Industrial mechanical arm for machining and conveying graphite carbon rods

Abstract

The invention discloses an industrial mechanical arm for graphite carbon rod machining and conveying, belongs to the field of graphite carbon rod machining, is used for graphite carbon rods, and comprises a mechanical arm body and a clamping jaw, a mounting base of the clamping jaw is connected with a main frame body of a main frame sliding groove through a center lifting shaft, the main frame sliding groove is provided with an auxiliary frame body, and the auxiliary frame body moves relative to the main frame body through a fine adjustment oil cylinder; inlet clamping wheels which are driven by wheel body driving oil cylinders and are of cam structures are arranged on the two sides of the opening position of the auxiliary frame body through wheel shaft bodies respectively; the auxiliary frame body is further provided with an inner side clamping wheel. A lifting guide seat sliding relative to the central lifting shaft is arranged on the main frame body, the lifting guide seat is connected with the shaft body connecting plate and the central lifting oil cylinder through a seat body guide hole, and the central lifting oil cylinder is located on the mounting seat. According to the industrial mechanical arm, the graphite carbon rod can be clamped, the good adaptability to the graphite carbon rods of different specifications can be achieved, then the flexibility of the industrial mechanical arm is improved, and the clamping requirement for the graphite carbon rod is met.

Description

Technical Field

[0001] This application belongs to the field of graphite carbon rod processing. Specifically, it particularly relates to an industrial robotic arm for processing and conveying graphite carbon rods. Background Art

[0002] Graphite carbon rods are non-metallic products with high temperature resistance and good electrical conductivity formed by carbon, graphite, and appropriate binders through extrusion molding and high-temperature baking. For its processing and conveying equipment, reference can be made to the patent document with the Chinese patent publication number CN215973488U, which includes an assembly line. There is a chain inside the assembly line, and a tooling seat is installed by clamping with the chain. There are several groups of driving motors arranged below the assembly line. A triangular protective block is rotatably installed in the middle of the upper end of the tooling seat. Side support rods are rotatably installed on both sides in the middle of the triangular protective block. Two groups of support frames are rotatably installed in the middle of the side support rods. Side beams are symmetrically distributed in the structure of the support frames. Installation brackets are arranged at the upper ends of the side beams, and grooves are arranged at the tops of the installation brackets. A card slot is arranged in the middle of the sub-bracket in this application, so as to realize the installation of three groups of carbon rods for the three sub-brackets and the grooves in the installation brackets, and improve the transfer efficiency of the carbon rods; elastic force is provided by a composite spring and a buffer block to buffer when the robotic arm clamps and releases the carbon rod, improve the protection of the carbon rod, and improve the stability of carbon rod transportation; a rubber gasket sleeve is arranged at the bottom of the buffer foot to absorb vibration and reduce noise.

[0003] In the above prior art, it discloses the use of a robotic arm to clamp and convey graphite carbon rods, and emphasizes the need to ensure the protection of the carbon rod and the stability of carbon rod transportation. However, the adaptability of the existing robotic arm gripper to the specifications of graphite carbon rods is relatively single, and restricted by the physical properties of the graphite carbon rod itself, better protection needs to be provided for the graphite carbon rod to meet the requirements of safe transfer or transportation. Therefore, the applicant believes that it is necessary to provide an industrial robotic arm with a redesigned gripper structure to meet the transfer efficiency and transfer quality on the graphite carbon rod conveying assembly line, and improve the flexibility of the industrial robotic arm gripper through the redesign of the structure. Summary of the Invention

[0004] The purpose of this application is to provide an industrial robotic arm for processing and conveying graphite carbon rods, which can not only clamp graphite carbon rods, but also has good adaptability to graphite carbon rods of different specifications, thereby improving the flexibility of the industrial robotic arm and meeting the clamping requirements for graphite carbon rods.

[0005] To achieve the above object, this application is implemented through the following technical solutions:

[0006] An industrial robotic arm for processing and conveying graphite carbon rods described in this application includes a robotic arm, and a jaw for clamping graphite carbon rods is installed at the end of the robotic arm. The jaw includes a mounting base, the mounting base is connected to a main frame body through a central lifting shaft, the main frame body is circumferentially provided with main frame sliding grooves, a sub-frame body is slidably arranged in the main frame sliding grooves, and the sub-frame body moves relative to the main frame body through a fine-tuning oil cylinder; at both sides of the opening position of the sub-frame body, inlet clamping wheels are respectively arranged through wheel shaft bodies, the inlet clamping wheels are of a cam structure and are driven by a wheel body driving oil cylinder; inside the sub-frame body, inner clamping wheels are symmetrically arranged, and the inner clamping wheels form an arc structure at the corner positions of the limit guiding plate; a lifting guiding seat that slides relative to the central lifting shaft is arranged on the main frame body, the lifting guiding seat is provided with a seat body guiding hole, a shaft body connecting plate is arranged in the seat body guiding hole, the shaft body connecting plate is connected to a central lifting oil cylinder, and the central lifting oil cylinder is installed on the mounting base.

[0007] As one of the preferred technical solutions, in this application, the sub-frame body is a U-shaped frame body, placing grooves for placing the inlet clamping wheels are opened on both sides of the inlet of the sub-frame body, the top end of the sub-frame body is integrally provided with a limit guiding plate, the limit guiding plate is located on both sides of the wheel shaft body, a wheel body driving plate is slidably arranged on one of the limit guiding plates, the wheel body driving plate is meshed and driven with the wheel shaft body, and the wheel body driving plate is driven by a wheel body driving oil cylinder, and the wheel body driving oil cylinder is located on the limit guiding plate.

[0008] As one of the preferred technical solutions, in this application, the inner clamping wheels are located at the corner positions inside the limit guiding plate and are arc-shaped blocks, and a clamping wheel guard plate is arranged at the arc surface of the inner clamping wheels.

[0009] As one of the preferred technical solutions, in this application, a plurality of wheel body grooves are distributed in the length direction of the inlet clamping wheels.

[0010] As one of the preferred technical solutions, in this application, a fine-tuning plate is arranged at the top end of the limit guiding plate, guiding shaft bodies are symmetrically arranged between the fine-tuning plate and the main frame body, a fine-tuning oil cylinder is arranged at the main frame body between adjacent guiding shaft bodies, and the telescopic end of the fine-tuning oil cylinder is connected to the fine-tuning plate; the main frame body is slidably connected to the sub-frame guiding groove on the sub-frame body through the main frame guiding plate in the main frame sliding groove.

[0011] As one of the preferred technical solutions, in this application, the inlet clamping wheels are rubber cams, the inner clamping wheels are arc-shaped rubber blocks, and the clamping wheel guard plates covered on the inner clamping wheels are elastic metal plates with anti-slip patterns.

[0012] As one of the preferred technical solutions, in this application, the main frame body is a hollow frame body, and a plurality of support plates are hierarchically arranged in the internal height direction of the main frame body.

[0013] As one of the preferred technical solutions, in the present application, a limiting support plate is integrally provided at the bottom of the central lifting shaft, and the side surface of the limiting support plate is slidably attached to the side surface of the auxiliary frame body; the side surface of the lifting guide seat is slidably attached to the side surface of the fine-tuning plate.

[0014] Compared with the prior art, the beneficial effects of the present application are as follows:

[0015] Through the structural improvement of the main frame body and the auxiliary frame body and the improvement of the relative movement relationship in the present application, the industrial robotic arm described in the present application can not only effectively clamp the graphite carbon rod, but also adapt to graphite carbon rods of different specifications and models, meeting the clamping requirements of graphite carbon rods of different specifications. At the same time, through the cooperation of one main frame body and multiple auxiliary frame bodies in the present application, and each auxiliary frame body can be adjusted independently relative to the main frame body, it has better flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional view of the present application Figure 1 .

[0017] Figure 2 is Figure 1 a partial enlarged view of part I in

[0018] Figure 3 is a three-dimensional view of the present application Figure 2 .

[0019] Figure 4 is Figure 3 a partial enlarged view of part II in

[0020] Figure 5 is a top view of the present application

[0021] Figure 6 is Figure 5 a cross-sectional view taken at the position and in the direction indicated by A-A in

[0022] In the figure: 1. mounting seat; 2. central lifting shaft; 3. central lifting oil cylinder; 4. lifting guide seat; 5. fine-tuning plate; 6. main frame body; 7. limiting guide plate; 8. auxiliary frame body; 9. inlet clamping wheel; 10. wheel body groove; 11. clamping wheel guard plate; 12. inner clamping wheel; 13. wheel shaft body; 14. wheel body driving plate; 15. wheel body driving oil cylinder; 16. seat body guide hole; 17. shaft body connecting plate; 18. guide shaft body; 19. auxiliary frame guide groove; 20. limiting support plate; 21. main frame sliding groove; 22. fine-tuning oil cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The technical solutions described in the present application will be further described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0024] Example 1: As Figures 1 to 6 shown, an industrial robotic arm for processing and conveying graphite carbon rods includes a robotic arm for installing a gripper. The gripper is located at the end of the robotic arm and is connected to the robotic arm through a mounting seat 1 and a bolt assembly.

[0025] The mounting seat 1 is integrated with a central lifting shaft 2. A main frame body 6 is slidably arranged on the central lifting shaft 2. The main frame body 6 has a bushing for the central lifting shaft 2 to pass through.

[0026] A number of main frame sliding grooves 21 are circumferentially distributed on the main frame body 6. A sub-frame body 8 is slidably arranged in the main frame sliding grooves 21. The sub-frame body 8 is a U-shaped frame body. Entrance clamping wheels 9 are respectively arranged on both sides of the entrance of the sub-frame body 8. The entrance clamping wheels 9 are rotatably connected to the sub-frame body 8 through a wheel shaft body 13. The top end of the wheel shaft body 13 extends from the sub-frame body 8 and drives the entrance clamping wheels 9 to rotate under the drive of a wheel body driving oil cylinder 15. The entrance clamping wheels 9 are of a cam structure.

[0027] Inner clamping wheels 12 are symmetrically arranged at the inner corner positions of the sub-frame body 8. A fine-tuning plate 5 is integrally arranged at the top end of the limit guiding plate 7. The fine-tuning plate 5 moves relative to the main frame body 6 under the drive of a fine-tuning oil cylinder 22. The fine-tuning oil cylinder 22 is located on the main frame body 6.

[0028] The main frame body 6 is also integrally provided with a lifting guiding seat 4 that slides relative to the central lifting shaft 2. A number of seat body guiding holes 16 are circumferentially distributed on the lifting guiding seat 4. The seat body guiding holes 16 are connected to a central lifting oil cylinder 3 through a shaft body connecting plate 17. The central lifting oil cylinder 3 is installed on the mounting seat 1. Mounting holes are machined at the mounting seat 1 between adjacent central lifting oil cylinders 3.

[0029] Example 2: Continuing to refer to Figures 1 to 6 , an industrial robotic arm for processing and conveying graphite carbon rods, wherein the limit guiding plate 7 has a placement groove for placing the entrance clamping wheels 9. A number of wheel body grooves 10 are distributed in the length direction of the entrance clamping wheels 9. The wheel shaft body 13 is machined with a tooth structure at the position where it extends out of the sub-frame body 8 and meshes with a wheel body driving plate 14. The wheel body driving plate 14 is driven by the telescopic end of a wheel body driving oil cylinder 15. The wheel body driving oil cylinder 15 is installed on the limit guiding plate 7. A limit guiding plate 7 is arranged on one side of the wheel body driving plate 14. The limit guiding plate 7 has a slide rail for guiding the sliding of the wheel body driving plate 14. The wheel body driving plate 14 is machined with a sliding groove for cooperating with the slide rail. The wheel body driving plate 14 meshes with the wheel shaft body 13. Another limit guiding plate 7 for protection is arranged at the sub-frame body 8 on the other side of the wheel shaft body 13.

[0030] The structure and connection relationship of the remaining parts are the same as those described in Embodiment 1. Those skilled in the art can understand and apply the technical solutions described in this embodiment on the basis of understanding the foregoing embodiments.

[0031] Embodiment 3: Continuing to refer to Figures 1 to 6 , an industrial robotic arm for processing and conveying graphite carbon rods, wherein the inner clamping wheel 12 described therein is an arc-shaped block, and the surface of the inner clamping wheel 12 facing the opening is an arc surface and is covered by the clamping wheel guard plate 11. The inner clamping wheel 12 is a rubber block, and the clamping wheel guard plate 11 is an elastic metal plate with anti-slip patterns. The fine-tuning plate 5 is an inverted L-shaped plate body, and guide shafts 18 are symmetrically arranged on both sides of the fine-tuning plate 5. The guide shaft 18 includes a sleeve arranged on the top surface of the main frame body 6 and a shaft body arranged on the fine-tuning plate 5, and the sleeve and the shaft body slide relative to each other. The main frame body 6 is provided with a fine-tuning oil cylinder 22 at the position between adjacent guide shafts 18. The bottom end of the fine-tuning oil cylinder 22 is fixed to the main frame body 6, and the telescopic end of the fine-tuning oil cylinder 22 is connected to the fine-tuning plate 5. The limit guide plate 7 is slidably connected to the main frame guide plate in the main frame sliding groove 21 through the sub-frame guide groove 19.

[0032] The bottom end of the central lifting shaft 2 is fixedly connected with a limit support plate 20, and the limit support plate 20 is used for supporting and limiting the main frame body 6. The main frame body 6 is a hollow structure, and a plurality of support plates are arranged in layers inside the main frame body 6.

[0033] The structure and connection relationship of the remaining parts are the same as those described in Embodiment 1. Those skilled in the art can understand and apply the technical solutions described in this embodiment on the basis of understanding the foregoing embodiments.

[0034] Embodiment 4: Refer to Figures 1 to 6 , an industrial robotic arm for processing and conveying graphite carbon rods, wherein the inner clamping wheel 12 has a shaft body rotatably connected to the sub-frame body 8. The sub-frame body 8 is respectively provided with plates rotatably connected to the foregoing shaft body at the inner top end and bottom end positions of the main frame sliding groove 21. The outer surface of the inner clamping wheel 12 is covered with a clamping wheel guard plate 11 with anti-slip patterns or the same wheel body groove 10 as that on the inlet clamping wheel 9. The structure and connection relationship of the remaining parts are the same as those described in the foregoing embodiments, and for the sake of brevity, they will not be elaborated here. Those skilled in the art can understand and apply and replace the structure described in this embodiment on the basis of understanding this embodiment.

[0035] On the basis of the above embodiments, the following paragraphs are used to continue to describe in detail the technical features involved and the functions and roles played by these technical features in this technical solution, so as to help those skilled in the art fully understand the technical solution and reproduce it.

[0036] In this application, the mounting base 1 has a mounting hole for connecting with a robotic arm, and the mounting hole is connected to the robotic arm through bolts.

[0037] In this application, the mounting base 1 is fixedly connected to the central lifting shaft 2, and the central lifting shaft 2 extends away from the direction where the mounting base 1 is located. A limiting support plate 20 is also fixedly connected to the end of the central lifting shaft 2 away from the mounting base 1. The limiting support plate 20 is used to limit the movement stroke of the main frame body 6 and to provide a certain support for the main frame body 6.

[0038] In this application, the main frame body 6 is integrally provided with a lifting guide seat 4. The cross-section of the lifting guide seat 4 is polygonal. Coaxial connection holes are provided on both the lifting guide seat 4 and the main frame body 6 to facilitate sliding connection with the central lifting shaft 2. The lifting guide seat 4 has a seat body guide hole 16, and the seat body guide hole 16 is a strip-shaped through hole. The shaft body connecting plate 17 extends out from the seat body guide hole 16, and the seat body guide hole 16 is connected to the telescopic end of the central lifting oil cylinder 3. The bottom end of the central lifting oil cylinder 3 is fixedly connected to the mounting base 1. Driven by the central lifting oil cylinder 3, the telescopic end of the central lifting oil cylinder 3 can drive the lifting guide seat 4 to move relative to the central lifting shaft 2 through the shaft body connecting plate 17. The seat body guide hole 16 has several connection holes to achieve connection with the shaft body connecting plate 17. The connection holes of the seat body guide hole 16 are distributed in the length direction of the seat body guide hole 16 to facilitate adjustment of the shaft body connecting plate 17 through fasteners, and then to assist in expanding or limiting the displacement stroke of the lifting guide seat 4.

[0039] The main frame body 6 is a hollow structure, and several reinforcing plates are arranged in layers inside the main frame body 6, which can not only ensure the structural stability of the main frame body 6 itself, but also reduce the self-weight of the main frame body 6.

[0040] In this application, several main frame sliding grooves 21 are circumferentially distributed on the main frame body 6. A sub-frame body 8 is slidably arranged in the main frame sliding grooves 21. The sub-frame body 8 is provided with a sub-frame guide groove 19 on its inner end face, and the main frame sliding grooves 21 are provided with main frame guide plates on their inner end faces. The main frame guide plates are slidably arranged with the sub-frame guide grooves 19. The cross-sections of the main frame guide plates and the sub-frame guide grooves 19 are both T-shaped structures.

[0041] In this application, the sub-frame body 8 is a U-shaped frame body structure, and placement grooves for placing the inlet clamping wheels 9 are respectively provided on both sides of the opening of the sub-frame body 8. The inlet clamping wheels 9 on both sides of the sub-frame body 8 can respectively rotate under the drive of a drive mechanism, or can also rotate synchronously under the action of a linkage structure. When using the linkage structure, there should be a wheel body drive plate 14 that is synchronously driven by the wheel body drive oil cylinder 15. The wheel body drive plate 14 has two meshing sections to respectively mesh and drive with the ends of the wheel shafts 13 on both sides of the sub-frame body 8.

[0042] In the present application, the inlet clamping wheel 9 is a rubber wheel body with a cam structure, and a plurality of wheel body grooves 10 are distributed in the length direction of the inlet clamping wheel 9 (i.e., the height direction shown in the attached drawing). The inlet clamping wheel 9 is rotatably connected to the sub-frame 8 through a wheel shaft body 13, and the top end of the wheel shaft body 13 extends out of the sub-frame 8 and is processed with a tooth structure.

[0043] In the present application, the sub-frame 8 is provided with an inner clamping wheel 12 at the inner corner position. The inner clamping wheel 12 is made of rubber. Referring to the foregoing embodiments, it can be a rubber block or a wheel structure. When the inner clamping wheel 12 is a block structure, it is located at the corner position of the sub-frame 8 and is fixedly connected to the sub-frame 8 as a whole. At this time, the end face of the inner clamping wheel 12 facing the opening position of the sub-frame 8 is an arc surface, and a clamping wheel guard plate 11 can be covered. The clamping wheel guard plate 11 is an elastic metal plate body with anti-slip patterns. The elastic metal plate body can deform together with the deformation of the inner clamping wheel 12 and can provide a certain protection for the inner clamping wheel 12.

[0044] When the inner clamping wheel 12 is a wheel structure, plates for connecting the inner clamping wheel 12 need to be provided at the top and bottom positions of the sub-frame 8 respectively. The inner clamping wheel 12 is rotatably connected to the above plates through a shaft body. Similarly, a clamping wheel guard plate 11 can be covered outside the inner clamping wheel 12 or a structure the same as the wheel body groove 10 on the inlet clamping wheel 9 can be processed.

[0045] In the present application, a fine-tuning plate 5 is integrally provided at the inner top position of the sub-frame 8. The fine-tuning plate 5 can be an inverted L-shaped plate body. A guiding shaft body 18 is provided between the top end of the fine-tuning plate 5 and the top end face of the main frame 6. The guiding shaft body 18 includes a shaft body connected to the top end of the fine-tuning plate 5 and a sleeve connected to the top end of the main frame 6. The shaft body and the sleeve are slidably arranged to realize the guiding of the fine-tuning plate 5 when it moves relative to the main frame 6.

[0046] In the present application, the auxiliary frame body 8 is provided with a wheel body drive plate 14 meshing and driving therewith at the wheel axle body 13. The wheel body drive plate 14 is connected to the telescopic end of a wheel body drive oil cylinder 15, and the wheel body drive oil cylinder 15 is located on the auxiliary frame body 8. To ensure the stability of the movement of the wheel body drive plate 14, a limit guide plate 7 is further provided on one side of the wheel body drive plate 14. The limit guide plate 7 has a slide rail and can be connected to a corresponding chute on the wheel body drive plate 14. A limit guide plate 7 for only user protection is also provided at the position of the auxiliary frame body 8 on the other side of the wheel axle body 13. When the wheel body drive oil cylinder 15 works, it can drive the wheel body drive plate 14 to move relative to the limit guide plate 7 through its telescopic end, and then realize the rotation of the wheel axle body 13 through the meshing action between the wheel body drive plate 14 and the wheel axle body 13. The rotation of the wheel axle body 13 can drive the inlet clamping wheel 9 connected thereto to rotate. The inlet clamping wheel 9 rotates towards the inlet of the auxiliary frame body 8, and then cooperates with the inner clamping wheel 12 to clamp the graphite carbon rod between the inner clamping wheel 12 and the inlet clamping wheel 9. Since both the inlet clamping wheel 9 and the inner clamping wheel 12 are made of rubber material, during the clamping process, they can have a certain amount of deformation and protective ability, ensuring the graphite carbon rod while also increasing the clamping force. To further improve the clamping force of the inlet clamping wheel 9 on the graphite carbon rod, a number of wheel body grooves 10 can be distributed in the length direction of the inlet clamping wheel 9.

[0047] The working process of the present application is as follows: The mounting seat 1 is connected to the robotic arm and can move relative to the transportation line under the drive of the robotic arm.

[0048] The central lifting oil cylinder 3 on the mounting seat 1 can drive the shaft body connecting plate 17 connected thereto through its telescopic end under the control of the hydraulic control system. Since the shaft body connecting plate 17 and the seat body guide hole 16 are fixedly installed through fasteners, the movement of the shaft body connecting plate 17 can drive the seat body guide hole 16 and the lifting guide seat 4 to move.

[0049] The movement of the lifting guide seat 4 can drive the main frame body 6 fixedly connected thereto to move along the central axis of the central lifting shaft 2 together. The downward movement stroke of the main frame body 6 along the central lifting shaft 2 is limited by the limit support plate 20 at the tail end of the central lifting shaft 2, that is, when the main frame body 6 moves downward to the limit position, the bottom end of the main frame body 6 can contact the top end of the limit support plate 20 and overlap on the limit support plate 20.

[0050] The mounting seat 1 can rotate integrally relative to the robotic arm under the action of the rotating mechanism of the robotic arm (such as a turntable driven by a hydraulic motor).

[0051] When the fine-tuning oil cylinder 22 starts to work, the fine-tuning oil cylinder 22 can drive the auxiliary frame body 8 to move together through the fine-tuning plate 5 connected to its telescopic end. Since the auxiliary frame body 8 is arranged to slide relative to the main frame body 6, the auxiliary frame body 8 can move relative to the main frame body 6 under the action of the fine-tuning oil cylinder 22 to realize the relative adjustment of the positions of the auxiliary frame body 8 and the main frame body 6. During the relative movement of the auxiliary frame body 8 and the main frame body 6, the stable movement of itself can be realized with the assistance of the guide shaft body 18 and the auxiliary frame guide groove 19.

[0052] After the above adjustment is completed, the whole manipulator drives the gripper to move towards the graphite carbon rod to be clamped, and makes the main frame sliding groove 21 and the inlet of its auxiliary frame body 8 face the graphite carbon rod to be clamped.

[0053] After the manipulator is adjusted to the position, the wheel body driving oil cylinder 15 starts to work. The telescopic end of the wheel body driving oil cylinder 15 drives the wheel body driving plate 14 to move relative to the limit guide plate 7. The movement of the wheel body driving plate 14 can drive the wheel shaft body 13 meshed with it to rotate, and the rotation of the wheel shaft body 13 can drive the inlet clamping wheel 9 at the inlet of the auxiliary frame body 8 to rotate. Since the inlet clamping wheel 9 is a rubber wheel body with a cam structure, it can cooperate with the inner clamping wheel 12 during the process of rotating towards the inside of the auxiliary frame body 8, and then form a clamping of the graphite carbon rod inside the auxiliary frame body 8. And due to the adoption of the cam structure of the inlet clamping wheel 9, the clamping operation can be realized. The rubber material used for the inlet clamping wheel 9, the rubber material used for the inner clamping wheel 12, and the elastic metal plate used for the clamping wheel guard plate 11 can, to a certain extent, through their own deformation, not only ensure the clamping of the graphite carbon rod, but also ensure the protection of the graphite carbon rod, avoiding the damage of the graphite carbon rod caused by hard contact.

[0054] The gripper in the present application can clamp multiple graphite carbon rods at one time, or can clamp or transfer the graphite carbon rods in sequence under the action of the manipulator rotation mechanism.

[0055] That is, when any one of the auxiliary frame bodies 8 in the main frame body 6 completes the clamping operation of the graphite carbon rod and rotates to the placement station, the placement of the graphite carbon rod is realized. At this time, another auxiliary frame body 8 in the main frame body 6 can just follow the main frame body 6 to rotate to the clamping station to complete the clamping operation of the graphite carbon rod. The auxiliary frame bodies 8 on the main frame body 6 successively realize the clamping → placement of the graphite carbon rod, which helps to improve the transfer efficiency on the conveying line of the graphite carbon rod.

[0056] Finally, although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An industrial robotic arm for processing and conveying graphite carbon rods, comprising a robotic arm, and a jaw for clamping graphite carbon rods is installed at the end of the robotic arm. The jaw includes a mounting base (1), and the mounting base (1) is connected to a main frame body (6) through a central lifting shaft (2), and is characterized in that: The main frame body (6) is circumferentially distributed with main frame sliding grooves (21), and a secondary frame body (8) is slidably arranged in the main frame sliding grooves (21). The secondary frame body (8) moves relative to the main frame body (6) through a fine-tuning oil cylinder (22). At both sides of the opening position of the secondary frame body (8), inlet clamping wheels (9) are respectively arranged through wheel shaft bodies (13). The inlet clamping wheels (9) are of cam structures and are driven by wheel body driving oil cylinders (15). Inside the secondary frame body (8), inner clamping wheels (12) are symmetrically arranged. The inner clamping wheels (12) form an arc structure at the corner positions of the limit guiding plate (7). On the main frame body (6), a lifting guiding seat (4) that slides relative to the central lifting shaft (2) is arranged. The lifting guiding seat (4) is provided with a seat body guiding hole (16). An axle body connecting plate (17) is arranged in the seat body guiding hole (16). The axle body connecting plate (17) is connected to a central lifting oil cylinder (3). The central lifting oil cylinder (3) is installed on a mounting seat (1).

2. The industrial robotic arm for processing and conveying graphite carbon rods according to claim 1, characterized in that: The secondary frame body (8) is a U-shaped frame body. Placement grooves for the inlet clamping wheels (9) are formed on both sides of the inlet of the secondary frame body (8). A limit guiding plate (7) is integrally arranged at the top end of the secondary frame body (8). The limit guiding plate (7) is located on both sides of the wheel shaft body (13). A wheel body driving plate (14) is slidably arranged on one of the limit guiding plates (7). The wheel body driving plate (14) is in meshing transmission with the wheel shaft body (13). The wheel body driving plate (14) is driven by a wheel body driving oil cylinder (15). The wheel body driving oil cylinder (15) is located on the limit guiding plate (7).

3. An industrial robotic arm for processing and conveying graphite carbon rods according to claim 2, characterized in that: The inner clamping wheels (12) are located at the corner positions inside the limit guiding plate (7) and are arc-shaped blocks. A clamping wheel guard plate (11) is arranged at the arc surface of the inner clamping wheels (12).

4. An industrial robotic arm for processing and conveying graphite carbon rods according to claim 2, characterized in that: A plurality of wheel body grooves (10) are distributed in the length direction of the inlet clamping wheels (9).

5. An industrial robotic arm for processing and conveying graphite carbon rods according to any one of claims 2 to 4, characterized in that: A fine-tuning plate (5) is arranged at the top end of the limit guiding plate (7). Guide shaft bodies (18) are symmetrically arranged between the fine-tuning plate (5) and the main frame body (6). A fine-tuning oil cylinder (22) is arranged at the main frame body (6) between adjacent guide shaft bodies (18). The telescopic end of the fine-tuning oil cylinder (22) is connected to the fine-tuning plate (5). The main frame body (6) is slidably connected to the secondary frame guiding groove (19) on the secondary frame body (8) through a main frame guiding plate in the main frame sliding groove (21).

6. An industrial robotic arm for processing and conveying graphite carbon rods according to claim 5, characterized in that: The inlet clamping wheels (9) are rubber cams, the inner clamping wheels (12) are arc-shaped rubber blocks, and the clamping wheel guard plates (11) covering the inner clamping wheels (12) are elastic metal plates with anti-slip patterns.

7. An industrial robotic arm for processing and conveying graphite carbon rods according to claim 5, characterized in that: The main frame body (6) is a hollow frame body, and a plurality of support plates are arranged in layers in the internal height direction of the main frame body (6).

8. An industrial robotic arm for processing and conveying graphite carbon rods according to claim 5, characterized in that: A limit support plate (20) is integrally arranged at the bottom of the central lifting shaft (2). The side surface of the limit support plate (20) is in sliding fit with the side surface of the secondary frame body (8). The side surface of the lifting guiding seat (4) is in sliding fit with the side surface of the fine-tuning plate (5).

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