Mechanical shaft grabbing device for mechanical manufacturing

Abstract

The invention relates to the technical field of mechanical grabbing, in particular to a mechanical shaft grabbing device for mechanical manufacturing, which comprises a displacement module and a grabbing module, one side of the displacement module is provided with a placing module corresponding to the grabbing module, and the grabbing module comprises a shell, a fixing frame, a plurality of clamping rods, a plurality of sliding rods and two limiting mechanisms. The fixing frame is fixedly connected to the inner side face of the shell, and the inner side face of the fixing frame is slidably connected with a sliding frame. According to the mechanical shaft clamping device, the multiple clamping rods are rotationally connected to the fixed shaft, under the action of the first reset springs, the bottoms of the clamping rods can rotate towards the mechanical shaft, the bottoms of the clamping rods abut against the mechanical shaft, and therefore the mechanical shaft is clamped by the multiple clamping rods, the width of each clamping rod is relatively small, and therefore the mechanical shaft clamping device can adapt to clamping of the conical surface or an annular groove of the mechanical shaft; and the multiple clamping rods are all attached to the mechanical shaft, the situation that the clamping rods are not attached to the mechanical shaft is avoided as much as possible, and clamping of the mechanical shafts of different shapes can be conveniently adapted.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical grasping, in particular to a mechanical shaft grasping device used in mechanical manufacturing. Background Art

[0002] The mechanical shaft is the core component of mechanical transmission, and is responsible for supporting rotating parts, transmitting power and torque. During the mechanical manufacturing process, in order to perform various cutting and other processing on the mechanical shaft, it is usually necessary to use a grasping device to grasp the mobile mechanical shaft and grasp the mechanical shaft from the conveying device to the processing equipment. When the existing mechanical shaft grasping device is in use, due to the different diameters of different parts of some mechanical shafts, there may be conical surfaces or annular concave surfaces on the mechanical shaft. In this way, when the gripper of the grasping device clamps the mechanical shaft, the clamping contact surface may be reduced due to clamping the conical surface of the mechanical shaft or the annular concave surface on the mechanical shaft, and the larger part of the gripper may not contact the mechanical shaft, which may cause the grasping of the mechanical shaft to be unreliable. In this way, it may be necessary to additionally configure a special gripper. Summary of the invention

[0003] The object of the present invention is to provide a mechanical shaft grasping device for mechanical manufacturing to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A mechanical shaft grasping device for mechanical manufacturing, comprising a displacement module and a grasping module, wherein a placement module is arranged on one side of the displacement module corresponding to the grasping module;

[0006] The grabbing module includes a housing, a fixing frame, a plurality of clamping rods, a plurality of sliding rods, and two limiting mechanisms;

[0007] The fixing frame is fixedly connected to the inner side of the shell, the inner side of the fixing frame is slidably connected to the sliding frame, and the bottom of the inner side of the fixing frame is fixedly connected to the fixing shaft;

[0008] A plurality of clamping rods are rotatably connected to the side of the fixed shaft, a sliding groove is provided on the top of the side of the clamping rod, and two return springs are fixedly connected to the top of the clamping rod and are fixedly connected to the side of the fixed frame;

[0009] A plurality of sliding rods are respectively arranged on the top of a plurality of clamping rods, and a round block slidably connected to the inner side of an adjacent sliding groove is rotatably connected to the bottom of the side of the sliding rod;

[0010] The two limiting mechanisms are both arranged on the inner side surface of the shell.

[0011] Furthermore, a fixing plate is fixedly connected to the top surface of the shell, a mounting seat is arranged on the top of the fixing plate, a connecting seat is fixedly connected to the bottom surface of the mounting seat, a fixing seat rotatably connected to the inner side surface of the connecting seat is fixedly connected to the top surface of the fixing plate, two abutment seats are fixedly connected to the top surface of the fixing plate, and two pressure sensors are embedded in the two abutment seats corresponding to the bottom surface of the mounting seat.

[0012] Furthermore, the displacement module includes two support frames, an adjustment seat, two walking seats, and a connection frame;

[0013] The adjustment seat is arranged on the top of the two support frames;

[0014] The two walking seats are respectively fixedly connected to the top ends of the two adjustment seats, and the two walking seats are respectively arranged on the top ends of the two support frames;

[0015] The connecting frame is slidably connected to the side of the adjusting seat, the bottom of the inner side of the connecting frame is slidably connected to the sliding frame, and the bottom surface of the sliding frame is fixedly connected to the top surface of the mounting seat, the top surface of the connecting frame is fixedly connected to the hydraulic rod, and the output end of the hydraulic rod is transmission-connected to the inner bottom surface of the sliding frame.

[0016] Furthermore, a power motor is arranged on the inner side surface of one side of the adjustment seat, and the output end of the power motor is transmission-connected with an adjustment screw rod rotatably connected to the inner side surface of the adjustment seat, and the adjustment screw rod is screwedly connected with a sliding block slidably connected to the inner side surface of the adjustment seat, and the bottom surface of the sliding block is fixedly connected to the connecting frame.

[0017] Preferably, the placement module includes a placement plate, two side plates, two vertical plates, and a fixing block;

[0018] The placement plate is arranged on one side of the displacement module, and the bottom surface of the placement plate is fixedly connected to two base frames;

[0019] Both side plates are slidably connected to the side surfaces of the placement plate, and the side surfaces of the side plates are fixedly connected to the limited seats corresponding to the grabbing modules;

[0020] The two vertical plates are respectively fixedly connected to the top surfaces of the two limit seats, and the opposite surfaces of the two vertical plates are fixedly connected to a plurality of arc-shaped rods;

[0021] The fixing block is fixedly connected to the bottom surface of the placement plate, and both side surfaces of the fixing block are rotatably connected with connecting screw rods which are screwed together with adjacent side plates.

[0022] Furthermore, the inner side surface of the placement plate is slidably connected with an inclined block and two block seats, the bottom surface of the placement plate is fixedly connected with three fixed frames corresponding to the inclined blocks and the block seats, the inner bottom surface of the fixed frame is fixedly connected with two electric telescopic rods, and the inclined block and the bottom surface of the block seat are both transmission-connected to the output ends of the adjacent two electric telescopic rods.

[0023] Preferably, an electric telescopic rod 1 is fixedly connected to the bottom surface of the fixed plate, an output end of the electric telescopic rod 1 is transmission-connected to the top surface of the sliding frame, two round rods are fixedly connected to the inner side surface of the bottom of the sliding frame, and abutment screws are screwed together on both sides of the interior of the sliding frame.

[0024] Furthermore, a rack is fixedly connected to the side of the sliding rod;

[0025] The limiting mechanism includes a limiting plate, a plurality of limiting grooves, a sliding plate, and a plurality of return springs;

[0026] The limiting plate is fixedly connected to the inner side of the shell;

[0027] A plurality of limit grooves are provided on the side surface of the limit plate, and the inner side surface of the limit groove is slidably connected with the side surface of the adjacent sliding rod;

[0028] The sliding plate is arranged on one side of the limiting plate, and a toothed plate is fixedly connected to the side surface of the sliding plate corresponding to the toothed rack;

[0029] A plurality of return springs are fixedly connected between the limit plate and the sliding plate.

[0030] Furthermore, two extrusion seats are fixedly connected to the sliding plates at both sides of the top of the fixing frame, and the extrusion seats are provided with guiding surfaces corresponding to the sliding plates.

[0031] Preferably, two limiting frames which are slidably connected to the sliding plate are fixedly connected to the side surface of the limiting plate.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. A plurality of clamping rods are connected by rotation on a fixed shaft. Under the action of a reset spring, the bottom of the clamping rod can be rotated toward the mechanical shaft so that the bottom of the clamping rod is against the mechanical shaft. Then, the height of the sliding rod can be limited by a limit mechanism. The sliding rod can limit the rotation of the clamping rod through a round block, so that the plurality of clamping rods clamp the mechanical shaft. Finally, the sliding frame can be against the top of the mechanical shaft to limit the position of the mechanical shaft. The mechanical shaft is clamped by a plurality of clamping rods, and the width of each clamping rod is relatively small, so that it can adapt to the clamping of the conical surface or annular groove of the mechanical shaft. Under the action of a reset spring, a plurality of clamping rods can be abutted against the mechanical shaft, and the situation where the clamping rod is not abutted against the mechanical shaft is avoided as much as possible, which is beneficial to improving the clamping effect of special-shaped mechanical shafts and is convenient for adapting to the clamping of mechanical shafts of different shapes.

[0034] 2. A pressure sensor is embedded in the mounting seat. When the mechanical axis is first grasped, the position of the clamping rod can be limited by only the reset spring 1 so that the clamping rod clamps the mechanical axis. Then the mechanical axis can be lifted up by the grasping module. If the position of the grasping module grasping the mechanical axis deviates from the center of gravity of the mechanical axis, there will be a certain difference in the values ​​detected by the two pressure sensors. At this time, the grasping module can be translated along the adjustment seat, and the vertical plate can block the movement of the mechanical axis. In this way, the grasping position can be adjusted so that the grasping position is as close to the center of gravity of the mechanical axis as possible, which is conducive to improving the stability of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of a mechanical shaft grasping device used in mechanical manufacturing according to the present invention;

[0036] Figure 2 It is a schematic diagram of the displacement module structure in the present invention;

[0037] Figure 3 It is a schematic diagram of the internal structure of the adjustment seat in the present invention;

[0038] Figure 4 It is a schematic diagram of the structure of the grabbing module in the present invention;

[0039] Figure 5 It is a schematic diagram of the internal structure of the housing in the present invention;

[0040] Figure 6 It is a schematic diagram of the structure of the clamping rod in the present invention;

[0041] Figure 7 It is a schematic diagram of the sliding rod structure in the present invention;

[0042] Figure 8 It is a schematic diagram of the structure of the fixing frame in the present invention;

[0043] Fig. 9 It is a schematic diagram of the internal structure of the fixing frame in the present invention;

[0044] Fig.10 It is a schematic diagram of the structure of the extrusion seat in the present invention;

[0045] Fig.11 It is a schematic diagram of the placement module structure in the present invention;

[0046] Fig.12 This is a schematic diagram of the structure of the placement plate in the present invention when viewed from above;

[0047] Fig.13 It is a schematic diagram of the side plate structure in the present invention;

[0048] Fig.14 It is a schematic diagram of the bottom structure of the placement plate in the present invention.

[0049] In the figure: 100, displacement module; 110, support frame; 120, adjustment seat; 121, power motor; 122, adjustment screw; 123, sliding block; 130, walking seat; 140, connecting frame; 141, sliding frame; 142, hydraulic rod; 200, grab module; 210, shell; 211, fixing plate; 212, fixing seat; 213, abutting seat; 214, electric telescopic rod 1; 220, mounting seat; 221, connecting seat; 222, pressure sensor; 230, fixing frame; 231, sliding frame; 232, abutting screw; 233, round rod; 234, fixed shaft; 240, clamping rod; 241, Sliding groove; 242, reset spring one; 250, sliding rod; 251, round block; 252, rack; 260, limiting mechanism; 261, limiting plate; 262, limiting groove; 263, limiting frame; 264, sliding plate; 265, toothed plate; 266, reset spring two; 270, extrusion seat; 271, guide surface; 300, placement module; 310, placement plate; 311, base frame; 312, fixed frame; 313, electric telescopic rod two; 320, side plate; 321, limiting seat; 330, vertical plate; 331, arc rod; 340, inclined block; 350, stop seat; 360, fixed block; 361, connecting screw. DETAILED DESCRIPTION

[0050] 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.

[0051] See also Figure 1-10 In an embodiment of the present invention, a mechanical shaft grasping device for mechanical manufacturing includes a displacement module 100 and a grasping module 200, and a placement module 300 is provided on one side of the displacement module 100 corresponding to the grasping module 200;

[0052] The grab module 200 includes a housing 210, a fixing frame 230, a plurality of clamping rods 240, a plurality of sliding rods 250, and two limiting mechanisms 260;

[0053] The fixing frame 230 is fixedly connected to the inner side of the housing 210, the inner side of the fixing frame 230 is slidably connected to the sliding frame 231, the bottom of the inner side of the fixing frame 230 is fixedly connected to the fixing shaft 234, a plurality of clamping rods 240 are rotatably connected to the side of the fixing shaft 234, the plurality of clamping rods 240 are divided into two groups, the two groups are symmetrically arranged, and the two groups of clamping rods 240 are alternately arranged on the fixing shaft 234, the bottom of the clamping rod 240 extends to the outside of the housing 210, and the top of the side of the clamping rod 240 is provided with a sliding groove 241, the top of the clamping rod 240 is fixedly connected to two return springs 242 fixedly connected to the side of the fixing frame 230, a plurality of sliding rods 250 are respectively arranged on the top of the plurality of clamping rods 240, the bottom of the side of the sliding rod 250 is rotatably connected to a round block 251 slidably connected to the inner side of the adjacent sliding groove 241, the round block 251 can slide along the inside of the sliding groove 241, two limiting mechanisms 260 are both arranged on the inner side of the housing 210, and the limiting mechanism 260 can limit the height of the sliding rod 250;

[0054] A fixed plate 211 is fixedly connected to the top surface of the shell 210, and an electric telescopic rod 214 is fixedly connected to the bottom surface of the fixed plate 211. The output end of the electric telescopic rod 214 is transmission-connected to the top surface of the sliding frame 231. The electric telescopic rod 214 can drive the sliding frame 231 to move up and down. Two round rods 233 are fixedly connected to the inner side surface of the bottom of the sliding frame 231. The two round rods 233 pass through the bottoms of the two groups of clamping rods 240. The round rods 233 are located at the bottom of the fixed shaft 234, and both sides of the inside of the sliding frame 231 are screwed together with abutment screws 232.

[0055] Specifically, when the mechanical axis needs to be clamped, the sliding frame 231 can be moved upward by the electric telescopic rod 214, and the sliding frame 231 can drive the two round rods 233 to move upward. After the round rod 233 contacts the adjacent clamping rod 240, the clamping rod 240 can be pushed to rotate upward, so that the two groups of clamping rods 240 are opened. After the position of the grabbing module 200 is adjusted by the displacement module 100 so that the mechanical axis is located between the bottoms of the two groups of clamping rods 240, the sliding frame 231 and the round rod 233 can be moved downward by the electric telescopic rod 214. At this time, under the action of the reset spring 242, the bottom of the clamping rod 240 can be rotated toward the mechanical axis, so that the bottom of the clamping rod 240 gradually rests on the mechanical axis. When the clamping rod 240 rotates, the clamping rod 240 can push the round block 251 to move through the sliding groove 241, so that the sliding rod 250 moves upward, and then the limit The mechanism 260 limits the height of the sliding rod 250, and the sliding rod 250 can limit the rotation of the clamping rod 240 through the round block 251, so that a plurality of clamping rods 240 clamp the mechanical axis, and finally the sliding frame 231 can abut against the top of the mechanical axis through the abutting screw rod 232, thereby limiting the position of the mechanical axis. During the initial clamping, the abutting screw rod 232 can be rotated relative to the sliding frame 231, so that the bottoms of the two abutting screw rods 232 abut against the top of the mechanical axis, and the mechanical axis is clamped by a plurality of clamping rods 240, and the width of each clamping rod 240 is relatively small, which can adapt to the clamping of the conical surface or annular groove of the mechanical axis, and under the action of the reset spring 242, a plurality of clamping rods 240 can be abutted against the mechanical axis, and the situation where the clamping rod 240 is not abutted against the mechanical axis is avoided as much as possible, which is beneficial to improving the clamping effect of the mechanical axis and is convenient for adapting to the clamping of mechanical axes of different shapes.

[0056] A rubber pad may be fixedly disposed at the bottom of the clamping rod 240 to assist in clamping the mechanical axis, thereby preventing the mechanical axis from being damaged due to rigid contact.

[0057] Embodiment 1

[0058] like Figure 4 As shown, in this embodiment, a mounting seat 220 is provided on the top of the fixed plate 211, a connecting seat 221 is fixedly connected to the bottom surface of the mounting seat 220, a fixing seat 212 rotatably connected to the inner side surface of the connecting seat 221 is fixedly connected to the top surface of the fixing plate 211, two abutting seats 213 are fixedly connected to the top surface of the fixing plate 211, two pressure sensors 222 are embedded in the two abutting seats 213 corresponding to the bottom surface of the mounting seat 220, and the top of the abutting seat 213 abuts against the corresponding pressure sensor 222.

[0059] In specific implementation, after the grasping module 200 is moved upward and the mechanical axis is grasped by the grasping module 200, if the grasping position deviates from the center of gravity of the mechanical axis, since the fixed seat 212 can rotate relative to the connecting seat 221, due to the imbalance of grasping, there is a certain difference in the squeezing force of the two pressure sensors 222 by the abutment seat 213, and there is a certain difference in the pressure values ​​detected by the two pressure sensors 222. During the movement, if the detection values ​​of the two pressure sensors 222 suddenly change to a certain extent, there may be a situation where the grasping is not firm and the mechanical axis moves horizontally relative to the clamping rod 240, which is beneficial to monitor the grasping condition of the mechanical axis during the movement.

[0060] like Figure 5-10 As shown, in this embodiment, a rack 252 is fixedly connected to the side of the sliding rod 250, and the limiting mechanism 260 includes a limiting plate 261, a plurality of limiting grooves 262, a sliding plate 264, and a plurality of return springs 266;

[0061] The limit plate 261 is fixedly connected to the inner side of the housing 210, and a plurality of limit grooves 262 are provided on the side of the limit plate 261. The inner side of the limit groove 262 is slidably connected to the side of the adjacent sliding rod 250. The limit groove 262 is located on the side of the limit plate 261 close to the sliding frame 231. The limit groove 262 can limit the moving direction of the adjacent sliding rod 250 so that the sliding rod 250 can only move up and down. The sliding plate 264 is arranged on one side of the limit plate 261. The side of the sliding plate 264 corresponds to the rack 252 and is fixedly connected with a tooth plate 265. A plurality of return springs 266 are fixedly connected to the limit plate 261 and the sliding plate 264, the tooth plate 265 is located on the side of the sliding plate 264 close to the limiting plate 261, under the action of the second return spring 266, the sliding plate 264 can be pressed against the vertical surface of the bottom of the extrusion seat 270, and the side of the limiting plate 261 is fixedly connected with two limiting frames 263 that are slidably connected to the sliding plate 264. The limiting frames 263 can limit the moving direction of the sliding plate 264, so that the sliding plate 264 can only move away from or close to the limiting plate 261. The two sliding plates 264 are located between the two limiting plates 261, and the sliding frame 231 is located between the two sliding plates 264;

[0062] Two extrusion seats 270 are fixedly connected to the corresponding sliding plates 264 on both sides of the top of the fixed frame 230. The extrusion seats 270 are provided with guide surfaces 271 corresponding to the sliding plates 264. The guide surfaces 271 are inclinedly arranged on the extrusion seats 270. The top vertical surface and the bottom vertical surface of the extrusion seats 270 are connected through the guide surfaces 271.

[0063] In a specific implementation, during the process of clamping the mechanical axis, the mechanical axis is located between the bottom of the clamping rod 240. When the sliding frame 231 is moved downward by the electric telescopic rod 214, the sliding frame 231 can drive the extrusion seat 270 to move downward. After the round rod 233 is disengaged from the clamping rod 240 and the clamping rod 240 clamps the mechanical axis under the action of the reset spring 242, the sliding frame 231 and the extrusion seat 270 can continue to move downward by the electric telescopic rod 214. After the extrusion seat 270 moves downward for a certain distance, the guide surface 271 will contact the top of the sliding plate 264. At this time, the extrusion seat 270 continues to move downward, and the guide surface 271 will push the sliding plate 264 toward the limit plate 261. When the top of the sliding plate 264 passes the guide surface 271 and the side surface of the sliding plate 264 contacts the vertical surface of the top of the extrusion seat 270, the tooth plate 265 can be meshed with the corresponding racks 252. Since the limit frame 263 prevents the sliding plate 264 from moving up and down, the sliding plate 264 can prevent the sliding rod 250 from moving up and down through the tooth plate 265 and the rack 252. The sliding rod 250 can prevent the clamping rod 240 from rotating through the round block 251 and the sliding groove 241, thereby limiting the clamping rod 240 more stably. Then the sliding frame 231 continues to move downward, so that the abutting screw rod 232 can abut on the mechanical shaft to limit the mechanical shaft, thereby clamping the mechanical shaft more stably.

[0064] When the mechanical axis needs to be loosened, the electric telescopic rod 214 can drive the sliding frame 231 to move upward, so that the abutting screw rod 232 is disengaged from the top of the mechanical axis, and then the top of the sliding plate 264 will pass through the guide surface 271, so that the sliding plate 264 corresponds to the bottom vertical surface of the extrusion seat 270, and under the action of the reset spring 266, the sliding plate 264 can be moved close to the sliding frame 231, so that the limit plate 261 is abutted against the bottom vertical surface of the extrusion seat 270, so that the tooth plate 265 is disengaged from the adjacent rack 252, and then the sliding frame 231 continues to move upward, so that the round rod 233 contacts the clamping rod 240, and the bottom of the clamping rod 240 can be squeezed by the round rod 233 to open the clamping rod 240, thereby loosening the mechanical axis.

[0065] The teeth on the tooth plate 265 and the rack 252 are both right triangles. When the tooth bevels on the tooth plate 265 and the rack 252 correspond to each other, the teeth on the rack 252 can be squeezed upward under the action of the tooth bevels, so that the clamping rod 240 tends to rotate toward the mechanical axis, thereby minimizing the loosening of the clamping rod 240.

[0066] Embodiment 2

[0067] Based on the first embodiment, Figure 2-3 As shown, in this embodiment, the displacement module 100 includes two support frames 110, an adjustment seat 120, two walking seats 130, and a connection frame 140;

[0068] The adjusting seat 120 is arranged on the top of the two supporting frames 110, and the two walking seats 130 are respectively fixedly connected to the top of the two adjusting seats 120, and the two walking seats 130 are respectively arranged on the top of the two supporting frames 110. The walking seats 130 can move along the top of the corresponding supporting frames 110, and rollers are rotatably arranged at the inner bottom of the walking seats 130. A driving motor for driving the rollers to rotate is arranged inside the walking seats 130. A strip groove is provided on the top of the supporting frames 110 corresponding to the rollers, and the rollers can be driven to rotate by the driving motor, and the rollers can roll along the strip groove, so that the adjusting seat 120 moves along the top of the two supporting frames 110, and the connecting frame 140 is slidably connected to the side of the adjusting seat 120, and a sliding frame 141 is slidably connected to the bottom of the inner side of the connecting frame 140, and the bottom surface of the sliding frame 141 is fixedly connected to the top surface of the mounting seat 220, and a hydraulic rod 142 is fixedly connected to the inner top surface of the connecting frame 140, and the output end of the hydraulic rod 142 is transmission-connected to the inner bottom surface of the sliding frame 141;

[0069] A power motor 121 is arranged on the inner side surface of one side of the adjustment seat 120, and the output end of the power motor 121 is transmission-connected with an adjustment screw rod 122 which is rotationally connected to the inner side surface of the adjustment seat 120, and the adjustment screw rod 122 is screwed and connected with a sliding block 123 which is slidingly connected to the inner side surface of the adjustment seat 120, and the bottom surface of the sliding block 123 is fixedly connected to the connecting frame 140, and the sliding frame 141 can move up and down along the inside of the connecting frame 140, and the connecting frame 140 can translate along the adjustment seat 120.

[0070] During specific implementation, the sliding frame 141 can be driven to move upward or downward by the hydraulic rod 142, and the sliding frame 141 can drive the mounting seat 220 to move. The mounting seat 220 can drive the fixing plate 211 to move through the connecting seat 221 and the fixing seat 212, so as to adjust the height of the grabbing module 200, and lower the grabbing module 200 to the position of the mechanical axis for grabbing, and after grabbing the mechanical axis, lift the grabbing module 200 to separate the mechanical axis from the placing module 300, and then move on the supporting frame 110 through the traveling seat 130, so that the adjusting seat 120 drives the connecting frame 140 to move, and then move the grabbing module 200, and move the mechanical axis of the grabbing module 200 to the processing position, and then lower the grabbing module 200 and the mechanical axis through the hydraulic rod 142, and lower the mechanical axis to the processing position, and after the grabbing module 200 releases the mechanical axis, lift the grabbing module 200, and move the grabbing module 200 away from the processing position through the traveling seat 130;

[0071] During the grabbing process, when the grabbing position needs to be adjusted, the power motor 121 can be used to drive the adjusting screw 122 to rotate. The rotation of the adjusting screw 122 can cause the sliding block 123 to move along the inside of the adjusting seat 120, and the sliding block 123 can drive the connecting frame 140 to move. In this way, the grabbing module 200 can be translated relative to the mechanical axis, thereby changing the position of the grabbing module 200 grabbing the mechanical axis.

[0072] like Figure 11-14 As shown, in this embodiment, the placement module 300 includes a placement plate 310, two side plates 320, two vertical plates 330, and a fixing block 360;

[0073] The placing plate 310 is arranged at one side of the displacement module 100, and the placing plate 310 is inclined. The bottom surface of the placing plate 310 is fixedly connected to two bottom frames 311, and the two side plates 320 are slidably connected to the side of the placing plate 310. The side of the side plate 320 is fixedly connected to the limited seat 321 corresponding to the grabbing module 200, and the two vertical plates 330 are respectively fixedly connected to the top surface of the two limited seats 321. The opposite surfaces of the two vertical plates 330 are fixedly connected with a plurality of arc rods 331. A triangular plate can be arranged on the side of the vertical plate 330 away from the arc rod 331. The triangular plate is fixedly connected to the side of the limited seat 321. The stability of the vertical plate 330 is improved by the triangular plate. The fixing block 360 is fixedly connected to the bottom surface of the placing plate 310. The two sides of the fixing block 360 are rotatably connected to the connecting screw rod 361 screwed together with the adjacent side plates 320, and the connecting screw rod 361 passes through the inside of the bottom frame 311.

[0074] The inner side surface of the placement plate 310 is slidably connected with an inclined block 340 and two blocking seats 350. Three open grooves are opened on the top surface of the placement plate 310. The inclined block 340 and the two blocking seats 350 are slidably connected with the inner sides of adjacent opening grooves. The side surfaces of the inclined block 340 corresponding to the blocking seats 350 are inclined. The inclined block 340 and the two blocking seats 350 are located between the two side plates 320. The bottom surface of the placement plate 310 corresponds to the inclined block 340 and the blocking seats 350, and three fixed frames 312 are fixedly connected. The inner bottom surface of the fixed frame 312 is fixedly connected with an electric telescopic rod 2 313. The bottom surfaces of the inclined block 340 and the blocking seat 350 are both transmission-connected with the output ends of the adjacent electric telescopic rod 2 313. The three electric telescopic rods 2 313 correspond to the inclined block 340 and the two blocking seats 350, respectively.

[0075] During specific implementation, the mechanical axis can be transported to the placement plate 310, and the mechanical axis can roll onto the two blocking seats 350 and be blocked by the two blocking seats 350. Then the connecting screw rod 361 can be rotated. The rotation of the connecting screw rod 361 can make the side plate 320 move along the placement plate 310, and the side plate 320 can drive the limiting seat 321 and the vertical plate 330 to move, so as to adjust the position of the side plate 320 according to the size and processing position of the mechanical axis, so that the mechanical axis corresponds to the processing position, and the side plate 320 limits the end of the mechanical axis. After the adjustment is completed, the blocking seat 350 can be moved downward by the corresponding electric telescopic rod 2 313, so that the mechanical axis rolls onto the inclined surface of the inclined surface block 340, and the mechanical axis can be adjusted according to the size and processing position of the mechanical axis. The height of the inclined plane block 340 is adjusted by the corresponding electric telescopic rod 2 313. The inclined plane of the inclined plane block 340 can push the mechanical axis to move so that the top of the corresponding blocking seat 350 is between two adjacent mechanical axes. Then, the blocking seat 350 can be moved upward by the corresponding electric telescopic rod 2 313, and the subsequent mechanical axes are blocked by the blocking seat 350 so that there is only one mechanical axis between the inclined plane block 340 and the blocking seat 350 as much as possible. Then, the inclined plane block 340 is moved downward by the corresponding electric telescopic rod 2 313, so that the mechanical axis rolls along the placement plate 310 to the two limit seats 321, and the mechanical axis is supported by the two limit seats 321. Then, the mechanical axis can be grasped by the grasping module 200.

[0076] When the mechanical shaft is first grasped, the sliding frame 231 is lowered to disengage the round rod 233 from the clamping rod 240. Under the action of the reset spring 242, the clamping rod 240 clamps the mechanical shaft, and the hydraulic rod 142 can be used to lift the grasping module 200, so that the mechanical shaft moves upward between the two vertical plates 330. When the mechanical shaft moves between two adjacent arc-shaped rods 331 and the arc-shaped rods 331 do not contact the end of the mechanical shaft, if the position where the clamping rod 240 grasps the mechanical shaft deviates from the center of gravity of the mechanical shaft, there will be a certain difference in the values ​​detected by the two pressure sensors 222. When the hydraulic rod 142 is used to make the grasping module 200 and the mechanical shaft continue to move upward, and when the end of the mechanical shaft contacts the adjacent arc-shaped rods 331, the power motor 121 can drive the adjusting screw 122 to rotate. The gripping module 200 is moved horizontally along the adjusting seat 120, and the vertical plate 330 can block the movement of the mechanical axis through the arc rod 331, so that the gripping module 200 can move relative to the mechanical axis, and then the gripping position is adjusted. Through continuous adjustment, the gripping position is made as close to the center of gravity of the mechanical axis as possible. After the adjustment is completed, the sliding frame 231 continues to move downward to engage the tooth plate 265 with the rack 252, lock the position of the clamping rod 240, and make the abutting screw rod 232 abut against the end of the mechanical axis to completely clamp the mechanical axis. By adjusting the gripping position, it is beneficial to improve the gripping stability, and the position of the connecting frame 140 relative to the adjusting seat 120 can be maintained and recorded. When clamping the mechanical axis of the same shape and size in the future, the mechanical axis can be directly clamped completely without trying to adjust it again.

[0077] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0078] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mechanical shaft grasping device for mechanical manufacturing, characterized in that: It comprises a displacement module (100) and a grabbing module (200), wherein a placement module (300) is provided on one side of the displacement module (100) corresponding to the grabbing module (200); The grabbing module (200) comprises: Housing (210); A fixed frame (230) is fixedly connected to the inner side surface of the housing (210); the inner side surface of the fixed frame (230) is slidably connected to a sliding frame (231); and the bottom of the inner side surface of the fixed frame (230) is fixedly connected to a fixed shaft (234); A plurality of clamping rods (240) are rotatably connected to the side of the fixed shaft (234); a sliding groove (241) is provided on the top of the side of the clamping rod (240); and two return springs (242) are fixedly connected to the top of the clamping rod (240) and are fixedly connected to the side of the fixed frame (230); A plurality of sliding rods (250) are respectively arranged on the top of the plurality of clamping rods (240); the bottom of the side surface of the sliding rod (250) is rotatably connected to a round block (251) which is slidably connected to the inner side surface of the adjacent sliding groove (241); The two limiting mechanisms (260) are both arranged on the inner side surface of the housing (210).

2. The mechanical shaft grasping device for mechanical manufacturing according to claim 1, characterized in that: The top surface of the shell (210) is fixedly connected to a fixing plate (211), a mounting seat (220) is arranged on the top of the fixing plate (211), a connecting seat (221) is fixedly connected to the bottom surface of the mounting seat (220), a fixing seat (212) rotatably connected to the inner side surface of the connecting seat (221) is fixedly connected to the top surface of the fixing plate (211), two abutting seats (213) are fixedly connected to the top surface of the fixing plate (211), and two pressure sensors (222) are embedded in the two abutting seats (213) corresponding to the bottom surface of the mounting seat (220).

3. The mechanical shaft grasping device for mechanical manufacturing according to claim 2, characterized in that: The displacement module (100) comprises: two support frames (110); An adjustment seat (120) is arranged on top of the two support frames (110); Two walking seats (130) are respectively fixedly connected to the top ends of the two adjustment seats (120), and the two walking seats (130) are respectively arranged on the top ends of the two support frames (110); A connecting frame (140) is slidably connected to the side of the adjusting seat (120); a sliding frame (141) is slidably connected to the bottom of the inner side of the connecting frame (140); the bottom surface of the sliding frame (141) is fixedly connected to the top surface of the mounting seat (220); a hydraulic rod (142) is fixedly connected to the inner top surface of the connecting frame (140); and an output end of the hydraulic rod (142) is drivingly connected to the inner bottom surface of the sliding frame (141).

4. The mechanical shaft grasping device for mechanical manufacturing according to claim 3, characterized in that: A power motor (121) is disposed on the inner side surface of one side of the adjustment seat (120); an output end of the power motor (121) is drivingly connected to an adjustment screw rod (122) rotatably connected to the inner side surface of the adjustment seat (120); the adjustment screw rod (122) is screwedly connected to a sliding block (123) slidably connected to the inner side surface of the adjustment seat (120); and a bottom surface of the sliding block (123) is fixedly connected to a connection frame (140).

5. The mechanical shaft grasping device for mechanical manufacturing according to claim 2, characterized in that: The placement module (300) comprises: A placement plate (310) is arranged on one side of the displacement module (100), and the bottom surface of the placement plate (310) is fixedly connected to two bottom frames (311); The two side plates (320) are both slidably connected to the side surfaces of the placement plate (310), and the side surfaces of the side plates (320) are fixedly connected to the limiting seats (321) corresponding to the grabbing modules (200); The two vertical plates (330) are respectively fixedly connected to the top surfaces of the two limit seats (321), and the opposite surfaces of the two vertical plates (330) are fixedly connected to a plurality of arc-shaped rods (331).

6. The mechanical shaft grasping device for mechanical manufacturing according to claim 5, characterized in that: The inner side surface of the placement plate (310) is slidably connected to an inclined surface block (340) and two blocking seats (350); the bottom surface of the placement plate (310) is fixedly connected to three fixed frames (312) corresponding to the inclined surface block (340) and the blocking seats (350); the inner bottom surface of the fixed frame (312) is fixedly connected to the second electric telescopic rod (313); the bottom surfaces of the inclined surface block (340) and the blocking seat (350) are both transmission-connected to the output end of the adjacent second electric telescopic rod (313).

7. The mechanical shaft grasping device for mechanical manufacturing according to claim 2, characterized in that: The bottom surface of the fixed plate (211) is fixedly connected to an electric telescopic rod (214); the output end of the electric telescopic rod (214) is transmission-connected to the top surface of the sliding frame (231); two round rods (233) are fixedly connected to the inner side surface of the bottom of the sliding frame (231); and both sides of the interior of the sliding frame (231) are screwed together with abutment screw rods (232).

8. The mechanical shaft grasping device for mechanical manufacturing according to claim 7, characterized in that: A rack (252) is fixedly connected to the side of the sliding rod (250); The limiting mechanism (260) comprises: A limiting plate (261) fixedly connected to the inner side surface of the housing (210); A plurality of limiting grooves (262) are provided on the side surface of the limiting plate (261), and the inner side surface of the limiting groove (262) is slidably connected to the side surface of the adjacent sliding rod (250); A sliding plate (264) is arranged on one side of the limiting plate (261), and a toothed plate (265) is fixedly connected to a side surface of the sliding plate (264) corresponding to the toothed rack (252); A plurality of return springs (266) are fixedly connected between the limit plate (261) and the sliding plate (264).

9. The mechanical shaft grasping device for mechanical manufacturing according to claim 8, characterized in that: Two extrusion seats (270) are fixedly connected to the two sides of the top of the fixed frame (230) corresponding to the sliding plate (264), and the extrusion seats (270) are provided with guide surfaces (271) corresponding to the sliding plate (264).

10. The mechanical shaft grasping device for mechanical manufacturing according to claim 8, characterized in that: Two limiting frames (263) which are slidably connected to the sliding plate (264) are fixedly connected to the side of the limiting plate (261).

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