device; when the lathe is not producing brake discs, the surface of the lathe can be cleaned by moving the second movable rod 38 and the brush 53, thereby reducing the workload of the staff and further increasing the convenience of using the device.

[0032] After the brake disc surface is turned on the lathe, the lathe stops turning the brake disc and retracts the tool. Then the second connecting rod 4 moves toward the brake disc. Then the sixth rotating motor 56 drives the first connecting block 20 to rotate, so that a second movable rod 38 close to the brake disc rotates to be horizontal with the position of the fourth connecting rod 6, and the end of the second movable rod 38 away from the first connecting block 20 is also away from the second connecting rod 4 at this time. Then the second movable rod 38 is driven to rotate by the fifth rotating motor 39, so that the roller 43 rotates to face the brake disc surface. Then the height of the first connecting rod 3 is controlled by the sliding of the fourth electric slider 22 in the fourth slide groove 21, and the position of the fourth connecting rod 6 is controlled by the sliding of the second electric slider 15 in the second slide groove 14. The second movable rod 38 changes, thereby achieving the control of the position of the second movable rod 38. At this time, the roller 43 abuts against the brake disc surface, and then the brake disc is driven by the lathe to rotate at a uniform speed, so that the roller 43 rolls on the brake disc surface. During the rolling of the roller 43, if there are uneven protrusions on the brake disc surface, the protrusions on the brake disc surface will lift the roller 43, and the second lever 48 will toggle the second contact switch 49. At this time, the control system receives a signal of unevenness here, and then the staff can immediately carry out on-site rectification and remedy. By performing flatness detection on the brake disc, the yield rate of the brake disc production is guaranteed. At the same time, the brake disc is found to have surface unevenness on the lathe for the first time, and the staff can rectify it at the first time, which reduces the rework time of defective brake discs and increases the production efficiency of the brake disc.

[0033] Subsequently, the second connecting rod 4 is driven to rotate by the third rotating motor 35, so that the second movable rod 38 is perpendicular to the brake disc surface, and then the fourth connecting rod 6 is driven to rotate by the fourth rotating motor 37 so that the roller 43 abuts against the outer ring of the brake disc, and then the brake disc is driven to rotate by the lathe, and the roller 43 abuts against the outer ring of the brake disc. If the roundness of the outer ring of the brake disc does not meet the standard, the second lever 48 will touch the second contact switch 49 during the rotation. The circularity of the brake disc can be detected through this operation method, which increases the functional diversity of the device.

[0034] By controlling the movement of the second movable rod 38, the second movable rod 38 is located above the brake disc surface, and then the second movable rod 38 is rotated to make the camera 41 face the brake disc surface. The brake disc is then driven to rotate by the lathe. During the rotation of the brake disc, the camera 41 can take a picture of the brake disc surface, and the surface of the brake disc can be inspected to prevent cracks, scratches and other damages on the surface of the brake disc, thereby increasing the convenience of using the device.

[0035] When the brake disc needs to be unloaded, the staff releases the mechanism that fixes the brake disc on the machine tool. At this time, the fourth connecting rod 6 moves to the brake disc through the movement of the first connecting rod 3 and the second connecting rod 4, and at this time, the fourth connecting rod 6 and the brake disc are in a horizontal state. Then, the two second movable rods 38 on each fourth connecting rod 6 move away from each other under the drive of the sixth rotating motor 56, and the second movable rod 38 finally rotates to be horizontal with the fourth connecting rod 6, and then the second electric slider 15 slides in the second slide groove 14, driving the fourth connecting rod 6 to move toward the brake disc, so that the brake disc is located between the two fourth connecting rods 6, and then the fourth connecting rod 6 is extended by the second electric telescopic rod 16, so that the two fourth connecting rods 6 abut against the brake disc, thereby clamping it; Then the second movable rod 38 rotates again to a shape that is perpendicular to the fourth connecting rod 6, and the fifth rotating motor 39 drives the second movable rod 38 to rotate, so that the side of the second movable rod 38 without a mechanism is rotated to the side facing the brake disc, and then the third electric slider 18 slides in the third slide groove 17, so that the second movable rod 38 moves close to the brake disc until the second movable rod 38 abuts against the brake disc. At this time, the brake disc is clamped. Then, the second rotating motor 24 drives the mounting rod 1 to rotate, and the second connecting rod 4 is rotated to the side away from the lathe, and then the fourth electric slider 22 slides downward in the fourth slide groove 21, so that the fourth connecting rod 6 clamps the brake disc and moves downward. Then the device can transfer the brake disc to the preset position for unloading. The height of the fourth connecting rod 6 is controlled by the fourth electric slider 22, so that the stacking of the brake disc can be completed, thereby increasing the convenience of use of the device.

[0036] When the device stacks the brake discs, the fifth electric slider 23 slides in the guide rail 11, so that the first movable rod 8 moves to the position of the brake disc stacking, and then the sixth electric slider 26 slides in the sixth slide groove 25, so that the two first movable blocks 9 can be adjusted in position, and then the first electric telescopic rod 7 is extended, so that the two first movable blocks 9 can respectively abut against a brake disc, and then the second movable block 29 abuts against the brake disc. If the two brake discs are not stacked neatly, at this time, one second movable block 29 first abuts against the brake disc, and if the other second movable block 29 also wants to abut against the brake disc, the relatively protruding brake disc will squeeze the second movable block 29. At this time, the first lever 32 squeezes the first contact switch 33, and then the system receives an electrical signal, indicating that the stacking here is not neat, and then the brake disc can be clamped again by the fourth connecting rod 6, and then the position is adjusted. In this way, the inclination of the brake disc stack can be detected, and the unstable stacking caused by the tilt of the brake disc during the stacking process can be prevented.

[0037] Before the device clamps the brake disc and does not unload the material, the fourth connecting rod 6 is driven to rotate by the fourth rotating motor 37, so that the fourth connecting rod 6 is rotated to a state perpendicular to the third connecting rod 5, and then the second connecting rod 4 is driven to rotate by the third rotating motor 35. At this time, the first movable rod 8 is driven by the first electric telescopic rod 7 to adjust the position. Combined with the lifting and lowering of the first connecting rod 3, the grinding block 10 can abut the outer ring of the brake disc. Then, under the rotation of the second connecting rod 4, the grinding block 10 can grind the burrs on the outer ring of the brake disc to prevent the staff from being scratched when holding the brake disc, thereby increasing the convenience of using the device.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A handling robot for use in machining mechanical parts, comprising a fixed seat (54), characterized in that: A mounting rod (1) is movably mounted on the fixing seat (54), a first connecting rod (3) is movably mounted on the mounting rod (1), third connecting rods (5) are movably mounted on both ends of a side of the first connecting rod (3) away from the mounting rod (1), fourth connecting rods (6) are movably mounted on both sides of the two third connecting rods (5) close to each other, second movable rods (38) are movably mounted on both ends of a side of the fourth connecting rod (6) away from the third connecting rod (5), a detection mechanism is provided on one side of the second movable rod (38), and a cleaning mechanism is provided on the other side of the second movable rod (38), a first movable rod (8) is movably mounted on the mounting rod (1) below the first connecting rod (3), and an auxiliary mechanism is provided on the first movable rod (8).

2. A handling robot for use in mechanical parts processing according to claim 1, characterized in that: A second rotating motor (24) is embedded and installed at the bottom of the mounting rod (1), the mounting end of the second rotating motor (24) faces the fixing seat (54), and the mounting end of the second rotating motor (24) is connected to the fixing seat (54). A fourth sliding groove (21) is vertically opened on one side of the mounting rod (1) along the length direction of the mounting rod (1), a fourth electric slider (22) is slidably installed inside the fourth sliding groove (21), and a second connecting member (55) is connected to the side of the fourth electric slider (22) away from the mounting rod (1). An end of the first connecting rod (3) close to the second connecting member (55) is movably installed inside the second connecting member (55), and a first rotating motor (2) is installed on one side of the second connecting member (55), and an output end of the first rotating motor (2) movably passes through the second connecting member (55), and the output end of the first rotating motor (2) is connected to the first connecting rod (3).

3. The handling robot for mechanical parts processing according to claim 1 is characterized in that: A third rotating motor (35) is embedded and installed at one end of the first connecting rod (3) away from the mounting rod (1); an output end of the third rotating motor (35) is away from the first connecting rod (3); and the output end of the third rotating motor (35) is connected to a second connecting rod (4); a first sliding groove (12) is horizontally provided on a side of the second connecting rod (4) away from the mounting rod (1) along a length direction of the second connecting rod (4); a first electric sliding block (13) is installed at one end of the third connecting rod (5) close to the first sliding groove (12); and the first electric sliding block (13) is slidably installed inside the first sliding groove (12).

4. The handling robot for mechanical parts processing according to claim 1 is characterized in that: A second slide groove (14) is horizontally provided on the side where the two third connecting rods (5) are close to each other along the length direction of the third connecting rod (5); a second electric slider (15) is slidably installed inside the second slide groove (14); a second electric telescopic rod (16) is installed on the side of the second electric slider (15) away from the second slide groove (14); the telescopic end of the second electric telescopic rod (16) is away from the second electric slider (15); the telescopic end of the second electric telescopic rod (16) is connected to a second connecting block (36); a fourth rotary motor (37) is embedded and installed on the side of the second connecting block (36) away from the second electric telescopic rod (16); the output end of the fourth rotary motor (37) is away from the second connecting block (36); and the side of the fourth connecting rod (6) close to the second connecting block (36) is connected to the output end of the fourth rotary motor (37).

5. The handling robot for mechanical parts processing according to claim 1 is characterized in that: A third slide groove (17) is horizontally provided along the length direction of the fourth connecting rod (6) on the side where the two fourth connecting rods (6) are close to each other. A third electric slider (18) is slidably installed at both ends of the third slide groove (17). The end of the third electric slider (18) away from the third slide groove (17) is connected to the first connecting member (19). A first connecting block (20) is rotatably installed inside the first connecting member (19). A sixth rotating motor (56) is installed on the outside of the first connecting member (19). The output end of the sixth rotating motor (56) movably passes through the first connecting member (19), and the output end of the sixth rotating motor (56) is connected to the first connecting block (20). A fifth rotating motor (39) is embedded and installed at the end of the first connecting block (20) away from the fourth connecting rod (6). The output end of the fourth rotating motor (37) is away from the second connecting block (36). The end of the second movable rod (38) close to the first connecting block (20) is connected to the output end of the fifth rotating motor (39).

6. The handling robot for mechanical parts processing according to claim 1 is characterized in that: The detection mechanism comprises a third movable block (42) and a roller (43); a second slot (44) is provided on one side of the second movable rod (38); both ends of the inner wall of the second slot (44) are provided with ninth slide grooves (45); the third movable block (42) is movably mounted inside the second slot (44); a roller (43) is rotatably mounted on a side of the third movable block (42) away from the second movable rod (38); both ends of the third movable block (42) are provided with ninth slide blocks (46); the ninth slide block ( 46) is slidably mounted inside the ninth slide groove (45), a second spring (47) is mounted at the bottom end of the inner wall of the second slot (44), one end of the second spring (47) close to the third movable block (42) is connected to the third movable block (42), a second lever (48) is mounted at the bottom end of the inner wall of the second slot (44), a second contact switch (49) is arranged above the second lever (48), and one end of the second contact switch (49) away from the second lever (48) is connected to the third movable block (42).

7. The handling robot for mechanical parts processing according to claim 1 is characterized in that: The cleaning mechanism comprises a brush (53), a third slot (50) is provided on a side of the second movable rod (38) away from the third movable block (42), a brush (53) is movably mounted inside the third slot (50), a tenth slide slot (51) is provided on the inner walls at both ends of the third slot (50), a tenth electric slider (52) is mounted on both ends of the brush (53), and the tenth electric slider (52) is slidably mounted inside the tenth slide slot (51).

8. The handling robot for mechanical parts processing according to claim 1 is characterized in that: A first slot (40) is provided on one side of the second movable rod (38) close to the third movable block (42), a plurality of cameras (41) are evenly mounted inside the first slot (40), and a transparent material protective cover is mounted outside the first slot (40).

9. The handling robot for mechanical parts processing according to claim 1 is characterized in that: A guide rail (11) is installed below the mounting rod (1), a fifth electric slider (23) is slidably installed inside the guide rail (11), a first electric telescopic rod (7) is installed on a side of the fifth electric slider (23) away from the guide rail (11), a telescopic end of the first electric telescopic rod (7) is away from the mounting rod (1), and a side of the first movable rod (8) close to the first electric telescopic rod (7) is connected to the telescopic end of the first electric telescopic rod (7).

10. The handling robot for mechanical parts processing according to claim 1, characterized in that: The auxiliary mechanism comprises a first movable block (9) and a grinding block (10); a sixth sliding groove (25) is provided on a side of the first movable rod (8) away from the first electric telescopic rod (7) along the length direction of the first movable rod (8); two first movable blocks (9) are provided on a side of the first movable rod (8) away from the first electric telescopic rod (7); a sixth electric slider (26) is installed at one end of the first movable block (9) close to the first movable rod (8); the sixth electric slider (26) is slidably installed inside the sixth sliding groove (25); both sides of the inner wall of the first movable block (9) are provided with an eighth sliding groove (30); a second movable block (29) is movably installed inside the first movable block (9); both sides of the second movable block (29) are provided with an eighth slider (31); the eighth sliding groove (30) is provided on both sides of the inner wall of the first movable block (9); a second movable block (29) is movably installed inside the first movable block (9); and both sides of the second movable block (29) are provided with an eighth slider (31). The slider (31) is slidably mounted inside the eighth slide groove (30); a first spring (34) is mounted on the bottom end of the inner wall of the first movable block (9); one end of the first spring (34) close to the second movable block (29) is connected to the second movable block (29); a first contact switch (33) is mounted on the bottom end of the inner wall of the first movable block (9); a first lever (32) is disposed on the side of the first contact switch (33) close to the second movable block (29); the first lever (32) is connected to the second movable block (29); a seventh slide groove (27) is provided on the top of the first movable rod (8); a seventh electric slider (28) is slidably mounted inside the seventh slide groove (27); a side of the seventh electric slider (28) away from the first movable rod (8) is connected to a grinding block (10).

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