A production line on semi-finished product scheduling robot

Abstract

The application discloses a semi-finished product scheduling robot on a production line and relates to the technical field of scheduling robots, which comprises a base and a mechanical arm arranged on the base, the mechanical arm is composed of multiple groups of arm rods which can rotate freely, a relative clamping mechanism which moves synchronously with semi-finished product parts on the production line and clamps the semi-finished product parts is arranged on a group of arm rods away from the base, the relative clamping mechanism comprises a triangular plate fixedly connected with the group of arm rods away from the base, an electric sliding rail is fixedly connected to the triangular plate, the electric sliding rail comprises an integrally formed sliding seat, and a same-position frame is arranged below the sliding seat. Through the arrangement of the relative clamping mechanism, the horizontal movement speed of the sliding seat can be adapted to the conveying speed of the parts, the sliding seat can keep a relative static state with the parts, the shaft grabbing assembly can be driven to move synchronously with the conveying belt, the impact and errors in the clamping process are effectively reduced, and thus the parts can be more accurately positioned and clamped.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of scheduling robots, in particular to a semi-finished product scheduling robot on a production line. BACKGROUND

[0002] In modern manufacturing, the efficient operation of production lines is crucial for improving production efficiency, reducing costs, and ensuring product quality. However, the imbalance of the number of parts on different production lines has always been a problem for production management. This imbalance may be caused by various factors, such as differences in equipment operating speed, instability of raw material supply, complexity of process flow, and sudden failures.

[0003] Chinese patent (publication number: CN119238594A), the scheme specifically includes: a fixed seat; two material taking mechanisms, the two material taking mechanisms are oppositely arranged, the material taking mechanism includes a support and a suction cup, the suction cup is arranged on the support and is used for adsorbing a loading plate; and a horizontal movement module including a moving seat and a linear guide, the linear guide is arranged on the fixed seat, the moving seat is provided with two and is connected with the linear guide respectively, the two supports are connected with the corresponding moving seats respectively, and the horizontal movement module is used for driving the two material taking mechanisms to move towards or away from each other. The suction cup manipulator proposed in the technical scheme can adapt to and carry circuit boards of different sizes, meeting diversified needs.

[0004] In the multi-line collaborative production scene of modern manufacturing, due to the comprehensive influence of factors such as equipment performance, process flow, and personnel operation proficiency, the production efficiency of each production line is significantly different. This difference directly leads to the imbalance of the number of parts on each production line. In actual production, in order to meet different production needs, the number of parts on each production line must be adjusted in real time to ensure smooth and efficient production processes.

[0005] Taking the manipulator in the above patent as an example, in the process of transporting semi-finished parts on the production line through the conveyor belt, the manipulator is difficult to adaptively complete the transfer operation of the parts according to the product conveying speed on the production line. Specifically, when clamping the parts, the manipulator is difficult to accurately grasp the parts on the fast-running conveyor belt, which not only reduces the efficiency of part transfer, but also may cause damage or falling of the parts, affecting production quality. When releasing the parts, the released parts are prone to collide with subsequent parts due to the fast running of the conveyor belt, thereby causing problems such as deformation and damage of the parts, seriously affecting the stability and continuity of production. Therefore, a semi-finished product scheduling robot on a production line is proposed. SUMMARY

[0006] The application aims to provide a production line semi-finished product scheduling robot, which has the advantages of effectively reducing the impact and error in the clamping process, thereby being able to more accurately position and clamp the parts, and solves the problem that the mechanical hand is difficult to accurately grab or release the parts on the fast running conveying belt.

[0007] To achieve the above-mentioned purpose, the application provides the following technical scheme: a production line semi-finished product scheduling robot, comprising a base and a mechanical hand arranged on the base, the mechanical hand is composed of multiple groups of arm rods which can rotate freely, a relative clamping mechanism for synchronous movement with and grabbing of semi-finished product parts on the production line is arranged on a group of arm rods away from the base;

[0008] The relative clamping mechanism comprises a triangular plate fixedly connected with the group of arm rods away from the base, an electric sliding rail fixedly connected with the triangular plate, the electric sliding rail comprises a sliding seat integrally formed and freely moving in the horizontal direction, a homologous frame is arranged below the sliding seat, and a plurality of fin-shaped rubber clamping jaws for grabbing the parts are arranged on the homologous frame;

[0009] The homologous frame is provided with a shaft grabbing assembly for driving the plurality of fin-shaped rubber clamping jaws to move synchronously towards or away from each other, the sliding seat is fixedly connected with a base cylinder, the base cylinder is provided with a sinking and rising assembly for adjusting the horizontal height of the homologous frame according to the horizontal position change of the sliding seat;

[0010] The sinking and rising assembly comprises a central column slidingly penetrating the base cylinder, the central column freely moves in the vertical direction and freely rotates at the end of the stroke, a spline shaft is fixedly arranged on the central column in the same axis, a shaft protrusion is fixedly connected to one end of the central column towards the spline shaft, two groups of blocking grooves are arranged on the base cylinder for horizontal sliding connection of the shaft protrusion, and a guide groove is also arranged on the base cylinder for vertical sliding connection of the shaft protrusion;

[0011] The spline shaft is fixedly rotated on the homologous frame, one end of the homologous frame towards the base cylinder is fixedly connected with a plug rod, and a rectangular groove is arranged on the base cylinder for sliding connection of the plug rod;

[0012] The two ends of the guide groove are respectively communicated with one group of blocking grooves;

[0013] The sinking and rising assembly further comprises a hollow column sleeved on the central column, a position adjusting pin is fixedly connected to the inner wall of the hollow column, and a spiral position adjusting groove is arranged on the central column for sliding connection of the position adjusting pin;

[0014] A circular hole is arranged on the sliding seat for sliding penetration of the hollow column, a V-shaped lever is fixedly connected to the triangular plate, and the V-shaped lever comprises two groups of inclined portions integrally formed and symmetrically arranged;

[0015] One end of the hollow column towards the V-shaped lever is fixedly rotated with an end position seat, a torsion seat is arranged in the end position seat and an incomplete cavity groove is arranged in the end position seat for sliding connection of the torsion seat, and the torsion seat is slidingly sleeved on the V-shaped lever.

[0016] The shaft grabbing assembly comprises an upper mounting plate and a lower mounting plate fixedly connected to the co-located frame, a triangular shaft plate freely moving in the vertical direction is arranged between the upper mounting plate and the lower mounting plate, and a plurality of clamping blocks corresponding to the plurality of fin-shaped rubber clamping jaws are fixedly connected below the lower mounting plate;

[0017] The clamping blocks are fixedly rotated on the lower mounting plate, and a connecting rod is further fixedly rotated on the clamping blocks, and one end of the connecting rod away from the clamping blocks is fixedly rotated on the triangular shaft plate;

[0018] A plurality of guide columns are slidably penetrated through the triangular shaft plate, and the two ends of the guide columns are fixedly connected to the upper mounting plate and the lower mounting plate, respectively;

[0019] A worm wheel freely rotating in the vertical direction is fixedly rotated on the co-located frame, a swing rod is fixedly rotated on the worm wheel, an extension rod is arranged on the upper mounting plate, and a groove one is arranged on the upper mounting plate and slidably penetrated through by the extension rod, and one end of the swing rod away from the worm wheel is fixedly rotated on the extension rod;

[0020] The worm wheel is meshingly connected with a worm, the worm is fixedly rotated on the co-located frame, and a directional assembly limiting the rotation direction of the worm is arranged on the co-located frame;

[0021] The directional assembly comprises a driving gear arranged inside the co-located frame and slidably sleeved on the spline shaft, the driving gear is meshingly connected with a driven gear, a ratchet wheel coaxial with the driven gear is arranged on the driven gear, and the ratchet wheel is coaxially fixed between the worm;

[0022] Both the driven gear and the ratchet wheel are fixedly rotated on the co-located frame, a plurality of pawls are fixedly rotated in the inner ring of the driven gear and arranged in an annular array, a give-way groove for accommodating the pawls is arranged on the driven gear, and the plurality of pawls are meshingly connected with the ratchet wheel.

[0023] Preferably, the horizontal height of the co-located frame decreases and then increases during the horizontal movement of the sliding seat.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] 1、The relative clamping mechanism can adapt the horizontal movement speed of the sliding seat to the conveying speed of the parts, keep the sliding seat and the parts in a relative static state, drive the shaft grabbing assembly to move synchronously with the conveying belt, effectively reduce the impact and error during clamping, and accurately position and clamp the parts.

[0026] 2、The present application is provided with a sinking and rising assembly, which can adjust the horizontal height of the co-located frame according to the horizontal position change of the sliding seat, so that the co-located frame is first lowered and then raised during the horizontal movement of the sliding seat, thereby lifting the parts first when grabbing the parts to separate the parts from the conveying belt, keeping the parts stable during the transfer process, and placing the parts on the target conveying belt when releasing the parts, thereby effectively avoiding the problems of collision with subsequent parts or falling due to unstable grabbing caused by the rapid running of the conveying belt during the transfer process, ensuring the stability of the parts during the entire transfer process, improving the production efficiency, and reducing the increase of production cost caused by part damage or loss. BRIEF DESCRIPTION OF DRAWINGS

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

[0028] Figure 2 It is a schematic diagram of the component where the sliding seat is located;

[0029] Figure 3 It is a schematic diagram of the component where the center column is located;

[0030] Figure 4 It is a schematic diagram of the component where the center column is located; Figure 3

[0031] Figure 5 It is a schematic diagram of the component where the center column is located; Figure 3

[0032] Figure 6 It is a schematic diagram of the component where the base cylinder is located;

[0033] Figure 7 It is a schematic diagram of the component where the end seat is located;

[0034] Figure 8 It is a schematic diagram of the component where the fin-shaped rubber clamp jaw is located;

[0035] Figure 9 It is a schematic diagram of the component where the ratchet is located;

[0036] Figure 10 It is a schematic diagram of the component where the ratchet is located; Figure 9

[0037] Figure 11 It is a schematic diagram of the component where the ratchet is located;

[0038] ​​​In the figure: 1, arm rod; 2, triangular plate; 3, electric sliding rail; 4, V-shaped crutch; 5, sliding seat; 6, hollow column; 7, torsion seat; 8, end position seat; 9, position adjusting pin; 10, screw position adjusting groove; 11, center column; 12, shaft protrusion; 13, base cylinder; 14, position blocking groove; 15, guide groove; 16, same position frame; 17, insertion rod; 18, spline shaft; 19, driving gear; 20, driven gear; 21, pawl; 22, position giving groove; 23, ratchet wheel; 24, worm; 25, worm gear; 26, swing rod; 27, extension rod; 28, upper installation plate; 29, lower installation plate; 30, guide column; 31, triangular shaft position plate; 32, clamping block; 33, connecting rod; 34, fin-shaped rubber clamping jaw. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0040] Please refer to Figures 1 to 11 The present application provides a technical solution: a semi-finished product scheduling robot on a production line, comprising a base and a mechanical hand arranged thereon, the mechanical hand is composed of multiple groups of arm rods 1 which can rotate freely, and a relative clamping mechanism for synchronous movement with and grabbing of semi-finished product parts on the production line is arranged on a group of arm rods 1 away from the base.

[0041] The relative clamping mechanism comprises a triangular plate 2 fixedly connected with the group of arm rods 1 away from the base, and an electric sliding rail 3 fixedly connected with the triangular plate 2, the electric sliding rail 3 comprises a sliding seat 5 which is integrally formed and can move freely in the horizontal direction, a same position frame 16 is arranged below the sliding seat 5, and a plurality of fin-shaped rubber clamping jaws 34 for grabbing parts are arranged on the same position frame 16.

[0042] The same position frame 16 is provided with a shaft grabbing assembly for driving the plurality of fin-shaped rubber clamping jaws 34 to move synchronously towards or away from each other, and the sliding seat 5 is fixedly connected with a base cylinder 13, and the base cylinder 13 is provided with a sinking and rising assembly for adjusting the horizontal height of the same position frame 16 according to the horizontal position change of the sliding seat 5.

[0043] The horizontal height of the same position frame 16 decreases first and then increases during the horizontal movement of the sliding seat 5.

[0044] As Figure 1 , Figure 2 , Figure 3 and Figure 6As shown, when the semi-finished parts on the production line are transferred, the image information on the conveying belt is collected in real time through the image acquisition module, and the collected image information is preprocessed through the image processing module, such as grayscale, filtering, edge detection, etc. The purpose is to enhance the feature information of the image, so as to facilitate the subsequent object recognition and positioning. When the part corresponds to the position of the plurality of fin-shaped rubber clamping jaws 34, the electric sliding rail 3 operates to drive the sliding seat 5 slidingly arranged thereon to move in the horizontal direction, thereby driving the same-position frame 16 arranged below the sliding seat 5 and the shaft grabbing assembly arranged on the same-position frame 16 to move synchronously with the semi-finished part on the conveying belt, and the horizontal movement speed of the sliding seat 5 is adapted to the conveying speed of the part, so that the sliding seat 5 can remain in a relatively static state with the part.

[0045] At the same time, when the sliding seat 5 and the part are in a relatively static state, under the drive of the sinking and rising assembly, the same-position frame 16 can be lowered during the horizontal movement of the sliding seat 5, thereby driving the plurality of fin-shaped rubber clamping jaws 34 to be in a position ready to grab the part. At the same time, when the same-position frame 16 is at the lowest horizontal position, the shaft grabbing assembly can be driven to operate, thereby driving the plurality of fin-shaped rubber clamping jaws 34 to move synchronously towards each other, thereby completing the grabbing action of the part.

[0046] Wherein, with the continuous horizontal movement of the sliding seat 5 from the starting end to the terminal end, the same-position frame 16 can move upwards and drive the grabbed part to move upwards synchronously, and then through the swinging and steering of the plurality of arm rods 1, the grabbed part can be corresponded to the conveying belt on the adjacent production line, and the grabbed part can be released to the conveying belt on the production line.

[0047] As shown, Figure 11 When the semi-finished parts on the production line M are transferred to the production line N, and the production line M and the production line N are parallel and the conveying directions are consistent, the same-position frame 16 moves from the conveying front end of the production line M end to the conveying rear end, that is, during the process that the sliding seat 5 moves from the starting end to the terminal end of the electric sliding rail 3, the plurality of fin-shaped rubber clamping jaws 34 move downwards with the same-position frame 16 and complete the grabbing action when the same-position frame 16 is at the lowest horizontal position. After the parts on the production line M are grabbed, the same-position frame 16 moves upwards to drive the grabbed parts to be separated from the production line M.

[0048] At the same time, by driving the plurality of arm rods 1 to swing to change the orientation of the triangular plate 2, the clamped part can be corresponded to the production line N, at this time, the sliding seat 5 is at the terminal end position of the electric sliding rail 3, and the image information on the production line N is collected and processed through the image acquisition module and the image processing module to analyze the position information required for placing the grabbed part.

[0049] When placing the parts on the production line N, the same position frame 16 can move downward in the vertical direction in advance while following the relatively static movement of the conveying belt on the production line, during the process of driving the sliding seat 5 to move from the terminal end position to the starting end position, and the parts to be grabbed can be placed on the conveying belt on the production line N when the same position frame 16 is at the lowest level, and the multiple groups of fin-shaped rubber clamping jaws 34 can be driven to move synchronously and oppositely to complete the release purpose of the parts.

[0050] At the same time, as the sliding seat 5 gradually moves to the starting end of the electric sliding rail 3, the horizontal height of the same position frame 16 and the multiple groups of fin-shaped rubber clamping jaws 34 gradually rises and returns to the initial height when the sliding seat 5 reaches the starting end, and then the multiple groups of arm levers 1 are driven to swing to make the triangular plate 2 and the shaft grabbing assembly again face the production line M side to complete the resetting process.

[0051] It should be noted that in actual use, the initial state of the sliding seat 5 at the starting end and the terminal end can be changed, that is, the sliding seat 5 is driven to be at the terminal end of the electric sliding rail 3 in the initial state, and the multiple groups of fin-shaped rubber clamping jaws 34 are in the open state, and the fin-shaped rubber clamping jaws 34 are initially driven to correspond to the production line N, so that the transfer purpose of the parts from the production line N to the production line M is completed through the operation of the relative clamping mechanism and the deflection of the multiple groups of arm levers 1.

[0052] At the same time, two groups of scheduling robots can also be arranged on the production line M and the production line N to complete the transfer purpose of the semi-finished parts in both directions when the production demands are different, so as to balance the number of semi-finished parts of the two production lines.

[0053] In one more preferred embodiment, the sinking and rising assembly includes a center column 11 slidingly penetrating the base cylinder 13, the center column 11 is freely movable in the vertical direction and freely rotatable at the end of the stroke, a spline shaft 18 is fixed coaxially on the center column 11, and an axle block 12 is fixedly connected to one end of the center column 11 facing the spline shaft 18, two groups of blocking grooves 14 are formed on the base cylinder 13 for horizontal sliding connection of the axle block 12, and a guide groove 15 is also formed on the base cylinder 13 for vertical sliding connection of the axle block 12.

[0054] The spline shaft 18 is pivotally arranged on the same position frame 16, one end of the same position frame 16 facing the base cylinder 13 is fixedly connected with a plug rod 17, a rectangular groove is formed on the base cylinder 13 for sliding connection of the plug rod 17, and the two ends of the guide groove 15 are respectively communicated with one group of blocking grooves 14.

[0055] The sinking and rising assembly further includes a hollow column 6 sleeved on the center column 11, a position adjusting pin 9 is fixedly connected to the inner wall of the hollow column 6, and a spiral position adjusting groove 10 is formed on the center column 11 for sliding connection of the position adjusting pin 9.

[0056] The sliding seat 5 is provided with a circular hole for slidingly penetrating the hollow column 6, the triangular plate 2 is fixedly connected with a V-shaped handle 4, the V-shaped handle 4 includes two groups of inclined parts which are integrally formed and symmetrically arranged, one end of the hollow column 6 towards the V-shaped handle 4 is pivotally connected with an end position seat 8, the end position seat 8 is provided with a torsion seat 7 and is provided with an incomplete cavity groove for supporting and slidingly connecting the torsion seat 7, and the torsion seat 7 is slidingly sleeved on the V-shaped handle 4.

[0057] As shown in Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 , the electric sliding rail 3 includes a screw rod for driving the horizontal movement of the sliding seat 5, when the sliding seat 5 moves in the horizontal direction from the starting end to the ending end, the hollow column 6 slidingly penetrating the sliding seat 5 and the same position frame 16 provided at the bottom of the hollow column 6 can move synchronously in the horizontal direction, and the hollow column 6 is pivotally connected with the end position seat 8, and the torsion seat 7 slidingly arranged in the end position seat 8 is sleeved on the V-shaped handle 4, and the V-shaped handle 4 includes two groups of inclined parts which are integrally formed and symmetrically arranged, therefore, while the hollow column 6 follows the horizontal movement of the sliding seat 5, the end position seat 8 provided at the top end of the hollow column 6 moves along the slope of the V-shaped handle 4, and then the hollow column 6 can move downward first and then move upward to restore the initial height.

[0058] At the same time, when the hollow column 6 moves downward on the sliding seat 5 along with the horizontal movement of the sliding seat 5, it can drive the position adjusting pin 9 fixedly arranged thereon to move downward synchronously, wherein in the initial state, the shaft protrusion 12 is located at the joint position of the upper blocking groove 14 and the guide groove 15, at this time, as the position adjusting pin 9 moves downward, since the shaft protrusion 12 is not limited, the position adjusting pin 9 will not slide on the spiral position adjusting groove 10 at this time, but will drive the central column 11 and the spline shaft 18 to move downward synchronously along with the downward movement of the hollow column 6 and the position adjusting pin 9, at this time, the shaft protrusion 12 slides on the guide groove 15, and finally moves to the joint position of the lower blocking groove 14 and the guide groove 15.

[0059] When the shaft protrusion 12 moves to the position of the lower blocking groove 14, the central column 11, the spline shaft 18 and the same position frame 16 are at the lowest horizontal position, and a plurality of fin-shaped rubber clamping jaws 34 correspond to the parts to be grabbed, and then as the hollow column 6 and the position adjusting pin 9 continue to move downward, the shaft protrusion 12 cannot continue to move downward along with the hollow column 6 and the position adjusting pin 9 under the limitation of the lower blocking groove 14, and then at this time, the downward movement of the hollow column 6 can drive the position adjusting pin 9 to slide on the spiral position adjusting groove 10, and then drive the central column 11 and the spline shaft 18 coaxially arranged with the central column 11 to rotate in the horizontal direction, through the rotation process of the spline shaft 18, to drive a plurality of ratchets 23 to complete the fixing purpose of the parts.

[0060] Meanwhile, as the sliding seat 5 moves towards the end of the electric slide rail 3, the hollow column 6 can move upwards, wherein, when the hollow column 6 moves upwards, the shaft block 12 slides on the guide groove 15 first, and then drives the captured parts to be separated from the production line by lifting the horizontal height of the co-located frame 16, and when the shaft block 12 moves to the upper blocking groove 14 position, it cannot continue to rise due to the limitation of the upper blocking groove 14, at this time the positioning pin 9 slides on the screw positioning groove 10 and drives the center column 11 and the spline shaft 18 to rotate in reverse, it should be noted that at this time the reverse rotation of the spline shaft 18 does not drive the shaft grabbing assembly to operate, and at this time the plurality of fin-shaped rubber clamping jaws 34 still keep the state of capturing and fixing the parts.

[0061] Subsequently, as the plurality of arm rods 1 are deflected, the triangular plate 2 and the captured parts are moved towards the conveying belt in another production line, and then the electric slide rail 3 drives the sliding seat 5 to move from the end to the starting point, and at this time the descending process of the hollow column 6 can change the horizontal height of the co-located frame 16 and the captured parts, and when the co-located frame 16 is at the lowest position, it can drive the plurality of fin-shaped rubber clamping jaws 34 to complete the releasing process of the parts, and after the releasing process is completed, it restores to the initial height during the movement of the sliding seat 5 to the starting point.

[0062] Among them, the sinking and rising assembly can change the horizontal height of the co-located frame 16 and the shaft grabbing assembly while driving the co-located frame 16 and the shaft grabbing assembly to move relatively stationary with the conveying belt, so as to restore to the initial height after the plurality of fin-shaped rubber clamping jaws 34 capture and fix the parts, so that the parts are separated from the conveying belt on the production line. At the same time, when releasing the parts, the horizontal height of the co-located frame 16 and the shaft grabbing assembly can be lowered first, and when the captured and fixed parts are placed on the conveying belt in another production line, the releasing process of the parts can be completed, and finally the co-located frame 16 and the shaft grabbing assembly are restored to the initial horizontal position and the initial height.

[0063] On the basis of the sinking and rising assembly embodiment, the shaft grabbing assembly comprises an upper mounting plate 28 and a lower mounting plate 29 fixedly connected to the co-located frame 16, and a triangular shaft position plate 31 freely moving in the vertical direction is arranged between the upper mounting plate 28 and the lower mounting plate 29, and a plurality of clamping blocks 32 corresponding to the plurality of fin-shaped rubber clamping jaws 34 are fixedly connected below the lower mounting plate 29.

[0064] The clamping block 32 is pivotally rotated on the lower mounting plate 29, and a connecting rod 33 is further pivotally rotated on the clamping block 32, one end of the connecting rod 33 away from the clamping block 32 is pivotally rotated on the triangular shaft position plate 31, and a plurality of guide columns 30 slide through the triangular shaft position plate 31, both ends of the guide column 30 are fixedly connected to the upper mounting plate 28 and the lower mounting plate 29.

[0065] The coaxial frame 16 is provided with a worm gear 25 rotating freely in the vertical direction, the worm gear 25 is provided with a swing rod 26 rotating on the coaxial frame 16, the upper installation plate 28 is provided with an extension rod 27 and a groove I for the extension rod 27 to slide through, the swing rod 26 is provided with an extension rod 27 rotating on the coaxial frame 16.

[0066] The worm gear 25 is engaged with a worm 24 rotating on the coaxial frame 16, and the coaxial frame 16 is provided with a directional assembly limiting the rotation direction of the worm 24, the directional assembly includes a driving gear 19 arranged inside the coaxial frame 16 and slidingly sleeved on the spline shaft 18, the driving gear 19 is engaged with a driven gear 20, and the driven gear 20 is provided with a ratchet wheel 23 coaxial with the driven gear 20, and the ratchet wheel 23 is coaxially fixed between the worm 24;

[0067] The driven gear 20 and the ratchet wheel 23 are both rotating on the coaxial frame 16, the driven gear 20 is provided with a plurality of sets of pawls 21 rotating on the inner circle of the driven gear 20, and the plurality of sets of pawls 21 are arranged in a ring array, the driven gear 20 is provided with a clearance groove 22 for accommodating the pawls 21, and the plurality of sets of pawls 21 are engaged with the ratchet wheel 23.

[0068] As shown in Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 8 , Figure 9 and Figure 10 When the hollow column 6 drives the positioning pin 9 on it to move downward and when the positioning pin 9 slides on the spiral positioning groove 10, the center column 11 and the spline shaft 18 can be driven to rotate forward, at this time, the driving gear 19 sleeved on the spline shaft 18 drives the driven gear 20 to rotate synchronously, at this time, the rotation process of the driven gear 20 can drive the ratchet wheel 23 and the worm 24 to rotate, so as to drive the worm gear 25 engaged with the worm 24 to rotate.

[0069] When the hollow column 6 moves upward to drive the center column 11 and the spline shaft 18 to rotate reversely, the plurality of sets of ratchet wheels 23 on the driven gear 20 are not engaged with the ratchet wheel 23, so that the ratchet wheel 23 does not rotate with the upward movement of the hollow column 6 at this time, and the ratchet wheel 23 and the worm 24 and the worm gear 25 can only rotate in one direction.

[0070] At the same time, when the hollow column 6 moves downward to drive the worm gear 25 to rotate during the movement from the starting end to the ending end of the electric sliding rail 3, the swing rod 26 can be deflected through the rotation process of the worm gear 25, and the extension rod 27 and the triangular shaft position plate 31 can be driven to move downward, wherein when the triangular shaft position plate 31 moves downward, a plurality of connecting rods 33 can be driven to deflect synchronously, so as to drive a plurality of clamping blocks 32 and a plurality of fin-shaped rubber clamping jaws 34 fixedly arranged thereon to deflect synchronously to grasp and fix two objects.

[0071] Meanwhile, when the hollow column 6 moves downward during the process of moving from the end point of the electric sliding rail 3 to the starting point to drive the worm wheel 25 to continue rotating, the relative height of the extension rod 27 and the triangular shaft position plate 31 at the guide column 30 can be lifted by the continued rotation of the worm wheel 25, thereby driving the multiple groups of fin-shaped rubber clamping jaws 34 to move in opposite directions synchronously to achieve the purpose of releasing the parts.

[0072] It should be noted that the driven gear 20 is provided with a torsion spring for driving the pawl 21 to return to the initial position after deflection. The torsion spring is a prior art device, which is a technical means familiar to those skilled in the art, and therefore is not shown. By providing the torsion spring, when the direction of the driven gear 20 changes, the multiple groups of pawls 21 on it can only drive the ratchet wheel 23 to rotate in one direction, thereby enabling the shaft grabbing assembly to always remain in a grabbing fixed state or an open state during the upward movement of the hollow column 6.

[0073] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A production line semi-finished product scheduling robot, comprising a base and a mechanical arm arranged thereon, the mechanical arm being composed of a plurality of groups of freely rotatable arm rods (1), characterized in that: A set of arm poles (1) away from the base is provided with a relative clamping mechanism which moves synchronously with the semi-finished parts on the production line and clamps the semi-finished parts; The relative clamping mechanism comprises a triangular plate (2) fixedly connected with the set of arm poles (1) away from the base, the triangular plate (2) is fixedly connected with an electric sliding rail (3), the electric sliding rail (3) comprises a sliding seat (5) integrally formed and freely moving in the horizontal direction, a same-position frame (16) is arranged below the sliding seat (5), and the same-position frame (16) is provided with a plurality of fin-shaped rubber clamping jaws (34) for clamping the parts; The same-position frame (16) is provided with a shaft clamping assembly for driving the plurality of fin-shaped rubber clamping jaws (34) to move synchronously towards or away from each other, the sliding seat (5) is fixedly connected with a base cylinder (13), and the base cylinder (13) is provided with a sinking and rising assembly for adjusting the horizontal height of the same-position frame (16) according to the horizontal position change of the sliding seat (5); The sinking and rising assembly comprises a central column (11) slidingly penetrating through the base cylinder (13), the central column (11) freely moves in the vertical direction and freely rotates at the end of the stroke, the central column (11) is coaxially fixed with a spline shaft (18), and one end of the central column (11) towards the spline shaft (18) is fixedly connected with a shaft protrusion (12), the base cylinder (13) is provided with two sets of blocking grooves (14) for the horizontal sliding connection of the shaft protrusion (12), and the base cylinder (13) is further provided with a guide groove (15) for the vertical sliding connection of the shaft protrusion (12); The spline shaft (18) is fixedly rotated on the same-position frame (16), one end of the same-position frame (16) towards the base cylinder (13) is fixedly connected with a plug rod (17), and the base cylinder (13) is provided with a rectangular groove for the sliding connection of the plug rod (17); The two ends of the guide groove (15) are respectively penetrated with a set of blocking grooves (14); The sinking and rising assembly further comprises a hollow column (6) sleeved on the central column (11), a position adjusting pin (9) is fixedly connected to the inner wall of the hollow column (6), and the central column (11) is provided with a spiral position adjusting groove (10) for the sliding connection of the position adjusting pin (9); The sliding seat (5) is provided with a circular hole for the sliding penetration of the hollow column (6), the triangular plate (2) is fixedly connected with a V-shaped lever (4), and the V-shaped lever (4) comprises two sets of inclined portions integrally formed and symmetrically arranged; One end of the hollow column (6) towards the V-shaped lever (4) is fixedly rotated with an end position seat (8), the end position seat (8) is provided with a torsion seat (7) and an incomplete cavity groove for supporting the torsion seat (7) and the sliding connection thereof, and the torsion seat (7) is slidingly sleeved on the V-shaped lever (4); The shaft clamping assembly comprises an upper mounting plate (28) and a lower mounting plate (29) fixedly connected to the same-position frame (16), the upper mounting plate (28) and the lower mounting plate (29) are provided with a triangular shaft position plate (31) freely moving in the vertical direction, and the lower mounting plate (29) is provided with a plurality of clamping blocks (32) corresponding to the plurality of fin-shaped rubber clamping jaws (34) and fixedly connected thereto. The clamping block (32) is fixedly rotated on the lower mounting plate (29), and a connecting rod (33) is also fixedly rotated on the clamping block (32), and one end of the connecting rod (33) away from the clamping block (32) is fixedly rotated on the triangular shaft plate (31); A plurality of guide columns (30) are slidably penetrated through the triangular shaft plate (31), and two ends of the guide column (30) are fixedly connected to the upper mounting plate (28) and the lower mounting plate (29), respectively; The same position frame (16) is fixedly rotated with a worm gear (25) freely rotating in the vertical direction, the worm gear (25) is fixedly rotated with a swing rod (26), the upper mounting plate (28) is provided with an extension rod (27) and is provided with a groove one for the extension rod (27) to slide through, and one end of the swing rod (26) away from the worm gear (25) is fixedly rotated on the extension rod (27); The worm gear (25) is meshed with a worm (24), the worm (24) is fixedly rotated on the same position frame (16), and the same position frame (16) is provided with a directional assembly for limiting the rotating direction of the worm (24); The directional assembly comprises a driving gear (19) arranged inside the same position frame (16) and slidably sleeved on the spline shaft (18), the driving gear (19) is meshed with a driven gear (20), and the driven gear (20) is provided with a ratchet wheel (23) coaxial with the driven gear (20), and the ratchet wheel (23) and the worm (24) are coaxially fixed between them; The driven gear (20) and the ratchet wheel (23) are both fixedly rotated on the same position frame (16), a plurality of pawls (21) are fixedly rotated in the inner ring of the driven gear (20) and are arranged in an annular array, a recess (22) for accommodating the pawl (21) is formed in the driven gear (20), and the plurality of pawls (21) and the ratchet wheel (23) are meshed.

2. The on-line semi-finished product scheduling robot according to claim 1, characterized in that: The horizontal height of the same position frame (16) first decreases and then increases with the horizontal movement of the sliding seat (5).

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