Robot for gear machining

Abstract

The invention belongs to the technical field of gear machining, and particularly provides a gear machining robot which comprises a rotating base, first telescopic columns are symmetrically arranged on the rotating base, second telescopic columns are horizontally arranged at the telescopic ends of the first telescopic columns, and batch type integrated detecting and feeding assemblies are arranged at the telescopic ends of the second telescopic columns. The batch type integrated detection feeding assemblies are arranged in a central symmetry mode with respect to the center line of the rotating base. According to the robot for gear machining, gears can be automatically positioned one by one and transferred in batches, batched, automatic and intelligent production and machining of the gears are achieved, in addition, physical detection and image analysis are combined, the sizes of the gears in the previous working procedure are detected, and the production efficiency is improved. The device helps workers to remove unqualified gears in time, avoids ineffective machining production, improves machining efficiency, and shortens the working period of single-batch gear machining.

Description

Technical Field

[0001] The present invention belongs to the technical field of gear processing, and specifically refers to a robot for gear processing. Background Art

[0002] A gear is a toothed mechanical part that can mesh with each other, and it is extremely widely used in mechanical transmission and the entire mechanical field. Gear transmission is the most widely used mechanism and transmission device. When manufacturing gears, special machine tools are mainly used for processing. However, when the existing gear processing machine tools perform specific processings (such as grinding and milling), the operator needs to fix the gears on the machine tool one by one, and then complete the processing after setting the processing parameters. It is impossible to complete the batch automatic positioning of gears, and it is impossible to achieve batch, automatic, and intelligent processing. In addition, for gears to be ground, it is difficult to quickly detect the gear sizes of the previous process, and it is impossible to promptly remove unqualified gears, increasing the processing cycle. Summary of the Invention

[0003] To solve the above existing problems, the present invention provides a robot for gear processing that can perform automatic positioning and batch transfer of gears one by one, realizing batch, automatic, and intelligent production and processing of gears. In addition, by combining physical detection and image analysis, the gear sizes of the previous process are detected to help the staff promptly remove unqualified gears, avoid invalid processing production, improve processing efficiency, and shorten the construction period of single-batch gear processing.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows: A robot for gear processing provided by the present invention includes a rotating base, symmetric first telescopic columns are provided on the rotating base, a second telescopic column is horizontally provided at the telescopic end of the first telescopic column, a batch integrated detection and loading component is provided at the telescopic end of the second telescopic column, the batch integrated detection and loading component is symmetrically arranged about the center line of the rotating base, a processing table is provided on one side of the rotating base, a grinding roller or a processing tool is provided on the processing table, and a discharge box is provided on one side of the processing table, and the discharge box is arranged below the movement trajectory of the batch integrated detection and loading component; the batch integrated detection and loading component includes a detection mechanism, a support mechanism, and an adjustable clamping mechanism, the detection mechanism is rotatably provided at the telescopic end of the second telescopic column, the support mechanism is slidably provided on the detection mechanism, the adjustable clamping mechanism is linearly arrayed on the support mechanism, and a loading mechanism is provided on the detection mechanism; The loading mechanism can be directly connected to the conveyor belt of the previous process. By adjusting the relative positions of the loading mechanism and the conveyor belt through the first telescopic column and the second telescopic column, the gears can be positioned on the adjustable clamping mechanism one by one.

[0005] Further, the adjustable clamping mechanism includes an adjusting cover mechanism, an axial adjusting mechanism, and a vertical adjusting mechanism. The adjusting cover mechanism is rotatably arranged on the support mechanism. The axial adjusting mechanism and the vertical adjusting mechanism are respectively arranged inside the adjusting cover mechanism, and the vertical adjusting mechanism is arranged on the axial adjusting mechanism. Further, the adjusting cover mechanism includes a first motor, a rotating disk, and a rotating cover housing. The first motor is arranged at the lower part of the support mechanism. The rotating disk is arranged at the output end of the first motor. The rotating cover housing is covered above the rotating disk, and the upper wall of the rotating cover housing is uniformly provided with yielding grooves in the circumferential direction.

[0006] Further, the vertical adjusting mechanism includes a pressing telescopic column, a follower rod, and an inner clamping rod. The pressing telescopic column is embedded in the rotating disk. The follower rods are uniformly distributed on the telescopic end of the pressing telescopic column. The follower rods slide on the upper end of the pressing telescopic column. The inner clamping rod is connected to the upper end of the follower rod. The inner clamping rod moves in the yielding groove. The end face of the inner clamping rod facing the outside is arc-shaped, and a pressing block is arranged at the upper end of the inner clamping rod.

[0007] Further, the axial adjusting mechanism includes a second motor, an adjusting seat, a wedge block, and an adjusting cover cylinder. The second motor is embedded in the center of the pressing telescopic column. The output end of the second motor is provided with an adjusting screw rod. The adjusting screw rod rotates coaxially on the rotating cover housing. The adjusting seat is sleeved on the adjusting screw rod, and the adjusting seat is meshed and connected with the adjusting screw rod. The wedge blocks are uniformly distributed on the adjusting seat. An adjusting through groove is penetrated through the wedge block. The projection of the adjusting through groove in the vertical direction is the same as that of the yielding groove. The adjusting cover cylinder is slidably connected between the wedge block and the upper wall of the rotating cover housing. The upper part of the adjusting cover cylinder slides in the yielding groove, and the lower part of the adjusting cover cylinder slides along the inclined surface of the wedge block in the adjusting through groove. The follower rod and the inner clamping rod penetrate through the adjusting through groove and slide in the adjusting cover cylinder. During use, the gear drops from above the adjustable clamping mechanism. The circumferentially uniformly distributed inner clamping rods penetrate through the inner hole of the gear. The gear drops to the upper end face of the rotating cover housing. The second motor is started, and the adjusting screw rod rotates to move the adjusting seat upward, thereby driving the wedge block upward. Since the length of the adjusting cover cylinder is fixed, when the wedge block moves upward, the circumferentially uniformly distributed adjusting cover cylinders slide along the inclined surface of the wedge block. The upper end of the adjusting cover cylinder slides outward in the yielding groove, thereby driving the follower rod to slide outward on the output end of the pressing telescopic column. The arc surface of the inner clamping rod uniformly presses and supports the inner hole of the gear. The pressing telescopic column contracts, pulling the follower rod and the inner clamping rod downward. The follower rod and the inner clamping rod slide downward in the adjusting cover cylinder. The pressing block is lapped on the edge of the inner hole of the gear to press the gear tightly on the upper part of the rotating cover housing, thereby positioning the gear and achieving the technical effect of automatic gear positioning.

[0008] Furthermore, the detection mechanism includes a rotating motor, a fixed frame, a telescopic plate and a detection frame, the rotating motor is embedded in the output end of the second telescopic column, the fixed frame is arranged at the output end of the rotating motor, the fixed frame is arranged in a rectangular parallelepiped, one end of the fixed frame is connected to the output end of the rotating motor, a fixed plate is provided on the side of the fixed frame away from the rotating motor, a sliding groove is provided at the lower part of the fixed plate, the telescopic plate is embedded on the side wall of the fixed plate away from the fixed frame, the telescopic plate is an electric telescopic structure, a detection probe is provided at the lower end of the telescopic plate, the detection frame is arranged on the upper part of the fixed frame, an image analyzer is provided on the detection frame, the output end of the image analyzer faces directly below the detection frame, and the central axis of the detection probe, the central axis of the output end of the image analyzer and the rotating axis of the output end of the rotating motor are in the same vertical plane.

[0009] Further, the support mechanism includes a sliding block, a toggle gear and a support sleeve, the sliding block is slidably arranged in a sliding groove, a sliding rack is embedded in a side of the sliding block close to the fixed frame, the toggle gear is embedded and rotatably arranged in the fixed frame, the toggle gear is driven by a sliding motor, the toggle gear is meshed with the sliding rack, and the support sleeve linear array is arranged at the lower end of the side wall of the sliding block away from the fixed frame; Preferably, the detection probe is perpendicular to the side wall of the sliding block away from the fixed frame, the support sleeve is cylindrical, the upper end surface of the support sleeve is arranged parallel to the bottom of the detection probe, and the central axis of the support sleeve is perpendicular to the central axis of the detection probe.

[0010] Preferably, the first motor is arranged at the lower part of the support sleeve, the rotating disk is rotatably arranged on the inner side of the support sleeve, and the upper end surface of the rotating cover is in the same plane as the upper end surface of the support sleeve; After the gear is positioned, its center is opposite to the center of the image analyzer. At this time, the telescopic plate is extended, the detection probe is pressed against the gear, the first motor is started, the rotating disk and the rotating cover drive the gear to rotate, the rotation angle is greater than the angle value corresponding to a tooth pitch, and the telescopic plate is extended and contracted multiple times. During this process, the detection probe is pressed against the tooth top, tooth surface and tooth root of the gear respectively, and the corresponding telescopic values ​​of the telescopic plate are recorded respectively. The difference between the maximum value and the minimum value is calculated as the full height of the gear tooth. At the same time, the image analyzer takes a photo of the gear and extracts and analyzes the gear edge for comparison, and records the full height of the gear tooth and the gear tooth shape respectively, and compares them with the standard parts, so as to directly and quickly detect whether the processing dimensions of the previous process are qualified, eliminate unqualified products in time, avoid invalid processing, and improve processing efficiency.

[0011] Furthermore, the feeding mechanism includes a multi-stage telescopic rod, a feeding rack, and a receiving plate. The multi-stage telescopic rod is arranged on the fixed frame, above the fixed plate. The central axes of the multi-stage telescopic rod and the detection probe are in the same vertical plane. The feeding rack is arranged at the telescopic end of the multi-stage telescopic rod. The feeding rack is in a U shape. A bidirectional threaded rod is arranged inside the feeding rack. The bidirectional threaded rod is driven by a feeding motor. The receiving plates are symmetrically and slidably arranged inside the feeding rack. The symmetric receiving plates are respectively meshed and sleeved on the bidirectional threaded rod. When the bidirectional threaded rod rotates, the symmetric receiving plates move away from or close to each other.

[0012] Preferably, a main controller is arranged on the rotating base. The motor of the rotating base, the first telescopic column, the second telescopic column, the rotating motor, the multi-stage telescopic rod, the motor of the telescopic plate, the feeding motor, the sliding motor, the image analyzer, the first motor, the second motor, the pressing telescopic column, and the processing table are respectively electrically connected to the main controller.

[0013] The beneficial effects achieved by the present invention with the above structure are as follows: A gear processing robot provided by the present invention, under the combined cooperation of the detection mechanism, the support mechanism, the feeding mechanism, and the adjustable clamping mechanism, sequentially adjusts the relative positions of the adjustable clamping mechanism and the feeding mechanism through the support mechanism to complete the feeding of gears one by one. The inner hole clamping and positioning of the gears are realized through the axial adjustment mechanism and the vertical adjustment mechanism, and the positions of the gears are automatically positioned one by one, and at the same time, it is applicable to the positioning of gears of various sizes. In addition, by combining physical detection and image analysis, the dimensions of the gears in the previous process are detected, and it is directly and quickly detected whether the processing dimensions of the previous process are qualified, which helps the staff to promptly remove unqualified gears, avoid invalid processing production, improve processing efficiency, and shorten the construction period of single-batch gear processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of a gear processing robot provided by the present invention; Figure 2 is a schematic structural diagram of a gear processing robot provided by the present invention excluding the processing table and the discharge box; Figure 3 is a front side schematic diagram of the combined structure of the detection mechanism, the support mechanism, and the feeding mechanism; Figure 4 is a rear side schematic diagram of the combined structure of the detection mechanism, the support mechanism, and the feeding mechanism; Figure 5 is Figure 3 a partial enlarged structural schematic diagram of part A in Figure 6 is a schematic structural diagram of the adjustable clamping mechanism; Figure 7It is a schematic diagram of the exploded structure of the adjustable clamping mechanism; Figure 8 It is a schematic diagram of the combined structure of the axial adjustment mechanism and the vertical adjustment mechanism; Figure 9 for Figure 7 A schematic diagram of the local enlarged structure at B in the middle; Figure 10 It is a structural schematic diagram of the axial adjustment mechanism.

[0015] Among them, 1. rotating base, 2. first telescopic column, 3. second telescopic column, 4. batch integrated detection and feeding assembly, 5. processing table, 6. discharge box, 7. detection mechanism, 8. support mechanism, 9. adjustable clamping mechanism, 10. feeding mechanism, 11. rotating motor, 12. fixed frame, 13. fixed plate, 14. sliding groove, 15. detection frame, 16. image analyzer, 17. telescopic plate, 18. detection probe, 19. sliding block, 20. sliding rack, 21. toggle gear, 22. Support sleeve, 23. Multi-section telescopic rod, 24. Loading rack, 25. Loading motor, 26. Receiving plate, 27. Adjusting cover mechanism, 28. Axial adjusting mechanism, 29. Vertical adjusting mechanism, 30. First motor, 31. Rotating disk, 32. Rotating cover shell, 33. Yield groove, 34. Pressing telescopic column, 35. Follow-up rod, 36. Inner buckle rod, 37. Pressing block, 38. Second motor, 39. Adjusting screw rod, 40. Adjusting seat, 41. Wedge block, 42. Adjusting through slot, 43. Adjusting cover tube. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described in detail below in conjunction with specific embodiments. The parts of the technical features or connection relationships described in the present invention that are not described in detail are all existing technologies adopted.

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0018] like Figures 1 - 10 As shown, a gear processing robot provided by the present invention comprises a rotating base 1, a first telescopic column 2 is symmetrically arranged on the rotating base 1, a second telescopic column 3 is horizontally arranged at the telescopic end of the first telescopic column 2, a batch-type integrated detection and feeding component 4 is arranged at the telescopic end of the second telescopic column 3, the batch-type integrated detection and feeding component 4 is centrally symmetrically arranged about the center line of the rotating base 1, a processing table 5 is arranged on one side of the rotating base 1, a grinding roller or a processing tool is arranged on the processing table 5, a discharge box 6 is arranged on one side of the processing table 5, and the discharge box 6 is arranged below the movement trajectory of the batch-type integrated detection and feeding component 4.

[0019] The batch integrated detection and feeding assembly 4 comprises a detection mechanism 7, which is rotatably arranged at the telescopic end of the second telescopic column 3, a support mechanism 8 is slidably arranged on the detection mechanism 7, an adjustable clamping mechanism 9 is linearly arranged on the support mechanism 8, and a feeding mechanism 10 is arranged on the detection mechanism 7; The detection mechanism 7 includes a rotating motor 11, which is embedded in the output end of the second telescopic column 3. A fixed frame 12 is provided at the output end of the rotating motor 11. The fixed frame 12 is arranged in a rectangular parallelepiped. One end of the fixed frame 12 is connected to the output end of the rotating motor 11. A fixed plate 13 is provided on the side of the fixed frame 12 away from the rotating motor 11. A sliding groove 14 is provided at the lower part of the fixed plate 13. The above-mentioned telescopic plate 17 is embedded on the side wall of the fixed plate 13 away from the fixed frame 12. The telescopic plate 17 is an electric telescopic structure. A detection probe 18 is provided at the lower end of the telescopic plate 17. A detection frame 15 is provided at the upper part of the fixed frame 12. An image analyzer 16 is provided on the detection frame 15. The output end of the image analyzer 16 faces directly below the detection frame 15. The central axis of the detection probe 18 and the central axis of the output end of the image analyzer 16 are in the same vertical plane as the rotation axis of the output end of the rotating motor 11. The supporting mechanism 8 includes a sliding block 19, which is slidably arranged in the sliding groove 14. A sliding rack 20 is embedded in the side of the sliding block 19 close to the fixed frame 12. A toggle gear 21 is embedded and rotatably arranged in the fixed frame 12. The toggle gear 21 is driven by a sliding motor, and the toggle gear 21 is meshed with the sliding rack 20. A supporting sleeve 22 is provided in a linear array at the lower end of the side wall of the sliding block 19 away from the fixed frame 12. The detection probe 18 is perpendicular to the side wall of the sliding block 19 away from the fixed frame 12. The supporting sleeve 22 is cylindrical, and the upper end surface of the supporting sleeve 22 is arranged parallel to the bottom of the detection probe 18, and the central axis of the supporting sleeve 22 is perpendicular to the central axis of the detection probe 18.

[0020] The adjustable clamping mechanism 9 includes an adjusting cover mechanism 27, which is rotatably arranged in the supporting sleeve frame 22, and an axial adjusting mechanism 28 and a vertical adjusting mechanism 29 are respectively arranged in the adjusting cover mechanism 27, and the vertical adjusting mechanism 29 is arranged on the axial adjusting mechanism 28; The adjusting cover mechanism 27 includes a first motor 30, which is arranged at the lower part of the supporting sleeve frame 22. A rotating disk 31 is provided at the output end of the first motor 30. The rotating disk 31 is rotatably arranged on the inner side of the supporting sleeve frame 22. A rotating cover shell 32 is covered above the rotating disk 31. The upper wall of the rotating cover shell 32 is evenly distributed with clearance grooves 33 throughout the circumference. The upper end surface of the rotating cover shell 32 is in the same plane as the upper end surface of the supporting sleeve frame 22.

[0021] The vertical adjustment mechanism 29 includes a compression telescopic column 34, which is embedded in the rotating disk 31. Follower rods 35 are evenly distributed on the circumference of the telescopic end of the compression telescopic column 34. The follower rods 35 slide on the upper end of the compression telescopic column 34. The upper end of the follower rod 35 is connected to an inner buckle rod 36, which moves in the give way groove 33. The end surface of the inner buckle rod 36 facing the outside is in an arc shape, and a compression block 37 is provided at the upper end of the inner buckle rod 36. The axial adjustment mechanism 28 includes a second motor 38, which is embedded in the center of the compression telescopic column 34. An adjusting screw rod 39 is provided at the output end of the second motor 38. The adjusting screw rod 39 is coaxially rotatable on the rotating cover 32. An adjusting seat 40 is sleeved on the adjusting screw rod 39. The adjusting seat 40 is meshed and connected with the adjusting screw rod 39. Wedge blocks 41 are evenly distributed on the circumference of the adjusting seat 40. An adjusting through groove 42 is penetrated through the wedge block 41. The projection of the adjusting through groove 42 in the vertical direction is the same as the yield groove 33. An adjusting cover barrel 43 is slidably connected between the wedge block 41 and the upper wall of the rotating cover 32. The upper part of the adjusting cover barrel 43 is slidably disposed in the yield groove 33. The lower part of the adjusting cover barrel 43 is slidably disposed in the adjusting through groove 42 along the inclined surface of the wedge block 41. The follower rod 35 and the inner buckle rod 36 penetrate the adjusting through groove 42 and are slidably disposed in the adjusting cover barrel 43.

[0022] The feeding mechanism 10 includes a multi-section telescopic rod 23, which is arranged on the fixed frame 12 and above the fixed plate 13. The central axis of the multi-section telescopic rod 23 and the central axis of the detection probe 18 are in the same vertical plane. A feeding rack 24 is provided on the telescopic end of the multi-section telescopic rod 23. The feeding rack 24 is in a 匚 shape. A bidirectional threaded rod is provided inside the feeding rack 24. The bidirectional threaded rod is driven by a feeding motor 25. A receiving plate 26 is symmetrically slidably provided on the inner side of the feeding rack 24. The symmetrical receiving plates 26 are respectively engaged and sleeved on the bidirectional threaded rod. When the bidirectional threaded rod rotates, the symmetrical receiving plates 26 move away from or close to each other.

[0023] Working principle and workflow: During specific use, a grinding roller is installed on the processing table 5, and grinding parameters are set. According to the tooth size of the gear to be processed, the telescopic distance of the telescopic plate 17 is set in advance, and the telescopic margin is set; in the initial state, the batch-type integrated detection and feeding assembly 4 on one side is opposite to the conveyor belt, and the support mechanism 8 on this side slides out of the detection mechanism 7, and the relative position of the feeding mechanism 10 and the conveyor belt is adjusted by the first telescopic column 2 and the second telescopic column 3, and the multi-section telescopic rod 23 starts to extend, so that the receiving plate 26 is connected to the feeding plane of the conveyor belt, and the sliding motor is started, and the gear 21 is meshed with the sliding rack 20, and the sliding block 19 slides in the sliding groove 14, so that the center of the first group of adjustable clamping mechanisms 9 is directly below the feeding mechanism 10, and the compression telescopic column 34 there is in a fully extended state, and the circumferentially evenly distributed adjustment cover cylinder 43 gathers at the center of the rotating cover shell 32, while the batch-type integrated detection and feeding assembly 4 on the other side is opposite to the processing table 5.

[0024] The conveyor belt transports the gear to be processed to the receiving plate 26, and the multi-section telescopic rod 23 shrinks immediately to transport the gear to the top of the adjustable clamping mechanism 9. The feeding motor 25 is started, and the bidirectional threaded rod rotates, so that the symmetrical receiving plates 26 slide on the feeding frame 24 and open away from each other. The circumferentially evenly distributed inner buckle rods 36 penetrate the inner hole of the gear, and the gear falls to the upper end surface of the rotating cover shell 32. The second motor 38 is started, and the adjusting screw rod 39 rotates to move the adjusting seat 40 upward, thereby driving the wedge block 41 to move upward. Since the length of the adjusting cover cylinder 43 is fixed, when the wedge block 41 moves upward, the circumferentially evenly distributed adjusting cover cylinder 43 slides along the inclined surface of the wedge block 41, and the upper end of the adjusting cover cylinder 43 slides outward in the give way groove 33, thereby driving the follower rod 35 to slide outward on the output end of the compacting telescopic column 34, and the arc surface of the inner buckle rod 36 is evenly squeezed and supported on the inner hole of the gear, The telescopic column 34 is compressed and retracted, and the follower rod 35 and the inner buckle rod 36 are pulled downward. The follower rod 35 and the inner buckle rod 36 slide downward in the adjustment cover tube 43, and the pressing block 37 overlaps the edge of the inner hole of the gear to press the gear against the upper part of the rotating cover shell 32, thereby positioning the gear so that the center of the gear is opposite to the center of the image analyzer 16. At this time, the telescopic plate 17 is extended, and the detection probe 18 is pressed on the gear. The first motor 30 is started, and the rotating disk 31 and the rotating cover shell 32 drive the gear to rotate. The rotation angle is greater than the angle value corresponding to a tooth pitch. The telescopic plate 17 is extended and contracted multiple times. During this process, the detection probe 18 is respectively pressed on the tooth top, tooth surface and tooth root of the gear, and the corresponding telescopic values ​​of the telescopic plate 17 are recorded respectively. The difference between the maximum value and the minimum value is calculated as the full height of the gear tooth. At the same time, the image analyzer 16 takes and records photos of the gear and extracts and analyzes the gear edge for comparison.

[0025] Subsequently, the sliding motor starts again, the shifting gear 21 meshes with the sliding rack 20, the sliding block 19 slides to place the center of the second set of adjustable clamping mechanisms 9 directly below the feeding mechanism 10, the symmetrical receiving plates 26 reset, the multi-section telescopic rod 23 extends again to transfer the next gear, and the gears are successively fixed on the adjustable clamping mechanisms 9 in the array according to the above steps. The full tooth height and tooth profile of the gears are respectively recorded and compared with the standard parts. If the size and tooth profile of the gears exceed the error of the standard parts, the machine stops and alarms, waiting for the staff to handle.

[0026] When multiple gears are batch-fixed on the adjustable clamping mechanisms 9 in the array, the sliding block 19 completely slides into the sliding groove 14, the rotating base 1 starts, and the batch-fixed gears rotate to the processing table 5. The distance between the gears and the grinding roller is adjusted by the first telescopic column 2 and the second telescopic column 3. The grinding roller is started to grind multiple gears simultaneously. The first motor 30 starts to make the gears rotate at an angle to cooperate with the grinding operation of the grinding roller; while the batch-type integrated detection and feeding assembly 4 on the other side receives and fixes the next batch of gears again.

[0027] When the gears are ground, the rotating base 1 starts, and the processed gears rotate towards the discharge box 6. During this process, the rotating motor 11 starts to flip the entire batch-type integrated detection and feeding assembly 4 so that the gears face down. The pressing telescopic column 34 extends, so that the pressing block 37 no longer presses the gears. The second motor 38 starts to move the adjusting seat 40 downward, and then makes the adjusting cover cylinder 43 slide inwards and gather, driving the inner buckling rod 36 to gather inwards and no longer restrict the gears. The gears fall into the discharge box 6 under the action of gravity. At the same time, the sliding motor starts, making the sliding block 19 slide out of the sliding groove 14 until the center of the first set of adjustable clamping mechanisms 9 is again directly below the feeding mechanism 10, completing the discharge of the gears. Finally, the rotating motor 11 rotates to flip the batch-type integrated detection and feeding assembly 4 back to its original position to continue positioning the next batch of gears.

[0028] It should be noted that the control program setting of the main controller and the grinding parameter setting of the processing table 5 are both prior arts and will not be elaborated here.

[0029] The above is the overall working process of the present invention, and this step can be repeated when using it next time.

[0030] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0031] The above describes the present invention and its embodiments. Such description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural forms and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A robot for gear processing, including a rotating base, symmetrically provided with first telescopic columns on the rotating base, and a second telescopic column horizontally provided at the telescopic end of the first telescopic column, characterized in that: The telescopic end of the second telescopic column is provided with a batch integrated detection and loading component, and the batch integrated detection and loading component is symmetrically arranged about the center line of the rotating base. One side of the rotating base is provided with a processing table, and one side of the processing table is provided with a discharge box, and the discharge box is arranged below the movement track of the batch integrated detection and loading component; The batch integrated detection and loading component includes a detection mechanism, a support mechanism and an adjustable clamping mechanism. The detection mechanism is rotatably arranged at the telescopic end of the second telescopic column, the support mechanism is slidably arranged on the detection mechanism, the adjustable clamping mechanism is linearly arrayed on the support mechanism, and a loading mechanism is arranged on the detection mechanism; The adjustable clamping mechanism includes an adjusting cover mechanism, an axial adjusting mechanism and a vertical adjusting mechanism. The adjusting cover mechanism is rotatably arranged on the support mechanism, the axial adjusting mechanism and the vertical adjusting mechanism are respectively arranged in the adjusting cover mechanism, and the vertical adjusting mechanism is arranged on the axial adjusting mechanism.

2. The robot for gear processing according to claim 1, characterized in that: The adjusting cover mechanism includes a first motor, a rotating disk and a rotating cover shell. The first motor is arranged at the lower part of the support mechanism, the rotating disk is arranged at the output end of the first motor, the rotating cover shell is covered above the rotating disk, and the upper wall of the rotating cover shell is uniformly provided with through slots in the circumferential direction.

3. A robot for gear processing according to claim 2, characterized in that: The vertical adjusting mechanism includes a pressing telescopic column, a follower rod and an inner clamping rod. The pressing telescopic column is embedded on the rotating disk, the follower rods are uniformly distributed on the telescopic end of the pressing telescopic column, the follower rods slide on the upper end of the pressing telescopic column, the inner clamping rod is connected to the upper end of the follower rod, the inner clamping rod moves in the through slot, and a pressing block is arranged at the upper end of the inner clamping rod.

4. The robot for gear processing according to claim 3, characterized in that: The axial adjusting mechanism includes a second motor, an adjusting seat, a wedge block and an adjusting cover cylinder. The second motor is embedded in the center of the pressing telescopic column, the output end of the second motor is provided with an adjusting screw rod, the adjusting screw rod rotates coaxially on the rotating cover shell, the adjusting seat is sleeved on the adjusting screw rod, the adjusting seat is meshed and connected with the adjusting screw rod, the wedge blocks are uniformly distributed on the adjusting seat, the wedge blocks are provided with adjusting through slots, and the projection of the adjusting through slots in the vertical direction is the same as that of the through slots. The adjusting cover cylinder is slidably connected between the wedge block and the upper wall of the rotating cover shell, the upper part of the adjusting cover cylinder slides in the through slot, the lower part of the adjusting cover cylinder slides along the inclined surface of the wedge block in the adjusting through slot, and the follower rod and the inner clamping rod penetrate through the adjusting through slot and slide in the adjusting cover cylinder.

5. A robot for gear processing according to claim 4, characterized in that: The detection mechanism includes a rotating motor, a fixed frame, a telescopic plate and a detection frame. The rotating motor is embedded in the output end of the second telescopic column, the fixed frame is arranged at the output end of the rotating motor, the fixed frame is arranged in a rectangular parallelepiped, one end of the fixed frame is connected to the output end of the rotating motor, a fixed plate is provided on the side of the fixed frame away from the rotating motor, a sliding groove is provided at the lower part of the fixed plate, the telescopic plate is embedded in the side wall of the fixed plate away from the fixed frame, a detection probe is provided at the lower end of the telescopic plate, the detection frame is arranged at the upper part of the fixed frame, an image analyzer is provided on the detection frame, the output end of the image analyzer faces directly below the detection frame, and the central axis of the detection probe, the central axis of the output end of the image analyzer and the rotating axis of the output end of the rotating motor are in the same vertical plane.

6. A robot for gear processing according to claim 5, characterized in that: The supporting mechanism includes a sliding block, a toggle gear and a supporting sleeve. The sliding block is slidably arranged in a sliding groove. A sliding rack is embedded in the side of the sliding block close to the fixed frame. The toggle gear is embedded and rotatably arranged in the fixed frame. The toggle gear is driven by a sliding motor. The toggle gear is meshed with the sliding rack. The linear array of the supporting sleeve is arranged at the lower end of the side wall of the sliding block away from the fixed frame.

7. A robot for gear processing according to claim 6, characterized in that: The detection probe is perpendicular to the side wall of the sliding block away from the fixed frame. The support sleeve is cylindrical. The upper end surface of the support sleeve is arranged parallel to the bottom of the detection probe. The central axis of the support sleeve is perpendicular to the central axis of the detection probe.

8. A robot for gear processing according to claim 7, characterized in that: The first motor is arranged at the lower part of the supporting sleeve, the rotating disk is rotatably arranged at the inner side of the supporting sleeve, and the upper end surface of the rotating cover shell and the upper end surface of the supporting sleeve are in the same plane.

9. A robot for gear processing according to claim 8, wherein: The feeding mechanism includes a multi-section telescopic rod, a feeding rack and a receiving plate. The multi-section telescopic rod is arranged on the fixed rack, and the multi-section telescopic rod is arranged above the fixed plate. The central axis of the multi-section telescopic rod and the central axis of the detection probe are in the same vertical plane. The feeding rack is arranged on the telescopic end of the multi-section telescopic rod. The feeding rack is in a 匚 shape. A bidirectional threaded rod is arranged in the feeding rack. The bidirectional threaded rod is driven by a feeding motor. The receiving plate is symmetrically slidably arranged on the inner side of the feeding rack, and the symmetrical receiving plates are respectively engaged and sleeved on the bidirectional threaded rod.

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