Quick positioning and punching device for robotic arm parts

Abstract

The invention discloses a quick positioning and punching device for robotic arm parts, and relates to the technical field of drilling, the punching device comprises a bed body, a forming device, an auxiliary device, a clamping device and a transfer manipulator, the transfer manipulator is arranged on one side of the bed body, the forming device is connected with the bed body, the auxiliary device is connected with the forming device, and the clamping device is connected with the clamping device. The clamping device is arranged on the working table of the machine body, and the auxiliary device is used for directionally cooling the punching part of the workpiece. The machine body serves as a main installation foundation and is used for installing and fixing other devices, the forming device serves as a main power source and is used for drilling a workpiece, the auxiliary device is used for conducting auxiliary drilling and improving the drilling precision, the clamping device is used for fixing the workpiece, and the workpiece is conveniently and rapidly positioned by arranging a groove; in order to improve the machining efficiency, the workpieces are automatically taken and placed through the transfer manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling, and specifically to a quick positioning and drilling device for robotic arm components. Background Art

[0002] A drilling device is generally a device used to process holes in solid materials. Currently, commonly used drilling equipment includes electric drills, drilling machines, etc. In order to improve the automation efficiency, by setting up a rail robot and cooperating with a drilling machine, the continuous processing efficiency is improved, which is widely used in the machining industry.

[0003] However, with the complication of various robotic arm usage scenarios, the requirements for their components are becoming more and more complex, which also greatly increases the processing difficulty to a certain extent. For example, currently when drilling holes in robotic arm components, not only vertical holes need to be drilled, but also inclined holes need to be drilled. Conventional drilling machines cannot quickly position components arranged obliquely, reducing the drilling efficiency.

[0004] In addition, when drilling inclined holes, the drilled holes are elliptical with different lengths in the upper and lower regions. Under the condition of heat accumulation, the drilling will drive the workpiece near the hole wall to be unidirectionally stretched during drilling. Direct cooling is likely to cause local deformation and affect the forming quality. Summary of the Invention

[0005] The purpose of the present invention is to provide a quick positioning and drilling device for robotic arm components to solve the problems raised in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A quick positioning and drilling device for robotic arm components, the drilling device includes a bed body, a forming device, an auxiliary device, a clamping device, and a transfer manipulator. The transfer manipulator is placed on one side of the bed body. The forming device is connected to the bed body, the auxiliary device is connected to the forming device, the clamping device is placed on the workbench surface of the bed body, and the auxiliary device is used for directional cooling of the drilling part of the workpiece.

[0007] The bed body serves as the main installation foundation for installing and fixing other devices. The forming device serves as the main power source for drilling the workpiece. The auxiliary device is used for assisting drilling to improve the drilling accuracy. The clamping device is used for fixing the workpiece. By setting a groove, it is convenient for quickly positioning the workpiece. In order to improve the processing efficiency, the transfer manipulator is used for automatically picking and placing the workpiece.

[0008] Further, the forming device includes a rotating motor, a cutter head, and a drilling assembly. The rotating motor is tightly connected to the bed body. The output end of the rotating motor is tightly connected to the cutter head. The cutter head is rotatably connected to the bed body. A number of drilling assemblies are arranged along the circumferential direction of the cutter head. The drilling assembly is in transmission connection with the auxiliary device; The auxiliary device includes a guiding component, which includes a guide rod, a positioning plate and a seat ring. The positioning plate is fixedly connected to the drilling component, the positioning plate and the seat ring are drivingly connected, the seat ring is rotatably connected to the outer shell of the drilling motor. There are two sleeves on one side of the seat ring. A guiding coil is arranged in the inner cavity of the sleeve. The guide rod is slidably connected to the sleeve. The part of the guide rod inserted into the inner cavity of the sleeve is located inside the inner circle of the guiding coil. The guide rod is made of magnet material; During detection: the two guide rods are arranged obliquely on the same vertical plane.

[0009] The rotating motor is fixed on the bed body and is used to drive the cutter head to rotate. A number of drilling components are arranged along the circumference of the cutter head. Different specifications of drilling components can be rotated to the drilling station as needed, so as to drill the workpiece. At the same time, the auxiliary device is installed through the drilling component. The positioning plate is fixed on the drilling component. The two sleeves are fixed through the seat ring arranged on the outside. In the initial state, when drilling an inclined hole, the two guide rods are arranged obliquely downward, and the side away from the sleeve is the low end. Under the action of its own weight, it reaches the farthest end of the sleeve. When the drilling component drives the two guide rods to move down through the positioning plate, due to the inconsistent distance from the inner hole wall of the workpiece, they will come into contact successively. The first contacted guide rod retracts into the inner cavity of the sleeve under the reverse thrust of the inner hole wall of the workpiece and passes through the inner circle of the guiding coil. Since the guide rod is made of magnet material, the guiding coil makes a cutting magnetic induction line movement and generates an induced current. When the latter contacted guide rod touches the inner hole wall of the workpiece, a second induced current is generated. According to the difference between these two induced currents, the included angle between the drill bit and the axis of the inner hole of the workpiece can be known; after the drilling is completed, the drilled hole of the workpiece takes the line with the transverse connection equal to the drilling aperture as the equal-diameter line. The curvature of the lower side of the equal-diameter line is larger than that of the inner hole wall of the upper side of the drilling, and the farthest vertical distance from the lower side of the drilling edge to the equal-diameter line is greater than the farthest vertical distance from the upper side of the drilling edge to the equal-diameter line. The ratio of the upper farthest vertical distance to the lower farthest vertical distance is the difference length ratio. When the diameter of the workpiece is fixed, the smaller the included angle between the drill bit and the axis of the inner hole of the workpiece, the smaller the difference length ratio.

[0010] Furthermore, the drilling component includes an adjusting cylinder, a drilling motor, a drill bit and a mounting seat. There are several adjusting grooves on the cutter head. The adjusting cylinder is placed in the adjusting groove. The output end of the adjusting cylinder is fixedly connected to the mounting seat. The mounting seat is fixedly connected to the drilling motor. The mounting seat is slidably connected to the adjusting groove. The output end of the drilling motor is drivingly connected to the drill bit. The positioning plate is fixedly connected to the housing of the drilling motor.

[0011] The adjusting cylinder is fixed in the adjusting groove and is used to output displacement to push the mounting seat to slide along the adjusting groove. During the movement, it can drive the drilling motor to move. The drilling motor is used to drive the drill bit to rotate, so as to drive the drill bit to automatically drill the workpiece. The positioning plate is fixed on the housing of the drilling motor, which is convenient to move together with the drilling motor and convenient for subsequent automatic detection of the inclination angle of the drilled hole of the workpiece.

[0012] Further, the guiding assembly further includes a commutation motor, which is fixedly connected to the positioning plate. A gear is provided at the output end of the commutation motor, and an external tooth surface is provided on the seat ring. The commutation motor is engaged with the external tooth surface of the seat ring through the gear; During reinspection: The two guide rods are at the same height.

[0013] According to the differential length ratio, control the output torque of the commutation motor. Through the engagement of the gear and the external tooth surface of the seat ring, drive the seat ring to rotate, thereby driving the guide rod to rotate by ninety degrees, so that the two guide rods are at the same height, that is, the connection line of the two axes and the equal-diameter line are in the same plane, facilitating the drilling operation.

[0014] Further, the auxiliary device further includes an adjustment assembly, which includes a Peltier element, a heat transfer sheet, an expansion cylinder, a transmission sheet and a diffusion plate. The diffusion plate is fixedly connected to the drilling motor. A number of sliding grooves are provided on the diffusion plate, and the heat transfer sheet is slidably connected to the sliding grooves. There are two expansion cylinders, and the two expansion cylinders are respectively fixedly connected to the diffusion plate. There are a number of heat transfer sheets, and the number of heat transfer sheets is divided into two groups. The output end of the expansion cylinder is fixedly connected to the heat transfer sheet in the middle of the adjacent group. Peltier elements are provided on the heat transfer sheets. A transmission sheet is provided on one side of the heat transfer sheet, and a friction surface is provided on the adjacent side of the transmission sheet; During differential motion: The frictional force on the side of the heat transfer sheet is less than the frictional force of full contact between the bottom and the inner ring of the workpiece.

[0015] According to the slope of the drilled hole, control the retraction displacement of the two expansion cylinders, drive the heat transfer sheets in the middle of the two groups to move in opposite directions, and perform sliding guidance through the sliding grooves on the diffusion plate. The adjacent heat transfer sheets are driven through the friction surface of the transmission sheet. When driving the heat transfer sheets in the middle to spread outwards, drive the heat transfer sheets on both sides of the same group to move outwards in turn. When the bottom surface of the heat transfer sheet comes into full contact with the inner wall surface of the workpiece, the heat transfer sheet here stops moving. Since the inner ring of the workpiece tends to be elliptical when drilling an inclined hole, the heat transfer sheets stop moving successively along the inclined hole edge line of the inner ring of the workpiece. The heat transfer sheets in the middle move to the farthest position, and the inclined hole edge lines of the inner ring of the workpiece are arranged in turn through the two groups of heat transfer sheets. The heat transfer sheets are made of good heat conductors and are cooled by the Peltier elements, so that the inclined hole edge lines of the inner ring of the workpiece are automatically cooled. During the cooling process, the deformation of the workpiece inclined hole along the drilling direction is stretched towards the midline, thereby improving the forming quality.

[0016] Further, the guiding coil is electrically connected to the adjacent expansion cylinder.

[0017] Through the electrical connection, according to the differential length ratio detected by the guiding coil, control the two expansion cylinders to output different lengths of distances, so as to facilitate automatically adjusting the size of the cooling area according to the inclined hole edge line of the inner ring of the workpiece.

[0018] As an optimization, the cooling end of the Peltier cooler is in contact with the outer side of the heat transfer fin. Placing the cold end on the outer side of the heat transfer fin enables the outer side to complete deformation first during the process of directional deformation, pulling the part near the midline of the inclined hole and causing it to deform outward, thereby improving the automatic shaping performance.

[0019] As an optimization, the clamping device includes a carrier table, a cross module, and a positioning seat. The cross module is placed on the bed body. The cross module includes a horizontal module and a vertical module. The cross module is used to drive the carrier table to move on the horizontal plane. There is a positioning seat on the carrier table, and a positioning groove is provided on the positioning seat, which is adapted to the outer surface of the workpiece. By providing planar displacement through the cross module, it is convenient to drive the movement of the carrier table. The horizontal module and the vertical module adopt conventional module structures for linear displacement. The fixed end of the horizontal module is set on the bed body, and the moving end drives the vertical module to move. The moving end of the vertical module drives the carrier table to move, driving the workpiece on the carrier table to move to different processing positions according to the usage requirements for automatic processing, improving the continuous processing efficiency. By setting the positioning seat with a positioning groove on it, the positioning groove is set according to the outer surface of the workpiece. When loading the workpiece by the transfer robot, the workpiece can be directly placed in the positioning groove, which is convenient for quick positioning and improves the processing efficiency.

[0020] As an optimization, there are three positioning seats, and the three positioning seats are arranged in sequence along the processing direction. The transfer robot is used to transfer the workpiece between workstations. By setting three positioning seats for three-station processing, the workpiece needs to be drilled with planar holes and inclined holes. The three-station setup improves the convenience of drilling. The workpiece can be automatically positioned only by placing it on different stations through the transfer robot, without the need to set up additional adjustment mechanisms to adjust the angle of the workpiece.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: When the drilling assembly drives the two guide rods to move downward through the positioning plate, due to the inconsistent distances from the inner hole wall of the workpiece, they come into contact successively. The guide rod that comes into contact first retracts into the inner cavity of the sleeve under the reverse thrust of the inner hole wall of the workpiece and passes through the inner ring of the guiding coil. Since the guide rod is made of magnet material, the guiding coil makes a cutting magnetic induction line movement and generates an induced current. When the later-contact guide rod touches the inner hole wall of the workpiece, a second induced current is generated. The included angle between the drill bit and the axis of the inner hole of the workpiece can be known according to the difference between these two induced currents; after drilling is completed, the drilled hole of the workpiece has an equal-diameter line with a horizontal connection equal to the diameter of the drilled hole. The curvature of the lower side of the equal-diameter line is larger than that of the inner hole wall of the upper side of the drilled hole, and the farthest vertical distance from the lower side of the drilled hole edge to the equal-diameter line is greater than the farthest vertical distance from the upper side of the drilled hole edge to the equal-diameter line. The ratio of the upper farthest vertical distance to the lower farthest vertical distance is the difference length ratio. When the diameter of the workpiece is fixed, the smaller the included angle between the drill bit and the axis of the inner hole of the workpiece, the smaller the difference length ratio; the heat transfer sheet is made of a good conductor of heat and is cooled by the refrigeration sheet, so that the inclined hole side line of the inner ring of the workpiece is automatically cooled. During the cooling process, the deformation of the inclined hole of the workpiece along the drilling direction is stretched towards the midline, thereby improving the forming quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the forming device of the present invention; Figure 3 is a schematic diagram of the tool change power transmission of the present invention; Figure 4 is a schematic diagram of the structure of the auxiliary device of the present invention; Figure 5 is a schematic diagram of the structure of the guiding assembly of the present invention; Figure 6 is a schematic diagram of the structure of the adjusting assembly of the present invention.

[0023] In the figure: 1, bed body; 2, forming device; 21, rotating motor; 22, tool disc; 221, adjustment groove; 23, drilling assembly; 231, adjustment cylinder; 232, drilling motor; 233, drill bit; 234, mounting seat; 3, auxiliary device; 31, guiding assembly; 311, guide rod; 312, guiding coil; 313, sleeve; 314, positioning plate; 315, seat ring; 316, commutation motor; 32, adjusting assembly; 321, refrigeration sheet; 322, heat transfer sheet; 323, expansion cylinder; 324, transmission sheet; 325, diffusion plate; 4, clamping device; 41, carrier table; 42, cross module; 43, positioning seat; 5, transfer manipulator. DETAILED DESCRIPTION OF THE INVENTION

[0024] 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.

[0025] Example: Figures 1-6 As shown, the present invention provides a technical solution for a rapid positioning and punching device for robot arm parts.

[0026] A rapid positioning and punching device for robot arm parts, the punching device comprises a bed 1, a forming device 2, an auxiliary device 3, a clamping device 4 and a transfer robot 5, the transfer robot 5 is placed on one side of the bed 1, the forming device 2 is connected to the bed 1, the auxiliary device 3 is connected to the forming device 2, the clamping device 4 is placed on the working table of the bed 1, and the auxiliary device 3 is used for directional cooling of the punching part of the workpiece.

[0027] The bed 1 is used as the main installation base for installing and fixing other devices. The forming device 2 is used as the main power source for drilling the workpiece. The auxiliary device 3 is used for auxiliary drilling to improve drilling accuracy. The clamping device 4 is used to fix the workpiece. By setting grooves, it is convenient to quickly position the workpiece. In order to improve processing efficiency, the workpiece is automatically picked up and placed by the transfer robot 5.

[0028] Furthermore, the forming device 2 includes a rotating motor 21, a cutter disc 22 and a drilling assembly 23, the rotating motor 21 is fastened to the bed 1, the output end of the rotating motor 21 is fastened to the cutter disc 22, the cutter disc 22 is rotationally connected to the bed 1, a plurality of drilling assemblies 23 are arranged along the circumference of the cutter disc 22, and the drilling assembly 23 is transmission-connected to the auxiliary device 3; The auxiliary device 3 includes a guide assembly 31, which includes a guide rod 311, a positioning plate 314 and a seat ring 315. The positioning plate 314 is fastened to the drilling assembly 23, the positioning plate 314 is transmission-connected to the seat ring 315, the seat ring 315 is rotationally connected to the outer shell of the drilling motor 232, two sleeves 313 are provided on one side of the seat ring 315, and a guide coil 312 is provided in the inner cavity of the sleeve 313. The guide rod 311 is slidably connected to the sleeve 313, and the part of the guide rod 311 inserted into the inner cavity of the sleeve 313 is located in the inner circle of the guide coil 312, and the guide rod 311 is made of magnet material; During detection: the two guide rods 311 are arranged obliquely on the same vertical plane.

[0029] The rotating electric machine 21 is fixed on the bed body 1 and is used to drive the cutter head 22 to rotate. A number of drilling assemblies 23 are arranged along the circumferential direction of the cutter head 22. Different specifications of drilling assemblies 23 are rotated to the drilling station as required, so as to drill the workpiece. At the same time, the auxiliary device 3 is installed through the drilling assembly 23. The positioning plate 314 is fixed on the drilling assembly 23, and two sleeves 313 are fixed through the seat ring 315. In the initial state, when drilling an inclined hole, the two guide rods 311 are arranged obliquely downward, and the side away from the sleeve 313 is the low end. Under the action of its own weight, it reaches the farthest end of the sleeve 313. When the drilling assembly 23 drives the two guide rods 311 to move downward through the positioning plate 314, due to the inconsistent distance from the inner hole wall of the workpiece, they come into contact successively. The first contacted guide rod 311 retracts into the inner cavity of the sleeve 313 under the reverse thrust of the inner hole wall of the workpiece and passes through the inner ring of the guide coil 312. Since the guide rod 311 is made of magnetic material, the guide coil 312 makes a cutting magnetic induction line movement and generates an induced current. When the later contacted guide rod 311 contacts the inner hole wall of the workpiece, a second induced current is generated. According to the difference between these two induced currents, the included angle between the drill bit 233 and the axis of the inner hole of the workpiece can be known; after drilling, the drilling of the workpiece takes the line with the transverse connection equal to the drilling aperture as the equal-diameter line. The curvature of the lower side of the equal-diameter line is larger than that of the inner hole wall of the upper side of the drilling, and the farthest vertical distance from the lower side of the drilling edge to the equal-diameter line is greater than the farthest vertical distance from the upper side of the drilling edge to the equal-diameter line. The ratio of the farthest vertical distance on the upper side to the farthest vertical distance on the lower side is the difference length ratio. When the diameter of the workpiece is fixed, the smaller the included angle between the drill bit and the axis of the inner hole of the workpiece, the smaller the difference length ratio.

[0030] Further, the drilling assembly 23 includes an adjustment cylinder 231, a drilling motor 232, a drill bit 233 and a mounting seat 234. A number of adjustment grooves 221 are provided on the cutter head 22. The adjustment cylinder 231 is placed in the adjustment groove 221. The output end of the adjustment cylinder 231 is fixedly connected to the mounting seat 234. The mounting seat 234 is fixedly connected to the drilling motor 232. The mounting seat 234 is slidably connected to the adjustment groove 221. The output end of the drilling motor 232 is drivingly connected to the drill bit 233. The positioning plate 314 is fixedly connected to the housing of the drilling motor 232.

[0031] The adjustment cylinder 231 is fixed in the adjustment groove 221 and is used to output displacement to push the mounting seat 234 to slide along the adjustment groove 221. During the movement, it can drive the drilling motor 232 to move. The drilling motor 232 is used to drive the drill bit 233 to rotate, so as to drive the drill bit 233 to automatically drill the workpiece. The positioning plate 314 is fixed on the housing of the drilling motor 232, which is convenient to move together with the drilling motor 232 and is convenient for automatically detecting the inclination angle of the subsequent drilling of the workpiece.

[0032] Further, the guiding component 31 further includes a commutation motor 316. The commutation motor 316 is fixedly connected to the positioning plate 314. A gear is provided at the output end of the commutation motor 316, and an external tooth surface is provided on the seat ring 315. The commutation motor 316 is engaged with the external tooth surface of the seat ring 315 through the gear; During re-inspection: The two guide rods 311 are at the same height.

[0033] According to the differential length ratio, control the output torque of the commutation motor 316. Through the engagement of the gear and the external tooth surface of the seat ring 315, drive the seat ring 315 to rotate along the center of the commutation motor 316 housing, thereby driving the guide rod 311 to rotate by ninety degrees, so that the two guide rods 311 are located at the same height, that is, the connection line of the two axes and the equal-diameter line are in the same plane. When the guide rod 311 rotates, it abuts against the inner wall of the workpiece to push the guide rod 311 to move in the inner cavity of the sleeve 313. Determine whether the extended lengths of the two guide rods 311 are the same according to the magnitudes of the induced currents cut by the two guiding coils 312, so as to perform self-positioning and facilitate the drilling operation.

[0034] Further, the auxiliary device 3 further includes an adjusting component 32. The adjusting component 32 includes a refrigeration sheet 321, a heat transfer sheet 322, an expansion cylinder 323, a transmission sheet 324 and a diffusion plate 325. The diffusion plate 325 is fixedly connected to the housing of the drilling motor 232. A plurality of sliding grooves are provided on the diffusion plate 325, and the heat transfer sheet 322 is slidably connected to the sliding grooves. There are two expansion cylinders 323, and the two expansion cylinders 323 are respectively fixedly connected to the diffusion plate 325. There are a plurality of heat transfer sheets 322, and the plurality of heat transfer sheets 322 are divided into two groups. The output end of the expansion cylinder 323 is fixedly connected to the heat transfer sheet 322 in the middle of the adjacent group. The refrigeration sheet 321 is provided on the heat transfer sheet 322, and a transmission sheet 324 is provided on one side of the heat transfer sheet 322, and a friction surface is provided on the adjacent side of the transmission sheet 324; During differential movement: The frictional force on the side of the heat transfer sheet 322 is less than the frictional force of full contact between the bottom edge and the inner circle of the workpiece.

[0035] According to the slope of the drilled hole, control the retraction displacement of the two expansion cylinders 323, drive the heat transfer fins 322 in the middle of the two groups to move in opposite directions. The heat transfer fins 322 are in the form of folded plates, so that the bottom end is in an offset state during heat exchange to prevent movement interference. Slide and guide through the chute on the diffusion plate 325. Adjacent heat transfer fins 322 are driven through the friction surface of the transmission piece 324. When driving the heat transfer fins 322 in the middle to expand outward, the heat transfer fins 322 on both sides of the same group are driven to move outward in sequence. When the bottom surface of the heat transfer fin 322 is in full contact with the inner wall surface of the workpiece, the heat transfer fin 322 here stops moving. The bottom of the heat transfer fin 322 is arranged in an arc shape and is set according to the inner cavity diameter of the workpiece. Since the inner circle of the workpiece tends to be oval when drilling an inclined hole, the heat transfer fins 322 stop moving in sequence along the inclined hole edge line of the inner circle of the workpiece. The heat transfer fins 322 in the middle move to the farthest position. The inclined hole edge lines of the inner circle of the workpiece are arranged in sequence through the two groups of heat transfer fins 322. The heat transfer fins 322 are made of good heat conductors and are cooled by the refrigeration sheet 321, so that the inclined hole edge lines of the inner circle of the workpiece are automatically cooled. During the cooling process, the deformation of the inclined hole of the workpiece along the drilling direction is stretched towards the middle line, thereby improving the forming quality.

[0036] Further, the guiding coil 312 is electrically connected to the adjacent expansion cylinder 323.

[0037] Through the electrical connection, according to the differential length ratio detected by the guiding coil 312, control the two expansion cylinders 323 to output distances of different lengths, so as to facilitate automatically adjusting the size of the cooling area according to the inclined hole edge lines of the inner circle of the workpiece.

[0038] As an optimization, the cooling end of the refrigeration sheet 321 is in contact with the outer side of the heat transfer fin 322. Place the cold end on the outer side of the heat transfer fin 322, so that during the process of directional deformation, the outer side is deformed first and pulls the part close to the middle line of the inclined hole, making it deformed outward, and improving the automatic shaping performance.

[0039] As an optimization, the clamping device 4 includes a stage 41, a cross module 42, and a positioning seat 43. The cross module 42 is placed on the bed body 1. The cross module 42 includes a horizontal module and a vertical module. The cross module 42 is used to drive the stage 41 to move on the horizontal plane. A positioning seat 43 is provided on the stage 41, and a positioning groove is provided on the positioning seat 43, and the positioning groove is adapted to the outer surface of the workpiece. By providing a plane displacement through the cross module 42, it is convenient to drive the stage 41 to move. The horizontal module and the vertical module adopt conventional module structures for linear displacement. The fixed end of the horizontal module is set on the bed body 1, and the moving end drives the vertical module to move. The moving end of the vertical module drives the stage 41 to move, and drives the workpiece on the stage 41 to move according to the use requirements, moves the workpiece to different processing positions, and performs automatic processing, improving the continuous processing efficiency. By providing the positioning seat 43 with a positioning groove provided according to the outer surface of the workpiece, when loading materials through the transfer manipulator 5, the workpiece can be directly placed in the positioning groove, which is convenient for quick positioning and improves the processing efficiency.

[0040] As an optimization, three positioning seats 43 are provided, and the three positioning seats 43 are arranged in sequence along the processing direction. The transfer manipulator 5 is used to transfer the workpiece between workstations. By providing three positioning seats 43 for three-station processing, when the workpiece needs to be drilled flat and obliquely, the drilling convenience is improved through three stations. Only by placing the workpiece on different stations through the transfer manipulator 5 can automatic positioning be performed, and no additional adjustment mechanism is required to adjust the angle of the workpiece.

[0041] The working principle of the present invention: When the drilling assembly 23 drives the two guide rods 311 to move downward through the positioning plate 314, due to the inconsistent distances from the inner hole wall of the workpiece, they come into contact successively. The first contacted guide rod 311 retracts into the inner cavity of the sleeve 313 under the reverse thrust of the inner hole wall of the workpiece and passes through the inner ring of the guide coil 312. Since the guide rod 311 is made of a magnetic material, the guide coil 312 makes a cutting magnetic induction line movement and generates an induced current. When the later contacted guide rod 311 contacts the inner hole wall of the workpiece, a second induced current is generated. According to the difference between these two induced currents, the included angle between the drill bit 233 and the axis of the inner hole of the workpiece can be known; after drilling, the drilled hole of the workpiece uses the line with the horizontal connection equal to the drilling aperture as the equal-diameter line. The curvature of the lower side of the equal-diameter line is larger than that of the inner hole wall of the upper side of the drilled hole, and the farthest vertical distance from the lower side of the drilled hole edge to the equal-diameter line is greater than the farthest vertical distance from the upper side of the drilled hole edge to the equal-diameter line. The ratio of the farthest vertical distance on the upper side to the farthest vertical distance on the lower side is the difference length ratio. When the diameter of the workpiece is fixed, the smaller the included angle between the drill bit and the axis of the inner hole of the workpiece, the smaller the difference length ratio; the heat transfer sheet 322 is made of a good conductor of heat and is cooled by the refrigeration sheet 321, so that the inclined hole side line of the inner ring of the workpiece is automatically cooled. During the cooling process, the deformation of the inclined hole of the workpiece along the drilling direction is stretched towards the center line, thereby improving the forming quality.

[0042] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A rapid positioning and punching device for robot arm parts, characterized in that: The punching device comprises a bed (1), a forming device (2), an auxiliary device (3), a clamping device (4) and a transfer robot (5), wherein the transfer robot (5) is placed on one side of the bed (1), the forming device (2) is connected to the bed (1), the auxiliary device (3) is connected to the forming device (2), the clamping device (4) is placed on a working table of the bed (1), and the auxiliary device (3) is used for directional cooling of the punching portion of the workpiece; The auxiliary device (3) comprises a guide assembly (31), the guide assembly (31) comprising a guide rod (311), a positioning plate (314) and a seat ring (315), the positioning plate (314) and the drilling assembly (23) are fastened together, the positioning plate (314) and the seat ring (315) are transmission-connected, the seat ring (315) and the housing of the drilling motor (232) are rotationally connected, two sleeves (313) are provided on one side of the seat ring (315), the inner cavity of the sleeve (313) is provided with a guide coil (312), the guide rod (311) and the sleeve (313) are slidably connected, the portion of the guide rod (311) inserted into the inner cavity of the sleeve (313) is located in the inner ring of the guide coil (312), and the guide rod (311) is made of a magnetic material; During detection: the two guide rods (311) are arranged obliquely on the same vertical plane.

2. A rapid positioning and punching device for robot arm parts according to claim 1, characterized in that: The forming device (2) comprises a rotating motor (21), a cutter disc (22) and a drilling assembly (23); the rotating motor (21) is tightly connected to the bed (1); the output end of the rotating motor (21) is tightly connected to the cutter disc (22); the cutter disc (22) is rotationally connected to the bed (1); a plurality of drilling assemblies (23) are arranged along the circumference of the cutter disc (22); and the drilling assemblies (23) are drivingly connected to the auxiliary device (3).

3. A rapid positioning and punching device for robot arm parts according to claim 2, characterized in that: The drilling assembly (23) comprises a positioning cylinder (231), a drilling motor (232), a drill bit (233) and a mounting seat (234); a plurality of positioning grooves (221) are provided on the cutter head (22); the positioning cylinder (231) is placed in the positioning groove (221); the output end of the positioning cylinder (231) is fastened to the mounting seat (234); the mounting seat (234) is fastened to the drilling motor (232); the mounting seat (234) is slidably connected to the positioning groove (221); the output end of the drilling motor (232) is transmission-connected to the drill bit (233); and the positioning plate (314) is fastened to the housing of the drilling motor (232).

4. The rapid positioning and punching device for robot arm parts according to claim 3, characterized in that: The guide assembly (31) further comprises a reversing motor (316), the reversing motor (316) and the positioning plate (314) being tightly connected, a gear being provided at the output end of the reversing motor (316), an external tooth surface being provided on the seat ring (315), and the reversing motor (316) meshing with the external tooth surface of the seat ring (315) through the gear; During re-inspection: the two guide rods (311) are at the same height.

5. A rapid positioning and punching device for robot arm parts according to claim 4, characterized in that: The auxiliary device (3) further comprises an adjustment component (32), the adjustment component (32) comprising a cooling plate (321), a heat transfer plate (322), an expansion cylinder (323), a transmission plate (324) and a diffusion plate (325), the diffusion plate (325) being fastened to the drilling motor (232), a plurality of slide grooves being provided on the diffusion plate (325), the heat transfer plate (322) being slidably connected to the slide grooves, two expansion cylinders (323) being provided, the two expansion cylinders (323) being fastened to the diffusion plate (325) respectively, a plurality of heat transfer plates (322) being provided, the plurality of heat transfer plates (322) being divided into two groups, the output end of the expansion cylinder (323) being fastened to the heat transfer plates (322) in the middle of the adjacent groups, a cooling plate (321) being provided on the heat transfer plate (322), a transmission plate (324) being provided on one side of the heat transfer plate (322), and a friction surface being provided on the adjacent side of the transmission plate (324); In differential operation: the friction force on the side of the heat transfer plate (322) is smaller than the friction force when the bottom edge and the inner ring of the workpiece are in full contact.

6. A rapid positioning and punching device for robot arm parts according to claim 5, characterized in that: The guide coil (312) is electrically connected to an adjacent expansion cylinder (323).

7. A rapid positioning and punching device for robot arm parts according to claim 6, characterized in that: The cooling end of the cooling plate (321) is in contact with the outer side of the heat transfer plate (322).

8. The rapid positioning and punching device for robot arm parts according to claim 7, characterized in that: The clamping device (4) comprises a carrier (41), a cross module (42) and a positioning seat (43); the cross module (42) is placed on the bed (1); the cross module (42) comprises a transverse module and a longitudinal module; the cross module (42) is used to drive the carrier (41) to move on a horizontal plane; the carrier (41) is provided with a positioning seat (43); the positioning seat (43) is provided with a positioning groove; the positioning groove is adapted to fit the outer surface of the workpiece.

9. A rapid positioning and punching device for robot arm parts according to claim 8, characterized in that: Three positioning seats (43) are provided, and the three positioning seats (43) are arranged in sequence along the processing direction. The transfer robot (5) is used to transfer the workpiece between workstations.

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