A rapid positioning and punching device for robotic arm components

Abstract

The present invention discloses a rapid positioning and punching device for robotic arm components, which relates to the technical field of drilling. The punching 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, and the auxiliary device is connected to the forming device. The clamping device is placed on the workbench surface of the bed body. The auxiliary device is used for directionally cooling the punching part of the workpiece. 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 in drilling to improve the drilling accuracy. The clamping device is used for fixing the workpiece. By setting grooves, it is convenient to quickly position the workpiece. In order to improve the processing efficiency, the transfer manipulator is used to automatically pick and place the workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling, and specifically to a rapid 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 devices are electric drills, drill presses, etc. In order to improve the automation efficiency, by setting up a track robot and cooperating with a drill press, 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 also becoming more and more complex, which has also greatly increased the processing difficulty to a certain extent. For example, when drilling holes in robotic arm components at present, not only vertical holes need to be drilled, but also inclined holes need to be drilled. Conventional drill presses 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 to be unidirectionally stretched near the hole wall. 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 rapid 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:

[0007] A rapid 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 working surface of the bed body, and the auxiliary device is used for directional cooling of the drilling part of the workpiece.

[0008] 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 to quickly position the workpiece. In order to improve the processing efficiency, the transfer manipulator is used to automatically pick and place the workpiece.

[0009] Further, the forming device includes a rotating motor, a cutter disc and a drilling assembly. The rotating motor is fixedly connected to the bed body. The output end of the rotating motor is fixedly connected to the cutter disc. The cutter disc is rotatably connected to the bed body. A number of drilling assemblies are arranged along the circumferential direction of the cutter disc. The drilling assembly is in transmission connection with the auxiliary device;

[0010] The auxiliary device includes a guiding assembly, which includes a guide rod, a positioning plate and a seat ring. The positioning plate is fixedly connected to the drilling assembly. The positioning plate and the seat ring are in transmission connection. The seat ring is rotatably connected to the housing 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 within the inner circle of the guiding coil. The guide rod is made of magnetic material;

[0011] During detection: The two guide rods are arranged obliquely on the same vertical plane.

[0012] The rotating motor is fixed on the bed body and is used to drive the cutter head to rotate. A number of drilling assemblies are arranged along the circumference of the cutter head. Different specifications of drilling assemblies can be rotated to the drilling station according to needs, so as to drill the workpiece. At the same time, the auxiliary device is installed through the drilling assembly. The positioning plate is fixed on the drilling assembly. 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 far 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 assembly drives the two guide rods to move downward through the positioning plate, due to the inconsistent distance from the inner hole wall of the workpiece, they 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 magnetic material, the guiding coil makes a cutting magnetic induction line movement and generates an induced current. When the later 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 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.

[0013] Further, the drilling assembly includes an adjustment cylinder, a drilling motor, a drill bit and a mounting seat. There are a number of adjustment grooves on the cutter head. The adjustment cylinder is placed in the adjustment groove. The output end of the adjustment 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 adjustment groove. The output end of the drilling motor is in transmission connection with the drill bit. The positioning plate is fixedly connected to the housing of the drilling motor.

[0014] The adjustment cylinder is fixed in the adjustment groove and is used to output displacement to push the mounting seat to slide along the adjustment 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 is convenient for subsequent automatic detection of the inclination angle of drilling the workpiece.

[0015] Further, the guiding component 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;

[0016] During the re-inspection: the two guide rods are at the same height.

[0017] 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.

[0018] Further, the auxiliary device further includes an adjustment component, which includes a refrigerating sheet, 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 plurality of chutes are provided on the diffusion plate, and the heat transfer sheet is slidably connected to the chutes. There are two expansion cylinders, and the two expansion cylinders are respectively fixedly connected to the diffusion plate. There are a plurality of heat transfer sheets, and the plurality of heat transfer sheets are 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. Refrigerating sheets 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;

[0019] During the differential movement: the frictional force on the side of the heat transfer sheet is less than the frictional force of the full contact between the bottom and the inner circle of the workpiece.

[0020] 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 chutes on the diffusion plate. The adjacent heat transfer sheets are driven through the friction surface of the transmission sheet. When driving the heat transfer sheet in the middle to diffuse outward, drive the heat transfer sheets on both sides of the same group to move outward in sequence. When the bottom surface of the heat transfer sheet is in full contact with the inner wall surface of the workpiece, the heat transfer sheet here stops moving. Since the inner circle of the workpiece tends to be oval when drilling an inclined hole, the heat transfer sheets stop moving along the inclined hole edge line of the inner circle of the workpiece in sequence. The heat transfer sheet in the middle moves to the farthest position, and the inclined hole edge lines of the inner circle of the workpiece are arranged in sequence through the two groups of heat transfer sheets. The heat transfer sheet is made of a good conductor of heat and is cooled by the refrigerating sheet, 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 workpiece inclined hole along the drilling direction is stretched towards the middle line, thereby improving the forming quality.

[0021] Further, the guiding coil is electrically connected to the adjacent expansion cylinder.

[0022] Through the electrical connection, according to the differential length ratio detected by the guiding coil, control the output of different lengths of the two expansion cylinders, so as to facilitate automatically adjusting the size of the cooling area according to the inclined hole edge line of the inner circle of the workpiece.

[0023] 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 deforming it outward, thereby improving the automatic shaping performance.

[0024] 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. A positioning seat is provided on the carrier table, and a positioning groove is provided on the positioning seat. The positioning groove is adapted to the outer surface of the workpiece. By providing a 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 movable end drives the vertical module to move. The movable 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 providing a positioning seat with a positioning groove 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, facilitating quick positioning and improving the processing efficiency.

[0025] As an optimization, there are three positioning seats. The three positioning seats are arranged in sequence along the processing direction. The transfer robot is used to transfer the workpiece between workstations. By providing three positioning seats for three-station processing, when the workpiece needs to be drilled with a flat hole and an inclined hole, the drilling convenience is improved through three stations. The workpiece can be automatically positioned only by placing it on different stations through the transfer robot, without the need to set up an additional adjustment mechanism to adjust the angle of the workpiece.

[0026] 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 make contact one after another. The guide rod that makes 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 guide coil. Since the guide rod is made of magnet material, the guide coil cuts the magnetic flux lines and generates an induced current. When the guide rod that makes contact later contacts the inner hole wall of the workpiece, a second induced current is generated. The angle between the drill bit and the axis of the inner hole of the workpiece can be known based on the difference between the two induced currents. After the drilling is completed, the drilled hole of the workpiece is equal to the horizontal connection of the drill bit. The hole diameter line is an isodiameter line. The curvature of the lower side of the isodiameter line is larger than the curvature of the inner hole wall of the upper side of the drill hole, and the farthest vertical distance from the lower side of the drill hole to the isodiameter line is greater than the farthest vertical distance from the upper side of the drill hole to the isodiameter line. The ratio of the farthest vertical distance on the upper side to the farthest vertical distance on the lower side is the differential length ratio. When the diameter of the workpiece is constant, the smaller the angle between the drill bit and the axis of the inner hole of the workpiece, the smaller the differential length ratio. The heat transfer plate adopts a good heat conductor and cools down through the cooling plate, so that the edge line of the inclined hole of the inner circle of the workpiece is automatically cooled down. During the cooling process, the deformation of the inclined hole of the workpiece along the drilling direction is stretched toward the center line, thereby improving the forming quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the molding device of the present invention;

[0029] Figure 3 This is a schematic diagram of tool changing power transmission according to the present invention;

[0030] Figure 4 It is a schematic structural diagram of the auxiliary device of the present invention;

[0031] Figure 5 This is a schematic structural diagram of the guide assembly of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the regulating component of the present invention.

[0033] In the figure: 1. Bed; 2. Forming device; 21. Rotating motor; 22. Cutter head; 221. Adjusting slot; 23. Drilling assembly; 231. Adjusting cylinder; 232. Drilling motor; 233. Drill bit; 234. Mounting seat; 3. Auxiliary device; 31. Guide assembly; 311. Guide rod; 312. Guide coil; 313. Sleeve; 314. Positioning plate; 315. Seat ring; 316. Reversing motor; 32. Adjusting assembly; 321. Refrigeration plate; 322. Heat transfer plate; 323. Expansion cylinder; 324. Transmission plate; 325. Diffuser plate; 4. Clamping device; 41. Carrier; 42. Cross module; 43. Positioning seat; 5. Transfer robot. Detailed implementation mode

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment: As Figures 1 - 6 shown, the present invention provides a technical solution for a rapid positioning and drilling device for robotic arm components.

[0036] A rapid positioning and drilling device for robotic arm components, the drilling device includes a bed body 1, a forming device 2, an auxiliary device 3, a clamping device 4 and a transfer manipulator 5. The transfer manipulator 5 is placed on one side of the bed body 1. The forming device 2 is connected to the bed body 1, the auxiliary device 3 is connected to the forming device 2, and the clamping device 4 is placed on the workbench surface of the bed body 1. The auxiliary device 3 is used for directionally cooling the drilling part of the workpiece.

[0037] The bed body 1 serves as the main installation foundation for installing and fixing other devices. The forming device 2 serves as the main power source for drilling the workpiece. The auxiliary device 3 is used for assisting in drilling to improve the drilling accuracy. The clamping device 4 is used for fixing the workpiece. By setting grooves, it is convenient for quickly positioning the workpiece. In order to improve the processing efficiency, the transfer manipulator 5 is used for automatically picking and placing the workpiece.

[0038] Further, the forming device 2 includes a rotating motor 21, a cutter head 22 and a drilling assembly 23. The rotating motor 21 is fixedly connected to the bed body 1. The output end of the rotating motor 21 is fixedly connected to the cutter head 22. The cutter head 22 is rotatably connected to the bed body 1. A plurality of drilling assemblies 23 are arranged along the circumferential direction of the cutter head 22. The drilling assembly 23 is drivingly connected to the auxiliary device 3;

[0039] The auxiliary device 3 includes a guiding assembly 31. The guiding assembly 31 includes a guide rod 311, a positioning plate 314 and a seat ring 315. The positioning plate 314 is fixedly connected to the drilling assembly 23. The positioning plate 314 is drivingly connected to the seat ring 315. The seat ring 315 is rotatably connected to the outer shell of the drilling motor 232. Two sleeves 313 are provided on one side of the seat ring 315. A guiding coil 312 is provided in the inner cavity of the sleeve 313. The guide rod 311 is slidably connected to the sleeve 313. The part of the guide rod 3 inserted into the inner cavity of the sleeve 313 is located within the inner ring of the guiding coil 312. The guide rod 311 is made of a magnet material;

[0040] During detection: The two guide rods 311 are arranged obliquely on the same vertical plane.

[0041] The rotary 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 needed, 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 far 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 guiding coil 312. Since the guide rod 311 is made of magnetic material, the guiding 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 is completed, the drilling of the workpiece takes 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 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 certain, 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.

[0042] 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.

[0043] 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.

[0044] 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 meshed with the external tooth surface of the seat ring 315 through the gear;

[0045] During re-inspection: The two guide rods 311 are at the same height.

[0046] According to the differential length ratio, control the output torque of the commutation motor 316. Through the meshing of the gear and the external tooth surface of the seat ring 315, drive the seat ring 315 to rotate around 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 at the same height, that is, the connecting 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 consistent according to the magnitudes of the induced currents cut by the two guide coils 312, so as to perform self-positioning and facilitate the drilling operation.

[0047] Further, the auxiliary device 3 further includes an adjustment component 32. The adjustment 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;

[0048] 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 ring of the workpiece.

[0049] 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. The sliding guide is carried out through the chute on the diffusion plate 325. The 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 diameter of the workpiece cavity. 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 center line, thereby improving the forming quality.

[0050] Furthermore, the guiding coil 312 is electrically connected to the adjacent expansion cylinder 323.

[0051] 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.

[0052] 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 inclined hole center line, making it deform outward, and improving the automatic shaping performance.

[0053] As an optimization, the clamping device 4 includes a carrier table 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 carrier table 41 to move on the horizontal plane. A positioning seat 43 is provided on the carrier table 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 carrier table 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 carrier table 41 to move, and drives the workpiece on the carrier table 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 rapid positioning and improves the processing efficiency.

[0054] 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 with a flat hole and an inclined hole, 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 carried out, and no additional adjustment mechanism needs to be set to adjust the angle of the workpiece.

[0055] 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, since the distances from the inner hole wall of the workpiece are inconsistent, 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 guiding coil 312. Since the guide rod 311 is made of magnetic material, the guiding 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 a line with a horizontal connection equal to the drilling hole diameter 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 hole, 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; 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 midline, thereby improving the forming quality.

[0056] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. 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 a robotic arm component, characterized in that: The punching device includes a bed body (1), a forming device (2), an auxiliary device (3), a clamping device (4) and a transfer manipulator (5). The transfer manipulator (5) is placed on one side of the bed body (1). The forming device (2) is connected to the bed body (1). The auxiliary device (3) is connected to the forming device (2). The clamping device (4) is placed on the workbench surface of the bed body (1). The auxiliary device (3) is used for directionally cooling the punching part of the workpiece. The forming device (2) includes a drilling assembly (23), and the drilling assembly (23) is in transmission connection with the auxiliary device (3). The auxiliary device (3) includes a guiding assembly (31). The guiding assembly (31) includes a guide rod (311), a positioning plate (314) and a seat ring (315). The positioning plate (314) is fixedly connected to the drilling assembly (23). The positioning plate (314) is in transmission connection with the seat ring (315). The seat ring (315) is rotatably connected to the outer shell of the drilling motor (232). There are two sleeves (313) on one side of the seat ring (315). A guiding coil (312) is arranged in the inner cavity of the sleeve (313). The guide rod (311) is slidably connected to the sleeve (313). The part of the guide rod (311) inserted into the inner cavity of the sleeve (313) is located inside the inner circle of the guiding coil (312). The guide rod (311) is made of magnet material. During detection: The two guide rods (311) are arranged obliquely on the same vertical plane. The drilling assembly (23) includes a drilling motor (232). The auxiliary device (3) further includes an adjusting assembly (32). The adjusting assembly (32) includes a refrigerating 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 drilling motor (232). A number of sliding grooves are provided on the diffusion plate (325). The heat transfer sheet (322) is slidably connected to the sliding grooves. There are two expansion cylinders (323). The two expansion cylinders (323) are respectively fixedly connected to the diffusion plate (325). There are a number of heat transfer sheets (322). The number of heat transfer sheets (322) is 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 refrigerating sheet (321) is provided on the heat transfer sheet (322). A transmission sheet (324) is provided on one side of the heat transfer sheet (322). 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. The guiding coil (312) is electrically connected to the adjacent expansion cylinder (323).

2. The rapid positioning and punching device for machine arm parts according to claim 1, characterized in that: The forming device (2) includes a rotating motor (21) and a cutter head (22). The rotating motor (21) is fixedly connected to the bed body (1). The output end of the rotating motor (21) is fixedly connected to the cutter head (22). The cutter head (22) is rotatably connected to the bed body (1). A number of drilling assemblies (23) are arranged along the circumferential direction of the cutter head (22).

3. A rapid positioning and punching device for robotic arm components according to claim 2, characterized in that: The drilling assembly (23) includes a position adjustment cylinder (231), a drill bit (233), and a mounting base (234). A number of position adjustment grooves (221) are provided on the cutter head (22). The position adjustment cylinder (231) is placed in the position adjustment groove (221). The output end of the position adjustment cylinder (231) is fixedly connected to the mounting base (234). The mounting base (234) is fixedly connected to the drilling motor (232). The mounting base (234) is slidably connected to the position 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).

4. A rapid positioning and punching device for a robotic arm component according to claim 3, characterized in that: The guiding assembly (31) further includes a reversing motor (316). The reversing motor (316) is fixedly connected to the positioning plate (314). A gear is provided at the output end of the reversing motor (316). An external tooth surface is provided on the seat ring (315). The reversing 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.

5. A rapid positioning and punching device for a robotic arm component according to claim 1, characterized in that: The refrigerating end of the refrigerating sheet (321) is in contact with the outer side of the heat transfer sheet (322).

6. The quick positioning and punching device for a robotic arm component according to claim 5, characterized in that: The clamping device (4) includes a carrier table (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 carrier table (41) to move on the horizontal plane. A positioning seat (43) is provided on the carrier table (41). A positioning groove is provided on the positioning seat (43). The positioning groove is adapted to the outer surface of the workpiece.

7. A rapid positioning and punching device for a robotic arm component according to claim 6, characterized in that: Three positioning seats (43) are provided. 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.

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